Sharif Digital Repository

Ignoring actuator dynamics in control of rigid manipulators can in practice result in performance degradation or loss of system stability. However, consideration of actuator dynamics usually requires measurement of robot joint torques. This paper addresses motion tracking control of an n-DOF rigid robot by taking into account its actuator dynamics. Joint torque measurement is avoided by using an adaptive observer. The backstepping technique is adopted to develop a dynamically smooth adaptive nonlinear controller dealing with uncertainties in manipulator and actuator dynamics. Semi-global convergence of motion tracking errors as well as torque estimation error are proven without any... 

Understanding the potential and electric field distribution in the insulation system of a transformer during transients is vital to its construction. Therefore, we have developed a method for electric field analysis inside a power transformer. The method consists of the following steps. 1) A lumped parameter equivalent model is constructed by dividing transformer windings into several blocks. 2) The electric circuit parameters of this model are calculated. 3) Employing the results of the transformer transient model analysis as boundary conditions, a 2-D asymmetrical electric field finite-element analysis is performed to determine electric fields through the windings. The method has been... 

In this paper, the axiomatic design is introduced for controlling a power electronic converter. The main idea of axiomatic design is to introduce variables affecting the desired performances of the system most independently possible. The control process is presented for a Buck converter to achieve constant efficiency and output voltage ripple. ©2008 IEEE  

In this paper, the axiomatic design is introduced for designing the power electronic converters. The main idea of axiomatic design is to introduce variables affecting the desired performances of the system most independently possible. The design process is presented for a Buck converter. ©2008 IEEE  

In a motor-drive system, there are many factors which can be considered as a figure of merit in drive control algorithm. All of these factors should be evaluated simultaneously to achieve the reliable performance of drive. In this paper, an optimization problem is constructed on a direct torque controlled induction motor drive using a candidate from different parts of drive system: inverter loss from section of solid state converter, motor loss from section of electromechanical converter and torque ripple from mechanical section. Minimization of this cost function leads to the optimum values of drive control parameters. © 2008 IEEE  

Knowledge of potential and field distribution in the insulation system of a transformer during transient excitation is vital to its construction [1]. This paper deals with insulation design improvements of power transformers using electric field analysis. The calculation methods for electric field analysis, inside a power transformer impressed with impulse and power frequency voltages, are presented. Initially, a lumped parameter equivalent model is constructed by dividing transformer windings into several blocks and computing the electric circuit parameters of this model. Next, the electric field is determined by employing the results of the transformer transient model circuit analysis as... 

The knowledge of the potential and field distribution in the insulation system of a transformer, during transient excitation is vital to its construction. This paper deals with insulation design improvements of power transformers using electric field analysis. The calculation methods for electric field analysis inside a power transformer impressed with impulse voltage is presented. Initially, a lumped parameter equivalent model is constructed by dividing transformer windings into several blocks and by computing the electric circuit parameters of this model. Next, the electric field is determined employing the results of the transformer transient model circuit analysis as boundary conditions;... 

Digital video stabilization is a category of techniques used to reduce the impact of unintentional camera motion such as jitter, jiggle, and other unsteady motions. These unintentional shakings degrade visual quality of videos and reduce the performance of subsequent processes such as video compression. Digital video stabilization which is performed by post processing the acquired frames, suffers from inaccuracy of motion estimation which is mostly due to the local motions of internal moving objects included in videos, and long processing time which prohibits them from being used in real time applications. In this paper we propose a fast and accurate transform based motion estimation method... 

Sport video shot classification is a basic step in the sport video processing. For many purposes such as event detection and summarization, shot classification is needed for content filtering. In this paper, we present a new method for soccer video shot classification. At first, in-field and out-of-field frames are separated. In in-field frames three features based on number of connected components and shirt color percent in vertical and horizontal strips are extracted. The features are all new and showed excellent discrimination in the feature space. These features are given to SVM for classifying long, medium and close-up shots. One of the advantages of our method is that, close-ups can be... 

Computer-Aided Diagnosis (CAD) systems are widely used for detection of various kinds of abnormalities in mammography images. Masses are one type of these abnormalities which are mostly characterized by their margin and shape. For classification of masses proper features are needed to be extracted. However, the number of well-known features for describing margin is much fewer than geometrical, shape, and textural ones. In addition, most of the existing margin features are highly dependent on segmentation accuracy. In this work, new features for describing margin of masses are presented which can handle inaccuracies in segmentation. These features are obtained from a set of waveforms by... 

In this paper, a novel droop method to control the power sharing of parallel uninterruptible-power-supply (UPS) systems is presented. In a clear-cut contrast to the previously reported works, the controller is a proportional-resonant controller which ensures good transient response and steady-state objectives. Furthermore, the need for sensing the output current for the power-sharing control is removed by implementing it in a software routine. This brings a less complicated and less expensive structure in which the number of feedback sensors is reduced from three to two. The droop paralleling strategy is based on the drop in the inverter output frequency and amplitude. The application of... 

There has been a multitude of techniques proposed for identifying vulnerabilities in software. Forcing a program into a vulnerable state has become increasingly unscalable, given the size of the programs and the number of possible execution states. At the same time, techniques that are looking for vulnerability signatures are marred with weak and incomplete signatures. This is not to say that such techniques have failed to identify previously unknown vulnerabilities in the code. However, they have inherent weaknesses, which result in identifying vulnerabilities that are limited in type and complexity. We propose a novel technique to extract succinct vulnerability-relevant statements...