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Research Article
Robust Disturbance Rejection based Control with Extended-state Resonant Observer for Sway Reduction in Uncertain Tower-Cranes
Horacio Coral-Enriquez, Santiago Pulido-Guerrero, John Cortés-Romero
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In this paper, the problem of load transportation and robust mitigation of payload oscillations in uncertain tower-cranes is addressed. This problem is tackled through a control scheme based on the philosophy of Active-Disturbance-Rejection. Here, a general disturbance model built with two dominant components: polynomial and harmonic, is stated. Then, a disturbance observer is formulated through state-vector augmentation of the tower-crane model. Thus, better performance of estimations for system states and disturbances is achieved. The control law is then formulated to actively reject the disturbances but also to accommodate the closed-loop system dynamics even under system uncertainty. The proposed control schema is validated via experimentation using a small-scale tower-crane, and compared with other relevant ADRC-based techniques. The experimental results show that the proposed control scheme is robust under parametric uncertainty of the system, and provides improved attenuation of payload oscillations even under system uncertainty.
Development and Modeling of Remotely Operated Scaled Multi-wheeled Combat Vehicle Using System Identification
A. N. Ouda, Amr Mohamed, Moustafa EI-Gindy, Haoxiang Lang, Jing Ren
Available online   doi: 10.1007/s11633-018-1161-8
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This paper describes the development and modeling of a remotely operated scaled multi-wheeled combat vehicle (ROMWCV) using system identification methodology for heading angle tracking. The vehicle was developed at the vehicle dynamics and crash research (VDCR) Lab at the University of Ontario Institute of Technology (UOIT) to analyze the characteristics of the full-size model. For such vehicles, the development of controllers is considered the most crucial issue. In this paper, the ROMWCV is developed first. An experimental test was carried out to record and analyze the vehicle input/output signals in open loop system, which is considered a multi-input-single-output (MISO) system. Subsequently, a fuzzy logic controller (FLC) was developed for heading angle tracking. The experiments showed that it was feasible to represent the dynamic characteristics of the vehicle using the system identification technique. The estimation and validation results demonstrated that the obtained identified model was able to explain 88.44% of the output variation. In addition, the developed FLC showed a good heading angle tracking.
Multi-source remote sensing image registration based on Contourlet transform and multiple feature fusion
Huan Liu, Genfu Xiao, Yunlan Tan, Chunjuan Ouyang
Available online   doi: 10.1007/s11633-018-1163-6
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Image registration is an indispensable component in multi-source remote sensing image processing. In this paper, we put forward a remote sensing image registration method by including an improved multi-scale and multi-direction Harris algorithm and a novel compound feature. Multi-scale circle Gaussian Combined invariant moments and multi-direction gray level co-occurrence matrix are extracted as features for image matching. The proposed algorithm is evaluated on numerous multi-source remote sensor images with noise and illumination changes. Extensive experimental studies prove that our proposed method is capable of receiving stable and even distribution of key points as well as obtaining robust and accurate correspondence matches. It is a promising scheme in multi-source remote sensing image registration.
Experimental Evaluation of Certain Pursuit and Evasion Schemes for Wheeled Mobile Robots
Amit Kumar, Aparajita Ojha
Available online   doi: 10.1007/s11633-018-1151-x
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Image Encryption Algorithm Based on Compressive Sensing and Fractional DCT via Polynomial Interpolation
Ya-Ru Liang, Zhi-Yong Xiao
Available online   doi: 10.1007/s11633-018-1159-2
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Modeling of a Smart Nano Force Sensor Using Finite Elements and Neural Networks
Menacer Farid, Kadri Abdelmalek, Dibi Zohir
Available online   doi: 10.1007/s11633-018-1155-6
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The aim of this work is to model and analyze the behavior of a new smart nano force sensor. To do so, the carbon nanotube has been used as a suspended gate of a metal-oxide-semiconductor field-effect transistor (MOSFET). The variation of the applied force on the carbon nanotube (CNT) generates a variation of the capacity of the transistor oxide-gate and therefore the variation of the threshold voltage, which allows the MOSFET to become a capacitive nano force sensor. The sensitivity of the nano force sensor can reach 0.124 31 V/nN. This sensitivity is greater than results in the literature. We have found through this study that the response of the sensor depends strongly on the geometric and physical parameters of the CNT. From the results obtained in this study, the increase in the applied force has as a consequence an increase in the value of the threshold voltage VTh of the MOSFET. In this paper, we first used artificial neural networks to faithfully reproduce the response of the nano force sensor model. This neural model is called direct model. Then, secondly, we designed an inverse model called an intelligent sensor which allows linearization of the response of our developed force sensor.
A robust face recognition method combining LBP with multi-mirror symmetry for images with various face interferences
Shui-Guang Tong, Yuan-Yuan Huang, Zhe-Ming Tong
Available online   doi: 10.1007/s11633-018-1153-8
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Synthesize Robot Programs with Interactive Tutor Mode
Hao Li, Yu-Ping Wang, Tai-Jiang Mu
Available online   doi: 10.1007/s11633-018-1154-7
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Predictive adaptive Kalman filter and its application to INS/UWB-integrated human localization with missing UWB-based measurement
Yuan Xu, Tao Shen, Xi-Yuan Chen, Li-Li Bu, Ning Feng
Available online   doi: 10.1007/s11633-018-1157-4
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Accurate classification of EEG signals using neural networks trained by hybrid population-physic-based algorithm
Sajjad Afrakhteh, Mohammad-Reza Mosavi, Mohammad Khishe, Ahmad Ayatollahi
Available online   doi: 10.1007/s11633-018-1158-3
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Development of STEP AP224 extractor for interfacing feature based CAPP to STEP-NC (AP238)
Deepanshu Srivastava, Venkateswara Rao Komma
Available online   doi: 10.1007/s11633-018-1144-9
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An Operator based Nonlinear Vibration Control System Using a Flexible Arm with Shape Memory Alloy
Hiroki Matsumori, Ming-Cong Deng, Yuichi Noge
Available online   doi: 10.1007/s11633-018-1149-4
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Auto-tuning of FOPI Controllers for TITO Processes with Experimental Validation
Gargi Baruah, Somanath Majhi, Chitralekha Mahanta
Available online   doi: 10.1007/s11633-018-1140-0
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Dynamic Performance Evaluation of a Redundantly Actuated and Over-constrained Parallel Manipulator
Hai-Qiang Zhang, Hai-Rong Fang, Bing-Shan Jiang, Shuai-Guo Wang
Available online   doi: 10.1007/s11633-018-1147-6
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Predictive control based on fuzzy supervisor for PWARX hybrid models
Olfa Yahya, Zeineb Lassoued, Kamel Abderrahim
Available online   doi: 10.1007/s11633-018-1148-5
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Time-space Viewpoint Planning for Guard Robot with Chance Constraint
Igi Ardiyanto, Jun Miura
Available online   doi: 10.1007/s11633-018-1146-7
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Phenomenological Based Soft Sensor for Online Estimation of Slurry Rheological Properties
Jenny L. Diaz C., Diego A. Muñoz, Hernan Alvarez
Available online   doi: 10.1007/s11633-018-1132-0
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A Practical Approach to Representation of Real-Time Building Control Applications in Simulation
Azzedine Yahiaoui
Available online   doi: 10.1007/s11633-018-1131-1
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Emergency supply chain management based on Rough Set - House of Quality
Yuan He, Xue-Dong Liang, Fu-Min Deng, Zhi Li
Available online   doi: 10.1007/s11633-018-1133-z
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New LMI Conditions for Reduced-Order Observer of Lipschitz Discrete-Time Systems: Numerical and Experimental Results
Noussaiba GasmiI, Assem Thabet, Mohamed Aoun
Available online   doi: 10.1007/s11633-018-1160-9
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The objective of this paper is to propose a reduced-order observer for a class of Lipschitz nonlinear discrete-time systems. The conditions that guarantee the existence of this observer are presented in the form of linear matrix inequalities (LMIs). To handle the Lipschitz nonlinearities, the Lipschitz condition and the Young′s relation are adequately operated to add more degrees of freedom to the proposed LMI. Necessary and sufficient conditions for the existence of the unbiased reduced-order observer are given. An extension to \begin{document}$\mathcal{H}_\infty$\end{document} performance analysis is considered in order to deal with \begin{document}$\mathcal{H}_\infty$\end{document} asymptotic stability of the estimation error in the presence of disturbances that affect the state of the system. To highlight the effectiveness of the proposed design methodology, three numerical examples are considered. Then, high performances are shown through real time implementation using the ARDUINO MEGA 2560 device.
A Hybrid Time Frequency Response and Fuzzy Decision Tree for Non-Stationary Signal Analysis and Pattern Recognition
N. R. Nayak, P. K. Dash, R. Bisoi
Available online   doi: 10.1007/s11633-018-1113-3
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Low-Latency Data Gathering with Reliability Guaranteeing in Heterogeneous Wireless Sensor Networks
Tian-Yun Shi, Jian Li, Xin-Chun Jia, Wei Bai, Zhong-Ying Wang, Dong Zhou
Available online   doi: 10.1007/s11633-017-1074-y
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Composite Control of Nonlinear Singularly Perturbed Systems via Approximate Feedback Linearization
Aleksey Kabanov, Vasiliy Alchakov
Available online   doi: 10.1007/s11633-017-1076-9
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Optimal Design of Fuzzy-AGC Based on PSO&RCGA to Improve Dynamic Stability of Interconnected Multi Area Power Systems
Ali Darvish Falehi
Available online   doi: 10.1007/s11633-017-1064-0
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A Linear Quadratic Controller Design Incorporating a Parametric Sensitivity Constraint
Mohamed Yagoubi
Available online   doi: 10.1007/s11633-016-1048-5
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Study of performance and reliability of urethral valve driven by ultrasonic-vaporized steam
Zhen Hu, Xiao Li, Ting Guan
Available online   doi: 10.1007/s11633-016-1026-y
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Research Article
A Fault Tolerant Control Scheme Using the Feasible Constrained Control Allocation Strategy
Mehdi Naderi, Tor Arne Johansen, Ali Khaki Sedigh
Available online   doi: 10.1007/s11633-019-1168-9
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This paper investigates the necessity of feasibility considerations in a fault tolerant control system using the constrained control allocation methodology where both static and dynamic actuator constraints are considered. In the proposed feasible control allocation scheme, the constrained model predictive control (MPC) is employed as the main controller. This considers the admissible region of the control allocation problem as its constraints. Using the feasibility notion in the control allocation problem provides the main controller with information regarding the actuator′s status, which leads to closed loop system performance improvement. Several simulation examples under normal and faulty conditions are employed to illustrate the effectiveness of the proposed methodology. The main results clearly indicate that closed loop performance and stability characteristics can be significantly degraded by neglecting the actuator constraints in the main controller. Also, it is shown that the proposed strategy substantially enlarges the domain of attraction of the MPC combined with the control allocation as compared to the conventional MPC.
Management of Control Impacts Based on Maximizing the Spread of Influence
Alexander Tselykh, Vladislav Vasilev, Larisa Tselykh
Available online   doi: 10.1007/s11633-018-1167-2
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The choice of fulcrums for control of socio-economic systems represented by directed weighted signed graphs is a topic of current interest. This article proposes a new method for identifying nodes of impact and influential nodes, which will provide a guaranteed positive system response over the growth model. The task is posed as an optimization problem to maximize the ratio of the norms of the accumulated increments of the growth vector and the exogenous impact vector. The algorithm is reduced to solving a quadratic programming problem with nonlinear restrictions. The selection of the most effective vertices is based on the cumulative gains of the component projections onto the solution vector. Numerical examples are provided to illustrate the effectiveness of the proposed method.
Energy Guarantee Scheme for Real-time Systems with Energy Harvesting Constraints
Hussein El Ghor, Maryline Chetto
Available online   doi: 10.1007/s11633-018-1166-3
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The growth of environmental energy harvesting has been explosive in wireless computing systems especially when replacing or recharging batteries manually is impracticable. This work investigates the scheduling of periodic weekly hard real-time tasks under energy constraints. Based on this motivation, we proposed a real-time scheduling algorithm, namely energy guarantee dynamic voltage and frequency scaling (EG-DVFS), that utilizes the earliest deadline-harvesting (ED-H) scheduling algorithm combined with dynamic voltage and frequency scaling. This one is qualified as real-time since tasks must satisfy their timing constraints. We assume that the preemptable tasks receive dynamic priorities according to the earliest deadline first (EDF) rule. EG-DVFS adjusts the processor′s behavior by characterizing the properties of the energy source module, capacity of the stored energy as well as the harvested energy in a future duration. Specifically, tasks are executed at full processor speed if the amount of energy in the battery is enough to finish its execution. Otherwise, the processor slows down task execution to the lowest possible processor speed while still guaranteeing to meet all the timing constraints. EG-DVFS mainly depends on the on-line computation of the slack time and the slack energy with dynamic voltage and frequency selection in order to achieve an improved system performance. Experimental results show that EG-DVFS can achieve capacity savings up of up to 33% when compared to ED-H.
Design of FOPI Controller for Time Delay Systems and Its Experimental Validation
Gargi Baruah, Somanath Majhi, Chitralekha Mahanta
Available online   doi: 10.1007/s11633-018-1165-4
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In this paper, we report on the identification and modeling of unknown and higher order processes into first order plus dead time (FOPDT) plants based on the limit cycle information obtained from a single relay feedback test with an online fractional order proportional integral (FOPI) controller. The parameters of the test processes are accurately determined by the state space method while the FOPI controller settings are re-tuned to achieve enhanced performance based on the identified model parameters based on the balanced-tuning method. A new performance index, integral time fractional order absolute error (ITFIAE) is introduced in this paper for balanced tuning of fractional order (FO) controllers. It requires minimum design specifications without a-priori knowledge of gain and phase crossover frequencies and is done non-iteratively without disrupting the closed loop. Four test processes and experimental analysis on a coupled tank system (CTS) validate the theory proposed.
Dual-modal Physiological Feature Fusion-based Sleep Recognition Using CFS and RF Algorithm
Bing-Tao Zhang, Xiao-Peng Wang, Yu Shen, Tao Lei
Available online   doi: 10.1007/s11633-019-1171-1
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Research has demonstrated a significant overlap between sleep issues and other medical conditions. In this paper, we consider mild difficulty in falling asleep (MDFA). Recognition of MDFA has the potential to assist in the provision of appropriate treatment plans for both sleep issues and related medical conditions. An issue in the diagnosis of MDFA lies in subjectivity. To address this issue, a decision support tool based on dual-modal physiological feature fusion which is able to automatically identify MDFA is proposed in this study. Special attention is given to the problem of how to extract candidate features and fuse dual-modal features. Following the identification of the optimal feature set, this study considers the correlations between each feature and class and evaluates correlations between the inter-modality features. Finally, the recognition accuracy was measured using 10-fold cross validation. The experimental results for our method demonstrate improved performance. The highest recognition rate of MDFA using the optimal feature set can reach 96.22%. Based on the results of current study, the authors will, in projected future research, develop a real-time MDFA recognition system.
Convergence Analysis of a New MaxMin-SOMO Algorithm
Atlas Khan, Yan-Peng Qu, Zheng-Xue Li
Available online   doi: 10.1007/s11633-016-0996-0
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Stabilization for a Class of Discrete-time Switched Large-scale Systems with Parameter Uncertainties
Chang-Chun Sun
Available online   doi: 10.1007/s11633-016-0966-6
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A Novel Self-adaptive Circuit Design Technique based on Evolvable Hardware
Jun-Bin Zhang, Jin-Yan Cai, Ya-Feng Meng, Tian-Zhen Meng
Available online   doi: 10.1007/s11633-016-1000-8
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Simultaneous Identification of Process Structure, Parameter and Time-Delay Based on Non-Negative Garrote
Jian-Guo Wang, Qian-Ping Xiao, Tiao Shen, Shi-Wei Ma, Wen-Tao Rao, Yong-Jie Zhang
Available online   doi: 10.1007/s11633-015-0948-0
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Energy Efficient Scheduler of Aperiodic jobs for Real-Time Embedded Systems
Hussein El Ghor, E. M. Aggoune
Available online   doi: 10.1007/s11633-016-0993-3
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Design of Ethernet based data acquisition system for yaw rate and longitudinal velocity measurement in automobiles
K. Arun Venkatesh, N. Mathivanan
Available online   doi: 10.1007/s11633-016-0968-4
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Current Issue

2019 Vol.16 No.2

Table of Contents

ISSN 1476-8186

E-ISSN 1751-8520

CN 11-5350/TP

Editors-in-chief
Tieniu TAN, Chinese Academy of Sciences Guoping LIU, University of South Wales Huosheng HU, University of Essex
Global Visitors