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This paper focuses on a lower limb walking assistant robot. This robot has been designed and modeled for two tasks of facilitating healthy people, and assisting patients for walking. First, basic concepts of the motion mechanism are presented. Next, its kinematics and dynamics equations have been developed. Kinematics analysis has been done using Denavit-Hartenberg scheme to obtain position, velocity...
This paper presents a robust airspeed controller for an unmanned aerial vehicle using the technique of µ-synthesis. This robust controller uses measured airspeed and pitch angle of the unmanned aerial vehicle and provides robust stability and performance against aerodynamic model uncertainties.
The infrared imaging technology is widely used in nondestructive and noninvasive imaging nowadays. The scientists and researches are showing much more interest to the expansion of this technology in medical imaging. The infrared images show a passive relationship between the body surface temperature and tissue metabolism. Determination of the metabolism rate, hyperactive region and depth from the...
Most of the reported control algorithms for uninterruptible power supplies use either inductor currents or capacitor currents of their filter as feedback variables to regulate the output voltage. This paper proposes a simple non linear control using current and voltage of a DC/AC inverter of an isolated three phase power network. Theoretical analysis and simulation results demonstrate fast response,...
We present a systematic approach for design of extremum seeking (ES) controllers for a class of uncertain plants that are parameterized with unknown parameters. First, we present results for static plants and show how it is possible to combine, under certain general conditions, an arbitrary optimization method with an arbitrary parameter estimation method in order to obtain extremum seeking. Our main...
The paper proposes a near-optimal, distributed implementation of the particle filter for large scale dynamical systems with sparse measurements, as in wireless sensor networks (WSN) and power distribution systems. Compared to the centralized approach, the distributed implementation of the particle filter is computationally efficient and provides considerable transmission bandwidth savings due to a...
In this paper we develop analytical closed form expression for the capacity of a wireless ad hoc network. First, for the general case when nodes can adapt their communication rates to the link quality, a proper formulation for the total network capacity is presented based on the cumulative distribution function (CDF) of the signal to interference power ratio (SIR). Then, a closed form expression for...
The total amount of capacity that can be obtained from a network is an essential performance metric. However, in wireless ad hoc networks, the dynamic topology and stochastic variations in channel characteristics, makes it difficult to analytically determine this metric. In this paper we develop analytical closed form expression for the network capacity. First the cumulative distribution function...
The purpose of this paper is to implement a new method for designation of fuzzy logic controller for STATCOM to improve the voltage profile. Because of the importance of power quality in industrial bus bars when the loads are numerous, the classic methods of control (because of inherent time delay) can not been used. Therefore the fuzzy controller has been developed to for compensation because of...
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