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This paper proposes a robotic walker with a standing or sitting assistance function. Although many assistance devices in previous works are specialized in only standing assistance or walking assistance, users need standing, walking and sitting assistance continuously from the same device. Our system focuses on domestic use for people who need nursing in their daily life such as elderly people. To...
Tactile texture is an important factor to determine to impression of an object. To measure a feeling of an object, a numerical evaluation method for tactile texture is required. In this paper, we propose a novel recognition method for tactile texture using deep convolutional neural networks. In proposed framework, the tactile texture information is obtained by analyzing a time-series data of a pressure...
In this paper, we discuss proportional data clustering. It emerges In many applications such as document clustering and Image classification using bag of visual words approach. When deploying mixture models for clustering, there Is always a problem of initialization, and It Is common to initialize using K-means algorithm. In proposed work, we present K-means clustering approach using different distance...
Real-time simulation of an electrical vehicle (EV) with hardware-in-the-loop is a cost-effective approach in evaluating the behavior of electrical vehicles and its controllers before applying them in a real system. This paper demonstrates a nonlinear approach of a real-time induction motor model implemented in a National Instrument real-time platform. Many studies have been conducted concerning on...
The aim of this paper is to develop a robust control algorithm for a five-link biped robot with one degree of underactuation to climb stairs in a natural manner. The biped consists of a five-link planar robot with two actuators at the hip and another two at the knee joints. A robust sliding mode controller is proposed to track gait trajectories while climbing stairs. The control signals are computed...
This paper introduces a novel control system of bipedal robots on uneven terrain. Since this method does not require to measure Zero Moment Point (ZMP), the tracking performance of the controller is not deteriorated by the noise on a measured ZMP. Moreover, the robot withstands frequent perturbations because of its two-degree-of-freedom structure. The robot is stabilized by Center of Mass (COM) regulation...
Many applications for machine-to-machine (M2M) communications are characterized by large numbers of devices with sporadic transmissions and subjected to low energy budgets. This work addresses the importance of energy consumption by proposing a new Medium Access Control (MAC) mechanism for improving the energy efficiency of IEEE 802.11ah, a standard targeting M2M communication. We propose to use the...
A technique of switched stator is employed in a radial Flux BLDC motor to improve the energy efficiency of an electric vehicle. Electric vehicle (EV) certainly, shall be a replacement to the gasoline engine vehicles in near future considering environment protection inadequacy of fuels. This concept is arrived for in wheel direct drive for a two wheeler which doesn't have any transmission mechanism...
In this paper, we present a theoretical and experimental study about the carrying capacity of flight dielectric elastomer (DE) balloon in electromechanical performance. This paper deals with some structures which are consist of helium balloons or air balloons based on theoretical analysis. We compared the two kinds of gas balloons at the same initial pressure, air and helium, there was no great difference...
This paper is concerned with the problem of designing a robust adaptive control strategy for flexible joint robots (FJR). Under the assumption of weak joint elasticity, FJR is firstly modeled and converted into singular perturbation form. The control law consists of a FAT-based adaptive control strategy and a simple correction term are then used to stability of the slow dynamics, and damp out the...
In this paper, we consider the event triggered control of the singularly perturbed linear system, where the communication between sensor and the controller/actuator is through a digital communication network and the transmission is based on some state dependent criterion. The models of slow and fast subsystems of the plant are added at the controller and are used for the estimation of states between...
This paper deals with coefficient of performance (COP) maximization of automotive R744 heat pump using Nelder-Mead simplex method. The COP maximum is searched using high-side pressure adjustment, what is possible and necessary during transcritical operation. Selected approach allows efficient heat pump operation, fast COP maximum localization, minimum number of needed actuator changes and resistance...
This paper discusses a novel method to validate Sustainable Saturation Operation (SSO) of ferrite inductors in switching power supplies design. SSO is achieved when an inductor operates in partial saturation, with ripple current, power losses and temperature rise fulfilling reliability and efficiency requirements. Achieving inductors SSO permits to reduce the size of power supplies. The method presented...
Adoption of Battery Energy Storage Systems (BESSs) for provision of grid services is increasing. This paper investigates the applications of BESS for the grid upgrade deferral and voltage support of Medium Voltage (MV) distribution systems. A BESS is modelled in Matlab/Simulink to perform peak load shaving and voltage support service from the perspective of Distribution System Operators (DSOs). An...
This paper presents a step by step modeling of a new improved hybrid photovoltaic fed distributed static compensator (PV-DSTATCOM) in a-b-c reference frame. Further the system average model is transformed to orthogonal synchronous (d-q) reference frame. The new improved PV-DSTATCOM is used to compensate the current distortion and reactive power, generated by a non-linear three phase bridge uncontrolled...
In this paper a generalized formulation for Selective Harmonic Mitigation Pulse Amplitude Modulation (SHM-PAM) has been presented to control Cascaded H-bridge (CHB) inverter with non-equal DC sources. Consistent with the proposed SHM-PAM technique, switching angles are attained constant while the calculated magnitudes of DC sources vary linearly for all modulation indexes (ma). In fact, in the SHM-PAM,...
Current control method for single phase LCL grid connected inverters is presented. The controller is designed as a combination of feed-forward and sliding mode control. While feed-forward will play the main role in the steady state, the sliding mode controller will be active in case of parameters uncertainties and/or disturbances. The pulsed nature of the pulse width modulator is taken into account...
This paper discusses a cost-effective technique for dynamic testing of DC-DC power supplies, based on the injection of a signal into the feedback loop of a DC-DC regulator, which makes it operating as a dynamic source or a dynamic load. The theoretical background and the practical implementation of the technique are investigated. Guidelines are provided to determine the static set-up and the bandwidth...
Accurate state of charge (SOC) is critical for battery energy management system in electric vehicle (EV) application. Overcharge and over discharge will shorten battery's lifespan and induce potential safety problem, which may even permanently damage the lithium-ion battery. Thus, a data driven model is proposed for improving the accuracy of SOC estimation in this paper. A preliminary mathematic model...
This paper presents the modeling and control of wind system using the permanent magnet synchronous generator (PMSG) connected with the grid via a three phase converter AC/DC/AC through LCL filter. The objectives of the control are: (i)forcing the generator speed to track a varying reference signal, (ii)assuring a satisfactory power correction (PFC) respecting to the power supply grid, (iii) regulating...
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