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This paper proposes a new method to design a reinforcement learning-based integrated kinematic and dynamic tracking control scheme for a nonholonomic wheeled mobile robot. The scheme uses just only one neural network to design an online adaptive synchronous policy iteration algorithm implemented as an actor critic structure. Our tuning law for the single neural network not only learns online a tracking-HJB...
The significance of Non-negative Matrix Factorization ((NMF) in the field of automatic text summarization is rapidly increasing due to its interpretation and storage capabilities. Interpretation defines the ease at which the structure of high dimensional data can be understood. While, storage capability relates to the extent of data reduction process achieved by NMF. The parametric values that serve...
Cybersecurity awareness and cyber skills training are vitally important and challenging. A huge number of attacks against everyday users occur routinely. Prevention techniques and responses are wide ranging but are only effective if used effectively. The objective of this research is to teach everyday users the requisite cybersecurity skills through gaming, beyond the current state of practice. Because...
Wind turbines change the network topology and affects on overcurrent protection philosophy. In this paper different short circuit faults including three-phase, two-phase and single-phase are considered. Also, three types of wind turbine generators such as induction, synchronous and doubly fed generators are considered during simulation. For each type of faults and generators FFT analysis is done and...
Ground intelligent robot may fall across some unpredictable tasks and environmental conditions. Traditional methods on ability evaluation barely concern fuzziness and randomness of system. This paper presents a method with uncertainty measurement theory to evaluate the environmental recognition ability of intelligent robot. Firstly, a cloud model with parameters including expectation, entropy and...
The aim of this study is to develop a theoretical model to investigate arm free standing of paraplegic individuals using a new designed Hip-Knee-Ankle-Foot Orthosis (HKAFO). To this end, a serial five-link chain with two degrees of freedom, representing the subject and orthosis has been considered in sagittal plane, and the equations of motion were derived. Due to great importance of anthropometry...
Unmanned Aerial Vehicles (UAVs) are currently a very interesting field of research in the modern scientific community, especially in their application to military operations. In this paper we focus on the Tilt-rotor UAV. This is a UAV capable of Vertical Take-Off and Landing (VTOL), with a rotor on each side of its airframe. Each rotor can be tilted independently to provide both lift and forward thrust...
Application of robotic manipulators for grinding purposes may cause unreasonable behavior during grinding of uneven surfaces such as damaging workpiece surface, or following undesired roughness of the surface depending on the control strategy. This paper presents an adaptive control strategy which is a combination of a closed loop position control to track the desired path, an open loop force control...
In this paper a tele-operated robot system is presented for transporting and stabilizing a ball rolling on a tray. A ball on a tray is a very sensitive system. Therefore it can be used to make lateral forces visible. In our experimental setup a round tray of 25 cm in diameter is attached to the end effector of an industrial robot manipulator. A small ball is placed on the tray. The position of the...
This paper presents an electronically tunable voltage-mode universal biquadratic filter with single input and five outputs employing six operational transconductance amplifiers, two grounded capacitors and one resistor. The proposed circuit can realize voltage-mode low-pass, band-pass, high-pass, band-stop and all-pass filter responses without inverting-type input signal requirements. The natural...
In-vehicle information provision services have started according to the progress of data communication infrastructure surrounding vehicles. In such information services, a large amount of data related to vehicles and drivers has been accumulated to the data-center and also been analyzed to provide proper information to drivers. Towards such a technical trends surrounding vehicles, a cyber physical...
This paper presents a new current-controlled current-mode third-order quadrature oscillator. The proposed circuit employs only one modified current-controlled current follower transconductance amplifier (MCCCFTA) and three grounded capacitors which is highly suitable for integrated circuit implementation. Also four quadrature current output terminals possess high impedance level which can be directly...
This paper presents an electronically tunable versatile multifunction voltage-mode biquadratic filter with four inputs and four outputs employing six single-ended operational transconductance amplifiers and two grounded capacitors, which is very suitable for integrated circuit implementation. The proposed circuit can simultaneously realize low-pass, band-pass, high-pass, band-stop and all-pass voltage...
This paper presents an electronically tunable versatile biquadratic filter. Unlike the typical voltage-mode and current-mode filter, the proposed filter can realize voltage-mode, current-mode, transconductance-mode and transresistance-mode transfer functions without changing the circuit topology, called a mixed-mode filter. The proposed structure employs six operational transconductance amplifiers,...
The emergence of cloud computing, envisioned as the future generation of computing model for its major advantages in on-demand self-service, ubiquitous network access, location independent resource pooling and transference of risk, has established a trend towards building massive, energy-hungry and geographically distributed data centers. It is the latest developments of computing models after distributed...
This paper proposes a high level hardware architecture for safe cyber-physical systems taking into account security concerns. The in the safety domain well known one-out-of-two (1oo2) architecture is extended to allow the implementation of security measures which are designed in a way to be independent from the safety functionality of the system so that the security parts do not have to undergo the...
Defect measurement is an important method in the improvement of software quality. Recent approaches of defect measurement are inappropriate to small software organizations by reason of their intricacy. This paper gives a simple approach of defect measurement, which integrates the power of product metrics with process metrics, i.e., it can not only detect the defect-prone modules, but also find the...
Supervisory Control and Data Acquisition (SCADA) is used in modern power system for monitoring, controlling, gathering the information, transfer to information back to a central station, carry out necessary analysis and control carry out necessary analysis and control. A SCADA system involves the integrated technologies of computer, communication, electric devices etc. Here the communication media...
The United States Department of Agriculture (USDA) requires that formed meat products should be cooked to a specified minimum internal temperature to eliminate harmful bacteria most notable of which is E Coli. In order to meet this requirement, ready-to-eat meat products are tested on exit from an oven.
Intensive research in networking has fueled significant development in scale and diversity of networks such as wireless sensor networks and ad-hoc networks. It becomes difficult to design communication protocols for large-scale ad-hoc sensor networks. Node clustering is a key technique for extending the lifetime of a network by reducing energy consumption which can also increase network scalability...
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