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Environment Recognition for Controlling Lower-Limb Exoskeletons, by Computer Vision and Deep Learning Algorithm
2022 8th International Conference on Control, Instrumentation and Automation (ICCIA)
Year: 2022 | Conference Paper |
Cited by: Papers (2)
Nowadays, there are millions of people with movement disabilities around the world. In recent decades, robotic devices like exoskeletons have been designed for helping such people. Designing an advanced control system for these devices became a challenge for engineers. Most of the exoskeletons and leg prostheses switch between different locomotion modes manually, and it causes some demanding and h...Show More
Learning Influential Cognitive Links in Social Networks by a New Hybrid Model for Opinion Dynamics
Seyed Mahmood Nematollahzadeh;Sadjaad Ozgoli;Mohammad Sayad Haghighi;Alireza Jolfaei
A principled approach to modeling sociocognitive networks is fundamental to understanding the network interrelations which in turn can be used in many applications such as human behavior analysis or team performance assessment. More specifically, in the opinion domain, learning the cognitive links and making a proper model for causal relationships between individuals is necessary for both analysis...Show More
Modeling of Human Cognition in Consensus Agreement on Social Media and Its Implications for Smarter Manufacturing
Seyed Mahmood Nematollahzadeh;Sadjaad Ozgoli;Alireza Jolfaei;Mohammad Sayad Haghighi
Opinion dynamics modeling has long been interesting to scientists because of its applications in the marketing industry as well as elections. Agreement, e.g., on a special product, has an affective influence on its manufacturing process. However, most of the existing opinion dynamics models are linear time invariant. In this article, eight non-linear time variant models for opinion dynamics are pr...Show More
Optimal gait design for the lower extremity exoskeleton (Exoped)
2019 6th International Conference on Control, Instrumentation and Automation (ICCIA)
Year: 2019 | Conference Paper |
Cited by: Papers (1)
Assistive robots have been grown in recent years and joints’ moving pattern is one of the important issues in these robots. The predefined trajectory for the robot brings some stability difficulties for the users. This paper introduces a systematic way to produce an optimal gait for the controller of the lower extremity exoskeleton. This optimal gait producing strategy releases us from the exhaust...Show More
Improving energy consumption in Exoped® Lower-limb Exoskeleton by means of Functional Electrical Stimulation
2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)
Year: 2018 | Conference Paper |
Walking and standing are the two fundamental problems in patients with spinal cord injury. Gait disorders in neurologically disabled people can be treated by various techniques available today. Exoskeleton robots and functional electrical stimulation (FES) are the two important solutions in this field. However, each of them has its own drawback. The patient using an exoskeleton doesn't participate...Show More
A novel approach to reduce oscillations in path planning based on potential field approach, by applying Nesterov's accelerated gradient
2017 Iranian Conference on Electrical Engineering (ICEE)
Year: 2017 | Conference Paper |
Cited by: Papers (1)
This paper presents a method to reduce the oscillations of potential field-based path planning approach in presence of obstacles and in narrow passages. The oscillation issue might impede path planning progress and cause problems in implementation. The proposed method uses Nesterov's accelerated gradient (NAG) which is a first order optimization method. Compared to other first order methods used i...Show More
Opinion influence network identification, using convex programming
2016 8th International Symposium on Telecommunications (IST)
Year: 2016 | Conference Paper |
Cited by: Papers (2)
Recently, significant attention has been dedicated to the models of opinion dynamics in which opinions are described by real numbers and agents update their opinions synchronously by averaging their neighbors' opinions. One notable example in this setting is DeGroot model which studies in a fixed network how consensus is formed when individual opinions are updated using the average of the neighbor...Show More
A novel gene selection method using GA/SVM and fisher criteria in Alzheimer's disease
2015 23rd Iranian Conference on Electrical Engineering
Year: 2015 | Conference Paper |
Cited by: Papers (3)
Identification of those genes which cause diseases can develop the process of diagnosis and the treatment of diseases. In this paper, a gene selection method based on genetic algorithm (GA) and support vector machines (SVM) is presented. At first, Fisher criteria is utilized in order to do filtration for those genes which are noisy and redundant in high dimensional microarray data. Then, GA/SVM mo...Show More
Robust stability for bilateral teleoperation systems under time-varying delay by communication disturbance observer
2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)
Year: 2014 | Conference Paper |
Cited by: Papers (2)
In time-delayed systems in which the time delay is unknown and unpredictable, to guarantee the stability of the system, a compensation method should be used. In this paper, this method is based on the concept of network disturbance and communication disturbance observer (CDOB), which does not need the time delay model. Therefore, it can be implemented in teleoperation systems that contain communic...Show More
In this paper it is shown that the widely used lognormal path loss signal propagation model may not be a good choice for every indoor environment. Instead, a non-monotonic signal propagation model for an indoor environment is presented. This model, combined with received signal strength values, relative distance and directional information can exhibit several applications. As an example, access po...Show More
Time delay sensitivity analysis in a Wireless Network Control System using LMI approach
Mohammad Mahdi Delbari;M. Taghi Hamidi Beheshti;Amin Ramezani;Sadjaad Ozgoli
A Wireless Network Control System (WNCS) with time delay and possibility of packet dropouts is considered. As we know packet dropouts and time delays are much more of concern in wireless data networks compared to wired networks. Because of this importance the sensitivity of the designed controller for the discussed WNCS is studied when various time delay profiles are present in the networked contr...Show More
Delay-dependent filtering for stochastic nonlinear genetic regulatory networks with time-varying delays and extrinsic noises
2013 21st Iranian Conference on Electrical Engineering (ICEE)
Year: 2013 | Conference Paper |
In this paper, the delay-dependent filtering problem is investigated for a more realistic nonlinear genetic regulatory network (GRN) with time-varying delays, stochastic intrinsic noises and extrinsic noise, where the stochastic noises exist in both the state dynamics and measurement equations. The purpose of the addressed filtering problem is to estimate the true concentrations of gene products s...Show More
Control of nonlinear bilateral teleoperation system using sum of squares analysis
2013 First RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)
Year: 2013 | Conference Paper |
In this paper a new method is proposed in order to guarantee stability and improved position tracking and force reflection for a nonlinear teleoperation system. This method is based on Lyapunov stability theorem and It is applied by algorithmically constructing appropriate Lyapunov-Krasovskii function via using the sum of squares programming. In current paper slave robot has interaction with nonli...Show More
A polynomial modeling and state feedback control of blood glucose regulatory in diabetic patients
2012 4th International Conference on Intelligent and Advanced Systems (ICIAS2012)
Year: 2012 | Conference Paper |
Cited by: Papers (4)
In this paper a new linear state feedback controller for artificial pancreas is proposed to regulate the blood glucose level in diabetic patients. Diabetes mellitus is a family of chronic metabolic diseases in which body's blood glucose regulatory system doesn't function properly. In this study, Bergman's minimal model has been used as a base model, to reformulate dynamics of insulin and glucose c...Show More
Blood glucose regulation using fuzzy recursive fast terminal sliding mode control
2012 4th International Conference on Intelligent and Advanced Systems (ICIAS2012)
Year: 2012 | Conference Paper |
Cited by: Papers (1)
Current paper presents a recursive fast terminal sliding mode controller used to regulate blood glucose concentration. The fast terminal sliding mode controller makes the output to converge to the equilibrium point robustly and in finite time. In the controller of the system, the gain will be selected a priori based on the magnitude of uncertainty. The bound of uncertainties usually cannot be calc...Show More
An ILMI approach to robust fault detection filter for a drum boiler system through a time-domain H-index norm method
20th Iranian Conference on Electrical Engineering (ICEE2012)
Year: 2012 | Conference Paper |
Robust fault detection filter (RFDF) is mainly designed to detect faults in linear time-invariant (LTI) systems inherently exposed to external disturbances. H-index norm technique is one of the RFDF designing methods. The main idea of our study is to apply a continuous H-index method to a real boiler model which is made proper by adding an auxiliary direct channel. A high pass filter is augmented ...Show More
A new impedance control structure for leg Rehabilitation Robot
The 2nd International Conference on Control, Instrumentation and Automation
Year: 2011 | Conference Paper |
Cited by: Papers (5)
Gait Rehabilitation Robot is an important and useful machine collaboration robot, which can operate the limbs that affected by a stroke or disorder like paraplegic to improve their normal operation. The control algorithms that are applied to set up should have good flexibility and safety to guarantee the effectiveness and comfort of the physiotherapies. The impedance control algorithm is one of th...Show More
Robust PI design for chaos control using sum of squares approach
The 2nd International Conference on Control, Instrumentation and Automation
Year: 2011 | Conference Paper |
Cited by: Papers (3)
This paper deals with the problem of designing a robust proportional-integral controller for a Lorenz chaotic system. The design methodology is based on a so called density function and formulated as a convex optimization program and solved by using sum of squares techniques. The robustness is guaranteed by exploiting parametric uncertainty bounds in design formulations in a manner similar to S-Pr...Show More
Delay-dependent filter design for nonlinear delayed genetic regulatory networks with intrinsic and extrinsic noises
The 2nd International Conference on Control, Instrumentation and Automation
Year: 2011 | Conference Paper |
Cited by: Papers (1)
This paper investigates a delay-dependent L2 - L∞ filter design method for genetic regulatory networks (GRNs). The purpose of the addressed problem is to design a linear filter that can estimate the true concentrations of gene products such as mRNAs and proteins. At first, a nonlinear delayed GRN model is considered under intrinsic and extrinsic noises simultaneously in order to reflect the inhere...Show More
Design and implementation of automatic transmission electronic control system for mining trucks
2011 International Conference on System science, Engineering design and Manufacturing informatization
Year: 2011 | Conference Paper |
Cited by: Papers (3)
Based on the algorithm and control strategies of automatic transmission in the Truck, electronic control unit (ECU) are designed. Furthermore, a design model is applied to optimize shift quality and also to reduce test time. The circuit diagram of electronic control unit (ECU) hardware composes of power supply module, signal input channels, signal output channels, data storage module, driver circu...Show More
Delay-independent robust stability analysis of teleoperation
2011 Chinese Control and Decision Conference (CCDC)
Year: 2011 | Conference Paper |
Cited by: Papers (6)
This paper considers the robust stability of uncertain teleoperation systems. Sufficient stability conditions are derived in terms of LMI by representing the teleoperation scheme in retarded form of time-delay systems. By choosing Lyapunov-Krasovski functional, a delay-independent robust stability criterion is presented. We show that the teleoperation system is stable and has good performance unde...Show More
Delay-independent stability analysis of internet-based tele-operation
2011 International Symposium on Computer Networks and Distributed Systems (CNDS)
Year: 2011 | Conference Paper |
This paper presents a sufficient stability condition for internet-based tele-operation systems in terms of LMI. The tele-operation scheme is modeled in state-space as a time-delay system in retarded form and a delay-independent stability criterion is extracted. By choosing Lyapunov-Krasovski functional, we show that the internet-based tele-operation system is stable and has good performance under ...Show More
Application of a new multivariable sliding mode controller for the single machine infinite bus systems
H. Khomami Pamsari;M. Alizadeh Bidgoli;M. Rajabzadeh;S.M.T. Bathaee;S. Ozgoli
2011 2nd Power Electronics, Drive Systems and Technologies Conference
Year: 2011 | Conference Paper |
Cited by: Papers (1)
This paper presents two multivariable nonlinear stabilizers, designed for a single machine infinite bus (SMIB) modeled by a standard ninth-order model. Multivariable feedback linearization (MFBL) and multivariable sliding mode control (MSMC) are proposed to regulate the output voltage and track the reference rotor angle at post-fault conditions. It is the first time that The MSMC method is designe...Show More
Control of chaotic uncertain brushless dc motors
Sara Dadras;Farzaneh Motallebzadeh;Foroogh Motallebzadeh;Sadjaad Ozgoli;Hamid Reza Momeni
2009 IEEE International Conference on Control and Automation
Year: 2009 | Conference Paper |
Cited by: Papers (4)
In this paper, the problem of controlling chaotic uncertain brushless dc motor, exposed to external disturbances, is considered. Two different methods, feedback linearization and sliding mode control, are used to suppress chaos and regulate the system around one of its unstable equilibrium points. Although being able to do the job of regulating and also tracking very well, feedback linearization m...Show More
Controlling chaos in Arneodo system
Farzaneh Motallebzadeh;Foroogh Motallebzadeh;Sara Dadras;Sadjaad Ozgoli
2009 17th Mediterranean Conference on Control and Automation
Year: 2009 | Conference Paper |
Cited by: Papers (4)
In this paper, the problem of controlling chaos in Arneodo chaotic system is considered for the first time. Three different methods, feedback linearization, backstepping design and sliding mode control, are used to suppress chaos and regulate the system around one of its unstable equilibrium points. Simulation results show that all these three methods are efficient. We may also make the system rob...Show More
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