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2010 7th International Multi- Conference on Systems, Signals and Devices最新文献

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Vibration controllability and observability of a single-link flexible manipulator 单连杆柔性机械臂的振动可控性和可观测性
Pub Date : 2010-06-27 DOI: 10.1109/SSD.2010.5585564
Mariam Baroudi, Mohamad Saad, W. Ghié, A. Kaddouri, H. Ziade
This work presents a comparative study of two different control strategies for a flexible single-link robotic manipulator. The dynamic model of the flexible manipulator involves modeling the rotational base and the flexible link as rigid bodies using Lagrange's method. The resulting system has one rigid Degree-Of-Freedom (1 DOF). Two types of regulators are studied and discussed: the State-Feedback controller, and the Linear-Quadratic regulator (LQR). While the latter is obtained by resolving the Riccati equation, the state-feedback consists on poles placement. A simulation is performed on MATLAB (7.5.0)/SIMULINK (V7.0)®, and later on, experiments were achieved on the flexible beam Quanser module. Experimental results are presented and compared at the end of this paper.
本文对柔性单连杆机械臂的两种不同控制策略进行了比较研究。柔性机械臂的动力学模型是采用拉格朗日方法将转动基座和柔性连杆作为刚体建模。所得到的系统具有一个刚性自由度(1 DOF)。研究和讨论了两种类型的调节器:状态反馈控制器和线性二次调节器(LQR)。后者是通过求解Riccati方程得到的,而状态反馈则是由极点的位置决定的。在MATLAB (7.5.0)/SIMULINK (V7.0)®平台上进行了仿真,并在柔性波束全射模块上进行了实验。最后给出了实验结果并进行了比较。
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引用次数: 8
Comparison between Neural Network based PI and PID controllers 基于神经网络的PI与PID控制器的比较
Pub Date : 2010-06-27 DOI: 10.1109/SSD.2010.5585598
Mohammed Y. Hassan, G. Kothapalli
The Pneumatic actuation systems are widely used in industrial automation, such as drilling, sawing, squeezing, gripping, and spraying. Also, they are used in motion control of materials and parts handling, packing machines, machine tools, and in robotics; e.g. two-legged robot. In this paper, a Neural Network based PI controller and Neural Network based PID controller are designed and simulated to increase the position accuracy in a pneumatic servo actuator. In these designs, a well-trained Neural Network provides these controllers with suitable gains depending on feedback representing changes in position error and changes in external load force. These gains should keep the positional response within minimum overshoot, minimum rise time and minimum steady state error. A comparison between Neural Network based PI controller and Neural Network based PID controller was made to find the best controller that can be generated with simple structure according to the number of hidden layers and the number of neurons per layer. It was concluded that the Neural Network based PID controller was trained and generated with simpler structure and minimum Mean Square Error compared with the trained and generated one used with PI controller.
气动驱动系统广泛应用于工业自动化中,如钻孔、锯切、挤压、夹持、喷涂等。此外,它们还用于材料和零件处理,包装机,机床和机器人的运动控制;例如两条腿的机器人。为了提高气动伺服执行器的位置精度,设计并仿真了基于神经网络的PI控制器和基于神经网络的PID控制器。在这些设计中,训练有素的神经网络根据表示位置误差变化和外部负载力变化的反馈为这些控制器提供适当的增益。这些增益应使位置响应保持在最小超调、最小上升时间和最小稳态误差之内。将基于神经网络的PI控制器与基于神经网络的PID控制器进行比较,根据隐含层数和每层神经元数寻找结构简单的最佳控制器。结果表明,与使用PI控制器训练生成的PID控制器相比,基于神经网络训练生成的PID控制器结构更简单,均方误差最小。
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引用次数: 26
Design and simulation of single stage single switch input current shaping circuit for AC/DC converter based on PWM technique 基于PWM技术的交直流变换器单级单开关输入电流整形电路的设计与仿真
Pub Date : 2010-06-27 DOI: 10.1109/SSD.2010.5585584
Mahmoud Milad Alagele, M. Abdalla, A. Zerek
In this paper a simple single-stage single-switch input-current shaping (S4ICS) circuit was designed, simulated and tested for AC/DC converter which generates input current harmonics due to its non-linear characteristics. A sinusoidal input current with nearly unity distortion factor was achieved through current harmonics mitigation by using PWM boost regulator. The circuit utilizes the charging and discarching increments of boost inductor current to shape a sinusoidal input current. Inductor current was controlled by means of PWM controller. The controller accepts two feed back signals, the first is the inductor current and the other is the output voltage of the AC/DC converter. The simulation results of fast fourier transform (FFT) show the great reduction in current harmonic which in turns tends to a great improvement in power factor and the sinusoidal shape of input current‥
针对AC/DC变换器由于其非线性特性而产生输入电流谐波的问题,设计了一种简单的单级单开关输入电流整形电路,并进行了仿真和测试。通过采用PWM升压调节器抑制电流谐波,实现了失真系数接近于1的正弦输入电流。该电路利用升压电感电流的充电和丢弃增量来形成正弦输入电流。采用PWM控制器对电感电流进行控制。控制器接受两个反馈信号,一个是电感电流,另一个是AC/DC变换器的输出电压。快速傅立叶变换(FFT)的仿真结果显示,电流谐波大大降低,从而大大改善了功率因数和输入电流的正弦形状
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引用次数: 2
Implementation of 8-point Slantlet transform based polynomial cancellation coding-OFDM system using FPGA 基于8点小波变换的多项式对消编码ofdm系统的FPGA实现
Pub Date : 2010-06-27 DOI: 10.1109/SSD.2010.5585601
H. Abdullah, Safa’a A. Ali
The objective of this paper is to implement a baseband OFDM transceiver on FPGA hardware. The design uses 8-point SLT/ISLT (Slantlet/Inverse Slantlet) for the processing module with processing block of 8 inputs data wide. All modules are designed and implemented using VHDL programming language. Software tools used in this work includes Altera Quartus II 7.2 and ModelSim Altera 6.1g, to assist the design process and downloading process into FPGA board while Cyclone III board EP3C120F780C7 is used to realize the designed module.
本文的目标是在FPGA硬件上实现一个基带OFDM收发器。本设计采用8点SLT/ISLT(小波/逆小波)作为处理模块,处理块为8个输入数据宽度。所有模块均采用VHDL编程语言进行设计和实现。本工作使用的软件工具包括Altera Quartus II 7.2和ModelSim Altera 6.1g,辅助设计过程和将过程下载到FPGA板上,使用Cyclone III板EP3C120F780C7实现所设计的模块。
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引用次数: 6
Coverage planning in 3G multimedia networks based on Walsh coding 基于Walsh编码的3G多媒体网络覆盖规划
Pub Date : 2010-06-27 DOI: 10.1109/SSD.2010.5585510
O. Alani, O. Daoud, I. Abu-Isbeih
Capacity in Wideband Code Multiple Access (WCDMA) systems is interference limited, it is also strongly linked with coverage. The greater the level of influx of users within the cell, the higher the interference and hence the lower the cell coverage becomes and vice versa. This is called Cell Breathing. In this paper a Walsh coding is used as a precoding stage to the Multiple-Input Multiple Output-Orthogonal Frequency Division Multiplexing (MIMO-OFDM) system. The results of this work are compared with a conventional work that is based on convolutional coding. This is in order to check its fitness to the current system structure and the enhancement of the Eb/No, which will directly result in a better cell coverage and continued reliable services for the area of the cell as the load increases. Based on the simulation results, Walsh coding shows a slight improvement of complemetary cumulative distribution function (CCDF). As a consiquence, the MIMO-OFDM systems' performance is improved comparing with the covolutionally coded MIMO-OFDM system. Thus, not only the Peak-to-Average Power Ratio (PAPR) is saved, but also the frequency spectrum efficiency is improved.
宽带码分多址(WCDMA)系统的容量受到干扰的限制,它也与覆盖密切相关。小区内的用户涌入越多,干扰就越高,因此小区的覆盖率就越低,反之亦然。这叫做细胞呼吸。本文采用Walsh编码作为多输入多输出正交频分复用(MIMO-OFDM)系统的预编码级。本文的研究结果与基于卷积编码的传统研究结果进行了比较。这是为了检查其对当前系统结构的适应性和Eb/No的增强,这将直接导致更好的小区覆盖和随着负载增加对小区区域的持续可靠服务。仿真结果表明,Walsh编码对互补累积分布函数(CCDF)有一定的改进。因此,MIMO-OFDM系统的性能比进化编码的MIMO-OFDM系统有了很大的提高。这样不仅节省了峰值平均功率比,而且提高了频谱效率。
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引用次数: 1
Stability analysis of a two-cell DC/DC converter using a dynamic time delayed feedback controller 采用动态时滞反馈控制器的双单元DC/DC变换器稳定性分析
Pub Date : 2010-06-27 DOI: 10.1109/SSD.2010.5585543
K. Koubaâ, M. Feki, A. El Aroudi, B. Robert, N. Derbel
In this paper, we are interested in studying the stability of the two-cell DC/DC buck converter. First, this system is described by a discrete nonlinear model in the state space. Next, we design a dynamic time-delayed feedback controller to assure equal distribution of the potential difference between the cells and to achieve a reference current through the load. According to the controller parameters, two cases are treated in this paper. A stability analysis of the system is carried out for each case. These results are confirmed with numerical simulations.
本文对双单元DC/DC降压变换器的稳定性进行了研究。首先,用状态空间中的离散非线性模型来描述系统。其次,我们设计了一个动态时滞反馈控制器,以确保单元之间的电位差均匀分布,并通过负载实现参考电流。根据控制器参数,本文分两种情况进行了分析。针对每种情况对系统进行了稳定性分析。数值模拟结果证实了上述结论。
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引用次数: 2
Detection and localization of cable faults by time and frequency domain measurements 基于时域和频域测量的电缆故障检测与定位
Pub Date : 2010-06-27 DOI: 10.1109/SSD.2010.5585506
Qinghai Shi, Uwe Troeltzsch, O. Kanoun
The localization of cable faults is very important for communication systems, power distribution systems and vehicles. Reflectometry methods are often used to detect and locate cable faults. A high-frequency signal is send down the cable. The reflected signal includes information about changes of cable impedance. With measurement of the time or phase delay the faults can be detected and located. These methods are used to detect open and short circuits. There are also techniques available for detecting frays, joints and other small anomalies. This paper describes and simulates different wire test methods that suitable for portable or in-situ test equipment and compares their advantages and disadvantages. The methods compared are the time domain reflectometry (TDR), time frequency domain reflectometry (TFDR) and frequency domain reflectometry (FDR).
电缆故障的定位对通信系统、配电系统和车辆都具有重要意义。反射法常用于检测和定位电缆故障。通过电缆发送高频信号。反射信号包含电缆阻抗变化的信息。通过测量时间或相位延迟,可以检测和定位故障。这些方法用于检测开路和短路。也有技术可用于检测磨损,关节和其他小的异常。本文介绍和模拟了适用于便携式或原位测试设备的不同导线测试方法,并比较了它们的优缺点。比较的方法有时域反射法(TDR)、时频域反射法(TFDR)和频域反射法(FDR)。
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引用次数: 57
Optimized fuzzy controller for mobile robot navigation in a cluttered environment 混沌环境下移动机器人导航的优化模糊控制器
Pub Date : 2010-06-27 DOI: 10.1109/SSD.2010.5585508
Najah Yousfi, C. Rekik, M. Jallouli, N. Derbel
Obstacle avoidance and path planning are the most important problems in mobile robots. In this paper, a fuzzy logic controller has been constructed in order to train an intelligent robot. Gradient method is used to optimize consequences of a Sugeno fuzzy logic controller for the mobile robot navigation, in order to reach a target in a clutterd environment. Not only simulation results are shown in this paper, but also the “real-time” implementation has been realized onto the mini robot Khepera II. Simulation results verify successfully the application of the proposed method to real motion situations.
避障和路径规划是移动机器人中最重要的问题。为了训练智能机器人,本文构造了一个模糊逻辑控制器。采用梯度法对移动机器人导航的Sugeno模糊控制器的结果进行优化,使其在杂乱环境下达到目标。本文不仅给出了仿真结果,而且在微型机器人Khepera II上实现了“实时”实现。仿真结果验证了该方法在实际运动中的应用。
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引用次数: 20
Wavelet in conjunction with Neural Network method for speech enhancement quality evaluation 将小波结合神经网络方法用于语音增强质量评价
Pub Date : 2010-06-27 DOI: 10.1109/SSD.2010.5585507
K. Daqrouq, G. Amer
Wavelet Neural Network Evaluation method WNNEM is proposed as a powerful tool for enhanced speech signal evaluation. This objective evaluation measure utilizes Feed forward back Propagation Neural Network FFBNN to train the free of noise signal, and then enhanced signal is simulated to the training output results taken for given target. The distance between simulation and the target, over different wavelet sub bands is studied. Four known speech enhancement method for studying the performance of WNNEM are utilized. The advantage of this method is the evaluation of different band passes of frequency based on wavelet transform by neural network, which is very influential tool for non stationary signals processing. Several objective measures are used to investigate the WNNEM compatibility. Results proved the validity of the proposed method.
小波神经网络评价方法(WNNEM)是一种增强语音信号评价的有力工具。该客观评价方法利用前馈-反传播神经网络FFBNN对无噪声信号进行训练,然后将增强后的信号模拟为给定目标的训练输出结果。研究了不同小波子带下仿真与目标的距离。利用四种已知的语音增强方法来研究WNNEM的性能。该方法的优点是基于小波变换的神经网络对不同频带通的频率进行评价,是一种对非平稳信号处理有重要影响的工具。采用了几种客观的测量方法来研究WNNEM的相容性。结果证明了该方法的有效性。
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引用次数: 0
An efficient pipeline execution of H.264/AVC intra 4×4 frame design 高效流水线执行H.264/AVC帧内4×4帧设计
Pub Date : 2010-06-27 DOI: 10.1109/SSD.2010.5585524
Smaoui Soulef, H. Loukil, A. Ben Atitallah, N. Masmoudi
In this paper, we present an implementation of an optimized H.264 intra 4×4 algorithm in order to reduce the time of the intra 4×4 process. However the source of waste time in conventional architecture of intra 4×4 is the serialization of intra prediction and reconstruction of sixteen 4×4 blocks in one macroblock and the intra prediction of the current 4×4 block cannot be performed before the reconstruction of the previous 4×4 block. Therefore, for a high speed implementation we replaced the conventional one by a pipelined architecture while maintaining consistency with the standard. So we have studied ten alternative scanning orders based on rearranging order of intra 4×4 and we choose the best one which reduce dependencies between consecutively executed blocks without performance degradation. This order is implemented by a pipelined architecture using VHDL language. The VHDL code is verified to work at 100 MHz in an ALTERA Stratix II EP2S60F1020C3 FPGA. As a result, the processing time is reduced by 31.25% compared to the conventional implementation. So, it can be a good solution for real-time video application. The H.264 intra 4×4 hardware and software are demonstrated to work together on ALTERA NIOS-II development board with Stratix II EP2S60F1020C3 FPGA.
在本文中,我们提出了一个优化的H.264 intra 4×4算法的实现,以减少intra 4×4过程的时间。然而,在传统的intra 4×4架构中,浪费时间的根源是在一个宏块中序列化16个4×4块的内部预测和重建,并且不能在重建前一个4×4块之前执行当前4×4块的内部预测。因此,对于高速实现,我们在保持与标准的一致性的同时,用流水线架构取代了传统的实现。因此,我们研究了10种基于内部重新排列顺序4×4的扫描顺序,并选择了最佳的扫描顺序,减少了连续执行块之间的依赖关系,而不会降低性能。该命令是通过使用VHDL语言的流水线架构实现的。VHDL代码经验证可在ALTERA Stratix II EP2S60F1020C3 FPGA中工作在100 MHz。因此,与传统实现相比,处理时间减少了31.25%。因此,它可以成为实时视频应用的一个很好的解决方案。演示了H.264内部4×4硬件和软件在ALTERA NIOS-II开发板上与Stratix II EP2S60F1020C3 FPGA一起工作。
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引用次数: 9
期刊
2010 7th International Multi- Conference on Systems, Signals and Devices
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