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Electrical and Computer Engineering Faculty Research & Creative Works

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Full-Text Articles in Engineering

Optimal Control Parameters For A Upfc In A Multimachine Using Pso, Ganesh K. Venayagamoorthy Jan 2005

Optimal Control Parameters For A Upfc In A Multimachine Using Pso, Ganesh K. Venayagamoorthy

Electrical and Computer Engineering Faculty Research & Creative Works

The crucial factor affecting the modern power systems today is load flow control. The unified power flow controller (UPFC) is an effective means for controlling the power flow and can provide damping capability during transient conditions. The UPFC is controlled conventionally using PI controllers. The optimal design of the PI controllers for a UPFC is a challenging task and time consuming using the conventional techniques. This paper presents an approach using particle swarm optimization (PSO) for the design of optimal conventional controllers for a UPFC in a multimachine power system. Simulation results are presented to show the effectiveness of the …

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A Measure Of Robustness Against Multiple Kinds Of Perturbations, Shoukat Ali, Behdis Eslamnour Jan 2005

A Measure Of Robustness Against Multiple Kinds Of Perturbations, Shoukat Ali, Behdis Eslamnour

Electrical and Computer Engineering Faculty Research & Creative Works

Parallel and distributed heterogeneous computing systems may operate in an environment that undergoes unpredictable changes causing certain system performance features to degrade. Such systems need robustness to guarantee limited degradation despite fluctuations in the behavior of its component parts or environment. Our previous work in this area presented a method for generating a measure of robustness for a given system. However, the focus of that approach was on a scenario where all perturbations were of the same kind, e.g., all perturbations were in message sizes or computation times, but not both message sizes and computation times. This paper gives an …

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A New Microsensor System For Plant Root Zone Monitoring, Chang-Soo Kim, Sandeep Sathyan, D. M. Porterfield Jan 2005

A New Microsensor System For Plant Root Zone Monitoring, Chang-Soo Kim, Sandeep Sathyan, D. M. Porterfield

Electrical and Computer Engineering Faculty Research & Creative Works

The objective of this work is to develop a new microsensor system that can monitor dissolved oxygen and hydration environment at the plant root zone. A miniaturized plant growth system is prepared including the root zone layer, either a porous ceramic tube or porous ceramic wafer on which the plant is grown, and an underlying fluidic channel to deliver nutrients and water to the root zone. We demonstrate the feasibility of using a flexible microsensor array for dissolved oxygen detection, and a four-electrode impedance microelectrode for wetness detection on the surface of a porous tube nutrient delivery system. The unique …

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Esd Susceptibility Characterization Of An Eut By Using 3d Esd Scanning System, Kai Wang, Jayong Koo, Giorgi Muchaidze, David Pommerenke Jan 2005

Esd Susceptibility Characterization Of An Eut By Using 3d Esd Scanning System, Kai Wang, Jayong Koo, Giorgi Muchaidze, David Pommerenke

Electrical and Computer Engineering Faculty Research & Creative Works

Electrostatic discharges (ESD) can lead to soft-errors (e.g., bit-errors, wrong resets etc.) in digital electronics. The use of lower threshold voltages and faster I/O increases the sensitivity. In the analysis of ESD problems, an exact knowledge of the affected pins and nets is essential for an optimal solution. In this paper, a three dimensional ESD scanning system which has been developed to record the ESD susceptibility map for printed circuit board is presented and the mechanisms that the ESD event couples into the digital devices is studied. The ESD susceptibility of a fast CMOS EUT is characterized by generating the …

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Genetic Algorithms Based Economic Dispatch With Application To Coordination Of Nigerian Thermal Power Plants, Ganesh K. Venayagamoorthy, G. A. Bakare, U. O. Aliyu, Y. K. Shu'aibu Jan 2005

Genetic Algorithms Based Economic Dispatch With Application To Coordination Of Nigerian Thermal Power Plants, Ganesh K. Venayagamoorthy, G. A. Bakare, U. O. Aliyu, Y. K. Shu'aibu

Electrical and Computer Engineering Faculty Research & Creative Works

The main focus of this paper is on the application of genetic algorithm (GA) to search for an optimal solution to a realistically formulated economic dispatch (ED) problem. GA is a global search technique based on principles inspired from the genetic and evolution mechanism observed in natural biological systems. A major drawback of the conventional GA (CGA) approach is that it can be time consuming. The micro-GA (µGA) approach has been proposed as a better time efficient alternative for some engineering problems. The effectiveness of CGA and µGA. to solving ED problem is initially verified on an IEEE 3-generating unit, …

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Making The Graduate-Industry Connection, Mariesa Crow Jan 2005

Making The Graduate-Industry Connection, Mariesa Crow

Electrical and Computer Engineering Faculty Research & Creative Works

Many utilities are beginning to ramp up their recruiting and hiring efforts to attract bright young engineering graduates into the industry to replace the large numbers of engineers that have recently retired or will retire in the next few years. Unfortunately, the long drought in hiring brought on by the uncertainty of deregulation and the perspective that the industry is "old and conservative" has caused a mismatch in the interests of young engineers and the companies that want to hire them. in addition, the number of young people pursuing engineering degrees is decreasing as they become attracted to other lucrative …

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Modulation Of Millimeter Waves By Acoustically Controlled Hexagonal Ferrite Resonator, Marina Koledintseva, Alexander A. Kitaytsev Jan 2005

Modulation Of Millimeter Waves By Acoustically Controlled Hexagonal Ferrite Resonator, Marina Koledintseva, Alexander A. Kitaytsev

Electrical and Computer Engineering Faculty Research & Creative Works

To develop millimeter-wave modulators, high-anisotropy uniaxial monocrystalline hexagonal ferrite resonators (HFRs) can be used. One of the ways to modulate the hexagonal ferrite resonator's resonance frequency is to periodically vary the angle between the equilibrium magnetic moment and the external magnetization field. This angular control can be exercised by the mechanical (acoustic) oscillations excited in a piezoelectric slab having a good acoustic contact with the HFR. We consider a quasi-static mathematical model of the uniaxial HFR with the angular control of its resonance frequency. We analyze the amplitudes of harmonics of the modulated millimeter-wave signal, and we derive the optimal …

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Multiuser Channel Estimation For Cdma Systems Over Frequency-Selective Fading Channels, Jingxian Wu, Chengshan Xiao, Khaled Ben Letaief Jan 2005

Multiuser Channel Estimation For Cdma Systems Over Frequency-Selective Fading Channels, Jingxian Wu, Chengshan Xiao, Khaled Ben Letaief

Electrical and Computer Engineering Faculty Research & Creative Works

In this paper, a pilot-assisted minimum mean square error (MMSE) multiuser channel estimation algorithm is proposed for quasi-synchronous code-division multiple-access (CDMA) systems that undergo frequency-selective channel fading. The frequency-selective multiuser fading channel is represented as a symbol-wise time-varying chip-spaced tapped delay line filter with correlated filter taps. The multiuser channel tap coefficients at pilot symbol positions are estimated under the MMSE criterion with the help of the channel intertap correlation matrix, which is determined by the combined effects of the physical fading channel, transmit filter, and receive filter. In the development of the estimation algorithm, the channel intertap correlation matrix …

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Neural Network-Based Control Of Nonlinear Discrete-Time Systems In Non-Strict Form, Jagannathan Sarangapani, Zheng Chen, Pingan He Jan 2005

Neural Network-Based Control Of Nonlinear Discrete-Time Systems In Non-Strict Form, Jagannathan Sarangapani, Zheng Chen, Pingan He

Electrical and Computer Engineering Faculty Research & Creative Works

A novel reinforcement learning-based adaptive neural network (NN) controller, also referred as the adaptive-critic NN controller, is developed to deliver a desired tracking performance for a class of non-strict feedback nonlinear discrete-time systems in the presence of bounded and unknown disturbances. The adaptive critic NN controller architecture includes a critic NN and two action NNs. The critic NN approximates certain strategic utility function whereas the action neural networks are used to minimize both the strategic utility function and the unknown dynamics estimation errors. The NN weights are tuned online so as to minimize certain performance index. By using gradient descent-based …

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A Comparison Of Pso And Backpropagation For Training Rbf Neural Networks For Identification Of A Power System With Statcom, Salman Mohagheghi, Ganesh K. Venayagamoorthy, Yamille Del Valle, Ronald G. Harley Jan 2005

A Comparison Of Pso And Backpropagation For Training Rbf Neural Networks For Identification Of A Power System With Statcom, Salman Mohagheghi, Ganesh K. Venayagamoorthy, Yamille Del Valle, Ronald G. Harley

Electrical and Computer Engineering Faculty Research & Creative Works

Backpropagation algorithm is the most commonly used algorithm for training artificial neural networks. While being a straightforward procedure, it suffers from extensive computations, relatively slow convergence speed and possible divergence for certain conditions. The efficiency of this method as the training algorithm of a radial basis function neural network (RBFN) is compared with that of particle swarm optimization, for neural network based identification of a small power system with a static compensator. The comparison of the two methods is based on the convergence speed and robustness of each method.

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A Novel Method Based On Neural Networks To Distinguish Between Load Harmonics And Source Harmonics In A Power System, Joy Mazumdar, Frank C. Lambert, Ganesh K. Venayagamoorthy, Ronald G. Harley Jan 2005

A Novel Method Based On Neural Networks To Distinguish Between Load Harmonics And Source Harmonics In A Power System, Joy Mazumdar, Frank C. Lambert, Ganesh K. Venayagamoorthy, Ronald G. Harley

Electrical and Computer Engineering Faculty Research & Creative Works

No abstract provided.

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An Efficient Method For Supporting Multiple Types Of Services On Smart Server, Chang-Soo Kim, Yu-Hyeon Bak, Seung-Joe Bae, Jin-Mee Kim, Sang-Min Woo, Seung-Hyup Jeon, Won-Jae Lee, Hag-Young Kim Jan 2005

An Efficient Method For Supporting Multiple Types Of Services On Smart Server, Chang-Soo Kim, Yu-Hyeon Bak, Seung-Joe Bae, Jin-Mee Kim, Sang-Min Woo, Seung-Hyup Jeon, Won-Jae Lee, Hag-Young Kim

Electrical and Computer Engineering Faculty Research & Creative Works

No abstract provided.

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Decentralized Discrete-Time Neural Network Controller For A Class Of Nonlinear Systems With Unknown Interconnections, Jagannathan Sarangapani Jan 2005

Decentralized Discrete-Time Neural Network Controller For A Class Of Nonlinear Systems With Unknown Interconnections, Jagannathan Sarangapani

Electrical and Computer Engineering Faculty Research & Creative Works

A novel decentralized neural network (NN) controller in discrete-time is designed for a class of uncertain nonlinear discrete-time systems with unknown interconnections. Neural networks are used to approximate both the uncertain dynamics of the nonlinear systems and the unknown interconnections. Only local signals are needed for the decentralized controller design and the stability of the overall system can be guaranteed using the Lyapunov analysis. Further, controller redesign for the original subsystems is not required when additional subsystems are appended. Simulation results demonstrate the effectiveness of the proposed controller. The NN does not require an offline learning phase and the weights …

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Electromechanical Power Generation For Interplanetary Space Travel Beyond Low Earth Orbit, Badrul H. Chowdhury, Sushant Barave Jan 2005

Electromechanical Power Generation For Interplanetary Space Travel Beyond Low Earth Orbit, Badrul H. Chowdhury, Sushant Barave

Electrical and Computer Engineering Faculty Research & Creative Works

Preliminary results of investigating high frequency power generation using a permanent magnet synchronous machine is presented. The specific application is crew exploration vehicles for space travel beyond low earth orbit.

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Fast Algorithms For Layered Media, Weng Cho Chew, Bin Hu, Y. C. Pan, Lijun Jiang Jan 2005

Fast Algorithms For Layered Media, Weng Cho Chew, Bin Hu, Y. C. Pan, Lijun Jiang

Electrical and Computer Engineering Faculty Research & Creative Works

This paper gives an overview of computational electromagnetics for simulating complex structures with a large number of unknowns using integral equation method. First, it discusses the pros and cons of differential equation solvers versus integral equation solvers. Then it gives an overview of different fast algorithms for solving integral equations. It also discusses the difficulty of solving electromagnetic problems in the "twilight zone" between static and full-wave electromagnetics. Finally, it discusses various methods for fast solutions of scattering and coupling problems involving layered media both for statics and dynamic problems, and presents some numerical results. © 2005 Académie des sciences. …

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A Neural Network Based Wide Area Monitor For A Power System, Xiaomeng Li, Ganesh K. Venayagamoorthy Jan 2005

A Neural Network Based Wide Area Monitor For A Power System, Xiaomeng Li, Ganesh K. Venayagamoorthy

Electrical and Computer Engineering Faculty Research & Creative Works

With the deregulation of power industry, many tie lines between control areas are driven to operate near their maximum capacity, especially those serving heavy load centers. Wide area controllers (WACs) using wide-area or global signals can provide remote auxiliary control signals to local controllers such as automatic voltage regulators, power system stabilizers, etc to damp out inter-area oscillations. The power system is highly nonlinear system with fast changing dynamics. In order to have an efficient WAC, an online system monitor/predictor is required to provide inter-area information to the WAC from time to time. This paper presents the design of an …

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Analytical Model For The Rectangular Power-Ground Structure Including Radiation Loss, Ji Chen, Todd H. Hubing, Weimin Shi, R. L. Chen Jan 2005

Analytical Model For The Rectangular Power-Ground Structure Including Radiation Loss, Ji Chen, Todd H. Hubing, Weimin Shi, R. L. Chen

Electrical and Computer Engineering Faculty Research & Creative Works

An accurate analytical model to predict via coupling within rectangular power-return plane structures is developed. Loss mechanisms, including radiation loss, dielectric loss, and conductor loss, are considered in this model. The radiation loss is incorporated into a complex propagating wavenumber as an artificial loss mechanism. The quality factors associated with three loss mechanisms are calculated and compared. The effects of radiation loss on input impedances and reflection coefficients are investigated for both high-dielectric-loss and low-dielectric-loss printed circuit boards. Measurements are performed to validate the effectiveness of this model.

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Double-Tiered Capacitive Shuttling Method For Balancing Series-Connected Batteries, Andrew Baughman, Mehdi Ferdowsi Jan 2005

Double-Tiered Capacitive Shuttling Method For Balancing Series-Connected Batteries, Andrew Baughman, Mehdi Ferdowsi

Electrical and Computer Engineering Faculty Research & Creative Works

The auto industry is progressing towards hybrid and fully electric vehicles in their future car models. These vehicles need a power plant that is reliable during the lifetime of the car. Battery capacity imbalances stemming from the cell manufacturer, ensuing driving environment, and operational usage affect voltage levels, which must follow adherence to strict limits to ensure the safety of the driver. A variation on an existing method of using a capacitor to shuttle charge from one battery to another to balance series strings of batteries is proposed in this paper. The advancement shown in this paper is to bridge …

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Emi-Debugging Of Complex Systems Using Different Time, Modulation, Stfft And Frequency Domain Signal Analysis Techniques, Zhe Li, David Pommerenke Jan 2005

Emi-Debugging Of Complex Systems Using Different Time, Modulation, Stfft And Frequency Domain Signal Analysis Techniques, Zhe Li, David Pommerenke

Electrical and Computer Engineering Faculty Research & Creative Works

One faces a difficult situation in EMI debugging if multiple sources radiate at the same frequency, especially, if little details on the EUT are provided. In this paper, we apply and compare a set of signal analysis techniques for identifying radiated emission sources. First, theoretical background of Joint Time-Frequency Analysis (JTFA) is given and an algorithm using Short-Term Fast Fourier Transform (STFFT) approach is applied for the data analysis. STFFT analysis provides an exclusive insight into time-dependent emission processes. Also, narrow span and zero span spectrum analysis are discussed. Special emphasis is given on signals sideband characteristics.

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Engine Data Classification With Simultaneous Recurrent Network Using A Hybrid Pso-Ea Algorithm, Xindi Cai, Donald C. Wunsch Jan 2005

Engine Data Classification With Simultaneous Recurrent Network Using A Hybrid Pso-Ea Algorithm, Xindi Cai, Donald C. Wunsch

Electrical and Computer Engineering Faculty Research & Creative Works

We applied an architecture which automates the design of simultaneous recurrent network (SRN) using a new evolutionary learning algorithm. This new evolutionary learning algorithm is based on a hybrid of particle swarm optimization (PSO) and evolutionary algorithm (EA). By combining the searching abilities of these two global optimization methods, the evolution of individuals is no longer restricted to be in the same generation, and better performed individuals may produce offspring to replace those with poor performance. The novel algorithm is then applied to the simultaneous recurrent network for the engine data classification. The experimental results show that our approach gives …

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Evolving Combinational Logic Circuits Using A Hybrid Quantum Evolution And Particle Swarm Inspired Algorithm, Phillip W. Moore, Ganesh K. Venayagamoorthy Jan 2005

Evolving Combinational Logic Circuits Using A Hybrid Quantum Evolution And Particle Swarm Inspired Algorithm, Phillip W. Moore, Ganesh K. Venayagamoorthy

Electrical and Computer Engineering Faculty Research & Creative Works

In this paper, an algorithm inspired from quantum evolution and particle swarm to evolve combinational logic circuits is presented. This algorithm uses the framework of the local version of particle swarm optimization with quantum evolutionary algorithms, and integer encoding. A multi-objective fitness function is used to evolve the combinational logic circuits in order obtain feasible circuits with minimal number of gates in the design. A comparative study indicates the superior performance of the hybrid quantum evolution-particle swarm inspired algorithm over the particle swarm and other evolutionary algorithms (such as genetic algorithms) independently.

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Hardware Implementation Of A Mamdani Fuzzy Logic Controller For A Static Compensator In A Multimachine Power System, Salman Mohagheghi, Ganesh K. Venayagamoorthy, Satish Rajagopalan, Ronald G. Harley Jan 2005

Hardware Implementation Of A Mamdani Fuzzy Logic Controller For A Static Compensator In A Multimachine Power System, Salman Mohagheghi, Ganesh K. Venayagamoorthy, Satish Rajagopalan, Ronald G. Harley

Electrical and Computer Engineering Faculty Research & Creative Works

A Mamdani based fuzzy logic controller is designed and implemented for controlling a STATCOM, which is connected to a 10 bus multimachine power system. Such a controller does not need any prior knowledge of the plant to be controlled and can efficiently provide control signals for the STATCOM during different disturbances in the network The proposed controller is implemented using the M67 DSP board and is interfaced to the multimachine power system simulated on a real-time digital simulator (RTDS). Experimental results are provided, showing that the proposed controller provides more effective damping than the conventional PI controller in a typical …

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A Dynamic Recurrent Neural Network For Wide Area Identification Of A Multimachine Power System With A Facts Device, Salman Mohagheghi, Ganesh K. Venayagamoorthy, Ronald G. Harley Jan 2005

A Dynamic Recurrent Neural Network For Wide Area Identification Of A Multimachine Power System With A Facts Device, Salman Mohagheghi, Ganesh K. Venayagamoorthy, Ronald G. Harley

Electrical and Computer Engineering Faculty Research & Creative Works

Multilayer perceptron and radial basis function neural networks have been traditionally used for plant identification in power systems applications of neural networks. While being efficient in tracking the plant dynamics in a relatively small system, their performance degrades as the dimensions of the plant to be identified are increased, for example in supervisory level identification of a multimachine power system for wide area control purposes. Recurrent neural networks can deal with such a problem by modeling the system as a set of differential equations and with less order of complexity. Such a recurrent neural network identifier is designed and implemented …

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A New Test Setup And Method For The Calibration Of Current Clamps, David Pommerenke, Ramachandran Chundru, Sunitha Chandra Jan 2005

A New Test Setup And Method For The Calibration Of Current Clamps, David Pommerenke, Ramachandran Chundru, Sunitha Chandra

Electrical and Computer Engineering Faculty Research & Creative Works

Current probes are widely used to measure the common mode currents in electromagnetic compatibility (EMC) applications. Often, it is necessary to characterize the ratio of measured voltage to the common mode currents up to gigahertz (GHz) frequencies. Existing calibration methods for current probes suffer from the problem of not directly measuring the current within the current clamp. Instead they either reconstruct the current from measurements at other locations or they use assumptions regarding the geometry which allows them to use a current that is measured at a different location without applying a mathematical correction. For example, by maintaining a 50-Ω …

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Aircraft Cabin Noise Minimization Via Neural Network Inverse Model, Xiao Hu, G. Clark, M. Travis, J. L. Vian, Donald C. Wunsch Jan 2005

Aircraft Cabin Noise Minimization Via Neural Network Inverse Model, Xiao Hu, G. Clark, M. Travis, J. L. Vian, Donald C. Wunsch

Electrical and Computer Engineering Faculty Research & Creative Works

This paper describes research to investigate an artificial neural network (ANN) approach to minimize aircraft cabin noise in flight. The ANN approach is shown to be able to accurately model the non-linear relationships between engine unbalance, airframe vibration, and cabin noise to overcome limitations associated with traditional linear influence coefficient methods. ANN system inverse models are developed using engine test-stand vibration data and on-airplane vibration and noise data supplemented with influence coefficient empirical data. The inverse models are able to determine balance solutions that satisfy cabin noise specifications. The accuracy of the ANN model with respect to the real system …

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Traces In Proximity To Gaps In Return Planes, Todd H. Hubing, Thomas Van Doren, Theodore M. Zeeff Jan 2005

Traces In Proximity To Gaps In Return Planes, Todd H. Hubing, Thomas Van Doren, Theodore M. Zeeff

Electrical and Computer Engineering Faculty Research & Creative Works

Coupling between circuitry on printed circuit boards can be mitigated by a variety of well-known techniques. One such technique is to isolate circuitry in different areas of the printed circuit board by strategically placing a gap in the signal return plane. However, this technique is only effective at reducing common-impedance coupling, which is generally not a significant coupling mechanism at frequencies above 1 MHz. This paper investigates the effect of a gap located between and parallel to adjacent microstrip traces. The effect of the gap on the mutual inductance and mutual capacitance is evaluated. Laboratory measurements and numerical simulations show …

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Using An Lu Recombination Method To Improve The Performance Of The Boundary Element Method At Very Low Frequencies, Haixin Ke, Todd H. Hubing Jan 2005

Using An Lu Recombination Method To Improve The Performance Of The Boundary Element Method At Very Low Frequencies, Haixin Ke, Todd H. Hubing

Electrical and Computer Engineering Faculty Research & Creative Works

Many numerical electromagnetic modeling techniques that work very well at high frequencies do not work well at lower frequencies. This is directly or indirectly due to the weak coupling between the electric and magnetic fields at low frequencies. One technique for improving the performance of boundary element techniques at low frequencies is through the use of loop-tree basis functions, which decouple the contributions from the vector and scalar electric potential. However, loop-tree basis functions can be difficult to define for large, complex geometries. This paper describes a new method for improving the low-frequency performance of boundary element techniques. The proposed …

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Calibration And Compensation Of Near-Field Scan Measurements, Masahiro Yamaguchi, Richard E. Dubroff, Kevin P. Slattery, Michael A. Cracraft, Jin Shi Jan 2005

Calibration And Compensation Of Near-Field Scan Measurements, Masahiro Yamaguchi, Richard E. Dubroff, Kevin P. Slattery, Michael A. Cracraft, Jin Shi

Electrical and Computer Engineering Faculty Research & Creative Works

A procedure for the calibration and compensation of near-field scanning is described and demonstrated. Ultimately, the objective is to quantify the individual field components associated with electromagnetic interference (EMI) from high speed circuitry and devices. Specific examples of these methods are shown. The effects of compensation are small but noticeable when the uncompensated output signal from near field scanning is already a very good representation of the field being measured. In other cases, the improvement provided by compensation can be significant when the uncompensated output signal bears little resemblance to the underlying field.

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Effects Of A Statcom, A Scrc And A Upfc On The Dynamic Behavior Of A 45 Bus Section Of The Brazilian Power System, Ganesh K. Venayagamoorthy, Salman Mohagheghi, Wei Qiao, Swakshar Ray, Ronald G. Harley, Djalma M. Falcao, Glauco N. Taranto, Tatiana M. L. Assis, Yamille Del Valle Jan 2005

Effects Of A Statcom, A Scrc And A Upfc On The Dynamic Behavior Of A 45 Bus Section Of The Brazilian Power System, Ganesh K. Venayagamoorthy, Salman Mohagheghi, Wei Qiao, Swakshar Ray, Ronald G. Harley, Djalma M. Falcao, Glauco N. Taranto, Tatiana M. L. Assis, Yamille Del Valle

Electrical and Computer Engineering Faculty Research & Creative Works

No abstract provided.

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A Robust Controller For The Manipulation Of Micro Scale Objects, Qinmin Yang, Jagannathan Sarangapani Jan 2005

A Robust Controller For The Manipulation Of Micro Scale Objects, Qinmin Yang, Jagannathan Sarangapani

Electrical and Computer Engineering Faculty Research & Creative Works

A suite of novel robust controllers is presented for the manipulation and handling of micro-scale objects in a micro-electromechanical system (MEMS) where adhesive, surface tension, friction and van der Waals forces are dominant. Moreover, these forces are typically unknown. The robust controller overcomes the unknown system dynamics and ensures the performance in the presence of actuator constraints by assuming that the upper bounds on these forces are known. On the other hand, for the robust adaptive controller, the unknown forces are estimated online. Using the Lyapunov approach, the uniformly ultimate boundedness (UUB) of the closed-loop manipulation error is shown for …

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