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Full-Text Articles in Engineering

Design Of Adaptive Sliding Mode Fuzzy Control For Robot Manipulator Based On Extended Kalman Filter, Abdelrahman Aledhaibi Jul 2000

Design Of Adaptive Sliding Mode Fuzzy Control For Robot Manipulator Based On Extended Kalman Filter, Abdelrahman Aledhaibi

Mechanical & Aerospace Engineering Theses & Dissertations

In this work, a new adaptive motion control scheme for robust performance control of robot manipulators is presented. The proposed scheme is designed by combining the fuzzy logic control with the sliding mode control based on extended Kalman filter. Fuzzy logic controllers have been used successfully in many applications and were shown to be superior to the classical controllers for some nonlinear systems. Sliding mode control is a powerful approach for controlling nonlinear and uncertain systems. It is a robust control method and can be applied in the presence of model uncertainties and parameter disturbances, provided that the bounds of ...


Algorithms For Enhancing Pattern Separability, Feature Selection And Incremental Learning With Applications To Gas Sensing Electronic Nose Systems , Robi Polikar Jan 2000

Algorithms For Enhancing Pattern Separability, Feature Selection And Incremental Learning With Applications To Gas Sensing Electronic Nose Systems , Robi Polikar

Retrospective Theses and Dissertations

Three major issues in pattern recognition and data analysis have been addressed in this study and applied to the problem of identification of volatile organic compounds (VOC) for gas sensing applications. Various approaches have been proposed and discussed. These approaches are not only applicable to the VOC identification, but also to a variety of pattern recognition and data analysis problems. In particular, (1) enhancing pattern separability for challenging classification problems, (2) optimum feature selection problem, and (3) incremental learning for neural networks have been investigated;Three different approaches are proposed for enhancing pattern separability for classification of closely spaced, or ...


Knowledge Based Expert System Pavement Management Optimization , Omar Ghaleb Smadi Jan 2000

Knowledge Based Expert System Pavement Management Optimization , Omar Ghaleb Smadi

Retrospective Theses and Dissertations

Knowledge-based expert systems and dynamic programming are used for development of a comprehensive pavement management system tool to help engineers and planners to make objective, consistent, and cost effective decisions regarding pavement maintenance, rehabilitation, and reconstruction;Knowledge-based expert system provide a flexible tool to allow for acquisition of knowledge from experts in the field and incorporate that knowledge in building an efficient pavement management decision support tool. Knowledge-based expert systems are used to develop a pavement condition forecasting model and a treatment strategy selection model. The forecasting model is capable of predicting pavement condition in the future based on both ...


Bottom-Up Design Of Artificial Neural Network For Single-Lead Electrocardiogram Beat And Rhythm Classification, Srikanth Thiagarajan Jan 2000

Bottom-Up Design Of Artificial Neural Network For Single-Lead Electrocardiogram Beat And Rhythm Classification, Srikanth Thiagarajan

Doctoral Dissertations

Performance improvement in computerized Electrocardiogram (ECG) classification is vital to improve reliability in this life-saving technology. The non-linearly overlapping nature of the ECG classification task prevents the statistical and the syntactic procedures from reaching the maximum performance. A new approach, a neural network-based classification scheme, has been implemented in clinical ECG problems with much success. The focus, however, has been on narrow clinical problem domains and the implementations lacked engineering precision. An optimal utilization of frequency information was missing. This dissertation attempts to improve the accuracy of neural network-based single-lead (lead-II) ECG beat and rhythm classification. A bottom-up approach defined ...