Computer Engineering Commons^™

Delay Compensation In Bilateral Control Using A Sliding Mode Observer, Tuğba Leblebi̇ci̇, Berk Çalli, Mustafa Ünel, Asif Sabanovic, Seta Bogosyan, Meti̇n Gökaşan

Turkish Journal of Electrical Engineering and Computer Sciences

In bilateral control applications, time delays in the communication channel have destabilizing effects and cause degradations in the performance of the system. In this paper, a sliding mode observer is used in conjunction with a disturbance observer to predict states of the slave system. Predicted states are then used in control formulation. Simulation and experimental results show that the proposed method avoids instability due to time delays in bilateral operation and provides satisfactory performance.

Induction Motor, State Estimation, Extended Kalman Filtering, Recurrent Neural Networks, Saadetti̇n Aksoy, Aydin Mühürcü

Turkish Journal of Electrical Engineering and Computer Sciences

This study presents a recurrent neural network (RNN)-based nonlinear state estimator that uses an Elman neural network structure (ENN) for state estimation of a squirrel-cage induction motor. The proposed algorithm only uses the measurements of the stator currents and the rotor angular speed, and it learns the dynamic behavior of the state observer from these measurements through prediction error minimization. A squirrel-cage induction motor was fed from sinusoidal, 6-step, and pulse-width modulation (PWM) supply sources at different times in order to observe the performance of the proposed estimator for different operation conditions. Estimation results showed that the proposed algorithm is …

A Stationary, Variable Dof Flight Control System For An Unmanned Quadrocopter, Vasfi̇ Emre Ömürlü, Ahmet Kirli, Utku Büyükşahi̇n, Şeref Naci̇ Engi̇n, Sedat Kurtoğlu

Turkish Journal of Electrical Engineering and Computer Sciences

Unmanned air vehicles (UAV) and especially quadrocopters have drawn great attention in recent years because of their maneuverability and nonlinear control problem. Most of the related research concentrate on control; yet, design and communication are also some sub-topics. In this paper, a stationary, four rotor air vehicle with limited/controlled degree of freedom is constructed so that various control algorithms and their changing effects with varying vehicle dynamics can be studied on the ground for safety purposes. Ascending/descending, pitch/yaw/roll motions can be limited by setting the vehicle's degree of freedom mechanically, resulting better net observability of the control algorithms on the …

A Luenberger-Sliding Mode Observer With Rotor Time Constant Parameter Estimation In Induction Motor Drives, Mustafa Gürkan Aydeni̇z, İbrahi̇m Şenol

Turkish Journal of Electrical Engineering and Computer Sciences

The performance and efficiency of an induction motor drive system can be enhanced by online estimation of critical parameters such as rotor time constant. A novel Luenberger-sliding mode observer with a parameter adaptation algorithm is proposed in this paper to compensate for the parameter variation effects. The observer is comparably simple and robust relative to the previously developed observers, and yet suitable for online implementation. Simulation studies for the proposed method were conducted in a MATLAB environment. Observer constants and the control parameters were tuned during the simulation studies and used during the experimental study stage. Experimental verification of the …

Using Learning Automata For Multi-Objective Generation Dispatch Considering Cost, Voltage Stability And Power Losses, Ari̇f Karakaş, Celal Kocatepe, Fangxing Li

Turkish Journal of Electrical Engineering and Computer Sciences

The economical and secure operation of power systems has significant importance. Due to technical limitations, the best economical operation point is not always the desired operating point for system stability or power losses. In this study, first, the most economical operating point is obtained by solving the non-linear, network-constrained economic dispatch problem using a genetic algorithm. Then, the system voltage stability is analyzed to compare the different possible operating points using V-Q sensitivity analysis. The power losses, obtained for various operating points, are considered the third objective function. Finally, these 3 aspects of cost, voltage stability, and power losses are …

Change Detection Without Difference Image Computation Based On Multiobjective Cost Function Optimization, Turgay Çeli̇k, Zeki̇ Yetgi̇n

Turkish Journal of Electrical Engineering and Computer Sciences

In this paper, we propose a novel method for unsupervised change detection in multi-temporal satellite images by using multiobjective cost function optimization via genetic algorithm (GA). The spatial image grid of the input multi-temporal satellite images is divided into two distinct regions, representing ``changed'' and ``unchanged'' regions between input images, via the intermediate change detection mask produced by the GA. The dissimilarity of pixels of ``changed'' regions and similarity of pixels of ``unchanged'' regions between input multi-temporal images are measured using image quality metrics which consider correlation, spectral distortion, radiometric distortion, and contrast distortion. The contextual information of each pixel …

Statistical Significance Based Graph Cut Regularization For Medical Image Segmentation, Sema Candemi̇r, Yusuf Si̇nan Akgül

Turkish Journal of Electrical Engineering and Computer Sciences

Graph cut minimization formulates the image segmentation as a linear combination of problem constraints. The salient constraints of the computer vision problems are data and smoothness which are combined through a regularization parameter. The main task of the regularization parameter is to determine the weight of the smoothness constraint on the graph energy. However, the difference in functional forms of the constraints forces the regularization weight to balance the inharmonious relationship between the constraints. This paper proposes a new idea: bringing the data and smoothness terms on the common base decreases the difference between the constraint functions. Therefore the regularization …

Investigation Of Luhn's Claim On Information Retrieval, İlker Kocabaş, Beki̇r Taner Di̇nçer, Bahar Karaoğlan

Turkish Journal of Electrical Engineering and Computer Sciences

In this study, we show how Luhn's claim about the degree of importance of a word in a document can be related to information retrieval. His basic idea is transformed into z-scores as the weights of terms for the purpose of modeling term frequency (tf) within documents. The Luhn-based models represented in this paper are considered as the TF component of proposed TF \times IDF weighing schemes. Moreover, the final term weighting functions appropriate for the TF \times IDF weighting scheme are applied to TREC-6, -7, and -8 databases. The experimental results show relevance to Luhn's claim by having high …

Concept-Driven Multi-Modality Fusion For Video Search, Xiao-Yong Wei, Yu-Gang Jiang, Chong-Wah Ngo

Research Collection School Of Computing and Information Systems

As it is true for human perception that we gather information from different sources in natural and multi-modality forms, learning from multi-modalities has become an effective scheme for various information retrieval problems. In this paper, we propose a novel multi-modality fusion approach for video search, where the search modalities are derived from a diverse set of knowledge sources, such as text transcript from speech recognition, low-level visual features from video frames, and high-level semantic visual concepts from supervised learning. Since the effectiveness of each search modality greatly depends on specific user queries, prompt determination of the importance of a modality …

Development And Human Performance Evaluation Of A Ground Vehicle Robotic Force-Feedback Tele-Operation System, Ankur Saraf

Wayne State University Theses

ABSTRACT

DEVELOPMENT AND HUMAN PERFORMANCE EVALUATION OF A GROUND VEHICLE ROBOTIC FORCE-FEEDBACK TELE-OPERATION SYSTEM

by

ANKUR SARAF

May 2011

Advisor: Dr. Abhilash K. Pandya.

Major: Electrical Engineering.

Degree: Master of Science.

Modern tele-operation systems are trying to take into account haptic and audio information in addition to visual data to provide as feedback to the tele-operator.This research emphasizes on the development of hardware and software architecture to enhance the tele-operation capabilities of omni-directional inspection robot (ODIS). The system enhances the tele-operation capabilities by introducing force-feedback to the tele-operators. The conventional joystick is replaced with Novint Falcon haptic joystick which gets …

Control Of A Single Ground Vehicle Using Aerial And Onboard Camera Views, Vishal Lowalekar

Wayne State University Theses

Controlling a ground vehicle using only onboard and aerial camera views, can be a tedious task, as it is challenging for the operator to estimate information about the robots location and orientation using only these view. However the visual data can be sufficient for computerized calculation of this information even in the absence of other sensors. This approach is of interest to the military because the use of passive sensors instead of active sensors (e.g. LIDAR) would be easier and more reliable and would not give off detectable signatures.

The goal of this research was to control a ground vehicle …

Ceg 233: Linux And Windows, Prabhaker Mateti

Computer Science & Engineering Syllabi

This is a freshman-level 4 credit hour course conducted in a 10-week term. Its goal is to develop in the minds of students an effective operational model of computer systems running either Linux or Windows. This course is lab-oriented.

Ceg 210: Pc Networking I, Jerry Hensley

Computer Science & Engineering Syllabi

Introduction to networking technologies including infrastructure and architectures, standards, protocols and directory services, administration, security and management. Integrated lecture and lab

Design, Synthesis And Test Of Reversible Circuits For Emerging Nanotechnologies, Himanshu Thapliyal

USF Tampa Graduate Theses and Dissertations

Reversible circuits are similar to conventional logic circuits except that they are built from reversible gates. In reversible gates, there is a unique, one-to-one mapping between the inputs and outputs, not the case with conventional logic. Also, reversible gates require constant ancilla inputs for reconfiguration of gate functions and garbage outputs that help in keeping reversibility. Reversible circuits hold promise in futuristic computing technologies like quantum computing, quantum dot cellular automata, DNA computing, optical computing, etc. Thus, it is important to minimize parameters such as ancilla and garbage bits, quantum cost and delay in the design of reversible circuits.

The …

An Investigation Into Internetworking Education, Woratat Makasiranondh

Theses: Doctorates and Masters

Computer network technology and the Internet grew rapidly in recent years. Their growth created a large demand from industry for the development of IT and internetworking professionals. These professionals need to be equipped with both technical hands-on skills and non-technical or soft skills. In order to supply new professionals to the industry, educational institutions need to address these skills training in their curricula. Technical hands-on skills in internetworking education can be emphasised through the practical use of equipment in classrooms. The provision of the networking equipment to the internetworking students is a challenge. Particularly, university students in developing countries may …

Effects Of Su-8 Cross-Linking On Flip-Chip Bond Strength When Assembling And Packaging Mems, Nathan E. Glavitz, Lavern A. Starman, Ronald A. Coutu Jr., Richard L. Johnson

Electrical and Computer Engineering Faculty Research and Publications

New methods to assemble, integrate, and package micro devices are always needed in attempts to simplify and expedite fabrication methods to maximize throughput. Our paper focuses on assessing SU-8 as a viable material for packaging and flip chip bonding processes for MEMS and micro devices. In this paper, we vary the level of cross- linking through post exposure bake (PEB) times and assess rectangular ring test structures bonding strength following flip chip bonding through applied tensile loads. In addition, we performed initial assessments on the etching resiliency of varied cross-linking of SU-8. From initial results, the bonding strength is maximized …

Nano-Electromechanical Zero-Dimensional Freestanding Nanogap Actuator, Jun Hyun Han, Norimasa Yoshimizu, T.J. Cheng, Michael Ziwisky, S.A. Bhave, A. Lal, Chung-Hoon Lee

Electrical and Computer Engineering Faculty Research and Publications

Micromachined free standing nanogap with metal electrodes is presented. The gap size is as small as 17 nm, and can be reduced further with electrostatic or piezoelectric actuation. The nanoscale gap is fabricated by industrial standard optical lithography and anisotropic wet chemical Si etching. Electron transport between the metal electrodes with optical stimulus enhancing photon-electron coupling (plasmon) is presented.

Modeling Pedestrian Behavior In Video, Paul Scovanner

Electronic Theses and Dissertations

The purpose of this dissertation is to address the problem of predicting pedestrian movement and behavior in and among crowds. Specifically, we will focus on an agent based approach where pedestrians are treated individually and parameters for an energy model are trained by real world video data. These learned pedestrian models are useful in applications such as tracking, simulation, and artificial intelligence. The applications of this method are explored and experimental results show that our trained pedestrian motion model is beneficial for predicting unseen or lost tracks as well as guiding appearance based tracking algorithms. The method we have developed …

Understanding The Influence Of Blog On The Development Of Social Capital, Reza Vaezi, Gholamreza Torkzadeh, Jerry Cha-Jan Chang

Management, Entrepreneurship and Technology Faculty Research

The rapid use and application of blogs in diverse areas such as education, marketing, journalism, and human resource management in recent years underlines the need for a better understanding of the impact of this new technology on social capital. Social capital reflects the norm of reciprocity and the level of trust among individuals who connect, interact, and benefit from one another. Blog is expected to influence the extent and the scope of this interaction by providing new means of networking among people. This paper examines the relationship between blog use and social capital and reports on the results of an …

Patterns Of Motion: Discovery And Generalized Representation, Imran Saleemi

Electronic Theses and Dissertations

In this dissertation, we address the problem of discovery and representation of motion patterns in a variety of scenarios, commonly encountered in vision applications. The overarching goal is to devise a generic representation, that captures any kind of object motion observable in video sequences. Such motion is a significant source of information typically employed for diverse applications such as tracking, anomaly detection, and action and event recognition. We present statistical frameworks for representation of motion characteristics of objects, learned from tracks or optical flow, for static as well as moving cameras, and propose algorithms for their application to a variety …