IJIEEB Vol. 5, No. 1, May. 2013
Cover page and Table of Contents: PDF (size: 135KB)
Refer to this paper, an intelligent-fuzzy feed-forward computed torque estimator for Proportional-Integral-Derivative (PID) controller is proposed for highly nonlinear continuum robot manipulator. In the absence of robot knowledge, PID may be the best controller, because it is model-free, and its parameters can be adjusted easily and separately and it is the most used in robot manipulators. In order to remove steady-state error caused by uncertainties and noise, the integrator gain has to be increased. This leads to worse transient performance, even destroys the stability. The integrator in a PID controller also reduces the bandwidth of the closed-loop system. Model-based compensation for PD control is an alternative method to substitute PID control. Computed torque compensation is one of the nonlinear compensator. The main problem of the pure computed torque compensator (CTC) was highly nonlinear dynamic parameters which related to system’s dynamic parameters in certain and uncertain systems. The nonlinear equivalent dynamic problem in uncertain system is solved by using feed-forward fuzzy inference system. To eliminate the continuum robot manipulator system’s dynamic; Mamdani fuzzy inference system is design and applied to CTC. This methodology is based on design feed-forward fuzzy inference system and applied to CTC. The results demonstrate that the model base feed-forward fuzzy CTC estimator works well to compensate linear PID controller in presence of partly uncertainty system (e.g., continuum robot).[...] Read more.
The control problem for manipulators is to determine the joint inputs required to case the end-effector execute the commanded motion. The nonminimum phase characteristic of a rigid manipulator makes the design of stable controller that ensure stringent tracking requirements a highly nontrivial and challenging problem. A useful controller in the computed torque family is the PD-plus-gravity controller. Methodology. To compensate the dynamic parameters, fuzzy logic methodology is used and applied parallel to this method. when the arm is at rest, the only nonzero terms in the dynamic is the gravity. Proposed method can cancels the effects of the terms of gravity. In this case inorder to decrease the error and satteling time, higher gain controller is design and applied to nonlinear system.[...] Read more.
In this article, we would like to study the determinant theory of fuzzy matrices. The purpose of this article is to present a new way of expanding the determinant of fuzzy matrices and thereafter some properties of determinant are considered. Most of the properties are found to be analogus to the properties of determinant of matrices in crisp cases.[...] Read more.
The sharing of medical information among healthcare providers is a key factor in improving any health care system. By providing opportunities for sharing and exchanging information and knowledge, data center, agent and ontology play a very important role in the field of medical informatics. In this paper, we propose a design of architecture and data center for the development of a Hospital information system (HIS) based on agents and ontology.[...] Read more.
In this paper, we present many intelligent models to estimate the usability of object oriented software. In our proposed system, fuzzy svm has less errors and system worked more accurate and appropriative than prior methods.[...] Read more.
The rapid growth in Information & Communication Technology (ICT), and the power of Internet has strongly impacted the business and service delivery models of today’s global environment. E-Hospital Management Systems provide the benefits of streamlined operations, enhanced administration & control, superior patient care, strict cost control and improved profitability. Globally accepted health care systems need to comply with Healthcare Insurance Portability and Accountability Act (HIPAA) standards of the US and that has become the norm of the Healthcare industry when it comes to medical records management and patient information privacy. The study is focused on understanding the performance indicators of Hospital information systems (HIS), summarizing the latest commonly agreed standards and protocols like Health Level Seven (HL7) standards for mutual message exchange, HIS components, etc… The study is qualitative and descriptive in nature and most of the data is based on secondary sources of survey data. To arrive at a conclusive idea of the larger picture on E- Hospital Management and Hospital information systems, existing survey data and specific successful case studies of HIS are considered in the study. With so many customized versions of E – hospital management solutions (E – HMS) and Hospital Information systems (HIS) available in the market, a generic module wise version of E – Hospital management system is charted out to give a clear understanding for researchers and industry experts. From the specific successful case studies analyzed in the study, the success factors and challenges faced in successful E-HMS implementation are highlighted. Some of the mandatory standards like HIPAA are discussed in detail for clarity on Healthcare system implementation requirements.[...] Read more.
The aim of this paper is to investigate the performance of time delay neural networks (TDNNs) and the probabilistic neural networks (PNNs) trained with nonlinear features (Lyapunov exponents and Entropy) on electroencephalogram signals (EEG) in a specific pathological state. For this purpose, two types of EEG signals (normal and partial epilepsy) are analyzed. To evaluate the performance of the classifiers, mean square error (MSE) and elapsed time of each classifier are examined. The results show that TDNN with 12 neurons in hidden layer result in a lower MSE with the training time of about 19.69 second. According to the results, when the sigma values are lower than 0.56, the best performance in the proposed probabilistic neural network structure is achieved. The results of present study show that applying the nonlinear features to train these networks can serve as useful tool in classifying of the EEG signals.[...] Read more.
The main purpose of this paper is to design a suitable control scheme that confronts the uncertainties in a robot. Sliding mode controller (SMC) is one of the most important and powerful nonlinear robust controllers which has been applied to many non-linear systems. However, this controller has some intrinsic drawbacks, namely, the chattering phenomenon, equivalent dynamic formulation, and sensitivity to the noise. This paper focuses on applying artificial intelligence integrated with the sliding mode control theory. Proposed adaptive fuzzy sliding mode controller optimized by Particle swarm algorithm (AFSMC-PSO) is a Mamdani’s error based fuzzy logic controller (FLS) with 7 rules integrated with sliding mode framework to provide the adaptation in order to eliminate the high frequency oscillation (chattering) and adjust the linear sliding surface slope in presence of many different disturbances and the best coefficients for the sliding surface were found by offline tuning Particle Swarm Optimization (PSO). Utilizing another fuzzy logic controller as an impressive manner to replace it with the equivalent dynamic part is the main goal to make the model free controller which compensate the unknown system dynamics parameters and obtain the desired control performance without exact information about the mathematical formulation of model.[...] Read more.