Many day-to-day activities require the dexterous manipulation of a redundant humanoid arm in complex 3D environments. However, position regulation of such robot arm systems becomes very difficult in presence of non-linear uncertainties in the system. Also, perturbations exist due to various unwanted interactions with obstacles for clumsy environments in which obstacle avoidance is not possible,...

This paper deals with the design and evaluation of a robust controller for static VAR compensator (SVC) in remote industrial power systems to enhance the voltage profile for three-phase single cage induction motor (SCIM) loads. The controller design is based on H∞ theory to deal with uncertainties arising in industrial network modelling. The performance of the H∞ controller has been evaluated...

In this study, a real and significant industrial problem in a steam power plant was investigated. Reheater tubes in boilers are under the creep and the fireside corrosion mechanism that cause some of them to fail. Since the estimation of probability of failure (PoF) and remaining life (RL) is expensive and time consuming in the deterministic methods, in this work they were evaluated using struc...

This paper presents the Distributed End-to-end Utiization CONtrol (DEUCON) algorithm. DEUCON can dynamically enforce desired CPU utilizations on all processors in a distributed real-time system despite uncertainties in the system workload. In contrast to earlier centralized control schemes, DEUCON is a distributed control algorithm that is systematically designed based on the Distributed Model ...

iran’s industry has had a considerable number of difficulties to perform so well as was expected in the post – revolutionary era. unfavorable legal, political environments combined with eight –year imposed war may be singled out as the root causes of such performances. however, this paper argues that our industry’s lack of realization of its dire need to adapt to the emerging unprecedented envi...