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In this paper, an interactive model for individual normal behaviour of drivers is presented in which the mutual effect of vehicles has been incorporated. Temporal features obtained from vehicles tracking and their motion history is utilized for generating a model of normal behaviour. Because of non-stationarity of behaviour, Hidden Markov Model has been used for interactive model. This model has three main parts. The first part is the history of antecedent trajectory which for this purpose has proposed a Centers Transition Matrix (CTM) that is some type of spatio-temporal information-data bank from motions seen in the old frames. The second part is based on the linguistic features or motion recognition of vehicles, these motions contain forward, turn right and left, lane changing to right and left motion. The third part is constituted from low level features which contain Velocity and distance to neighbor object. Also CTM is efficient in search at similar blob in image sequences and it can determine the radius and region of search. This top-down feedback caused an increment of performance of RLS tracker and object searching. In the presented system, we obtained a 81.2% membership rate to normal model. Also types of motion are recognized using HMM with a recognition rate of up to 82.7%. Prediction error is reduced on many vehicles trajectory by at least 80% using a feedback system.

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In this paper, we propose a novel method for fully automatic detection and tracking of human heads and faces in video sequences. The proposed algorithm consists of two modules: a face detection module and a face tracking module. The Detection module, detects the face region and approximates it with an ellipse at the first frame using a modified version of AdaBoost cascaded classifier. The detection module is capable of considering the 2-D head pose rotation. The tracking module utiliyes a combination of deformable mesh energy minimization and feature matching approaches. In order to track a face, features are extracted in the face region to tessellate the human face with triangular unstructured meshes. For tracking a mesh, it is necessary to define mesh energies including internal and external energies. We have used new energy definitions for both the internal and the external energies which can accurately track rigid and non-rigid motions of a face and facial features at subsequent frames. We tested the proposed method with different video samples like cluttered backgrounds, partial illumination variations, put on glasses, and 2-D and/or 3-D rotating and translating heads. The experimental results showed that the algorithm is rotation insensitive and has high accuracy, stability and also has convergence for face detection and tracking.

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In this paper, we propose a novel method for tracking multiple objects in video sequences. this approach can track objects in crowded scenes with occlusions and random change directions of object movements, efficiently. this method is an extension to particle filter tracking approach that we named it 3-D particle filter. in the proposed method, the features of objects that cannot be used in the process of posterior probability estimation in particle filter, are used for as third dimension and improve the estimation of 2-d particle filter in each frame. we test our method and compare it with 3 other particle filter methods on the famous data sets such as PETS09. The results show the improvement of accuracy and a reduction of error in tracking, about 12%

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This paper introduces a technique for controlling a class of uncertain chaotic systems using an adaptive fuzzy Proportional-Integrator-Derivative (PID) controller with H∞ tracking performance. The purpose of this work is to achieve optimal tracking performance of the controller using Backtracking Search Algorithm (BSA). BSA, which is a novel heuristic algorithm, has an easy structure with single control parameter. In BSA, three basic genetic operators (selection, mutation and crossover) are utilized to generate trial individuals. To this reason, the control problem in hand is considered as an optimization problem by defining an appropriate objective function. Stability analysis of the control scheme is provided based on Lyapunov theory and modified Riccati-like equation, where the robustness of the closed-loop system is guaranteed by H∞ tracking performance for any predefined level. To evaluate the performance of the proposed control method, it is employed for tracking control of Duffing uncertain chaotic system. Simulation results show the capability of the proposed controller.  

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The aim of this study is to identify the tracking and origin of the arriving precipitation systems to the region under study and to count the frequencies of these systems. For this purpose, the rainfall data of seven stations of two provinces (Kermanshah and Ilam) were investigated during a 10 years period (1990-99). Therefore, 80 systems were selected. Then, surface level maps and 500Hp of 68 available systems were studied. The analysis was carried out over the central cyclonic of the surface level maps in the 6 hour cycles and upper-level low trough axis level of 500Hp in the 12 hour cycles. The results of indicated that majority of the systems with precipitation for the region were Sudanese systems. Moreover, only the Sudanese systems had more than 300mm precipitation. On the second level of significance were the compo (Mediterranean-Sudanese) systems. The most important compound area of compo systems is the east Mediterranean at the longitude of 33°-36° Eastern and the latitude of 30°-35° Northern. The Mediterranean systems mostly originate from the Adriatic Sea and the central Mediterranean and normally move towards east along the latitude of 35°. So, Monsoon systems bring about precipitation for the target areas at the end of spring and summer during their intensification. Normally, in most of the rainy days, positions of the Mediterranean long wave axis locate at the east of the Mediterranean to the north of the Red Sea (longitude 30°E-40°E). Morever, there is no direct relation between the deepening, of the end of the trough axis and the rate of precipitation.

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This paper develops new results on the use of model predictive control to regulate the attitude of a ground station antenna. Two degree of freedom AZ-EL pedestal is considered as ground station antenna. Permanent Magnet Synchronous Motors are taken into consideration as the best choice for satisfaction of control objectives as actuators. The design is based on a two cascade controller consist of MPC and a simple feedback linearization, respectively. The proposed approach provides more smooth tracking and lower energy consumption with respect to analogous works. The model predictive controller employs integral action, resulting in zero steady-state error and load torque disturbance rejection. Realistic disturbances caused by wind and load is considered and applied to an industry-sized pedestal. The reference data of azimuth and elevation angles are chosen from a real tracking mission. The comparison of simulation results by typical PI controller, verify the effectiveness of the proposed method.

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Emotional words are assumed to have a processing advantage over neutral words due to their emotional content. Meanwhile, this advantage depends on other  word features such as frequency and the characteristics of the processor and context of learning. Accordingly, the current study investigated the simultaneous impacts of L2 words’ emotional valence and frequency, and L2 user’s gender on word recognition time in a natural reading context. 43 intermediate EFL learners  read 36 sentences in a coherent text for comprehension while their eye movements were recorded by eye-tracker. The findings revealed that participants processed the positive, negative, and neutral words identically based on eye fixation time. However, the frequency effect was attained for both valenced and neutral words. Also, no significant gender differences were approved in terms of recognition time though male participants tended to process all word types slightly faster than female ones. The lack of processing difference between valenced and neutral words is attributed to the disembodiment of L2 emotional words and learning experience of the participants as late EFL learners. These learners have been deprived of affective socialization and the affective sensory experience in their development of L2 emotional words. The absence of valence/frequency interaction is attributed to the L1/L2 relationship in terms of the target words. Although witnessed gender effect did not reach a significance level, it is suggested that the processing of emotional words be viewed in a multidimensional framework where the characteristics of the word, the processor, and the learning context are taken into account

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Executing the impedance control of a pneumatic actuator with solenoid on/off valves is the subject of this paper. Firstly, based on equations of the system, a method presented to enforce the pneumatic system to behave like a linear mass-damper-spring system with adjustable parameters. Based on this method, the desired force determined that is aimed to act on the movable rigid components. Then, with respect to the fact that both the pneumatic output force and its stiffness are functions of the chambers pressures, the desired pressure profile of the chambers have been derived that must be followed by the pressure control loop. The sliding mode approach used and beside it a new algorithm implemented to convert the control input to duty cycle of the on/off valves. The experimental tests show that the achievable range of impedance parameters is limited due to the possible instability problem. Also the position tracking in free space at the system under impedance control is good, while the contact force is less compare with the position control case. Then taking into consideration the new mathematical model presented in this paper, we discussed on the factors that affect the quality and achievable mechanical impedance range of pneumatic actuator.

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Tractor-trailer wheeled mobile robot (TTWMR) is a robotic system that consists of a tractor module towing a trailer. Trajectory tracking is one of the challenging problems which is focused in the context of wheeled mobile robots (WMRs) that has been discussed in this paper. First, kinematic equations of TTWMR are obtained. Then, reference trajectories for tracking problem are produced. Subsequently, an output feedback kinematic control law and a dynamic Fuzzy Sliding Mode Control (FSMC) are designed for the TTWMR. The proposed controller steer the TTWMR asymptotically follow reference trajectories. Finally, experimental results of the designed controller on an experimental setup and comparison results are presented. Obtained results show the effectiveness of the proposed controller.

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In this paper, trajectory tracking control of a wheeled mobile robot is analyzed. Wheeled mobile robot is a nonlinear system. This system including three generalized coordinates (x,y,ϕ), and a nonholonomic constraint. First, system kinematic and dynamic equations are obtained. A non-model-based control algorithm using PD-action filtered errors has been used in order to control the wheeled mobile robot. Non-model-based controllers are always more appropriate than model-based algorithms due to independency from dynamic models, lower computational costs and also robustness to uncertainties. Asymptotic stability of the closed loop system for trajectory tracking control of wheeled mobile robot has been investigated using appropriate Lyapunov function and also Barbalat’s lemma method. Finally, in order to show the effectiveness of the proposed approach simulation and experimental results have been presented. Obtained results show that without requiring a priori knowledge of plant dynamics, and with reduced computational burden, the tracking performance of the presented algorithm is quite satisfactory. Therefore, the proposed control algorithm is well suited to most industrial applications where simple efficient algorithms are more appropriate than complicated theoretical ones with massive computational burden.

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Actuator failures can cause control system performance deterioration and even lead to instability and catastrophic accidents and incidents. Therefore, the adaptive control of damaged aircraft in designing flight control systems to enhance safety level has recently become the subject of research. Damage causes structural changes and parametric uncertainties which need a new modeling and control approach. In this paper, firstly, a nominal control design based on linear quadratic regulator design is used and shown that the linear quadratic regulator design is not capable of coping with the unknown actuator failure and cannot achieve satisfactory performance. Then, a feedback adaptive signal is designed based on direct approach to handle uncertain actuator failures in linearized system. The adaptive control scheme is applied to the linearized model of a large transport aircraft in which the longitudinal and lateral motions are coupled as the result of using engine differential thrusts. The type of damage which is considered for actuators in this paper is lock-in-place which means control surfaces are fixed in an uncertain value after damage. Analytical stability analysis and simulation results are presented to demonstrate the effectiveness of the proposed approach.

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Trajectory tracking is one of the main control problems in the context of Wheeled Mobile Robots (WMRs). Besides, control of underactuated systems possesses a particular complexity and importance; so it has been focused by many researchers in recent years. In this paper, these two important control subjects are discussed regarding a Tractor-Trailer Wheeled Mobile Robot (TTWMR); which includes a differential drive wheeled mobile robot towing a passive spherical wheeled trailer. The use of spherical wheels instead of standard wheels in trailer makes the robot highly underactuated with severe nonlinearities. Spherical wheels are used for the trailer to increase robots’ maneuverability. In fact, standard wheels create nonholonomic constraints by means of pure rolling and nonslip conditions, and reduce robot maneuverability. In this paper, after introducing the robot, kinematics and kinetics models are obtained, and combined as the dynamics model. Then, based on physical intuition a new controller is developed for the robot, named as Lyapaunov-PID control algorithm. Then, singularity avoidance of the proposed algorithm is discussed and the stability of the algorithm is discussed. Simulation results reveal the suitable performance of the proposed algorithm. Finally, experimental implementation results are presented which verify the simulation results.

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In this paper, tracking control synthesis problem for nonlinear polynomial discrete-time systems are studied. Proposed controller drives the plant such that the state vector of the plant follows those of a stable reference model. The objective is to design a controller such that the energy gains from the exogenous signals that are the reference signal and the state vector of the reference model, to the tracking error to be less or equal to prescribe thresholds. The main difficulty in the problem of designing tracking nonlinear discrete-time control law for the polynomial discrete time systems is that in general this problem may not be formulated as a convex problem. With proper selection of Lyapunov function and based on Lyapunov theory and by using sum of square approach, sufficient conditions for existence of controller are presented in terms of a feasibility SOS programming problem that can be solved using numerical solvers such as SOSTOOLS. Finally, the performance of proposed approach will be shown using the simulation of several examples.

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It is becoming an established strategy to add humor in Persian subtitles even often when the original dialogue does not include the created or any other humor. This study measures the impact of this strategy on viewers’ attention allocation while reading subtitles. The eye movements of 32 participants were recorded while watching a humorous and non-humorous version of the same scene extracted from Superchondriac (Boon, 2014), a French comedy. The results show that there is a significant difference between attention allocation in the two versions, and the viewers’ attention to the subtitles with added humor is significantly larger than non-humorous subtitles. The interviews showed that some viewers liked the added humor because they thought it is funny and close to their cultural and ideological views. On the other hand, some of the participants opted for the non-humorous subtitles because they thought the added humor was distracting, confusing, at times offensive, and detached from the original culture.

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An Aerial Robot or Unmanned Aerial Vehicle (UAV) is an aerial vehicle that provides its flight condition using aerodynamic forces. Also, this vehicle can be named as an autonomous robot. This robot is an under-actuated system and it is inherently unstable. Thus, the control of this nonlinear system is a problem for both practical and theoretical interest. So, the goal of this research is to contrast with highly nonlinear dynamic system of Octorotor that its control is difficult in many cases and it causes existence of instability in this Unmanned Aerial Vehicle (UAV). At the first, the structure of Octorotor is studied in this paper in order to increasing power, more carrying and increment of resistance into changing and distribution. Also, the electronic and mechanic of this robot is studied in some sections. Then, in the following, in order to attitude control of robot with introduction of dynamic system, one of the most common implemented controllers is applied on this robot. Initially, this process is done on the dynamic model of robot by Matlab/Simulink software and finally, implementation of this controller is applied on a fabricated Octorotor during a real flight in autonomous trajectory tracking in outdoor environment. At last, the study of sensors results is also shown.

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One of the main topics in the field of robotics is the formation control of the group of robots in trajectory tracking problem. Using organized robots has many advantages compared to using them individually. Among them the efficiency of using resources, the possibility of robots' cooperation, increasing reliability and resistance to defects can be pointed out. Therefore, formation control of multi-body robotic systems and intelligent vehicles attracted considerable attention that is discussed in this paper. First, kinematic and kinetic equations of a differential drive wheeled robot are obtained. Then, reference trajectories for tracking problem of the leader robot are produced. Next, a kinematic control law is designed for trajectory tracking of the leader robot. The proposed controller steer the leader robot asymptotically follow reference trajectories. Subsequently, a dynamic control algorithm for generating system actuator toques is designed based on feedback linearization method. Afterwards, formation control of the robots has been considered and an appropriate algorithm is designed in order to organize the follower robots in the desired configurations, meanwhile tracking control of the wheeled robot. Furthermore the stability of the presented algorithms for kinematic, dynamic and formation control laws is analyzed using Lyapunov method. Finally, obtained results for different reference paths are presented which represents the effectiveness of the proposed controller.

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In this paper, using both linear and nonlinear identification methods based on iterative and recursive least-square, the performance of a backstepping control system of a quadrotor in the presence of uncertainties is improved. At first, the dynamic model of a quadrotor is introduced and descriptive equations are presented in an appropriate state-space in order to design a controller based on backstepping method. Then the backstepping controller is designed using virtual controller for trajectory tracking. In this control system, the control performance is not satisfying because of the physical uncertainties existed in quadrotor. Consequently, an online identification method is introduced and used to improve the performance of the controller. In this regard, some parameters, which are linear in the model structure, are identified by least square error technique and iterative least square method is used for identifying other parameters.The results indicate that the steady-state error is decreased and the ability of tracking of a desired trajectory in the presence of uncertainties is increased. Furthermore, the result demonstrate the stabilization of roll and pitch angles, while, the method prevents the vibration of control forces.

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In this paper a controller has been presented based on the predictive control to drive and control the bipedal Nao robot. One of the challenges in the practical applying of these types of controllers is their high computational loading and the time-consuming control operations in each time step, in which it is suggested to use Laguerre Functions to reduce the computational loading of the predictive controller. In this study, at first using the conventional methods for the identification, and via the real data obtained from the Nao robot in Mechatronics research center of Qazvin Azad University, a proper model is proposed for walking the Nao robot which is considered as a two-dimensional motion in the plane. Then a controller will be designed to control the robot motion using the model based predictive controller. The purpose of this control approach in the first place is to stabilize the walking of the robot and then to guide and keep it on the desired trajectory, so that this trajectory tracking can be performed well as much as possible. Moreover, in order to evaluate the efficiency of the proposed controller, this controller has been compared with a proportional-integral-derivative controller and will be studied. The simulation results show the effectiveness of the proposed controller performance in the robot trajectory tracking, which finally comparing the obtained results from both of the control approaches, indicates the efficiency and different capabilities of the proposed method in this study.

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Numerical simulation of multi material or multi-phase flows are one of the most challenging problems between computational fluid dynamics researches. The main difficulty of these problems is producing some unexpected and non-physical oscillation at material interface which causes entering some error in to computation domain. For eliminating this source of error, many sophisticated algorithm have been proposed recently. By neglecting diffusion processes, Euler equations and HLLC reimann solver are applied. In addition, Level set algorithm is implemented to track interferences between two materials. An accurate, easily developed and low computation cost algorithm, proposed by Abgrall and Karni, is used to prevent generating the oscillations in the interfaces. In the current work, the algorithm is developed to 2 dimensional algorithm. Afterwards, the result of 1 and 2 dimensional code are evaluated to verify the developed algorithm by some standard problems such as sod problem. Finally, shock –bubble (Air – Helium) interaction problem is simulated to investigate the effect of the algorithm in 2 dimensional simulation. The comparison shows that the code and its result have very good accuracy with very low computational cost.