There is, I think, something ethereal about i —the square root of minus one. I remember first hearing about it at school. It seemed an odd beast at that time—an intruder hovering on the edge of reality.

Usually familiarity dulls this sense of the bizarre, but in the case of i it was the reverse: over the years the sense of its surreal nature intensified. It seemed that it was impossible to write mathematics that described the real world in …

I and i

다중혈관 관상동맥 환자에서 y-문합을 이용하여 양쪽 내흉동맥만을 사용한 우회술의 조기 성적

An overview of the self-organizing map algorithm, on which the papers in this issue are based, is presented in this article.

The Self-Organizing Map

With construction of new large-scale water storage projects on the wane in the U.S. and other developed countries, attention must focus on improving the operational effectiveness and efficiency of existing reservoir systems for maximizing the beneficial uses of these projects. Optimal coordination of the many facets of reservoir systems requires the assistance of computer modeling tools to provide information for rational management and operational decisions. The purpose of this review is to assess the state-of-the-art in optimization of reservoir system management and operations and consider future directions for additional research and application. Optimization methods designed to prevail over the high-dimensional, dynamic, nonlinear, and stochastic characteristics of reservoir systems are scrutinized, as well as extensions into multiobjective optimization. Application of heuristic programming methods using evolutionary and genetic algorithms are described, along with application of neural networks and fuzzy rule-based systems for inferring reservoir system operating rules.

Optimal Operation of Multireservoir Systems: State-of-the-Art Review

This paper forms the second part of the series on application of artificial neural networks (ANNs) in hydrology. The role of ANNs in various branches of hydrology has been examined here. It is foun...

Artificial Neural Networks in Hydrology. II: Hydrologic Applications

Ce rapport traite sur l’etude du terme gravitationnel dans le modele d’etat general d’un bras robotique. Une nouvelle relation est introduite qui permet de verifier la validite de la matrice de gravite dans le modele. Cette relation permet egalement de former une contrainte qui peut etre utilisee afin de compenser le terme de gravite dans la loi de commande, tout en preservant la convergence asymptotique des variables de joints vers 0. Un robot 2 DDL sera utilise en tant qu’exemple d’application, avec la loi de commande d’Arimoto et Takegaki, dans laquelle le terme gravitationnel sera compense en respectant contrainte ci-haut mentionnee. Des resultats de simulation seront produits afin de demontrer la convergence asymptotique des variables de joints vers 0.

Étude du terme gravitationnel dans le modèle d’état d’un bras robotique

This paper presents a new approach in application of distance relay in distribution system. During the heavy load conditions, the load encroachment of impedance into the distance relay protection zones is a well-known reason for distance relay mal-operation. Therefore, all the modern digital distance relays are equipped with the load encroachment scheme. This paper proposes the idea of using the load encroachment scheme of distance relay for monitoring purpose in presence of RES integration. The OpenDSS and Matlab software are used to test the effectiveness of the method with the IEEE 8500 node test feeder. The proposed method is tested with the unbalanced distribution system feeder loading and distributed model of solar generations.

A Modified Load Encroachment Technique for Power Factor Monitoring

To cope with the computational complexity of the traditional model predictive control, and to reduce the error of the linearization and prediction processes, this paper presents an improved model predictive control algorithm, based on Laguerre functions, for the motion tracking of an omnidirectional mobile robot with non-iterative linearization. To design the controller, the kinematic modeling of the three-wheeled omnidirectional robot was first performed. Next, the model predictive algorithm was developed using Laguerre functions to parametrize the control signals. At each sampling instant of the online optimization, a linearization along the predicted trajectory, based on the duality principle between optimal control and stochastic filtering, was carried out to deal with the nonlinearities of the system. This non-iterative linearization provides better approximation of the nonlinear behavior which improves the prediction process and the tracking performance, with lower computational burden due to the use of the Laguerre functions. The new controller is applied to solve the trajectory-tracking problem of an omnidirectional robot. A comparative study between the proposed controller, the conventional model predictive control, and the nonlinear model predictive approach is made. Simulation results confirm that the new controller outperform the latter ones regarding tracking accuracy with considerably low computational effort. The feasibility of the controller is demonstrated by real-time experiment on the Robotino-Festo omnidirectional mobile robot.

https://ieeexplore.ieee.org/ielx7/6287639/6514899/09940975.pdf

Enhanced MPC for Omnidirectional Robot Motion Tracking Using Laguerre Functions and Non-Iterative Linearization

https://ineer.org/awards/2005_award_ saliah-hassane.pdf

Maarouf Saad

Papers

Étude du terme gravitationnel dans le modèle d’état d’un bras robotique

A Modified Load Encroachment Technique for Power Factor Monitoring

Enhanced MPC for Omnidirectional Robot Motion Tracking Using Laguerre Functions and Non-Iterative Linearization

Summary of Accomplishments of Nominee Principal Fields of Interest

kTUDE COMPARATIVE DE T ROIS TOPOLOG DE CONVERTISSEURS A ReSONANCE