Amirkabir University of TechnologyAUT Journal of Electrical Engineering2588-291043120110401A Hierarchical SLAM/GPS/INS Sensor Fusion with WLFP for Flying Robo-SAR's NavigationA Hierarchical SLAM/GPS/INS Sensor Fusion with WLFP for Flying Robo-SAR's Navigation1108310.22060/eej.2011.83ENS.M.MirzababaeiCorresponding Author, S.M. Mirzababaei is the Department of Computer Engineering and IT Department, Amirkabir University of
Technology, Tehran, Iran (e-mail: {mirzababaei,akbarif}@aut.ac.ir).M.K.AkbariiiM.K. Akbari is with the Department of Computer Engineering and IT Department, Amirkabir University of Technology, Tehran, Iran (e-mail:
{mirzababaei,akbarif}@aut.ac.ir).Journal Article20140315In this paper, we present the results of a hierarchical SLAM/GPS/INS/WLFP sensor fusion to be used in navigation system devices. Due to low quality of the inertial sensors, even a short-term GPS failure can lower the integrated navigation performance significantly. In addition, in GPS denied environments, most navigation systems need a separate assisting resource, in order to increase the availability and reliability of the device. When the GPS service/information is available, the integrated SLAM system arranges for a landmark-based map using a GPS/INS feature. But in case of inaccessibility of GPS information, the latest formerly produced map plays an important role in decreasing the INS errors. In addition, a Wireless Fingerprinting (WLFP) mechanism helps us limit the errors in the system. The results of the proposed method decreases the average estimation precision on the order of 2.6m, without any performance degradation and in different experiments, which is the maximum sustainable error (below 2.66m) for flyer landing on the base. The mentioned method could be used in computer networks to schedule the services too. Amirkabir University of TechnologyAUT Journal of Electrical Engineering2588-291043120110401Robust Control of Encoderless Synchronous Reluctance Motor Drives Based on Adaptive Backstepping and Input-Output Feedback Linearization TechniquesRobust Control of Encoderless Synchronous Reluctance Motor Drives Based on Adaptive Backstepping and Input-Output Feedback Linearization Techniques11238410.22060/eej.2011.84ENJafarSoltaniiJafar Soltani is with the Faculty of Engineering, Islamic Azad University, Khomeini-shahr Branch, Esfahan, Iran (e-mail: jsoltani@iaukhsh.ac.ir).HosseinAbootorabi ZarchiCorresponding Author, Hossein Abootorabi Zarchi is with the Faculty of Engineering, Ferdowsi University of Mashhad, Mashhad, Iran (e-mail:
hazarchi@gmail.com).Journal Article20140315In this paper, the design and implementation of adaptive speed controller for a sensorless synchronous reluctance motor (SynRM) drive system is proposed. A combination of well-known adaptive input-output feedback linearization (AIOFL) and adaptive backstepping (ABS) techniques are used for speed tracking control of SynRM. The AIOFL controller is capable of estimating motor two-axis inductances (Ld, Lq), simultaneously. The overall stability of the proposed control and Persistency of Excitation (PE) condition are proved based on Lyapunov theory. In the proposed control drive system, the maximum torque control (MTC) scheme and constant current in inductive axis control (CCIAC) are applied to generate the motor d and q axis reference currents which are needed for the AIOFL controller. In addition, an ABS speed controller is designed to compensate for the machine parameter uncertainties and load torque disturbances. Another contribution of this paper is to estimate the rotor speed and position in very low speed by using 1) a simple technique for eliminating the voltage sensors, 2) a simple method for online estimation of the stator resistance, and 3) modeling the voltage drop of the inverter power switches. Finally, the validity and capability of the proposed method are verified through simulation and experimental studies.Amirkabir University of TechnologyAUT Journal of Electrical Engineering2588-291043120110401A Novel Reconfiguration Mixed with Distributed Generation Planning via Considering Voltage Stability MarginA Novel Reconfiguration Mixed with Distributed Generation Planning via Considering Voltage Stability Margin23348510.22060/eej.2011.85ENM. H.HemmatpourCorresponding Author, Mohammad Hasan Hemmatpour is MSC student with the Department of Electrical Engineering, Shahid Bahonar University
of Kerman, Kerman, Iran (e-mail: m.h.hematpour@gmail.com).M.MohammadianMohsen Mohammadian is Assistant Professor with the Department of Electrical Engineering, Shahid Bahonar University of Kerman, Kerman, Iran
(e-mail: M.Mohammadian@uk.ac.ir).M.RashidinejadMasoud Rashidinejad is Associated Professor with the Department of Electrical Engineering, Shahid Bahonar University of Kerman, Kerman, Iran
(e-mail: mrashidi@uk.ac.ir).Journal Article20140315In recent years, in Iran and other countries the power systems are going to move toward creating a competition structure for selling and buying electrical energy. These changes and the numerous advantages of <em>DGs</em> have made more incentives to use these kinds of generators than before. Therefore, it is necessary to study all aspects of <em>DGs</em>, such as size selection and optimal placement and impact of them on <em>Distribution System (DS)</em> reconfiguration. So, the problem of optimum reconfiguration and optimal location of <em>DGs (DGs Planning)</em> in <em>DS</em> is a task which must be solved in an optimal manner. This paper presents a novel approach for optimum reconfiguration and optimal location of <em>DGs</em> in distribution networks based on a hieratical two-stage optimization problem to improve power system voltage stability margin and reduce active power losses. Hence, a toolbox has been developed to recognize loadability limit of distribution power systems based on Lagrangian optimization method. Finally, the simulations are carried out on 33, 69 bus IEEE distribution systems and demonstrate the validity of the proposed method.Amirkabir University of TechnologyAUT Journal of Electrical Engineering2588-291043120110401A Low Power Low Voltage Rail to Rail Constant gm Differential Amplifier with 150 dB CMRR and Enhanced Frequency PerformanceA Low Power Low Voltage Rail to Rail Constant gm Differential Amplifier with 150 dB CMRR and Enhanced Frequency Performance35448610.22060/eej.2011.86ENLeilaSafariLeila Safari is with Electronic Research Center, Iran University of Science and Technology (e-mail: leilasafari@yahoo.com).Seyed JavadAzhariCorresponding Author, Seyed Javad Azhari is with Electrical Engineering Faculty of Iran University of Science and Technology (e-mail:
Azhari@iust.ac.ir).Journal Article20140315This paper proposes a low voltage (±0.55V supply voltage) low power (44.65µW) high common mode rejection ratio (CMRR) differential amplifier (d.a.) with rail to rail input common mode range (ICMR), constant transconductance (gm) and enhanced frequency performance. Its high performance is obtained using a simple negative averaging method so that it cancels out the common mode input signals at the same input terminals while preserving high frequency operation. The principle of operation, small signal analysis and the formula of its most important parameters are explained and derived. Simulation results with HSPICE using TSMC 0.18µm CMOS are presented showing rail to rail operation, CMRR of 150dB, voltage gain of 31.6dB, gain bandwidth of 95.8 MHz and input referred noise of 100.64nv/√Hz. Compared to conventional amplifier ones those are 94.4dB , 3.4dB, 1.62 times and 1.72 times better, respectively. The CMRR corner case simulation results are also provided showing from 52.1dB to 74.6dB improvement over conventional one.Amirkabir University of TechnologyAUT Journal of Electrical Engineering2588-291043120110401A Novel ±0.5V Ultra High Current Drive and Output Voltage Headroom Current Output Stage with Very High Output ImpedanceA Novel ±0.5V Ultra High Current Drive and Output Voltage Headroom Current Output Stage with Very High Output Impedance45538710.22060/eej.2011.87ENHassanFaraji BaghtashCorresponding Author, Hassan Faraji Baghtash is with Iran University of Science and Technology (IUST) Electrical and Electronic
Engineering Faculty (corresponding author phone: +989128016637; e-mail: hfaraji@iust.ac.ir)AhmadAyatollahiiiAhmad Ayatollahi is with Iran University of Science and Technology (IUST) Electrical and Electronic Engineering Faculty (e-mail:
ayatollahi@iust.ac.ir).KhalilMonfarediKhalil Monfaredi is with Iran University of Science and Technology (IUST) Electrical and Electronic Engineering Faculty/ Electronics
Research Center (e-mail: khmonfaredi@iust.ac.ir)
Manuscript received April 23, 2011.Journal Article20140315A novel ultra-high compliance, low power, very accurate and high output impedance current output stage (COS) with extremely high output current drive capability is proposed in this paper. The principle of operation of this unique structure is discussed, its most important formulas are derived and its outstanding performance is verified by HSPICE simulation in TSMC 0.18µm CMOS, BSIM3, and Level49 technology. <br />This deliberately composed structure utilizes a well combination (for a mutual auto control action) of negative and positive feedbacks to achieve ever demanded merits such as very low power of 150µW, ultra high ratio of 3000 for output current over the bias current (which is selected to be 0.5µA) at low THD of -20dB and very high output impedance of 5GΩ with power supplies of ±0.5V when operating at class AB mode. Simulation results with ±0.5V power supply shows an absolute output voltage dynamic range of 0.9V which interestingly provides the highest yet reported output voltage compliance for Current mode building blocks implemented by regular CMOS technology. Full process, voltage, and temperature variation (PVT) analysis of the circuit is also investigated in order to approve the well robustness of the structure. The transient stepwise response is also done to verify the proposed COS stability.Amirkabir University of TechnologyAUT Journal of Electrical Engineering2588-291043120110401Design and Construction of a Novel Tactile Sensor for Measuring Contact-Force, Based on Piezoelectric EffectDesign and Construction of a Novel Tactile Sensor for Measuring Contact-Force, Based on Piezoelectric Effect55608810.22060/eej.2011.88ENN.NasseriiN. Nasseri is with the Department of Biomedical Engineering, Amirkabir University of Technology, Tehran, Iran (e-mail:
nassim_nasseri@aut.ac.ir).S.NajarianCorresponding Author, S. Najarian is with the Department of Biomedical Engineering, Amirkabir University of Technology, Tehran, Iran (email:
najarian @aut.ac.ir).A.Tavakoli GolpayganiA. Tavakoli Golpaygani is with the Department of Physics and Biomedical Engineering, Shiraz University of Medical Sciences, Shiraz, Iran (email:
atavakoli@pearl.sums.ac.ir).G.Darb EmamiehG. Darb Emamieh is with the Department of Biomedical Engineering, Amirkabir University of Technology, Tehran, Iran (e-mail:
goldis_emamieh@aut.ac.ir).Journal Article20140315In this paper, design and construction of a tactile sensor for measuring contact-force is presented. Mechanism of measuring contact-force in this tactile sensor is based on impedance changing of piezoelectric crystal and voltage of different points in circuit as a result of applying force on the crystal. By considering a specific point in the circuit and recording the changes of its voltage, magnitude of applied force can be estimated. Structure of the sensor consists of a disk-shaped piezoelectric crystal that its diameter is 2 cm, its thickness is 2 mm and its resonance frequency is 135 kHz. This crystal is placed in a metal chamber. A spring is on the crystal on which a moving part is installed for applying force. <br />One of the characteristics of the sensor is that its size and shape can be easily tailored to the different applications. By miniaturizing this sensor and using biocompatible materials, it is applicable in different fields of medicine such as minimally invasive surgery (MIS).Amirkabir University of TechnologyAUT Journal of Electrical Engineering2588-291043120110401Analysis of the Frequency Effects on Design and Back-Iron Characteristics of Double-Layer Secondary Single-Sided Linear Induction MotorsAnalysis of the Frequency Effects on Design and Back-Iron Characteristics of Double-Layer Secondary Single-Sided Linear Induction Motors61689010.22060/eej.2011.90ENA.ShiriiCorresponding Author, A. Shiri is with the Department of Electrical Engineering, Iran University of Science and Technology, Tehran, Iran (email:
abbas_shiri@iust.ac.ir).A.ShoulaieiiA. Shoulaie is with the Department of Electrical Engineering, Iran University of Science and Technology, Tehran, Iran (email:
Shoulaie@iust.ac.ir).Journal Article20140315Input frequency is one of the important variables in design and performance analysis of single-sided linear induction motors (SLIMs). Changing the frequency changes both the dimension of the SLIM in design process and the performance of the designed motor. The frequency influences the induced eddy currents in the secondary sheet as well as saturation level of the secondary back-iron. In this paper, the effect of the input frequency on the dimensions of the SLIM is investigated in the design process. Then, the frequency effects on the magnetic characteristics of the secondary back-iron as well as the SLIM performance are analyzed for a designed motor. Finally, the analytical results are confirmed by 2D time-stepping finite element method.