Center for Advance Studies in Engineering

Islamabad, Pakistan

Center for Advance Studies in Engineering

Islamabad, Pakistan
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Iqbal M.,Bahria University | Mahmood A.,Center for Advance Studies in Engineering
2016 17th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering, STA 2016 - Proceedings | Year: 2017

Analysis of a system and its control design can be greatly simplified while working with lower-order models as compared to high order models. In this paper we analyze a minimal realization biomechanical model of reflexive movement of human finger when the little finger is bent. This is a 6th order minimal state space realization model for movement simulation of two fingers. We developed an H2 robust controller to achieve a stable response for the system. We compared responses of the full order state space model and the minimal state space realization model. Parametric uncertainties were added as exogenous inputs and the values were manipulated to get a better controller. Furthermore, we minimized the effects of the disturbances and the impact of the measurement noise and modeling errors by tuning the controller performance. We simulated the model in MATLAB/Simulink for study of stability analysis and performance comparison. Our simulation results demonstrate the applicability of the model towards active prosthetic, and help to understand central nervous system in physiologically coordinated movement and constraint on motor. © 2016 IEEE.


Naeem H.M.Y.,Center for Advance Studies in Engineering | Mahmood A.,Center for Advance Studies in Engineering
2017 International Conference on Electrical Engineering, ICEE 2017 | Year: 2017

This paper describes the modeling and controlling of longitudinal vehicle model. State space averaging is used to get the nominal model of vehicle, while bond graph methodology is adopted to model the actuator dynamics of the vehicle. Robust control theory is applied to modify the nominal model to standard format used for parametric and multiplicative input uncertainties. H∞ control technique is adopted to control the states of the model in the presence of uncertainties and disturbance. Concept of servo mechanism is used to check velocity-tracking performance, while μ analysis is performed on the controlled model to check the robust stability and robust performance of the model. © 2017 IEEE.


Iqbal M.,Bahria University | Mahmood A.,Center For Advance Studies in Engineering
2017 International Conference on Electrical Engineering, ICEE 2017 | Year: 2017

A model can be greatly simplified in terms of analysis if we work with a lower order model instead of higher order models. This simplification leads to less complicated control design. In this paper we analyse a minimal realization biomechanical model of reflexive movement of human finger when the little finger is bent. This is a 6th order minimal state space realization model for movement simulation of two fingers. We developed and compared different results of an H∞ optimal controller to achieve a stable response. Exogenous inputs in terms of parametric uncertainties were added to the model. We manipulated the values to get a better controller. Furthermore, we minimized the effects of the disturbances and the impact of the measurement noise and modeling errors by tuning the controller for optimum performance. We simulated the model in MATLAB/Simulink for study of stability analysis and performance comparison. Our simulation results demonstrate the applicability of the model towards active prosthetic, and help to understand central nervous system in physiologically coordinated movement and constraint on motor. © 2017 IEEE.


Naeem H.M.Y.,Center for Advance Studies in Engineering | Mahmood A.,Center for Advance Studies in Engineering
2016 International Conference on Intelligent Systems Engineering, ICISE 2016 | Year: 2016

This paper describes a modeling and controlling of autonomous cruise control of autonomous car using bond graph modeling. We developed model using bond graph formulation by incorporating actuator dynamics and finally state space representation. We later subjected this model to robust control theory to modify the nominal model to standard format used for parametric uncertainty. We finally synthesized using LQR and H2 control technique and compared the results of a feedback system. © 2016 IEEE.


Riaz K.,Ghulam Ishaq Khan Institute of Engineering Sciences and Technology | Bazaz S.A.,Center for Advance Studies in Engineering | Saleem M.M.,Ghulam Ishaq Khan Institute of Engineering Sciences and Technology | Shakoor R.I.,National Institute of Lasers and Optronics NILOP
Sensors and Actuators, A: Physical | Year: 2011

This paper reports the design implementation of three degree-of-freedom (3-DoF) non-resonant MEMS gyroscope having 2-DoF drive-mode oscillator. The proposed architecture utilizes structurally decoupled active-passive mass configuration to achieve dynamic amplification of oscillation in 2-DoF drive-mode. This results in higher sensitivity and eliminates the need of mode matching for resonance. A low cost standard Metal-Multi User MEMS Processes (MetalMUMPs) is used to fabricate 20 μm thick nickel based gyroscope with an overall reduced size of 2.2 mm × 2.6 mm. The experimental characterization demonstrated that the frequency response of the 2-DoF drive-mode oscillator has two resonant peaks at 754 Hz and 2.170 kHz with a flat operational region of 1.4 kHz between the peaks. The sense-mode resonant frequency lies at 1.868 kHz within this flat operational region where gain is less sensitive to structural parameters and environmental variations. This results in improved robustness to fabrication imperfections and environmental variations and long term stability without utilizing tuning and feedback control. Gyroscope dynamics and system level simulations using behavioral modeling are carried out to predict the performance of the device. Experimental results show close agreement with the behavioral simulation results due to incorporation of improved damping models in behavioral model developed in CoventorWare.


Iqbal S.,Center for Advance Studies in Engineering | Bhatti A.I.,Center for Advance Studies in Engineering | Akhtar M.,IDS Inc | Ullah S.,IDS Inc
2007 European Control Conference, ECC 2007 | Year: 2015

Motion controlled stabilized platform is a 2DOF parallel manipulator which has been developed to reject angular disturbances and keep its surface horizontal. It is used for the stabilization of heavy loads such as antennas, surgery tables, etc in ocean going crafts. Use of variety of payloads causes significant changes in the dynamic properties of the plant. The controller has to be robust against the uncertainties caused by the change of payload. Two facets of this paper are the robust controller design and robustness evaluation. Traditionally such a platform is modeled through time varying nonlinear model, thus providing the rationale for a nonlinear or adaptive controller. In this paper the authors have proposed that linear identification methods may be used to establish a linear model for a particular load condition. Secondly a robust controller is designed using H based method [6], so that the designed controller may be robust against other load variations. The method facilitates modeling of the plant with complex loads. In this work, first, a model has been identified by input/output measurements, after that a control design procedure based on H optimization is used, which explicitly trade between nominal performance and robust stability. The performance and robustness is evaluated at different loads. The designed controller is compared with an existing phase lead controller and shows obvious improvements for load variations. It is shown by experiments, both in simulation and on actual rig that design through H is suitable controller design method for robustness as well as performance. The design choices made are validated by simulation results and rigorous testing on the actual stabilized platform. © 2007 EUCA.


Farooq M.O.,Center for Advance Studies in Engineering | Shah G.A.,Center for Advanced Research in Engineering
Ad-Hoc and Sensor Wireless Networks | Year: 2011

In this paper, we present an admission control with multi-path routing algorithm that establishes QoS enabled label switched paths. The algorithm provides rigorous QoS provisioning within the Differentiated Services (DiffServ) enabled mobile ad-hoc network. The proposed schemeworks by merging the signaling with the routing messages. It directs QoS sensitive traffic on multiple paths provided that each path satisfies the QoS requirements of a flow. Decision for granting admission to the flow depends upon total available bandwidth (considering the interference range), minimum delay required by an application, and delay offered by the network in a given DiffServ class. Extensive simulations are performed to measure the effectiveness of the presented idea. It is observed that our scheme meets stringent QoS requirements of real time flows compared to the existing QoS models. Each admitted flow gets low delay, low jitter and almost guaranteed bandwidth. © 2011 Old City Publishing, Inc.


Hasan A.,Air University | Ali A.,Center for Advance Studies in Engineering
Computer Communications | Year: 2015

Scheduling algorithms in ad hoc networks allow nodes to share the wireless channel so that concurrent transmissions can be decoded successfully. On one hand, scheduling needs to be efficient to maximize spatial reuse and minimize retransmissions due to collisions. But on the other hand, the scheduling algorithm needs to be easily implementable in a distributed fashion with little, if any, coordination with other nodes in the network. In this paper we propose and evaluate a simple scheduling technique that suppresses transmissions by nodes around the desired receiver. Using stochastic geometry, we derive a near-optimal guard zone which can be easily realized in a distributed manner, and exhibits about a 2-40 fold increase in capacity compared to ALOHA; the capacity increase depending primarily on the required outage probability and node density. The capacity loss is about 15-25% compared to a well-known near-optimal centralized scheme. In contrast to centralized scheduling (which is highly impractical), our scheme lends itself to distributed implementation and also protects active links. Our derivations cleanly capture how the optimal guard zone size varies with different network parameters like path loss, outage, spreading gain, and node density, and we show how these results can be used to provide protocol design guidelines. © 2014 Elsevier B.V. All rights reserved.


Qureshi W.S.,Air University | Alvi A.-B.N.,Center for Advance Studies in Engineering
World Academy of Science, Engineering and Technology | Year: 2011

Vision based tracking problem is solved through a combination of optical flow, MACH filter and log r-θ mapping. Optical flow is used for detecting regions of movement in video frames acquired under variable lighting conditions. The region of movement is segmented and then searched for the target. A template is used for target recognition on the segmented regions for detecting the region of interest. The template is trained offline on a sequence of target images that are created using the MACH filter and log r-θ mapping. The template is applied on areas of movement in successive frames and strong correlation is seen for in-class targets. Correlation peaks above a certain threshold indicate the presence of target and the target is tracked over successive frames.


Zareen A.,Center for Advance Studies in Engineering | Baig S.,Center for Advance Studies in Engineering
5th International Workshop on Systematic Approaches to Digital Forensic Engineering, SADFE 2010 | Year: 2010

Mobile phones and other handheld devices are everywhere now a day. Cell phones and cellular devices can be involved in a crime or other incident. Digital forensic specialists will require specialized tools for forensics examination of mobile phones for proper recovery and speedy analysis of data present on mobile phones. Based on the various extraction methods different levels of analysis can be logically grouped for evidence acquisition from mobile phones. Based on these levels (Manual, Logical, Hex-Dump, Chip-Off and Micro Read) a pyramid of forensic tools available in international market can be sketched. Scope of this paper is to excavate into challenges associated while carrying forensic analysis of mobile phones, elaborate various analysis techniques and depict a pyramid of forensic techniques and tools. © 2010 IEEE.

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