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| 1 | A Stable Analytical Solution Method for Car-Like Robot Trajectory Tracking and Optimization显示文摘In this paper, the car-like robot kinematic model trajectory tracking and control problem is revisited by exploring an optimal analytical solution which guarantees the global exponential stability of the tracking error. The problem is formulated in the form of tracking error optimization in which the quadratic errors of the position, velocity, and acceleration are minimized subject to the rear-wheel car-like robot kinematic model. The input-output linearization technique is employed to transform the nonlinear problem into a linear formulation. By using the variational approach, the analytical solution is obtained, which is guaranteed to be globally exponentially stable and is also appropriate for real-time applications. The simulation results demonstrate the validity of the proposed mechanism in generating an optimal trajectory and control inputs by evaluating the proposed method in an eight-shape tracking scenario. | Keyvan Majd Mohammad Razeghi-Jahromi Abdollah Homaifar | 2020 | IEEE/CAA Journal of Automatica Sinica2020，7，1： | 3 |
| 2 | IoT-Enabled Autonomous System Collaboration for Disaster-Area Management显示文摘Timely investigating post-disaster situations to locate survivors and secure hazardous sources is critical,but also very challenging and risky.Despite first responders putting their lives at risk in saving others,human-physical limits cause delays in response time,resulting in fatality and property damage.In this paper,we proposed and implemented a framework intended for creating collaboration between heterogeneous unmanned vehicles and first responders to make search and rescue operations safer and faster.The framework consists of unmanned aerial vehicles(UAVs),unmanned ground vehicles(UGVs),a cloud-based remote control station(RCS).A light-weight message queuing telemetry transport(MQTT)based communication is adopted for facilitating collaboration between autonomous systems.To effectively work under unfavorable disaster conditions,antenna tracker is developed as a tool to extend network coverage to distant areas,and mobile charging points for the UAVs are also implemented.The proposed framework’s performance is evaluated in terms of end-to-end delay and analyzed using architectural analysis and design language(AADL).Experimental measurements and simulation results show that the adopted communication protocol performs more efficiently than other conventional communication protocols,and the implemented UAV control mechanisms are functioning properly.Several scenarios are implemented to validate the overall effectiveness of the proposed framework and demonstrate possible use cases. | Abenezer Girma Niloofar Bahadori Mrinmoy Sarkar Tadewos G.Tadewos Mohammad R.Behnia M.Nabil Mahmoud Ali Karimoddini Abdollah Homaifar | 2020 | IEEE/CAA Journal of Automatica Sinica2020，7，5： | 2 |
| 3 | Constrained optimization via genetic algorithms显示文摘 | A Homaifar S H Y Lai X Qi | 1994 | Simulation1994，62，4： | 1 |
| 4 | Constrained Optimization Via Genetic Algorithms 显示文摘 | Homaifar A Qi C X Lai S H | 1994 | Simulation1994，62，4： | 1 |
| 5 | Emergency obstetrics knowledge and practical skills retention among medical students in Rwanda following a short training course显示文摘 | NAZANEEN HOMAIFAR DAVID MWESIGYE SAMUEL TCHWENKO | 2012 | International Journal of Gynecology and Obstetrics2012，，： | 1 |
| 6 | Constrained optimization via genetic algorithms显示文摘 | Homaifar A Qi C Lai S | 1994 | Simulation1994，62，4： | 1 |
| 7 | Constrained optimization via genetic algorithms显示文摘 | Homaifar A Qi C X Lai S H | | 0，，04： | 1 |
| 8 | Constrained optimization via genetic algorithms显示文摘 | Homaifar A Qi C X Lai S H | 1994 | Simulation1994，62，4： | 1 |
| 9 | Approximating an optimal feedback control law by a generalized sugeno controller显示文摘 | Bikdash M Clifton C | 2001 | Fuzzy Sets and Systems2001，121，1： | 1 |
| 10 | Constrained optimization via genetic algorithms显示文摘 | Homaifar A Qi C Lai S | 1994 | Simulation1994，62，4： | 1 |
| 11 | Constrained Optimization via Genetic Algorithms显示文摘 | Homaifar A | 1994 | Simulation1994，62，4： | 1 |
| 12 | Simultaneous design of membership functions and rule sets for fuzzy controllers using genetic algorithms显示文摘 | Homaifar A Mc C E | 1995 | IEEE Transactions on Fuzzy System1995，3，2： | 1 |
| 13 | Constrained Optimization via Genetic Algorithms显示文摘 | Homaifar A Lai S H Y Qi X | 1994 | Computers in Industry1994，35，4： | 1 |
| 14 | Simultaneous design of membership functions and rule sets for fuzzy controllers using genetic algorithms显示文摘 | HOMAIFAR ABDOLLAH | 1995 | IEEE Transactions on Fuzzy Systems1995，，3： | 1 |
| 15 | Constrained Optimization via Genetic Algorithms 显示文摘 | HOMAIFAR A QI c x LAI S H | 1994 | Simulation ( S0037-5497 )1994，62，4： | 1 |
| 16 | Constrained optimization via genetic algorithms显示文摘 | Homaifar A Qi C Lai S | 1994 | Simulation1994，62，4： | 1 |
| 17 | Constrained optimiza- tion via genetic algorithms 显示文摘 | HOMAIFAR A QI C X LAI S H | 1994 | Simulation1994，62，4： | 1 |
| 18 | An Empirical Model of Capital Structure: Some New Evidence显示文摘 | Homaifar G Zietz J Benkato O | 1994 | Journal of Business Finance and Accouning1994，21，： | 1 |
| 19 | A purely model predictive control for a marginally stable system显示文摘 | KIMIAGHALAM B AHMADZADEH A HOMAIFAR A | 2003 | Proceedings of the American Control Conference2003，5，： | 1 |
| 20 | Constrained optimization via genetic algorithms 显示文摘 | HOMAIFAR A QI C LAI S | 1994 | Simulation1994，62，4： | 1 |
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