Following the developments in industrial robot technology, robotics has found its way into the me... more Following the developments in industrial robot technology, robotics has found its way into the medical field and is used in a range of surgical disciplines. The main purpose of the use of robots is to increase the precision, quality and safety of surgical procedures. Robotics is not yet used in dentistry even though all the necessary technologies have already been developed and could easily be adapted. Some of the technologies are already used in dentistry, such as image-based simulation of implant surgery followed by the use of surgical guides, and creating digital impressions of pre parathions using an intra-oral scanner, after which a milling device produces the restoration, but we have not yet seen any robot able to prepare teeth for crowns, inlays or bridges. Such a robot would fundamentally be a dental drilling device coupled with a navigation device to determine the correct position of the device in relation to the patient. However this technique is very essential to have the minimal pain and reduce bleeding but control of these robots/joints are very complicated. This paper proposes new fuzzy type sliding mode controller for multi-DOF joints to control of motor vibration. The fuzzy (PD+I)2 single-input single-output (SISO) fuzzy system is used to control of chattering in sliding mode controller. In most research al researchers wants to eliminate the chattering but, this research focuses on chattering control. Various operation situations such as the set point control and the trajectory control are simulated. The simulation results demonstrate that the chattering and the steady state errors, which usually occur in the classical sliding mode control, are limitation control and satisfactory trajectory tracking is achieved.
Multi-degree-of-freedom (DOF) actuators are finding wide use in a number of Industries (such as a... more Multi-degree-of-freedom (DOF) actuators are finding wide use in a number of Industries (such as aerospace, automotive industry and surgical robot). Currently, a significant number of the existing robotic actuators that can realize multi-DOF motion are constructed using gear and linkages to connect several single-DOF motors in series and/or parallel. Not only do such actuators tend to be large in size and mass, but they also have a decreased positioning accuracy due to mechanical deformation, friction and backlash of the gears and linkages. A number of these systems also exhibit singularities in their workspaces, which makes it virtually impossible to obtain uniform, high-speed, and high-precision motion. For high precession trajectory planning and control, it is necessary to replace the actuator system made up of several single-DOF motors connected in series and/or parallel with a single multi-DOF actuator. The need for such systems has motivated years of research in the development...
Many of linear control applications require real-time operation; higher density
programmable logi... more Many of linear control applications require real-time operation; higher density programmable logic devices such as field programmable gate array (FPGA) can be used to integrate large amounts of logic in a single IC. This work, proposes a developed method to design PD controller (PDC) with optimal- gains using FPGA. The method used to design PD controller is to design it as digital design Proportional and Derivative controller in parallel through the summer. The proposed design is 32-bits FPGA-based controller (32PDC), which uses 32-bits for each input/output variable. The single joint of robot is used to test the controller in simulation environments, using VHDL code for the purpose of simulation in Xilinx. The same design is coded in MATLAB environment (MPDC) in order to make a comparison with the proposed FPGA-based design. PDC needs 16 clock cycles to complete one action with maximum frequency of 108.5 MHz. 32PDC is able to produce an output in 13.24 MHz with the robot system. Therefore, the proposed controller will be able to control a wide range of the systems with high sampling rate and 75.545 ns delays.
Multi-degrees-of-freedom (DOF) actuators are wide used in a number of Industries. Currently, a si... more Multi-degrees-of-freedom (DOF) actuators are wide used in a number of Industries. Currently, a significant number of the existing robotic actuators that can realize multi-DOF motion are constructed using gear and linkages to connect several single-DOF motors in series and/or parallel. The main challenge to use this actuator is control. Nonlinear controllers are the main choice to control of spherical motors. Computed torque controller is one of the nonlinear controllers. One of the main challenges in this controller is having dependence to the systems dynamic as well as measure the desired acceleration. To reduce above challenges, hype-plane computed torque controller is recommended in this research. Fuzzy hype-plane variable computed torque controller is adopted to guarantee the error convergence to zero in a finite time when the error is around the zero without to use desired acceleration. To increase the system robustness in presence of uncertainty fuzzy logic controller is recommended.
The minimum rule base Proportional Integral Derivative (PID) Fuzzy Sliding Mode Controller (SMC) ... more The minimum rule base Proportional Integral Derivative (PID) Fuzzy Sliding Mode Controller (SMC) with application to spherical motor is presented in this research. The popularity of PID Fuzzy Sliding Mode Controller can be attributed to their robust performance in a wide range of operating conditions and partly to their functional simplicity. The process of setting of PID Fuzzy Sliding Mode Controller can be determined as an optimization task. Over the years, use of intelligent strategies for tuning of these controllers has been growing especially in nonlinear and uncertain systems. Proportional Integral Derivative methodology has three inputs and if any input is described with seven linguistic values, and any rule has three conditions, we will need 343 rules. It is too much work to write 343 rules and have lots of problem to design embedded control system e.g., Field Programmable Gate Array (FPGA). In this research the PID-like fuzzy controller can be constructed as a parallel structure of a PD-like fuzzy controller and a conventional PI controller to have the minimum rule base and good trajectory follow disturbance to control of spherical motor. However Sliding Mode Controller is work based on cancelling decoupling and nonlinear terms of dynamic parameters for each direction of three degree of freedom spherical motor, this controller is work based on motor dynamic model and this technique is highly sensitive to the knowledge of all parameters of nonlinear spherical motor‟s dynamic equation which caused to challenge in uncertain system. This research is used to reduce or eliminate the Sliding Mode Controller problem based on minimum rule base fuzzy logic theory to control of three degrees of freedom spherical motor system and testing of the quality of process control in the simulation environment of MATLAB/SIMULINK Simulator.
This paper presents a knowledge engineering tool, called PRISM, to model collective behaviors of ... more This paper presents a knowledge engineering tool, called PRISM, to model collective behaviors of real-time IoT systems. PRISM is developed on the ADOxx Meta-Modeling Platform, in order to implement the new notion of a domain engineering method, known as behavior ontology. In PRISM, the on-tology can be constructed as follows: 1) All the collective behaviors for a do-main are defined from active ontology, 2) the behaviors are formed in a quanti-fiably abstracted lattice, called n:2-Lattice, and 3) a behavior ontology for the domain can be constructed by merging the n:2-lattices into an integrated lattice. Once the ontology is constructed, each system in the domain can be interpreted with respect to the ontology or lattice. In the paper, the Emergency Medical Service (EMS) domain and a smart IoT example for EMS are selected for mod-eling and interpretation in PRISM. PRISM shows an innovative approach for meta-modeling of domain knowledge as a tool.
Following the developments in industrial robot technology, robotics has found its way into the me... more Following the developments in industrial robot technology, robotics has found its way into the medical field and is used in a range of surgical disciplines. The main purpose of the use of robots is to increase the precision, quality and safety of surgical procedures. Robotics is not yet used in dentistry even though all the necessary technologies have already been developed and could easily be adapted. Some of the technologies are already used in dentistry, such as image-based simulation of implant surgery followed by the use of surgical guides, and creating digital impressions of pre parathions using an intra-oral scanner, after which a milling device produces the restoration, but we have not yet seen any robot able to prepare teeth for crowns, inlays or bridges. Such a robot would fundamentally be a dental drilling device coupled with a navigation device to determine the correct position of the device in relation to the patient. However this technique is very essential to have the minimal pain and reduce bleeding but control of these robots/joints are very complicated. This paper proposes new fuzzy type sliding mode controller for multi-DOF joints to control of motor vibration. The fuzzy (PD+I)2 single-input single-output (SISO) fuzzy system is used to control of chattering in sliding mode controller. In most research al researchers wants to eliminate the chattering but, this research focuses on chattering control. Various operation situations such as the set point control and the trajectory control are simulated. The simulation results demonstrate that the chattering and the steady state errors, which usually occur in the classical sliding mode control, are limitation control and satisfactory trajectory tracking is achieved.
Multi-degree-of-freedom (DOF) actuators are finding wide use in a number of Industries (such as a... more Multi-degree-of-freedom (DOF) actuators are finding wide use in a number of Industries (such as aerospace, automotive industry and surgical robot). Currently, a significant number of the existing robotic actuators that can realize multi-DOF motion are constructed using gear and linkages to connect several single-DOF motors in series and/or parallel. Not only do such actuators tend to be large in size and mass, but they also have a decreased positioning accuracy due to mechanical deformation, friction and backlash of the gears and linkages. A number of these systems also exhibit singularities in their workspaces, which makes it virtually impossible to obtain uniform, high-speed, and high-precision motion. For high precession trajectory planning and control, it is necessary to replace the actuator system made up of several single-DOF motors connected in series and/or parallel with a single multi-DOF actuator. The need for such systems has motivated years of research in the development...
Many of linear control applications require real-time operation; higher density
programmable logi... more Many of linear control applications require real-time operation; higher density programmable logic devices such as field programmable gate array (FPGA) can be used to integrate large amounts of logic in a single IC. This work, proposes a developed method to design PD controller (PDC) with optimal- gains using FPGA. The method used to design PD controller is to design it as digital design Proportional and Derivative controller in parallel through the summer. The proposed design is 32-bits FPGA-based controller (32PDC), which uses 32-bits for each input/output variable. The single joint of robot is used to test the controller in simulation environments, using VHDL code for the purpose of simulation in Xilinx. The same design is coded in MATLAB environment (MPDC) in order to make a comparison with the proposed FPGA-based design. PDC needs 16 clock cycles to complete one action with maximum frequency of 108.5 MHz. 32PDC is able to produce an output in 13.24 MHz with the robot system. Therefore, the proposed controller will be able to control a wide range of the systems with high sampling rate and 75.545 ns delays.
Multi-degrees-of-freedom (DOF) actuators are wide used in a number of Industries. Currently, a si... more Multi-degrees-of-freedom (DOF) actuators are wide used in a number of Industries. Currently, a significant number of the existing robotic actuators that can realize multi-DOF motion are constructed using gear and linkages to connect several single-DOF motors in series and/or parallel. The main challenge to use this actuator is control. Nonlinear controllers are the main choice to control of spherical motors. Computed torque controller is one of the nonlinear controllers. One of the main challenges in this controller is having dependence to the systems dynamic as well as measure the desired acceleration. To reduce above challenges, hype-plane computed torque controller is recommended in this research. Fuzzy hype-plane variable computed torque controller is adopted to guarantee the error convergence to zero in a finite time when the error is around the zero without to use desired acceleration. To increase the system robustness in presence of uncertainty fuzzy logic controller is recommended.
The minimum rule base Proportional Integral Derivative (PID) Fuzzy Sliding Mode Controller (SMC) ... more The minimum rule base Proportional Integral Derivative (PID) Fuzzy Sliding Mode Controller (SMC) with application to spherical motor is presented in this research. The popularity of PID Fuzzy Sliding Mode Controller can be attributed to their robust performance in a wide range of operating conditions and partly to their functional simplicity. The process of setting of PID Fuzzy Sliding Mode Controller can be determined as an optimization task. Over the years, use of intelligent strategies for tuning of these controllers has been growing especially in nonlinear and uncertain systems. Proportional Integral Derivative methodology has three inputs and if any input is described with seven linguistic values, and any rule has three conditions, we will need 343 rules. It is too much work to write 343 rules and have lots of problem to design embedded control system e.g., Field Programmable Gate Array (FPGA). In this research the PID-like fuzzy controller can be constructed as a parallel structure of a PD-like fuzzy controller and a conventional PI controller to have the minimum rule base and good trajectory follow disturbance to control of spherical motor. However Sliding Mode Controller is work based on cancelling decoupling and nonlinear terms of dynamic parameters for each direction of three degree of freedom spherical motor, this controller is work based on motor dynamic model and this technique is highly sensitive to the knowledge of all parameters of nonlinear spherical motor‟s dynamic equation which caused to challenge in uncertain system. This research is used to reduce or eliminate the Sliding Mode Controller problem based on minimum rule base fuzzy logic theory to control of three degrees of freedom spherical motor system and testing of the quality of process control in the simulation environment of MATLAB/SIMULINK Simulator.
This paper presents a knowledge engineering tool, called PRISM, to model collective behaviors of ... more This paper presents a knowledge engineering tool, called PRISM, to model collective behaviors of real-time IoT systems. PRISM is developed on the ADOxx Meta-Modeling Platform, in order to implement the new notion of a domain engineering method, known as behavior ontology. In PRISM, the on-tology can be constructed as follows: 1) All the collective behaviors for a do-main are defined from active ontology, 2) the behaviors are formed in a quanti-fiably abstracted lattice, called n:2-Lattice, and 3) a behavior ontology for the domain can be constructed by merging the n:2-lattices into an integrated lattice. Once the ontology is constructed, each system in the domain can be interpreted with respect to the ontology or lattice. In the paper, the Emergency Medical Service (EMS) domain and a smart IoT example for EMS are selected for mod-eling and interpretation in PRISM. PRISM shows an innovative approach for meta-modeling of domain knowledge as a tool.
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Papers by Maryam Rahmani
This paper proposes new fuzzy type sliding mode controller for multi-DOF joints to control of motor vibration. The fuzzy (PD+I)2 single-input single-output (SISO) fuzzy system is used to control of chattering in sliding mode controller. In most research al researchers wants to eliminate the chattering but, this research focuses on chattering control. Various operation situations such as the set point control and the trajectory control are simulated. The simulation results demonstrate that the chattering and the steady state errors, which usually occur in the classical sliding mode control, are limitation control and satisfactory trajectory tracking is achieved.
programmable logic devices such as field programmable gate array (FPGA) can be used
to integrate large amounts of logic in a single IC. This work, proposes a developed
method to design PD controller (PDC) with optimal- gains using FPGA. The method
used to design PD controller is to design it as digital design Proportional and Derivative
controller in parallel through the summer. The proposed design is 32-bits FPGA-based
controller (32PDC), which uses 32-bits for each input/output variable. The single joint of
robot is used to test the controller in simulation environments, using VHDL code for the
purpose of simulation in Xilinx. The same design is coded in MATLAB environment
(MPDC) in order to make a comparison with the proposed FPGA-based design. PDC
needs 16 clock cycles to complete one action with maximum frequency of 108.5 MHz.
32PDC is able to produce an output in 13.24 MHz with the robot system. Therefore, the
proposed controller will be able to control a wide range of the systems with high
sampling rate and 75.545 ns delays.
Conference by Maryam Rahmani
This paper proposes new fuzzy type sliding mode controller for multi-DOF joints to control of motor vibration. The fuzzy (PD+I)2 single-input single-output (SISO) fuzzy system is used to control of chattering in sliding mode controller. In most research al researchers wants to eliminate the chattering but, this research focuses on chattering control. Various operation situations such as the set point control and the trajectory control are simulated. The simulation results demonstrate that the chattering and the steady state errors, which usually occur in the classical sliding mode control, are limitation control and satisfactory trajectory tracking is achieved.
programmable logic devices such as field programmable gate array (FPGA) can be used
to integrate large amounts of logic in a single IC. This work, proposes a developed
method to design PD controller (PDC) with optimal- gains using FPGA. The method
used to design PD controller is to design it as digital design Proportional and Derivative
controller in parallel through the summer. The proposed design is 32-bits FPGA-based
controller (32PDC), which uses 32-bits for each input/output variable. The single joint of
robot is used to test the controller in simulation environments, using VHDL code for the
purpose of simulation in Xilinx. The same design is coded in MATLAB environment
(MPDC) in order to make a comparison with the proposed FPGA-based design. PDC
needs 16 clock cycles to complete one action with maximum frequency of 108.5 MHz.
32PDC is able to produce an output in 13.24 MHz with the robot system. Therefore, the
proposed controller will be able to control a wide range of the systems with high
sampling rate and 75.545 ns delays.