Hypertrophic cardiomyopathy (HCM) is one of the most common hereditary heart diseases and can be ... more Hypertrophic cardiomyopathy (HCM) is one of the most common hereditary heart diseases and can be classified into an obstructive (HOCM) and non-obstructive (HNCM) form. Major characteristics for HCM are the hypertrophy of cardiomyocytes and development of cardiac fibrosis. Patients with HCM have a higher risk for sudden cardiac death compared to a healthy population. In the present study, we investigated the abundancy of selected proteins as potential biomarkers in patients with HCM. We included 60 patients with HCM and 28 healthy controls and quantitatively measured the rate of a set of 92 proteins already known to be associated with cardiometabolic processes via protein screening using the proximity extension assay technology in a subgroup of these patients (20 HCM and 10 healthy controls). After validation of four hits in the whole cohort of patients consisting of 88 individuals (60 HCM patients, 28 healthy controls) we found only one candidate, c-KIT, which was regulated signific...
ABSTRACT An industrial robot is defined by ISO 8373 as an automatically controlled, reprogrammabl... more ABSTRACT An industrial robot is defined by ISO 8373 as an automatically controlled, reprogrammable, multipurpose manipulator programmable in three or more axes. The field of robotics may be more practically defined as the study, design and use of robot systems for manufacturing (a top-level definition relying on the prior definition of robot). Typical applications of robots include welding, painting, assembly, pick and place (such as packaging, palletizing and SMT), product inspection, aerospace, and testing; all accomplished with high endurance, speed, and precision. To have precision type of controller played an important role. This project focuses on the design, implementation and analysis of a high quality nonlinear controller for industrial PUMA robot manipulator, in presence of uncertainties. In this design sliding mode controller is the best candidate. Pure sliding mode controller can be used to control of partly known nonlinear dynamic parameters of robot manipulator. Conversely, pure sliding mode controller is used in many applications; it has two important challenges 1. Chattering phenomenon which it can causes some problems such as saturation and heat the mechanical parts of robot manipulators or drivers 2. Dependence of the nonlinear dynamic formulation To solve the first challenge linear function was introduced, because this method could reduce the high frequency oscillation. To solve the second challenge in this project intelligent methodology is introduced.
A Continuum robot manipulator is a slender hyper-redundant manipulator. The high number of degree... more A Continuum robot manipulator is a slender hyper-redundant manipulator. The high number of degrees of freedom allows the arm to “snake” along a path or around an obstacle – hence the name “snake-arm”. The ability to reach into confined spaces lends itself to many applications involving access problems. Continuum robots are used in many applications such as; industry, nuclear, aerospace, automotive, security, and robotic surgery. Robotic surgery, computer-assisted surgery, and robotically-assisted surgery are terms for technological developments that use robotic systems to aid in surgical procedures. Robotically-assisted surgery was developed to overcome the limitations of minimally-invasive surgery and to enhance the capabilities of surgeons performing open surgery. Major advances aided by surgical robots have been remote surgery, minimally invasive surgery and unmanned surgery. Due to robotic use, the surgery is done with precision, miniaturization, smaller incisions; decreased blo...
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...
A Field Programmable Gate Array (FPGAs) is a small Field Programmable Device (FPD) that supports ... more A Field Programmable Gate Array (FPGAs) is a small Field Programmable Device (FPD) that supports thousands of logic gates. FPGA is a high speed, low cost, short time to market and small device size. Technically speaking an FPGA can be used to solve any problem which is computable. This is trivially proven by the fact FPGA can be used to implement a Soft microprocessor. Their advantage lies in that they are sometimes significantly faster for some applications due to their parallel nature and optimality in terms of the number of gates used for a certain process. Specific applications of FPGAs include digital signal processing, software-defined radio, ASIC prototyping, medical imaging, computer vision, speech recognition, nonlinear control, cryptography, bioinformatics, computer hardware emulation, radio astronomy, metal detection and a growing range of other areas. Traditionally, FPGAs have been reserved for specific vertical applications where the volume of production is small. For t...
Abstract: One of the most active research areas in the field of robotics is robot arms control, b... more Abstract: One of the most active research areas in the field of robotics is robot arms control, because these systems are multi-input multi-output (MIMO), nonlinear, time variant and uncertainty. An artificial non linear robust controller design is major subject in this work. At present, robot manipulators are used in unknown and unstructured situation and caused to provide complicated systems, consequently nonlinear classical controllers are used in artificial intelligence control methodologies to design nonlinear robust controller with ...
This paper expands a fuzzy sliding mode based position controller whose sliding function is on-li... more This paper expands a fuzzy sliding mode based position controller whose sliding function is on-line tuned by backstepping methodology. The main goal is to guarantee acceptable position trajectories tracking between the robot manipulator end-effector and the input desired position. The fuzzy controller in proposed fuzzy sliding mode controller is based on Mamdani's fuzzy inference system (FIS) and it has one input and one output. The input represents the function between sliding function, error and the rate of error. The ...
In this research, an artificial chattering free adaptive fuzzy sliding mode control design and ap... more In this research, an artificial chattering free adaptive fuzzy sliding mode control design and application to uncertain robotic manipulator has proposed in order to design high performance nonlinear controller in the presence of uncertainties. Regarding to the positive points in sliding mode controller, fuzzy logic controller and adaptive method, the output has improved. Each method by adding to the previous controller has covered negative points. The main target in this research is design of model free estimator on-line ...
International Journal of Robotics and Automation, Dec 15, 2011
Classical sliding mode controller is robust to model uncertainties and external disturbances. A s... more Classical sliding mode controller is robust to model uncertainties and external disturbances. A sliding mode control method with a switching control low guarantees asymptotic stability of the system, but the addition of the switching control law introduces chattering in to the system. One way of attenuating chattering is to insert a saturation function inside of a boundary layer around the sliding surface. Unfortunately, this addition disrupts Lyapunov stability of the closed-loop system. Classical sliding mode control method has ...
International Journal of Control and Automation (IJCA), Sep 1, 2011
Robotic manipulators are multi-input multi-output (MIMO), nonlinear and most of dynamic parameter... more Robotic manipulators are multi-input multi-output (MIMO), nonlinear and most of dynamic parameters are uncertainty so design a high performance controller for these plants is very important. Today, strong mathematical tools used in new control methodologies to design adaptive nonlinear robust controller with acceptable performance. One of the best nonlinear robust controller which can be used in uncertainty nonlinear systems, are sliding mode controller but pure sliding mode controller has some disadvantages such as ...
International Journal of Robotic and Automation, 2011
In this study, a mathematical tunable gain model free PID-like sliding mode fuzzy controller (GTS... more In this study, a mathematical tunable gain model free PID-like sliding mode fuzzy controller (GTSMFC) is designed to rich the best performance. Sliding mode fuzzy controller is studied because of its model free, stable and high performance. Today, most of systems (eg, robot manipulators) are used in unknown and unstructured environment and caused to provide sophisticated systems, therefore strong mathematical tools (eg, nonlinear sliding mode controller) are used in artificial intelligent control methodologies to design model ...
Hypertrophic cardiomyopathy (HCM) is one of the most common hereditary heart diseases and can be ... more Hypertrophic cardiomyopathy (HCM) is one of the most common hereditary heart diseases and can be classified into an obstructive (HOCM) and non-obstructive (HNCM) form. Major characteristics for HCM are the hypertrophy of cardiomyocytes and development of cardiac fibrosis. Patients with HCM have a higher risk for sudden cardiac death compared to a healthy population. In the present study, we investigated the abundancy of selected proteins as potential biomarkers in patients with HCM. We included 60 patients with HCM and 28 healthy controls and quantitatively measured the rate of a set of 92 proteins already known to be associated with cardiometabolic processes via protein screening using the proximity extension assay technology in a subgroup of these patients (20 HCM and 10 healthy controls). After validation of four hits in the whole cohort of patients consisting of 88 individuals (60 HCM patients, 28 healthy controls) we found only one candidate, c-KIT, which was regulated signific...
ABSTRACT An industrial robot is defined by ISO 8373 as an automatically controlled, reprogrammabl... more ABSTRACT An industrial robot is defined by ISO 8373 as an automatically controlled, reprogrammable, multipurpose manipulator programmable in three or more axes. The field of robotics may be more practically defined as the study, design and use of robot systems for manufacturing (a top-level definition relying on the prior definition of robot). Typical applications of robots include welding, painting, assembly, pick and place (such as packaging, palletizing and SMT), product inspection, aerospace, and testing; all accomplished with high endurance, speed, and precision. To have precision type of controller played an important role. This project focuses on the design, implementation and analysis of a high quality nonlinear controller for industrial PUMA robot manipulator, in presence of uncertainties. In this design sliding mode controller is the best candidate. Pure sliding mode controller can be used to control of partly known nonlinear dynamic parameters of robot manipulator. Conversely, pure sliding mode controller is used in many applications; it has two important challenges 1. Chattering phenomenon which it can causes some problems such as saturation and heat the mechanical parts of robot manipulators or drivers 2. Dependence of the nonlinear dynamic formulation To solve the first challenge linear function was introduced, because this method could reduce the high frequency oscillation. To solve the second challenge in this project intelligent methodology is introduced.
A Continuum robot manipulator is a slender hyper-redundant manipulator. The high number of degree... more A Continuum robot manipulator is a slender hyper-redundant manipulator. The high number of degrees of freedom allows the arm to “snake” along a path or around an obstacle – hence the name “snake-arm”. The ability to reach into confined spaces lends itself to many applications involving access problems. Continuum robots are used in many applications such as; industry, nuclear, aerospace, automotive, security, and robotic surgery. Robotic surgery, computer-assisted surgery, and robotically-assisted surgery are terms for technological developments that use robotic systems to aid in surgical procedures. Robotically-assisted surgery was developed to overcome the limitations of minimally-invasive surgery and to enhance the capabilities of surgeons performing open surgery. Major advances aided by surgical robots have been remote surgery, minimally invasive surgery and unmanned surgery. Due to robotic use, the surgery is done with precision, miniaturization, smaller incisions; decreased blo...
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...
A Field Programmable Gate Array (FPGAs) is a small Field Programmable Device (FPD) that supports ... more A Field Programmable Gate Array (FPGAs) is a small Field Programmable Device (FPD) that supports thousands of logic gates. FPGA is a high speed, low cost, short time to market and small device size. Technically speaking an FPGA can be used to solve any problem which is computable. This is trivially proven by the fact FPGA can be used to implement a Soft microprocessor. Their advantage lies in that they are sometimes significantly faster for some applications due to their parallel nature and optimality in terms of the number of gates used for a certain process. Specific applications of FPGAs include digital signal processing, software-defined radio, ASIC prototyping, medical imaging, computer vision, speech recognition, nonlinear control, cryptography, bioinformatics, computer hardware emulation, radio astronomy, metal detection and a growing range of other areas. Traditionally, FPGAs have been reserved for specific vertical applications where the volume of production is small. For t...
Abstract: One of the most active research areas in the field of robotics is robot arms control, b... more Abstract: One of the most active research areas in the field of robotics is robot arms control, because these systems are multi-input multi-output (MIMO), nonlinear, time variant and uncertainty. An artificial non linear robust controller design is major subject in this work. At present, robot manipulators are used in unknown and unstructured situation and caused to provide complicated systems, consequently nonlinear classical controllers are used in artificial intelligence control methodologies to design nonlinear robust controller with ...
This paper expands a fuzzy sliding mode based position controller whose sliding function is on-li... more This paper expands a fuzzy sliding mode based position controller whose sliding function is on-line tuned by backstepping methodology. The main goal is to guarantee acceptable position trajectories tracking between the robot manipulator end-effector and the input desired position. The fuzzy controller in proposed fuzzy sliding mode controller is based on Mamdani's fuzzy inference system (FIS) and it has one input and one output. The input represents the function between sliding function, error and the rate of error. The ...
In this research, an artificial chattering free adaptive fuzzy sliding mode control design and ap... more In this research, an artificial chattering free adaptive fuzzy sliding mode control design and application to uncertain robotic manipulator has proposed in order to design high performance nonlinear controller in the presence of uncertainties. Regarding to the positive points in sliding mode controller, fuzzy logic controller and adaptive method, the output has improved. Each method by adding to the previous controller has covered negative points. The main target in this research is design of model free estimator on-line ...
International Journal of Robotics and Automation, Dec 15, 2011
Classical sliding mode controller is robust to model uncertainties and external disturbances. A s... more Classical sliding mode controller is robust to model uncertainties and external disturbances. A sliding mode control method with a switching control low guarantees asymptotic stability of the system, but the addition of the switching control law introduces chattering in to the system. One way of attenuating chattering is to insert a saturation function inside of a boundary layer around the sliding surface. Unfortunately, this addition disrupts Lyapunov stability of the closed-loop system. Classical sliding mode control method has ...
International Journal of Control and Automation (IJCA), Sep 1, 2011
Robotic manipulators are multi-input multi-output (MIMO), nonlinear and most of dynamic parameter... more Robotic manipulators are multi-input multi-output (MIMO), nonlinear and most of dynamic parameters are uncertainty so design a high performance controller for these plants is very important. Today, strong mathematical tools used in new control methodologies to design adaptive nonlinear robust controller with acceptable performance. One of the best nonlinear robust controller which can be used in uncertainty nonlinear systems, are sliding mode controller but pure sliding mode controller has some disadvantages such as ...
International Journal of Robotic and Automation, 2011
In this study, a mathematical tunable gain model free PID-like sliding mode fuzzy controller (GTS... more In this study, a mathematical tunable gain model free PID-like sliding mode fuzzy controller (GTSMFC) is designed to rich the best performance. Sliding mode fuzzy controller is studied because of its model free, stable and high performance. Today, most of systems (eg, robot manipulators) are used in unknown and unstructured environment and caused to provide sophisticated systems, therefore strong mathematical tools (eg, nonlinear sliding mode controller) are used in artificial intelligent control methodologies to design model ...
In this research based center (IRAN SSP) we can help you to improve your academic C.V for educati... more In this research based center (IRAN SSP) we can help you to improve your academic C.V for education and work. after this research course you can to extract at least 4-6 papers from projects. The main question is how?????
Contact US: piltan_f@iranssp.com Price: 1500 USD
Time: 200 hours
"In this project course we have following objectives:
1) intro to MATLAB/SIMULINK
2) intro to 3... more "In this project course we have following objectives:
1) intro to MATLAB/SIMULINK
2) intro to 3-D motor and extract the system dynamics and kinematics from impact journal papers
3)implement dynamic and kinematics of 3-D motor using MATLAB/SIMULINK.
4)intro to linear and nonlinear controllers, compare between all types of controller
5) Design linear, conventional nonlinear and fuzzy controller for 3-D motor and compare them to select the best controller.
6)modify the select control method based on intelligence method and conventional control methodology
7)test and result discussion
8) extract journal papers and send to indexed journal"
An industrial robot is defined by ISO 8373 as an automatically controlled, reprogrammable, multip... more An industrial robot is defined by ISO 8373 as an automatically controlled, reprogrammable, multipurpose manipulator programmable in three or more axes. The field of robotics may be more practically defined as the study, design and use of robot systems for manufacturing (a top-level definition relying on the prior definition of robot). Typical applications of robots include welding, painting, assembly, pick and place (such as packaging, palletizing and SMT), product inspection, aerospace, and testing; all accomplished with high endurance, speed, and precision. To have precision type of controller played an important role. This project focuses on the design, implementation and analysis of a high quality nonlinear controller for industrial PUMA robot manipulator, in presence of uncertainties. In this design sliding mode controller is the best candidate. Pure sliding mode controller can be used to control of partly known nonlinear dynamic parameters of robot manipulator. Conversely, pure sliding mode controller is used in many applications; it has two important challenges
1. Chattering phenomenon which it can causes some problems such as saturation and heat the mechanical parts of robot manipulators or drivers
2. Dependence of the nonlinear dynamic formulation
To solve the first challenge linear function was introduced, because this method could reduce the high frequency oscillation. To solve the second challenge in this project intelligent methodology is introduced.
Iranian Institute of Advance Science and Technology (IRAN-SSP)
Pollution is the introduction of contaminants into the natural environment that cause adverse cha... more Pollution is the introduction of contaminants into the natural environment that cause adverse change. Pollution can take the form of chemical substances or energy, such as noise, heat or light. Pollutants, the components of pollution, can be either foreign substances/energies or naturally occurring contaminants. Pollution is often classed as point source or nonpoint source pollution. Nonpoint source (NPS) pollution refers to both water and air pollution from diffuse sources. Nonpoint source air pollution affects air quality from sources such as smokestacks or car tailpipes. Most automobiles in use today are propelled by an internal combustion engine, fueled by deflagration of gasoline (also known as petrol) or diesel. Both fuels are known to cause air pollution and are also blamed for contributing to climate change and global warming. Rapidly increasing oil prices, concerns about oil dependence, tightening environmental laws and restrictions on greenhouse gas emissions are propelling work on alternative power systems or increase the efficiency for automobiles. Internal combustion engines produce air pollution emissions, due to incomplete combustion of carbonaceous fuel. The effects of inhaling particulate matter have been studied in humans and animals and include asthma, lung cancer, cardiovascular issues, and premature death. There are, however, some additional products of the combustion process that include nitrogen oxides and sulfur and some un-combusted hydrocarbons, depending on the operating conditions and the fuel-air ratio. In this research intelligent tuning the rate of fuel-air ratio is analyzed.
Modeling of an entire IC engine is a very important and complicated process because engines are nonlinear, multi inputs-multi outputs and time variant. One purpose of accurate modeling is to save development costs of real engines and minimizing the risks of damaging an engine when validating controller designs. Nevertheless, developing a small model, for specific controller design purposes, can be done and then validated on a larger, more complicated model. Analytical dynamic nonlinear modeling of internal combustion engine is carried out using elegant Euler-Lagrange method compromising accuracy and complexity.
An intelligent nonlinear estimator with varying parameter gain is designed with guaranteed stability to allow implementation of the proposed state nonlinear methodology, where the nonlinear control strategy is implemented into a model engine control module. To estimate the dynamic model of IC engine fuzzy inference engine is applied to pure nonlinear control. The proposed tracking method is designed to optimally track the desired FR by minimizing the error between the trapped in-cylinder mass and the product of the desired fuel-air ratio and fuel mass over a given time interval.
Iranian Institute of advance Science and Technology (IRAN-SSP)
A Continuum robot manipulator is a slender hyper-redundant manipulator. The high number of degre... more A Continuum robot manipulator is a slender hyper-redundant manipulator. The high number of degrees of freedom allows the arm to “snake” along a path or around an obstacle – hence the name “snake-arm”. The ability to reach into confined spaces lends itself to many applications involving access problems. Continuum robots are used in many applications such as; industry, nuclear, aerospace, automotive, security, and robotic surgery.
Robotic surgery, computer-assisted surgery, and robotically-assisted surgery are terms for technological developments that use robotic systems to aid in surgical procedures. Robotically-assisted surgery was developed to overcome the limitations of minimally-invasive surgery and to enhance the capabilities of surgeons performing open surgery.
Major advances aided by surgical robots have been remote surgery, minimally invasive surgery and unmanned surgery. Due to robotic use, the surgery is done with precision, miniaturization, smaller incisions; decreased blood loss, less pain, and quicker healing time. Articulation beyond normal manipulation and three-dimensional magnification helps resulting in improved ergonomics. Due to these techniques there is a reduced duration of hospital stays, blood loss, transfusions, and use of pain medication. The existing open surgery technique has many flaws like limited access to surgical area, long recovery time, long hours of operation, blood loss, surgical scars and marks.
Compared with other minimally invasive surgery approaches, robot-assisted surgery gives the surgeon better control over the surgical instruments and a better view of the surgical site. In addition, surgeons no longer have to stand throughout the surgery and do not tire as quickly. Naturally, the surgical robot can continuously be used by rotating surgery teams. Finally, occurring hand tremors are filtered out by the robot’s controllers.
This research contributes to the filtering the hand tremors in continuum robot manipulator based on new technical methodology. Intelligent-Backstepping methodology is selected to reduce the hand tremors in continuum robot. This research addresses two basic issues related to the filtering hand tremors in continuum robots; (1) a more accurate representation of the dynamic model of an existing prototype, and (2) the design of a robust nonlinear filter. The nonlinear filter developed in this research is designed into two steps. Firstly, a robust stabilizing torque is designed for the nominal continuum robot dynamics derived using the constrained Lagrangian formulation. Next, the artificial intelligence methodologies applied to it to solution uncertainty problem and reduce the hand tremors. Two factors are important in this research: system flexibility and time of response. To improve these two factors new methodology of intelligent-backstepping method is introduced.
Iranian Institute of Advance Science and Technology (IRAN SSP)
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 of unusual, yet high performance actuators that have the potential to realize multi-DOF motion in a single joint. One such actuator is the spherical motor.
Compared to conventional robotic manipulators that offer the same motion capabilities, the spherical motor possesses several advantages. Not only can the motor combine 3-DOF motion in a single joint, it has a large range of motion with no singularities in its workspace. The spherical motor is much simpler and more compact in design than most multiple single-axis robotic manipulators. The motor is also relatively easy to manufacture. The spherical motor have potential contributions to a wide range of applications such as coordinate measuring, object tracking, material handling, automated assembling, welding, and laser cutting. All these applications require high precision motion and fast dynamic response, which the spherical motor is capable of delivering. Previous research efforts on the spherical motor have demonstrated most of these features. These, however, come with a number of challenges. The spherical motor exhibits coupled, nonlinear and very complex dynamics. The design and implementation of feedback controllers for the motor are complicated by these dynamics. The controller design is further complicated by the orientation-varying torque generated by the spherical motor.
An Important question which comes to mind is that why this proposed methodology should be used when lots of control techniques are accessible to design high precision motion and fast dynamic response?
Answering to this question is the main objective in this part.
The dynamics of a spherical motor is highly nonlinear, time variant, MIMO, uncertain and there exist strong coupling effects between joints.
Spherical motor’s dynamic models through a large number of highly nonlinear parameters generate the problem of computation as a result it is caused to many challenges for real¬ time applications. To eliminate the actual acceleration measurement and also the computation burden as well as have stabile, efficiency and robust controller, base-line sliding mode controller is introduced. Assuming unstructured uncertainties and structure uncertainties can be defined into one term and considered as an uncertainty and external disturbance, the problem of computation burden and large number of parameters can be solved to some extent. Hence conventional switching sliding mode controller is an apparent nominates to design a controller using the bounds of the uncertainties and external disturbance. There are three main issues limiting the applications of conventional sliding mode controller; dynamic-based formulation of conventional control method, computation of the bounds of uncertainties, and high frequency oscillation. The problem in time of system response dynamic formulation of spherical motor is not a simple task and minimum rule-base fuzzy logic theory is used to reduce this challenge. If PID fuzzy logic controller is used, we have limitation in the number of fuzzy rule table. Consequently in this design PID fuzzy is extract by PD fuzzy plus PI fuzzy theory. To have a good design, PID fuzzy logic controller will be work based on PD fuzzy rule table in three parts of fuzzy logic area.
Uncertainties are very important challenges and caused to overestimation of the bounds. As this point if S=K_1 e+e ̇+K_2 ∑▒〖e=0〗 is chosen as desired sliding surface, if the dynamic of spherical motor is derived to sliding surface and if switching function is used to reduce the challenge of uncertainty then the linearization and decoupling through the use of feedback, not gears, can be realized. Because, when the system dynamic is on the sliding surface and switching function is used the derivative of sliding surface S ̇=K_1 e ̇+e ̈+K_2 e is equal to the zero that is a decoupled and linearized closed-loop spherical motor dynamics that one expects in computed torque control. Linearization and decoupling by the above method can be obtained in spite of the quality of the spherical motor dynamic model, in contrast to the computed-torque control that requires the exact dynamic model of a system.
It is well known fact that if the uncertainties are very good compensate there is no need to use discontinuous part which create the high frequency chattering. To compensate the uncertainties fuzzy logic theory is a good candidate, but design a fuzzy controller with perfect dynamic compensation in presence of uncertainty is very difficult. Therefore, if the uncertainties are estimated and if the estimation results are used by discontinuous feedback control, and if low pass filter is added to this part, high frequency oscillation can be eliminated.
Finally, for a linear and partially decoupled dynamics of the robot manipulator, when the result is near to the sliding surface, a linear controller is designed based on the deviation of state trajectories from the sliding surface. The above discussion gives rational for selecting the proposed methodology in this research.
Iranian Institute of Advance Science and Technology
A Field Programmable Gate Array (FPGAs) is a small Field Programmable Device (FPD) that supports ... more A Field Programmable Gate Array (FPGAs) is a small Field Programmable Device (FPD) that supports thousands of logic gates. FPGA is a high speed, low cost, short time to market and small device size. Technically speaking an FPGA can be used to solve any problem which is computable. This is trivially proven by the fact FPGA can be used to implement a Soft microprocessor. Their advantage lies in that they are sometimes significantly faster for some applications due to their parallel nature and optimality in terms of the number of gates used for a certain process. Specific applications of FPGAs include digital signal processing, software-defined radio, ASIC prototyping, medical imaging, computer vision, speech recognition, nonlinear control, cryptography, bioinformatics, computer hardware emulation, radio astronomy, metal detection and a growing range of other areas.
Traditionally, FPGAs have been reserved for specific vertical applications where the volume of production is small. For these low-volume applications, the premium that companies pay in hardware costs per unit for a programmable chip is more affordable than the development resources spent on creating an ASIC for a low-volume application. Today, new cost and performance dynamics have broadened the range of viable applications. An FPGA chip is programmed by Hardware Description Language (HDL) which contains two types of languages, Very High Description Language (VHDL) and Verilog. VHDL is one of the powerful programming languages that can be used to describe the hardware design. VHDL was developed by the Institute of Electrical and Electronics Engineers (IEEE) in 1987 and Verilog was developed by Gateway Design Automation in 1984. In any application that requires real time processing, such as real time control applications, parallel Xilinx implementations are needed to speed up the hardware. This research focuses on FPGA-based nonlinear technique control for nonlinear system. FPGAs Xilinx Spartan 3E families are one of the most powerful flexible Hardware Language Description (HDL) programmable IC’s. To have the high speed processing FPGA based nonlinear controller in Xilinx ISE 9.1 is designed and implemented. In this project the conventional or intelligent nonlinear controller is implemented in FPGA to modify the result of industrial robot, IC engine, continuum robot and spherical motor.
Uploads
Papers by SAMIRA SOLTANI
Contact US: piltan_f@iranssp.com
Price: 1500 USD
Time: 200 hours
1) intro to MATLAB/SIMULINK
2) intro to 3-D motor and extract the system dynamics and kinematics from impact journal papers
3)implement dynamic and kinematics of 3-D motor using MATLAB/SIMULINK.
4)intro to linear and nonlinear controllers, compare between all types of controller
5) Design linear, conventional nonlinear and fuzzy controller for 3-D motor and compare them to select the best controller.
6)modify the select control method based on intelligence method and conventional control methodology
7)test and result discussion
8) extract journal papers and send to indexed journal"
1. Chattering phenomenon which it can causes some problems such as saturation and heat the mechanical parts of robot manipulators or drivers
2. Dependence of the nonlinear dynamic formulation
To solve the first challenge linear function was introduced, because this method could reduce the high frequency oscillation. To solve the second challenge in this project intelligent methodology is introduced.
Modeling of an entire IC engine is a very important and complicated process because engines are nonlinear, multi inputs-multi outputs and time variant. One purpose of accurate modeling is to save development costs of real engines and minimizing the risks of damaging an engine when validating controller designs. Nevertheless, developing a small model, for specific controller design purposes, can be done and then validated on a larger, more complicated model. Analytical dynamic nonlinear modeling of internal combustion engine is carried out using elegant Euler-Lagrange method compromising accuracy and complexity.
An intelligent nonlinear estimator with varying parameter gain is designed with guaranteed stability to allow implementation of the proposed state nonlinear methodology, where the nonlinear control strategy is implemented into a model engine control module. To estimate the dynamic model of IC engine fuzzy inference engine is applied to pure nonlinear control. The proposed tracking method is designed to optimally track the desired FR by minimizing the error between the trapped in-cylinder mass and the product of the desired fuel-air ratio and fuel mass over a given time interval.
Robotic surgery, computer-assisted surgery, and robotically-assisted surgery are terms for technological developments that use robotic systems to aid in surgical procedures. Robotically-assisted surgery was developed to overcome the limitations of minimally-invasive surgery and to enhance the capabilities of surgeons performing open surgery.
Major advances aided by surgical robots have been remote surgery, minimally invasive surgery and unmanned surgery. Due to robotic use, the surgery is done with precision, miniaturization, smaller incisions; decreased blood loss, less pain, and quicker healing time. Articulation beyond normal manipulation and three-dimensional magnification helps resulting in improved ergonomics. Due to these techniques there is a reduced duration of hospital stays, blood loss, transfusions, and use of pain medication. The existing open surgery technique has many flaws like limited access to surgical area, long recovery time, long hours of operation, blood loss, surgical scars and marks.
Compared with other minimally invasive surgery approaches, robot-assisted surgery gives the surgeon better control over the surgical instruments and a better view of the surgical site. In addition, surgeons no longer have to stand throughout the surgery and do not tire as quickly. Naturally, the surgical robot can continuously be used by rotating surgery teams. Finally, occurring hand tremors are filtered out by the robot’s controllers.
This research contributes to the filtering the hand tremors in continuum robot manipulator based on new technical methodology. Intelligent-Backstepping methodology is selected to reduce the hand tremors in continuum robot. This research addresses two basic issues related to the filtering hand tremors in continuum robots; (1) a more accurate representation of the dynamic model of an existing prototype, and (2) the design of a robust nonlinear filter. The nonlinear filter developed in this research is designed into two steps. Firstly, a robust stabilizing torque is designed for the nominal continuum robot dynamics derived using the constrained Lagrangian formulation. Next, the artificial intelligence methodologies applied to it to solution uncertainty problem and reduce the hand tremors. Two factors are important in this research: system flexibility and time of response. To improve these two factors new methodology of intelligent-backstepping method is introduced.
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 of unusual, yet high performance actuators that have the potential to realize multi-DOF motion in a single joint. One such actuator is the spherical motor.
Compared to conventional robotic manipulators that offer the same motion capabilities, the spherical motor possesses several advantages. Not only can the motor combine 3-DOF motion in a single joint, it has a large range of motion with no singularities in its workspace. The spherical motor is much simpler and more compact in design than most multiple single-axis robotic manipulators. The motor is also relatively easy to manufacture. The spherical motor have potential contributions to a wide range of applications such as coordinate measuring, object tracking, material handling, automated assembling, welding, and laser cutting. All these applications require high precision motion and fast dynamic response, which the spherical motor is capable of delivering. Previous research efforts on the spherical motor have demonstrated most of these features. These, however, come with a number of challenges. The spherical motor exhibits coupled, nonlinear and very complex dynamics. The design and implementation of feedback controllers for the motor are complicated by these dynamics. The controller design is further complicated by the orientation-varying torque generated by the spherical motor.
An Important question which comes to mind is that why this proposed methodology should be used when lots of control techniques are accessible to design high precision motion and fast dynamic response?
Answering to this question is the main objective in this part.
The dynamics of a spherical motor is highly nonlinear, time variant, MIMO, uncertain and there exist strong coupling effects between joints.
Spherical motor’s dynamic models through a large number of highly nonlinear parameters generate the problem of computation as a result it is caused to many challenges for real¬ time applications. To eliminate the actual acceleration measurement and also the computation burden as well as have stabile, efficiency and robust controller, base-line sliding mode controller is introduced. Assuming unstructured uncertainties and structure uncertainties can be defined into one term and considered as an uncertainty and external disturbance, the problem of computation burden and large number of parameters can be solved to some extent. Hence conventional switching sliding mode controller is an apparent nominates to design a controller using the bounds of the uncertainties and external disturbance. There are three main issues limiting the applications of conventional sliding mode controller; dynamic-based formulation of conventional control method, computation of the bounds of uncertainties, and high frequency oscillation. The problem in time of system response dynamic formulation of spherical motor is not a simple task and minimum rule-base fuzzy logic theory is used to reduce this challenge. If PID fuzzy logic controller is used, we have limitation in the number of fuzzy rule table. Consequently in this design PID fuzzy is extract by PD fuzzy plus PI fuzzy theory. To have a good design, PID fuzzy logic controller will be work based on PD fuzzy rule table in three parts of fuzzy logic area.
Uncertainties are very important challenges and caused to overestimation of the bounds. As this point if S=K_1 e+e ̇+K_2 ∑▒〖e=0〗 is chosen as desired sliding surface, if the dynamic of spherical motor is derived to sliding surface and if switching function is used to reduce the challenge of uncertainty then the linearization and decoupling through the use of feedback, not gears, can be realized. Because, when the system dynamic is on the sliding surface and switching function is used the derivative of sliding surface S ̇=K_1 e ̇+e ̈+K_2 e is equal to the zero that is a decoupled and linearized closed-loop spherical motor dynamics that one expects in computed torque control. Linearization and decoupling by the above method can be obtained in spite of the quality of the spherical motor dynamic model, in contrast to the computed-torque control that requires the exact dynamic model of a system.
It is well known fact that if the uncertainties are very good compensate there is no need to use discontinuous part which create the high frequency chattering. To compensate the uncertainties fuzzy logic theory is a good candidate, but design a fuzzy controller with perfect dynamic compensation in presence of uncertainty is very difficult. Therefore, if the uncertainties are estimated and if the estimation results are used by discontinuous feedback control, and if low pass filter is added to this part, high frequency oscillation can be eliminated.
Finally, for a linear and partially decoupled dynamics of the robot manipulator, when the result is near to the sliding surface, a linear controller is designed based on the deviation of state trajectories from the sliding surface. The above discussion gives rational for selecting the proposed methodology in this research.
Traditionally, FPGAs have been reserved for specific vertical applications where the volume of production is small. For these low-volume applications, the premium that companies pay in hardware costs per unit for a programmable chip is more affordable than the development resources spent on creating an ASIC for a low-volume application. Today, new cost and performance dynamics have broadened the range of viable applications. An FPGA chip is programmed by Hardware Description Language (HDL) which contains two types of languages, Very High Description Language (VHDL) and Verilog. VHDL is one of the powerful programming languages that can be used to describe the hardware design. VHDL was developed by the Institute of Electrical and Electronics Engineers (IEEE) in 1987 and Verilog was developed by Gateway Design Automation in 1984. In any application that requires real time processing, such as real time control applications, parallel Xilinx implementations are needed to speed up the hardware. This research focuses on FPGA-based nonlinear technique control for nonlinear system. FPGAs Xilinx Spartan 3E families are one of the most powerful flexible Hardware Language Description (HDL) programmable IC’s. To have the high speed processing FPGA based nonlinear controller in Xilinx ISE 9.1 is designed and implemented. In this project the conventional or intelligent nonlinear controller is implemented in FPGA to modify the result of industrial robot, IC engine, continuum robot and spherical motor.