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vossoughi--gholamreza
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Total 63 records
Impedance Control of Flexible Base Moving Manipulators
, Ph.D. Dissertation Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor)
Abstract
In this paper, the general research of impedance control is addressed for a robotic manipulator with a moving flexible base. Impedance control imposes a relation between force and displacement at the contact point with the environment. The concept of impedance control of flexible base moving manipulators (FBMM) is rather new and is being considered. The dynamic of manipulator is decomposed into slow and fast dynamics using singular perturbation method. New sliding mode impedance control method (SMIC), using an element on the end effector is proposed for high precision impedance control of FBMM. The sliding mode impedance control method as a robust impedance control law is derived for the...
Modeling and Control of a Fish Robotic System Using Hardware in the Loop Methodology
, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor)
Abstract
In the present study, an adaptive sliding mode control method was employed to control a fish robotic system using the method of hardware in the loop. Following the introduction of the nonlinear model for the robot, elongated body theory, suggested by Lighthill, was used to analyze fish movements. Lighthill’s theory inspired from slender body theory in aerodynamics scope could be viable to exercise upon the carangiform mode of swimming. By simplifying Lighthill’s equations in planar motion of fish robot, the number of degrees of freedom exceeds the number of the control variables. In view of the fact that the presented model is an under-actuated model, there exist some parametric and...
Design and Control of Parallel Hybride Electric Samand Vehicle
, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor)
Abstract
The final target of this research is to design an appropriate intelligent control strategy for energy management purposes in a well designed parallel hybrid electric vehicle. In the first step, the conventional “Samand” vehicle has been simulated using real data for vehicle parameters and power train components, has been simulated. Using experimental results, simulation results are validated. In the second step due to the primarily defined parallel electric assist control strategy (PEACS) for the hybrid electric vehicle and performance requirements, components such as engine, electric machine and battery pack were selected and sized. In the final step a Fuzzy Logic Controller (FLC) has been...
Development and Implementation of a Control System for Minimum Interaction Force between Human and Lower Limb Exoskeleton
, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor)
Abstract
Nowadays exoskeltons are developed because of improvements carried out in mechatronic technologies, to use in applications such as human rehabilitation and power augmentation. By reason of interaction between exoskeleton robot and human, an appropriate control strategy should be considered to implement regulated interaction force between them. As an example there are situations that a person wants to carry heavy load with this robot without suffering from weight of the load, so control of robot movements is of great importance. The aim of this thesis is dedicated to develop and implement a control strategy achieving minimum ineraction force in a 2 degree of freedom lower limb exoskeleton....
Dynamic Analysis, Simulation and Control of a Single-Axel Two-Wheeled Vehicle
, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor)
Abstract
In the recent decade many researches have been done on optimizing urban traffic. The invention of single-axel two-wheeled vehicle -which is also known as Segway- is toward this goal. This vehicle was invented in 2002 by Dean Kaman. The Segway doesn’t need fossil fuels, occupies very little space, is very convenient to use and its parallel wheel configuration makes it compact enough to be maneuvered through most spaces. After the invention of the Segway, two wheel balancing robots has attracted more attention and in recent researches Passenger-carrying capacity has been considered. In this project, by taking into account passenger-carrying capacity and possibility of wheel slippage, an exact...
Design and Analysis of Vibration-Based, Friction-Drive Micro-Mechanisms for Planar, Nano-Scale Locomotion
, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor)
Abstract
Design and modeling of a micromechanism for generating planar, nano-scaled locomotion is the subject of this thesis. First, we introduced the concepts and fundamental definitions used throughout the thesis. Then, based on the classification of the locomotion principles employed in microrobots, the related literature about design and fabrication of different microrobots is investigated. Inertial slip generation and contact force variation, as the preferred group, is utilized for further analysis. Since friction force is the main propelling source in the microrobot’s locomotion principle, different models proposed for this phenomenon are investigated and the Coulomb friction model is selected...
Design of Tracking Control System of an Autonomous Underwater Vehicle for Following Moving Objects
, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor)
Abstract
Nowadays, autonomous underwater vehicles (AUVs) are implemented to carry out various activities under water. Amongst applications of these vehicles we can mention monitoring of marine creatures, mine installation and neutralization, and many military applications. The objective of this research is designing a control algorithm for underwater vehicles such that an under actuated vehicle can reckon a moving target as a reference and whilst chasing it, vehicle can keep a fixed distance from this target. First the dynamics of underwater vehicles are modeled and in this modeling different effects due to under water motion such as drag force, buoyancy force, and also added mass are included...
Application of the “Design for Control” Approach in order to Facilitate the Design and Adaptive Control of a Delta Parallel Robot
, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor)
Abstract
The Delta parallel robot is used extensively in many industries, including packaging, because of its superior speed and precision. In this project a Delta robot was designed and then controlled specifically for use in the production line of a plastic container factory. In order to optimally design the robot, a number of desirable fitness functions were defined thus: minimizing the dimensions of the robot for a specific desired workspace, minimzing the effect of the robot’s weight on its actuators and satisfying the demands of the “Design for Control” approach. Design for control means considering the complexity of controlling a system while designinig it. Therefore the remaining fitness...
A Novel Moving Magnetic Levitation Device for 3D Manipulation of Small Objects
, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor)
Abstract
Magnetic levitation is an appropriate solution for noncontact 3D manipulation. Workspace of the previously proposed maglev systems is confined to a relatively small cube, which severely limits the application of this technology. In addition, most of the previously given mechanisms require the design and application of a subsystem in order to unify their magnetic field. In this paper, a moving magnet is proposed which results in a horizontally extendable workspace; moreover, the field unifying section is not needed since one electromagnet only is used. Further, details of the mechanism and finite element based design procedure of the magnet are presented. Dynamic equations of the system...
Modeling and Control of a Carangiform Fish Robot with Experimental Validation of the Forces Obtained by Large Amplitude Elongated Body Theory of Lighthill
, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor)
Abstract
Modeling and Control are fundamental issues for fish robots, which can play basic roles in design, optimization, fabrication, and eventually utilization of them. A review on the literature reveals the shortage of an analytical closed form model with little simplifications and high precision, and also control works based on such models. Studying LAEBT theory, it is shown that this theory is suitable for determining the forces produced due to the tail movements considered in the present work, and then it is used to determine the forces. Experimental investigations by means of the setup made for this purpose showed that the obtained equations for the forces have got acceptable precision....
Robust Control of a Snake-like Robot with Friction Effects
, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor)
Abstract
In this thesis, modeling and robust sliding mode control of a snake-like robot with holonomic constraints in tracking of desired paths such as serpenoidal motion is addressed. By considering more real conditions and holonomic constraints, the kinematic and dynamic equations of a semi active robot are obtained using Kane's method. In the next step, based on the obtained results, diverse control theory for getting ability of tracking different paths in environment with different frictions are investigated. Robust control theory is chose to design a controller that has ability of adaption robot’s motion in different environments. For this reason, Sliding Mode Control that has many applications...
Velocity Control of an A-shaped Microrobot with Nonlinear and Hybrid Dynamic
, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor)
Abstract
Microrobots are generally suitable for implementation of certain works in miniature dimensions such as micro assembly, microsurgery, adaption with small animals and so on. In this way, there is special position for mobile microrobots capable of moving in the range of more than theirs dimensions. Achivieng to high resolution and high speed locomotion are the challenging issues in the microrobot’s development in which much effort has been done.The goal of this project is dynamic modeling and velocity control of an A-shaped microrobot with with nanometric locomotion. During this project, first the dynamic modeling of microrobot is investigated and simplified based on the previous studies....
Knee Joint Torque Estimation using EMG Signals for Sharif Exoskeleton Control Applications
, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor)
Abstract
The human body has more than 600 muscles that cause movement. Disability and motor disorders are some of the problems that people may face due to some factors such as accident, spinal cord injuries, disorders and brain damage, and the presence of a problem in neurological commands due to stroke. One of the proposed methods for solving the problems of people with motor disorder is the use of exoskeletons to generate stimulus. Exoskeletones are electromechanical devices designed to assist human movement, and patients are used to correct their movements using specific motor patterns. Exoskeletones can also be used as an auxiliary device for carrying heavy loads. Many studies have been conducted...
Simulation of Laser-Ultrasonic Wave Propagation to Measure Mechanical Properties of Metal Sheets
, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor)
Abstract
Laser ultrasonic is a novel method for measuring sheet parameters. In this technique an intense pulse is irradiated to the target which instantaneously vaporizes the surface layer into the high temperature and high pressure plasma. Expansion of plasma produces shock wave that propagates through the surface. Mechanical properties of target can be calculated by measuring and analyzing produced shock wave. In this project wave propagation is simulated using finite element and numerical-computation methods. The numerical-computation simulation was performed using lamb wave equations. ANSYS software was employed for finite element simulation. The results corroborate each other. Next, simulation...
Point to point Control of a Brachiation Robot Based on Neural Network
, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor)
Abstract
• Brachiation robot is a kind of under-actuated robots. A brachiating robot is a type of a mobile arm that is capable of moving from branch to branch similar to a long-armed ape. The purpose of this thesis is control of a two link Brachiation robot. The purpose of this thesis is control of a two link Brachiation robot using neural network and geometry control. For this purpose a genetic algorithm based training Neural Network is used to produce a suitable path for the second link of the robot and then using input-output linearization method, the second link is controlled to follow the path. The simulations shows that the Nero Controller designed in this thesis is suitable. The controller can...
Image Flow and INS Sensor Fusion for the Accurate Localization of Planner Micro Robots
, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor)
Abstract
This research focuses on the robust mobile robot localization exploiting motion information acquired from an optical mouse operating based on optical flow technology. Most techniques of visual motion measurement are based on the well research discipline called “optical flow”. Theoretically, optical flow as a method of localization can be highly accurate, but it is sensitive to the noise and surface texture/optical characteristics and distance variations between the CCD detector and surface. As one could not achieve acceptable results in practical situations, to handle these problems, we propose to attach an acceleration – gyro (INS) sensor on the CCD detector (optical mouse) to improve the...
High Precision Localization by Optical Flow and INS Sensor data Fusion
, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor)
Abstract
Robot navigation and guidance is an important issue in robotic. Navigation by itself includes localization, path planning and guidance. For having a successful navigation it is necessary to succeed in all of those parts. The localization precision as basic part of localization is important and having more accurate information of robot position is important. Recently, sensors which use optical flow technic and are widely used in optical mouses are so common and they are able to measure displacement with resolution of 3 to 63 micron. In this research, a localization method for micro robot localization based on optical flow and INS sensor data fusion is presented.
Two data fusion method...
Two data fusion method...
Agent Base Control of a Robotic Swarm with Sensor Noise Effects
, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor)
Abstract
The main objective of this project is to investigate modeling for a robotic swarm with suitable sensors and to analyze effect of sensory noise on the control and unity of the swarm. This project is an extension of analytical study done by S. Etemadi, A. Alasty and G. Vossoughi in Sharif University of technology. The flocking frame assumed to have a leader robot that controls over all behavior of the swarm made of agents’ robots with limited equipments and low intelligence that only obey some basic attraction and repulsion laws that will be explained. As an initial step of the analysis, we investigate proper physical model, sensors and navigation systems suitable to the model. Next, the...
Impedance Control of a Knee Rehabilitation Exoskeleton Using Robust Adaptive Control
, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor)
Abstract
The present study deals with designing controller for Therapeutic Exercise Robots which belongs to larger group namely Rehabilitation robots. Therapeutic exercise robots are often realized in shape of exoskeleton robots. The main line of present research is involved with, designing controller for lower limb therapeutic exercise robots and offering and implementing technical rehabilitation ideas. Firstly, in order to have a reliable position-control, considering practical limitations (e.g. system uncertainties), a robust adaptive control has been designed. Adaptive control can deals with parameters uncertainties and covering unstructured uncertainties (e.g. disturbance and noise) can be...
Design and Implementation of Variable Impedance Control for Lower-Limb Exoskeletons with Desired Gate Refinement
, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor)
Abstract
The main goal of this thesis is to develop and implement a variable Impedance control method with the ability to refine the desired gait in an online manner. For this purpose, a dataset consisting of 89 healthy gaits was utilized. Then, “Basic shapes” were driven using principal component analysis and their meaningfulness was investigated. Regarding the meaningfulness of coefficients of basic shapes, a normality metric was defined to evaluate the human gaits. Furthermore, as a reference gait refinement in Impedance control, an outer loop was added to change the desired gait, according to traversed gait. Kalman filter was used to estimate the coefficients of basic shapes in this loop. In...