Sharif Digital Repository

This paper proposed a new curvature based path-description method for path-generation of planar mechanism, in which the position vector of a point on coupler, which follows most closely a predefined path, is directly calculated as a function of coupler motion properties. In addition this curvature based method makes it possible to define an objective function independent of rotation and translation transformations. Therefore, in this method, initial position, orientation, and coupler point vector parameters are not the optimization variable. These five parameters could be calculated as a function of other design parameters and they are found when these optimal values are obtained. Reducing... 

This paper presents a control scheme for microgrids with passive loads. The existing control techniques for distributed generation systems are designed to operate either in the grid-connected or in the islanded mode. In the grid-connected mode of operation, a currentcontrolled scheme based on d-q variables is used for the regulation of real and reactive powers of the converter. In the islanded mode of operation, the converter is controlled in the voltage-controlled mode. This paper deals with the modeling of both control schemes. Furthermore, reconnection from the islanded mode to the grid-connected mode based on the use of adequate Phase-Locked Loops (PLLs) has been demonstrated  

In this paper, two online path planning methods are presented for SURENA III humanoid robot by using model predictive control scheme. The methods are general control schemes which can generate the online motions for walking of a humanoid robot. For lowering computational costs a three dimensional linear inverted pendulum model is used instead of the full dynamical model of the robot. The generated trajectories are then used for computing the zero-moment point (ZMP) of the robot and the joint torques. The resulted joint torques of the two methods are compared to torques obtained from Genetic Algorithm (GA) path planning method presented for SURENA III humanoid robot in previous studies. The... 

Swarm motion is an amazing collective behavior in nature for energy saving. Inspiring this natural phenomenon in microorganisms’ swimming, we have proposed a motion strategy for a swarm of microrobots to reduce their energy consumption during path tracking. The investigated microrobot is an artificial Self-Propelled Microswimmer (SPM) with high maneuverability at low Reynolds number flow (Re ≪ 1). In this study, we have demonstrated that forming a swarm behavior with minimum energy consumption requires the microswimmers to be close enough to each other, since at small distances the hydrodynamic interactions of microswimmers reduce their energy consumption. Moreover, we also showed that... 

Swarm motion is an amazing collective behavior in nature for energy saving. Inspiring this natural phenomenon in microorganisms’ swimming, we have proposed a motion strategy for a swarm of microrobots to reduce their energy consumption during path tracking. The investigated microrobot is an artificial Self-Propelled Microswimmer (SPM) with high maneuverability at low Reynolds number flow (Re ≪ 1). In this study, we have demonstrated that forming a swarm behavior with minimum energy consumption requires the microswimmers to be close enough to each other, since at small distances the hydrodynamic interactions of microswimmers reduce their energy consumption. Moreover, we also showed that... 

The challenge of finding an optimized and reliable path dates back to emersion of mobile robots. Several approaches have been developed that have partially answered this need. Satisfying results in previous implementations has led to an increased utilization of sampling-based motion planning algorithms in recent years, especially in high degrees of freedom (DOF), fast evolving environments. Another advantage of these algorithms is their probabilistic completeness that guarantees delivery of a path in sufficient time, if one exists. On the other hand, sampling based motion planners leave no comment on safety of the planned path. This paper suggests biasing the Rapidly-exploring Random Trees... 

This paper presents an analytical approach to design a continuous time-invariant two-level control scheme for asymptotic stabilization of a desired period-one trajectory for a hybrid model describing walking by a planar biped robot with noninstantaneous double-support phase and point feet. It is assumed that the hybrid model consists of both single- and double-support phases. The design method is based on the concept of hybrid zero dynamics. At the first level, parameterized continuous within-stride controllers, including single- and double-support-phase controllers, are employed. These controllers create a family of 2-D finite-time attractive and invariant submanifolds on which the dynamics... 

The state-space averaging applied to switched networks generally results in nonlinear systems. It is common to perform a small signal linearization about an operating point to obtain a linear system. When the variations in signals are large, e.g., in PFC rectifiers, the small signal approximation produces results that are susceptible to instability problems. In this paper a class of piecewise linear models merged by fuzzy system are introduced for PWM converters. The necessary and sufficient and conditions for stability of fuzzy models using fuzzy state-feedback controllers are given. The results obtained are illustrated with a buck-boost converter. The simulation and experimental results... 

Time-delay in sensor measurements can be a frequent cause of instability and performance degradation in a robotic system. In this paper, motion tracking of rigid manipulators in presence of constant and known delay in sensors is investigated. By using non-minimal model of a manipulator, a dynamically smooth controller based on the Linear Matrix Inequality (LMI) approach is proposed which guarantees asymptotic tracking of desired joint angles and velocities in presence of delayed measurements. For a given controller the maximum amount of delay that preserves system stability is computed by solving an LMI optimization and also by numerical simulations, and the results are compared. Finally, a... 

Random pulse width modulation (RPWM) technique has been employed to generate the control signals of Vienna-type rectifier. This technique is compared to two conventional techniques (Hysteresis-band and ramp comparison with fix frequency carrier signal). Simulation results are illustrated for three approaches. The results verify significantly reduction of high frequency harmonics magnitude; and consequently overcome electromagnetic interference (EMI) problem in this active type of rectifier. ©2009 IEEE  

Studies have shown that balance and mobility in people with Parkinson's disease (PD) can improve through rehabilitation interventions. However, until now no quantitative method investigated how these patients improve their balance control. In this study, a single inverted pendulum model with PID controller was used to describe the improvement of forty PD patients after a 12-session therapy program, and to compare their balance with twenty healthy subjects. The Center of Pressure (COP) data were recorded in seven sensory conditions - on rigid and foam surface, each with eyes open and closed, and with visual disturbance; and stance on rigid surface with attached vibrator to the Achilles... 

With the increasing share of distributed generation in electrical energy supply, the proper planning procedure for using these units, has become more vital for power system planners. In this paper, the application of multi-objective optimization techniques for siting, sizing and determination of the proper technology to be used, has been investigated in such a way that, the load demand during the planning horizon is met and the technical and environmental constraints are satisfied. Unlike the traditional optimization methods used in power system optimization, NSGA-II multi-objective optimization algorithm does not consider techno-economical and environmental parameters in the constraints of... 

The novel idea of the Hydromagnetic Micropump and Flow Controller (HMFC) is used in this paper to construct a laboratory setup capable of bidirectional pumping and controlling the flow in microtubes. A laboratory setup, which contains no moving parts, is integrated with a pressure-driven flow setup to make the presented HMFC device. The device operation is based on controllable motion of magnetic particles, added to the carrier fluid, caused by the magnetic field, produced by solenoids located just next to the microtube. The magnitude of these forces is proportional to the strength and gradient of magnetic field which, in turn, is related to the electrical current and arrangement of the...