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Fuzzy control of robot manipulator with a flexible tool
, Article Journal of Robotic Systems ; Volume 22, Issue 7 , 2005 , Pages 367-382 ; 07412223 (ISSN) ; Sepehri, A ; Sharif University of Technology
2005
Abstract
In some tasks, a rigid robot manipulator handles a long, slender, and flexible tool, which usually has not been equipped with vibration measuring devices. This situation makes a different tool tip position control problem. In this paper, a new method will be presented for simultaneous tip position and vibration suppression control of a flexible tool on a rigid-link 3-DOF robot. This approach uses fuzzy logic rule-based controllers without using any sensors and actuators on the tool or a priori knowledge about the tool. Numerical simulation of robot and tool set has been accomplished and results support the fact that designed fuzzy controllers perform remarkably well in reducing vibrations...
Modeling of the Flexible Instrument Inside the Vascular Environment for Its Motion Control in Minimally Invasive Procedures
, M.Sc. Thesis Sharif University of Technology ; Nejat Pishkenari, Hossein (Supervisor)
Abstract
Minimally invasive procedures are diagnostic or therapeutic methods that cause minimal injuries and side effects for patients. PCI is a common minimally invasive procedure for diagnosis and curing of cardiovascular disorders. In this procedure, the surgeon can have access to the cardiac vessels by a flexible instrument. However, motion control of this instrument inside the patient's body relies on surgeon's skills and in some cases, is time consuming so that the toxic effects of radiation on patient and surgical team increases. Magnetic flexible instruments are suggested to address this problem. Nevertheless, motion control of the flexible instrument inside the body still has many challenges...
Modeling and Simulation of Vacuum Assisted Resin Transfer Molding Process with Flexible Tooling
, M.Sc. Thesis Sharif University of Technology ; Abedian, Ali (Supervisor)
Abstract
Resin Transfer Molding (RTM) which is one of the categories of Liquid Composite Molding (LCM) process, is considered as one of the most important process in polymer composite manufacturing. To improve this manufacturing method and reaching higher qualities, numerous modified methods has been developed. One of these modified methods is Vaccum Assisted Resin Trasnfer Molding with Flexible Tooling which is considerably applicable in manufacturing parts with high quality, large and complex geometry. Although, this manufacturing method has variety of advantages, there are some problems such as void formation making production difficult and dependent to experimental trial and error. So numerical...
Toward a new analyzable architectural description language based on OSAN
, Article 2nd International Conference on Software Engineering Advances - ICSEA 2007, Cap Esterel, 25 August 2007 through 31 August 2007 ; 2007 ; 0769529372 (ISBN); 9780769529370 (ISBN) ; Habibi, J ; Sharif University of Technology
2007
Abstract
In the last two decades, a number of architecture-based software development notations, methods, techniques, and tools were formulated. Of particular interest to the software architecture researchers and practitioners were the notations and languages for modeling software architectures, known as ADLs. Object Stochastic Activity Network (OSAN) is a new model which inherits useful features from Petri nets, stochastic activity networks and queue networks, which made it a powerful and flexible tool to model concurrent systems and evaluate and verify them. This paper introduces OSAN as a new analyzable architecture description language, which can be used both for modeling architectural aspects of...
A system dynamics model for improving flood control operation policies
, Article World Environmental and Water Resources Congress 2012: Crossing Boundaries, Proceedings of the 2012 Congress ; 2012 , Pages 962-972 ; 9780784412312 (ISBN) ; Dashti, M ; Abrishamchi, A ; Sharif University of Technology
ASCE
2012
Abstract
The inherent complexities of multi-reservoir flood control systems and their operation conditions along with the improvements of optimization methods have led to a positive trend on better development of these models. This trend tends to provide the operators of these systems with more practical solutions. Although optimization models can provide appropriate solutions for operation of multi-reservoir systems, the exact implementation of these solutions in real world is not guaranteed. This arises mainly due to high level risk of flood situation, real time operation constraints, high level uncertainties of inflows that usually are overlooked in optimization models, and so on. These problems...
Prediction of machining chatter based on FEM simulation of chip formation under dynamic conditions
, Article International Journal of Machine Tools and Manufacture ; Volume 50, Issue 7 , July , 2010 , Pages 611-620 ; 08906955 (ISSN) ; Movahhedy, M. R ; Sharif University of Technology
2010
Abstract
Machining chatter is an inherently nonlinear phenomenon that is affected by many parameters such as cutting conditions, tool geometry e.g., nose radius and clearance angle and frictional conditions at the tool/workpiece interface. Models for chatter prediction often ignore nonlinearities or introduce them through simple models for friction and geometry. In particular, the effect of chiptool interaction on the occurrence of chatter is not investigated thoroughly. This paper presents a novel approach for prediction of chatter vibration and for investigation of the effects of various conditions on the onset of chatter. This approach uses finite element simulation to investigate the...