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Total 143 records

    A fully modular online controller for robot navigation in static and dynamic environments

    , Article 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2003, 16 July 2003 through 20 July 2003 ; Volume 1 , 2003 , Pages 163-168 ; 0780378660 (ISBN) Taheri, J ; Sadati, N ; Sharif University of Technology
    Institute of Electrical and Electronics Engineers Inc  2003
    Abstract
    In this paper, a new approach for behavior based architecture in mobile robot navigation in unknown environments is presented. In this approach, the general actions of a mobile robot are classified into three thoroughly separated tasks. Then, an individual fuzzy controller is designed and implemented for each task (behavior). Finally, a behavior selector is designed to switch between the robot tasks (behavior patterns) and manage all separated fuzzy controllers to navigate a mobile robot in a fully unknown environment. Another case considered in this paper is to test and examine the proposed algorithm in an environment including the static and dynamic (moving) obstacles. The most difficult... 

    A Supervisory Fuzzy Force Control of CNC HEXAGLIDE Robot

    , M.Sc. Thesis Sharif University of Technology Abedi, Mohsen (Author) ; Alasti, Aria (Supervisor) ; Vossoughi, Gholamreza (Supervisor)
    Abstract
    In this paper, controlling the cutting force of an end-milling process using a supervisory fuzzy controller has been investigated. The proposed control consists of an ordinary fuzzy controller and a fuzzy supervisor. In a machining process, there are several parameters which do not contribute to the force control system directly. Therefore an ordinary fuzzy force controller is suitable when these parameter have only small amount of variations. Since in practice this assumption is not valid, then a supervisory fuzzy controller has been added to the system. The designed fuzzy supervisor, inspects the dynamic behavior of the cutting force, estimates a pre-defined ‘sensitivity’ parameter and... 

    Use of active learning method to develop an intelligent stop and go cruise control

    , Article Proceedings of the IASTED International Conference on Intelligent Systems and Control, Salzburg, 25 June 2003 through 27 June 2003 ; 2003 , Pages 87-90 ; 0889863555 (ISBN) Shahdi, S. A ; Shouraki, S. B ; IASTED ; Sharif University of Technology
    2003
    Abstract
    This paper is concerned with the design and simulation of an intelligent stop and go cruise control system in an automated vehicle. In this paper Active learning method is used to extract driver's behavior and to derive control rules for cruise control system. First, there is a brief introduction to ALM (Active Learning Method) and its specifications. Then a one-line space for driving is assumed and its parameters are extracted. By using IDS, the processing engine of ALM, effective parameters in controller are derived. A simulation program is written to produce learning samples and also to evaluate controller's parameters. To apply controller's output, appropriate acceleration of the... 

    Design of robust mixed fuzzy controller for gas metal arc welding process

    , Article 2006 ASME International Mechanical Engineering Congress and Exposition, IMECE2006, Chicago, IL, 5 November 2006 through 10 November 2006 ; 2006 ; 10716947 (ISSN); 0791837904 (ISBN); 9780791837900 (ISBN) Eftekharian, A. A ; Sayyaadi, H ; Tadayon, M. A ; Sharif University of Technology
    American Society of Mechanical Engineers (ASME)  2006
    Abstract
    Welding is an important manufacturing process that can be automated and optimized. In this paper we discuss the Gas Metal Arc Welding (GMAW) control and modeling problem. For modeling the process recently developed highly nonlinear fifth order mathematical model is used, for controlling the GMAW process we use a new Mixed Fuzzy Control (MFC) structure. In this work first a Traditional Fuzzy Controller (TFC) is designed from the viewpoint of a Single-Input Single-Output (SISO) system for controlling each state of GMAW process. Then, an appropriate coupling fuzzy controller is also designed according to the characteristics of gas metal arc welding process and incorporated into a TFC. We then... 

    Efficient Algorithm for Two-wheeled Self Balancing Robot Control Using Fuzzy Methods

    , M.Sc. Thesis Sharif University of Technology Hamid, Heydar (Author) ; Bagheri Shouraki, Saeed (Supervisor)
    Abstract
    The inverted pendulum system has been considered as a well known nonlinear system for testing control algorithms. A two-wheeled balancing robot is a mobile inverted pendulum system whose structure is a combination of a wheeled mobile robot and an inverted pendulum system. Published article studied the Robot in different views. Some papers define it as a vehicle, some other try to model and so many use it to determine the control system. This thesis presents design of fuzzy logic controller for a two-wheeled balancing robot using fuzzy methodes. First we have designed a classic fuzzy logic controller to control both of balancing and Trajectory control of robot. The Fuzzy controller was... 

    Observer-based adaptive fuzzy controller for nonlinear systems with unknown control directions and input saturation

    , Article Fuzzy Sets and Systems ; May , 2016 ; 01650114 (ISSN) Askari, M. R ; Shahrokhi, M ; Khajeh Talkhoncheh, M ; Sharif University of Technology
    Elsevier  2016
    Abstract
    This paper addresses design of an observer-based adaptive fuzzy controller for a class of single-input-single-output (SISO) nonlinear systems with unknown dynamics subject to input nonlinearity and unknown direction. The proposed controller is singularity free. A high-gain observer is designed to estimate the unmeasured states, and the Lipschitz condition for proving boundedness of the estimated states is relaxed. The Nussbaum function is used to handle the unknown virtual control directions and the backstepping technique has been applied for controller design. It is proved that all closed loop signals are semi-globally uniformly ultimately bounded (SGUUB) and the output tracking error... 

    Adaptive optimal multi-critic based neuro-fuzzy control of MIMO human musculoskeletal arm model

    , Article Neurocomputing ; Volume 173 , 2016 , Pages 1529-1537 ; 09252312 (ISSN) Balaghi, M. H. E ; Vatankhah, R ; Broushaki, M ; Alasty, A ; Sharif University of Technology
    Elsevier 
    Abstract
    Human bodies use the electrical currents to make the muscles move. Disconnection of the electrical signals between the brain and the muscles as a result of spinal cord injuries, causes paralysis below the level of injury. Functional electrical stimulation (FES) is used to stimulate the peripheral nerves of the disabled limbs. The level of these electrical signals should be selected so that the desired tasks are done successfully. Applying the appropriate controller which can result a human like behaviour and the accomplishment of the desired tasks has become a significant research area. In this paper, the multi-input multi-output (MIMO) musculoskeletal model of human arm with six muscles is... 

    Model-based fuzzy control of a gas turbine coupled with a dynamometer

    , Article Journal of Propulsion and Power ; Volume 34, Issue 5 , 2018 , Pages 1178-1188 ; 07484658 (ISSN) Banazadeh, A ; Abdollahi Gol, H ; Sharif University of Technology
    American Institute of Aeronautics and Astronautics Inc  2018
    Abstract
    This paper discusses a novel and detailed approach for dynamic modeling and control design of a coupled hydraulic dynamometer/turbine-engine system. This study presents a comprehensive model to reveal the coupling effects and an adaptive multiobjective controller to ensure a safe and reliable operation. A fuzzy-based strategy is employed to dynamically adjust the controller gains to keep the state variables and power loading within the desirable operational limits. This approach uses the dynamometer inlet, outlet, and trim valves as well as the turbine fuel flow rate and bleed valve in order to control the system performance during the engine testing process. The proposed fuzzy control... 

    Multivariable Anesthesia control using reinforcement learning

    , Article 2006 IEEE International Conference on Systems, Man and Cybernetics, Taipei, 8 October 2006 through 11 October 2006 ; Volume 6 , 2006 , Pages 4563-4568 ; 1062922X (ISSN); 1424401003 (ISBN); 9781424401000 (ISBN) Sadati, N ; Aflaki, A ; Jahed, M ; Sharif University of Technology
    Institute of Electrical and Electronics Engineers Inc  2006
    Abstract
    The anesthesia community has recently witnessed numerous advances in monitoring of the anesthetic state. This development has spurred a renewed interest in the automation of the clinical anesthesia. The absence of a precise model in biomedical field has motivated the authors to propose a novel approach capable of handling the uncertainties present in the model and moreover, to design a new approach which is subjective and can be adopted to patient specific requirements. In this regard a study has been conducted in this paper, in order to fit the intelligence of fuzzy controllers based on reinforcement learning in this clinical application. This study suggests that the chosen approach fits... 

    Design of mixed fuzzy-GA controller for SCARA type robot

    , Article 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006, Beijing, 9 October 2006 through 15 October 2006 ; 2006 , Pages 2173-2178 ; 142440259X (ISBN); 9781424402595 (ISBN) Eftekharian, A. A ; Sayyaadi, H ; Sharif University of Technology
    2006
    Abstract
    This paper presents a Mixed Fuzzy-GA Controller (MFGAC) for trajectory tracking of an industrial Selective Compliance Assembly Robot Arm (SCARA), which is one of the most employed manipulators in industrial environments. In this robot nonlinear effects due to centrifugal, coriolis and internal forces are more important than friction and gravity forces, unlike most industrial robots. The control procedure of MFGAC is consisting of a mixed fuzzy controller which is optimized by genetic algorithm. In this work we first design a Traditional Fuzzy Controller (TFC) from the viewpoint of a Single-Input Single-Output (SISO) system for controlling each degree of freedom of the robot. Then, an... 

    Design and Control of Parallel Hybride Electric Samand Vehicle

    , M.Sc. Thesis Sharif University of Technology Parvini Oskoui, Yasha (Author) ; 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... 

    On the control of tumor growth via type-1 and interval type-2 fuzzy logic

    , Article Journal of Mechanics in Medicine and Biology ; Volume 15, Issue 5 , 2015 ; 02195194 (ISSN) Gholami, S ; Alasty, A ; Salarieh, H ; Hosseinian Sarajehlou, M ; Sharif University of Technology
    Abstract
    This paper deals with growth control of cancer cells population using type-1 and interval type-2 fuzzy logic. A type-1 fuzzy controller is designed in order to reduce the population of cancer cells, adjust the drug dosage in a manner that allows normal cells re-grow in treatment period and maintain the maximum drug delivery rate and plasma concentration of drug in an appropriate range. Two different approaches are studied. One deals with reducing the number of cancer cells without any concern about the rate of decreasing, and the other takes the rate of malignant cells damage into consideration. Due to the fact that uncertainty is an inherent part of real systems and affects controller... 

    Duality in fuzzy variable linear programming

    , Article Wec 05: Fourth World Enformatika Conference, Istanbul, 24 June 2005 through 26 June 2005 ; Volume 6 , 2005 , Pages 115-117 ; 9759845857 (ISBN) Mahdavi Amiri, N ; Nasseri, S. H ; Sharif University of Technology
    2005
    Abstract
    Recently, fuzzy variable linear programming problems have attracted some interests. We introduce the dual of fuzzy variable linear programming problem, and then deduce some important duality results. COPYRIGHT © ENFORMATIKA  

    An intelligent nuclear reactor core controller for load following operations, using recurrent neural networks and fuzzy systems

    , Article Annals of Nuclear Energy ; Volume 30, Issue 1 , 2003 , Pages 63-80 ; 03064549 (ISSN) Boroushaki, M ; Ghofrani, M. B ; Lucas, C ; Yazdanpanah, M. J ; Sharif University of Technology
    2003
    Abstract
    In the last decade, the intelligent control community has paid great attention to the topic of intelligent control systems for nuclear plants (core, steam generator). Papers mostly used approximate and simple mathematical SISO (single-input-single-output) model of nuclear plants for testing and/or tuning of the control systems. They also tried to generalize theses models to a real MIMO (multi-input-multi-output) plant, while nuclear plants are typically of complex nonlinear and multivariable nature with high interactions between their state variables and therefore, many of these proposed intelligent control systems are not appropriate for real cases. In this paper, we designed an on-line... 

    Development and Control of Intelligent Assistive Exo-Glove

    , M.Sc. Thesis Sharif University of Technology Abarghouei, Arash (Author) ; Salarieh, Hassan (Supervisor)
    Abstract
    Despite the advancement of technology in the world still some parts of the work are done by human hands. Gloves that increase fingers force can cause less fatigue, greater accuracy and efficiency in carrying out their duties in person.Also patients with muscle weakness due to M.S. or apoplexy, or elderly people are unable to do the simplest tasks. A wearable robotic glove that can restore hand function can increase the quality of life for people with mobility problems. The aim of this research is to design, build and control a conceptual prototype of a flexible wearable robot to increase fingers force by cable mechanism; and in this glove, force and position control concurrently is done by... 

    Design and Implementation of Control Algorithm to Carry a load By Segway Robot

    , M.Sc. Thesis Sharif University of Technology Jokar, Ehsan (Author) ; Bagheri Shouraki, Saeed (Supervisor)
    Abstract
    Recently, many investigations have been devoted to problems of controlling mobile-wheeled inverted pendulum (MWIP) models, which have been widely applied in the field of autonomous robotics and intelligent vehicles. The MWIP models are not only of theoretical interest but are also of practical interest. Many practical systems have been implemented that were based on the MWIP models, such as the JOE, the Segway, etc. Among these applications, the Segway PT has been a popular personal transporter, since it was invented in 2002 Such systems are characterized by the ability to balance on its two wheels and spin on the spot. This additional maneuverability allows them to easily navigate on... 

    Designing a fuzzy logic controller for a quadruped robot using human expertise extraction

    , Article 2013 21st Iranian Conference on Electrical Engineering, ICEE 2013 ; 2013 , 14-16 May ; 9781467356343 (ISBN) Zand, R. M ; Shouraki, S. B ; Sharif University of Technology
    2013
    Abstract
    Many actions have been taken by researchers to design an appropriate controller for a quadruped robot. These efforts can be divided into two main categories: analytical and intelligent methods. The analytical method is based on the motion equations of the robot which are mostly complicated. These complication leads to difficulty in implementation. In contrast, there exists intelligent method which is based on the learning algorithms. Despite lots of improvements in the controlling of the quadruped robots, their ability of walking is still far less from the four legged animals' capability. Many researchers believe that four legged animals owe this priority to the learning attribute. Therefore... 

    High performance fuzzy-Padé controllers: Introduction and comparison to fuzzy controllers

    , Article Nonlinear Dynamics ; Volume 71, Issue 1-2 , January , 2013 , Pages 141-157 ; 0924090X (ISSN) Abedinnasab, M. H ; Yoon, Y. J ; Saeedi Hosseiny, M. S ; Sharif University of Technology
    2013
    Abstract
    In this paper, a new highly convergent, efficient, and fast response control technique entitled as fuzzy-Padé control method is introduced. It provides a simple methodology to exploit the heuristic knowledge in controlling a system. Fuzzy-Padé controllers originate from a unification of heuristic knowledge expressed as the rule base, and Padé approximants. In this method, fuzzy singleton rules are used to generate the rule base. Accordingly, unknown parameters in the Padé approximant are determined using these rules. The fuzzy-Padé controllers possess certain advantages over fuzzy controllers, and they can be applied in situations where fuzzy controllers previously failed. To demonstrate the... 

    Optimized fuzzy control strategy for a spa hybrid truck

    , Article International Journal of Automotive Technology ; Volume 13, Issue 5 , August , 2012 , Pages 817-824 ; 12299138 (ISSN) Taghavipour, A ; Foumani, M. S ; Sharif University of Technology
    2012
    Abstract
    In this paper, an optimized control strategy is proposed for a split parallel hydraulic hybrid truck. The model of the vehicle was simulated in Simulink. According to a global optimization technique, a fuzzy control strategy is developed for the vehicle. This strategy shows flexibility for different drive cycles and a desirable fuel consumption reduction, especially for a low speed drive cycle, which is extracted according to an urban utility vehicle mission  

    Fuzzy sliding mode control of multi-agent systems using artificial potentials

    , Article ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE), 12 November 2010 through 18 November 2010, Vancouver, BC ; Volume 8, Issue PARTS A AND B , 2010 , Pages 901-909 ; 9780791844458 (ISBN) Roshanghalb, F ; Mortazavi, J ; Alasty, A ; Sayyaadi, H ; Sharif University of Technology
    Abstract
    In this paper a fuzzy control strategy of autonomous multiagent systems is presented. The main purpose is to obtain an improvement on the results of designed sliding mode controllers in previous articles using supervisory fuzzy controller. Similarly, a quasi-static swarm model in ndimensional space is introduced wherein the inter-individual interactions are based on artificial potential functions; and the motions of members are in direction with the negative gradient of the combined potentials which are the result of a balance between inter-individual interactions and the simultaneous interactions of the swarm members with their environment. Then a general model for vehicle dynamics of each...