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Evaluation of Task-based Dynamic Hand Postures Through Stereo Vision Based Images
,
M.Sc. Thesis
Sharif University of Technology
;
Jahed, Mehran
(Supervisor)
Abstract
Recognition of hand movements plays a key role in both human computer interaction and rehabilitation activities. This thesis focuses on hand pose estimation and motion tracking through a model-based stereo vision-based system. To allow for a complete 3D motion, initially a simple hand model with 20 landmark points was constructed and used to track its motion through a sequence of stereo images. Furthermore, a skeletal model representing the kinematical features of the hand was utilized to provide a meaningful hand motion and gesticulation. To evaluate and eventually recognize the performed hand motion, Kalman filter and Kalman smoother algorithms were implemented to evaluate the efficacy and...
Design and Optimization of a Cybernetics Hand
, M.Sc. Thesis Sharif University of Technology ; Sayyaadi, Hassan (Supervisor)
Abstract
In this study, we create an evolution function that assesses prosthetic hands in terms of their ability to grasp various objects like a human hand. It is required to evaluate the reachable workspace of prosthetic hands and grasp ability to assess it completely. The first one can be done by using forward kinematics. The Volume of the Grasp Wrench space, one of the grasp qualities indexes, is used to measure the second one. Randomization and grasp taxonomy are used to generalize the grasp quality to indicate the prosthetic hand functionality. Afterward, the created evaluation function is used to specify the importance of each finger and DOF. The results show that the most significant finger is...
Workspace measurement of the surgeon's upper limb during an arthroscopy and three laparoscopy operations using inertial sensor systems
, Article 2013 E-Health and Bioengineering Conference, EHB 2013 ; 2013 ; 9781479923731 (ISBN) ; Farahmand, F ; Sharif University of Technology
2013
Abstract
The aim of this study was to determine the workspace of surgeon's body for designing more efficient surgical robots in the operation rooms. Five wearable inertial sensors were placed near the wrist and elbow joints and also on the thorax of surgeons to track the orientation of upper limb. Assuming that the lengths of five segments of an upper limb were known, measurements of the inertial sensors were used to determine the position of the wrist and elbow joints via an established kinematic model. subsequently, to assess the workspace of surgeon upper body, raw data were collected in the arthroscopy and laparoscopy operations. Experimental results demonstrated that the workspaces of surgeon's...
Sliding mode leader following control for autonomous air robots
, Article 2011 IEEE/SICE International Symposium on System Integration, SII 2011, 20 December 2011 through 22 December 2011 ; December , 2011 , Pages 972-977 ; 9781457715235 (ISBN) ; Saghafi, F ; Sharif University of Technology
2011
Abstract
In this paper, we propose a leader following control for autonomous air robots. The separated design strategy with kinematic acceleration commands is used. The location of the robot with respect to the leader is specified by a range and two angles. We obtain the kinematic model of the system represented by the state-space equations. The controller is designed based on the sliding mode control which asymptotically stabilizes the tracking errors in presence of uncertainties and disturbances. In order to implement the leader following controller in the air robots, a control system is introduced which converts the acceleration commands to the actuator commands. Simulations are provided to show...
Two Body Approach to the Aircraft Mass Properties Estimation During Airdrop Maneuver
, Ph.D. Dissertation Sharif University of Technology ; Saghafi, Fariborz (Supervisor)
Abstract
The importance of aircraft mass properties, including mass, center of gravity position and moments of inertia, and the effect of these parameters on the aircraft performance, stability and control is clearly bright for aviation science specialists. The ability to in-flight estimation of the aircraft mass properties in all flight conditions is a powerful technology for improving conditioned based maintenance systems, automatic flight control systems, flight safety, airplane performance, flight path planning, air traffic management, cooperative and formation flight management, facilitating investigation of aerial accidents caused by uncertainty of the mass properties, and increasing...
Swarm aggregation using emotional learning based intelligent controller
, Article 2009 6th International Symposium on Mechatronics and its Applications ; 2009 , Article number 5164827 ; ISBN: 9781424434817 ; Vatankhah, R ; Alasty, A ; Vossoughi, G ; Sharif University of Technology
Abstract
In this paper, we consider a control strategy of multi-robot systems, or simply, swarms, based on emotional control technique. First, we briefly discuss a "kinematic" swarm model in n-dimensional space introduced in an earlier paper. In that model, motion of every swarm member is governed by predefined inter-individual interactions. Limitations of every member's field of view are also considered in that model. After that, we consider a general model for vehicle dynamics of each swarm member, and use emotional control theory to force their motion to obey the dynamics of the kinematic model. Based on the kinematic model, stability (cohesion) analysis is performed and coordination controller.is...
Pore scale study of permeability and tortuosity for flow through particulate media using Lattice Boltzmann method
, Article International Journal for Numerical and Analytical Methods in Geomechanics ; Volume 35, Issue 8 , 2011 , Pages 886-901 ; 03639061 (ISSN) ; Pak, A ; Sharif University of Technology
2011
Abstract
In this paper, Lattice Boltzmann method (LBM) has been used to study the effects of permeability and tortuosity on flow through saturated particulate media and identify the relationships between permeability and tortuosity with other parameters such as particles diameter, grain specific surface, and porosity. LBM is a simple kinematic model that can incorporate the essential physics of microscopic and mesoscopic processes involved in flow through granular soils. The obtained results indicate that the 2D LB model, due to its inherent theoretical advantages, is capable of demonstrating that the porosity and specific surface are the most influential parameters in determining the intrinsic...
Swarm aggregation using emotional learning based intelligent controller
, Article 2009 6th International Symposium on Mechatronics and its Applications, ISMA 2009, Sharjah, 23 March 2009 through 26 March 2009 ; 2009 ; 9781424434817 (ISBN) ; Vatankhah, R ; Alasty, A ; Vossoughi, G ; Sharif University of Technology
2009
Abstract
In this paper, we consider a control strategy of multi-robot systems, or simply, swarms, based on emotional control technique. First, we briefly discuss a "kinematic" swarm model in n-dimensional space introduced in an earlier paper. In that model, motion of every swarm member is governed by predefined inter-individual interactions. Limitations of every member's field of view are also considered in that model. After that, we consider a general model for vehicle dynamics of each swarm member, and use emotional control theory to force their motion to obey the dynamics of the kinematic model. Based on the kinematic model, stability (cohesion) analysis is performed and coordination controller is...
Employing a novel gait pattern generator on a social humanoid robot
, Article Scientia Iranica ; Volume 26, Issue 4A , 2019 , Pages 2154-2166 ; 10263098 (ISSN) ; Behzadipour, S ; Abedi, M ; Sharif University of Technology
Sharif University of Technology
2019
Abstract
This paper presents a novel Gait Pattern Generator ((IPC) developed for the "Alice" social humanoid robot, which up to now lacked an appropriate walking pattern. Due to t he limitations of this robot, the proposed gate pattern generator was formulated based on a nine-mass model to decrease the modeling errors and t he inverse kinematics of the whole lower-body was solved in such a way that the robot remained statically stable during t he movements. The main challenge of this work was to solve t he inverse kinematics of a 7-link chain with 12 degrees of freedom. For this purpose, a new graphical-numerical technique has been provided using the definition of the kinematic equations of the robot...
Employing a novel gait pattern generator on a social humanoid robot
, Article Scientia Iranica ; Volume 26, Issue 4A , 2019 , Pages 2154-2166 ; 10263098 (ISSN) ; Behzadipour, S ; Abedi, M ; Sharif University of Technology
Sharif University of Technology
2019
Abstract
This paper presents a novel Gait Pattern Generator ((IPC) developed for the "Alice" social humanoid robot, which up to now lacked an appropriate walking pattern. Due to t he limitations of this robot, the proposed gate pattern generator was formulated based on a nine-mass model to decrease the modeling errors and t he inverse kinematics of the whole lower-body was solved in such a way that the robot remained statically stable during t he movements. The main challenge of this work was to solve t he inverse kinematics of a 7-link chain with 12 degrees of freedom. For this purpose, a new graphical-numerical technique has been provided using the definition of the kinematic equations of the robot...
Trajectory tracking of a mobile robot using fuzzy logic tuned by genetic algorithm
, Article International Journal of Engineering, Transactions A: Basics ; Volume 19, Issue 1 , 2006 , Pages 95-104 ; 17281431 (ISSN) ; Mahboobi, S. H ; Alasty, A ; Sharif University of Technology
Materials and Energy Research Center
2006
Abstract
In recent years, soft computing methods, like fuzzy logic and neural networks have been presented and developed for the purpose of mobile robot trajectory tracking. In this paper we will present a fuzzy approach to the problem of mobile robot path tracking for the CEDRA rescue robot with a complicated kinematical model. After designing the fuzzy tracking controller, the membership functions and rule weights will be optimized by genetic algorithm in order to obtain more acceptable results. Simulation results have demonstrated significant improvements in controller efficacy