Sharif Digital Repository

Four nonlinear Model Reference Adaptive Impedance Controllers are introduced, tested, and compared for the control of the robot impedance with uncertainties in model parameters. The intended application area is human-robot interactions (HRI), particularly rehabilitation robots and haptic interfaces. All of the controllers make the closed-loop dynamics of the robot similar to the reference impedance model besides providing asymptotic tracking of the impedance model for the robot end-effector in Cartesian coordinates. The tracking and global stability are proved using Lyapunov stability theorem. Based on the simulations and experiments on a two-DOFs robot, the effectiveness of the proposed... 

During the milling process, self-excited vibration or chatter adversely affects tool life, surface quality and productivity rate. In this paper, nonlinear cutting forces of milling process are considered as a function of chip thickness with a complete third order polynomial (instead of the common linear dependency). An optimal control strategy is developed for chatter suppression of the system described through nonlinear delay differential equations. Counterbalance forces exerted by actuators in x and y directions are the control inputs. For optimal control problem, an appropriate performance index is defined such that the regenerative chatter is suppressed while control efforts are... 

Digital documents are usually degraded during the scanning process due to the contents of the backside of the scanned manuscript. This is often caused by the show-through effect, i. e. the backside image that interferes with the main front side picture due to the intrinsic transparency of the paper. This phenomenon is one of the degradations that one would like to remove especially in the field of Optical Character Recognition (OCR) or document digitalization which require denoised texts as inputs. In this paper, we first propose a novel and general nonlinear model for canceling the show-through phenomenon. A nonlinear blind source separation algorithm is used for this purpose based on a new... 

With the significant role that warehouse plays in connection to suppliers, distributors, and clients, and considering the costliness of storage systems, efforts have focused on the reduction of procedural expenses. Among the most significant expenses, one involves the distance traveled by operators or S/R machinery for the selection of ordered items; the common solution to which has been through the classification of stored items. Previous articles have focused on linear solutions to the abovementioned problem, such as P-Median. This article shall focus on the problems arising from the said solution, and instead a non-linear method proposed. Further, a heuristic algorithm is produced for the... 

This paper presents an attempt to control the chaotic behavior of Rayleigh-Bénard convection system in weakly elastic fluids. In this article, a nonlinear model is presented which fundamentally refers to a model introduced by Khayat. The nonlinear model has chaotic behavior which is controlled by using sliding mode method. In the presence of uncertainty for some parameters of the model, a controller is designed to stabilize the dynamic of the system on the desired trajectory. Different simulation results are presented to demonstrate the effectiveness of the designed controller in tracking different desired trajectories. ©2009 IEEE  

Digital documents are usually degraded during the scanning process due to the printings existing on the backside of the scanning manuscript. This is often caused by the so called show-through effect, the image that interferes with the main picture due to the intrinsic opacity of the paper. This phenomenon is on type of degradation that one would like to remove. In this paper, we propose a novel and general nonlinear model for show-through phenomenon. A nonlinear blind source separation (BSS) algorithm is used for this particular application in a new recursive and extendible structure for compensating show-through. Finally, we introduce a new structure for removing the show-through and the... 

We present an analytically tractable non-linear model of structure formation in a Universe with only dust. The model is a Lematre-Tolman-Bondi solution (of general relativity) and structures are shells of different density. We show that the luminosity distance-redshift relation has significant corrections at low redshift when the density contrast becomes non-linear. A minimal effect is a correction in apparent magnitudes of order . We discuss different possibilities that could further enhance this effect and mimic dark energy. © IOP Publishing Ltd  

Artificial Neural networks offer viable solution to identification and modeling of aerospace dynamic systems. This paper proposes a new approach to the nonlinear modeling of agile aircraft which is applicable to develop flight simulators. In contrary to classical methods, neural-network-based modeling of aircraft dynamics does not require any aerodynamic or propulsion model and a few flight test measured data suffice. The obtained model is shown valid for arbitrary pilot inputs within a region of mach-altitude around the pre-specified flight condition  

Simultaneous reductions in inventory of raw materials, work-in-process, and finished items have recently become a major focus in supply chain management. Vendor-managed inventory is a well-known practice in supply chain collaborations, in which manufacturer manages inventory at the retailer and decides about the time and replenishment. In this paper, an integrated vendor-managed inventory model is presented for a two-level supply chain structured as a single capacitated manufacturer at the first level and multiple retailers at the second level. Manufacturer produces different products where demands are assumed decreasing functions of retail prices. In this chain, both the manufacturer and... 

In this paper, forced vibration analysis of an extended dynamic model of the milling process is investigated, in the presence of internal resonance. Regenerative chatter, structural nonlinearity, tool wear and process damping effects are included in the proposed model. Taking into account the average and first order expansion of Fourier series for cutting force components; their closed form expressions are derived. Moreover, in the presence of large vibration amplitudes, the loss of contact effect is included in this model. Analytical approximate response of the nonlinear system is constructed through the multiple-scales approach. Dynamics of the system is studied for two cases of primary... 

A new criterion for prediction of train derailment is presented in this paper. A 2 DOF wheel-set model is used to identify the main dynamic parameters that affect wheel-set derailment. Using these parameters and conventional definition of derailment coefficient, a new criterion for prediction of wheelset derailment is introduced. The proposed criterion, in addition to providing the required precision in prediction of wheelset derailment, it requires measurements which are easy to perform. To evaluate the capability of the new criterion in prediction of derailment, a full wagon model with 48 DOF was used. The wagon model is a 3-D, non-linear model of a train passenger car. The model includes... 

This paper presents a robust dc-link voltage as well as a current control strategy for a bidirectional interlink converter (BIC) in a hybrid ac/dc microgrid. To enhance the dc-bus voltage control, conventional methods strive to measure and feedforward the load or source power in the dc-bus control scheme. However, the conventional feedforward-based approaches require remote measurement with communications. Moreover, conventional methods suffer from stability and performance issues, mainly due to the use of the small-signal-based control design method. To overcome these issues, in this paper, the power from DG units of the dc subgrid imposed on the BIC is considered an unmeasurable... 

A new criterion for prediction of train derailment is presented in this paper. A 2 DOF wheel-set model is used to identify the main dynamic parameters that affect wheel-set derailment. Using these parameters and conventional definition of derailment coefficient, a new criterion for prediction of wheelset derailment is introduced. The proposed criterion, in addition to providing the required precision in prediction of wheelset derailment, it requires measurements which are easy to perform. To evaluate the capability of the new criterion in prediction of derailment, a full wagon model with 48 DOF was used. The wagon model is a 3-D, non-linear model of a train passenger car. The model includes... 

Efficient control of a gas metal arc welding (GMAW) process enables one to obtain high quality products as a consequence of achieving a high quality weld. Although control of the droplet detachment frequency in the welding process would play a great role in improving the welding quality, measuring this variable is difficult and expensive. In this paper, we attempt to control the frequency of droplet detachments without directly measuring it. To this end, we utilize the hybrid property of the GMAW process to indirectly control the frequency. Specifically, a mixed logical dynamical (MLD) model is obtained by considering the hybrid act of the process during droplet detachment. Then, a nonlinear... 

A comprehensive non-linear finite element (FE) model of integral abutment bridges (IABs) is presented to facilitate the analysis of such bridges using commercial software, especially under seismic loading. The presented model is capable of capturing non-linearity in both the structure and soil, in addition to considering far-field soil response. The model is simple enough to be used for practical purposes. On the other hand, many aspects of seismic behaviour of IABs are unclear, due to complicated soil–structure interaction. Using the presented model, a parametric study is performed to identify the effects of bridge length, abutment type and soil type on seismic behaviour of IABs. Non-linear... 

Derailment of a passenger wagon on a rail with random irregularities is investigated in this paper. The wagon having 48 degrees of freedom is assumed to travel over a rail on a viscoelastic foundation. The wagon model is a 3-D, non-linear model of a passenger train car, considering non-linear elements for the primary and secondary suspension systems having friction and slack between their elements, the center pivot with kinematics constraints, forces between pads, and bolster. The motion of the wagon on rail with random vertical irregularities is simulated for different line grades and travel speeds. Derailment coefficient and a new derailment criterion are used to investigate probability of... 

Resonant converters are hard nonlinear systems which are comprised of both continuous and discontinuous nonlinearities. Many nonlinear modeling approaches lead to a very awkward, unsystematic stability analysis and controller design. Hence, stability analysis and stabilizing controller design of the popular LLC resonant converter still remain challenging as direct consequences of the absence of a "systematic modeling". In this paper, the LLC resonant converter is modeled in the form of Piece-Wise Affine (PWA) systems and a Direct Piece-Wise Affine (DPWA) model of the DC-DC LLC resonant converter is proposed. No dynamic is omitted in the modeling approach, and accordingly, the proposed... 

A comprehensive non-linear finite element (FE) model of integral abutment bridges (IABs) is presented to facilitate the analysis of such bridges using commercial software, especially under seismic loading. The presented model is capable of capturing non-linearity in both the structure and soil, in addition to considering far-field soil response. The model is simple enough to be used for practical purposes. On the other hand, many aspects of seismic behaviour of IABs are unclear, due to complicated soil–structure interaction. Using the presented model, a parametric study is performed to identify the effects of bridge length, abutment type and soil type on seismic behaviour of IABs. Non-linear... 

In this paper, the mechanical properties of graphene nanosheets are evaluated based on the nonlinear modified Morse model. The interatomic interactions including stretching and bending of the covalent bonds between carbon atoms, are replaced by nonlinear extensional and torsional spring-like elements. The finite element method is implemented to analyze the model under different loading conditions and linear characteristics of the graphene structure including the Young's modulus, surface modulus, shear modulus and Poisson's ratio are evaluated for various geometries and chirality where these properties are shown to be size and aspect ratio dependent. It is also found that when the dimensions... 

Derailment of a passenger wagon on a rail with random irregularities is investigated in this paper. The wagon having 48 degrees of freedom is assumed to travel over a rail on a viscoelastic foundation. The wagon model is a 3-D, non-linear model of a passenger train car, considering non-linear elements for the primary and secondary suspension systems having friction and slack between their elements, the center pivot with kinematics constraints, forces between pads, and bolster. The motion of the wagon on rail with random vertical irregularities is simulated for different line grades and travel speeds. Derailment coefficient and a new derailment criterion are used to investigate probability of...