Sharif Digital Repository

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... 

Problems of global warming have motivated energy communities to design and develop green power generators. Energy of the ocean waves is one of the most fascinating clean energies which have not been completely explored yet. The present work intends to design and develop a novel efficient system to generate electricity using the power of ocean waves. The proposed device can operate in most ocean situations. The device floats with the buoyancy of the buoy over the ocean surface. Regarding the ocean inputs the device is sinking or floating at the ocean to control and optimize input force. In the proposed system kinetic energy of the ocean wave is converted into force. This force moves the... 

There are lots of researches performed to investigate human being learning and try to model it. But, in case of huge complexity of its structure and function, almost none of so-far learning algorithms can model human learning process and, indeed, performance of human brain in real problems is much more than these algorithms. Moreover, in many cases, human is not aware or informed about internal structure or mathematical model of the present system he is working on; a child learning to walk has no information about his neuromuscular system and his brain slowly learns how to convey his little body by choosing the proper timing of muscle contractions. One of the accomplished researches in order... 

Controlling four legged robots is a complex challenge. The previous works in this field can be divided into two main categories, Analytic method and intelligence method. The analytic method is based on extracting the motion equations of the robot, but in most cases these equations are so complicated, and their implementation is difficult. Another method is intelligence method, which is based on learning algorithms. Despite the improvements in walking robots field, still their walking quality is far from human and animal walking. Researchers believe that this advantage is the result of the learning ability in animals and human. Therefore in this paper the human learning ability is used to... 

The Active Learning Method is in fact an adaptive recursive algorithm which embodies a Multi Input and a Single Output (MISO) system as in a fuzzy combination of several Single Input systems and Single Output systems (SISO), and by utilizing a fuzzy technique of Ink Drop Spread tries to explore and extract input to output transfer function behavior in the system of a single-input to a single-output. Although in simulation state, the speed of this model is set at a much higher speed in comparison to other presented models, still is slower than the processing speed of human brain. In regards to hardware implementation, also there remain the fundamental implementation challenges through more... 

In this study, chapter 1 is dedicated to GEO satellites. In chapter 2, slosh dynamics of fluid and its governing dynamical equations are investigated due to the importance of this phenomena in geostationary transfer orbit. In chapter 3, dynamics of satellite orbit and satellite attitude are investigated and governing equations are derived by considering these effects: orbital noise (e.g. shape of earth, gravitation of sun and moon), moment noise (e.g. slosh dynamics of fuel and oxidizer, and liquid apogee motor misalignment). Following the third chapter, some simulations are carried out before the implementation of controllers. In chapter 4, a PID controller and a classical fuzzy controller... 

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... 

The huge capability of high resolution satellite imageries (HRSI), that includes spatial, spectral, temporal and radiometric resolutions as well as stereoscopic vision introduces them as a powerful new source for the Photogrammetric,Remote Sensing and GIS communities. High resolution data increases the need for higher accuracy of data modeling.The satellite orbit, position, attitude angles and interior orientation parameters have to be adjusted in the geometrical model to achieve optimal accuracy with the use of a minimum number of Ground Control Points (GCPs). In order to obtain high resolution and definition imaging for many applications including surveillance, target tracking, and... 

The aerial vehicle capable of vertical takeoff and landing (VTOL), have created an interest in the community of researchers and admirers of Unmanned Aerial Vehicles. Among the existing UAV's, those with the capability of vertical takeoff and landing are prominent due to their higher maneuverability and hover capability. Quadrotors mostly have been considered as a flying robot for save and rescue operations in dangerous and unreachable places in addition to its military application. In cross shape of Quadrotor platform on each edge is appointed an electric motor with light rotors that usually are controled by considering motor rates as their only inputs. This thesis aims, to simulate and... 

Spinning vehicles are a large category of aerospace vehicles including shoulder launched missiles, intelligent anti-armor projectiles, guided rockets and some of re-entry vehicles, anti tank missiles and satellites. This thesis presents the problems of guidance and control in a spinning vehicle with a single plane of On-Off control surface. The missile uses this single surface to control both yaw and pitch channels. The actuator used in this missile is a discrete On-Off type which makes the missile behavior nonlinear. Using describing function technique, a linear model of the spinning missile dynamics in the presence of an On-Off actuator is derived and a classic controller is designed... 

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... 

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... 

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... 

In past decades, we have seen the rise of integration density in chips making it possible to design a whole system on a single chip. The previously designed interconnection architectures for multiprocessors systems cannot directly be applied in on-chip systems (especially when the number of processor elements increases) since they require a different type of a cost-performance trade-off. This is why the interconnection networks of systems-on-chip (SoC) are such a problem. Network-on-chip (NoC) was being proposed as a scalable and reusable communication platform for SoCs, which makes use of the network model to develop efficient on-chip communication infrastructures. The NoC has a layered and... 

Magnetic levitation is an appropriate solution for noncontact 3D manipulation. Workspace of the previously proposed maglev systems is confined to a relatively small cube, which severely limits the application of this technology. In addition, most of the previously given mechanisms require the design and application of a subsystem in order to unify their magnetic field. In this paper, a moving magnet is proposed which results in a horizontally extendable workspace; moreover, the field unifying section is not needed since one electromagnet only is used. Further, details of the mechanism and finite element based design procedure of the magnet are presented. Dynamic equations of the system... 

Quantum interference and coherence are responsible for a novel set of physical phenomena, where Electromagnetically Induced Transparency is one of the most important of them. Each of these phenomena can make a new possibility for modifying the optical properties of a coherently prepared medium. Fast controllability of optical properties in one hand and flexibility of this control process in the other hand, are important factors that attract interests into coherent control of light .Coherent control of optical properties of the medium can be used in designing some advanced and challenging devices including All-Optical Switches. In this work , in a consistent picture, using a step by step... 

This study presents the application of the doubly fed induction generator (DFIG) to reduce the frequency deviation and improve frequency of a power system. This has been done by proposing a wind turbine model and a new fuzzy controller. The fuzzy controller has been suggested to change the speed of the wind turbine rotor and modify the impacts of wind speed fluctuations on the output power. The fuzzy controller parameters are optimized using the genetic algorithm (GA) to achieve the appropriate transient response. A smart controller is combined with fuzzy controller to optimize the usage of wind turbine’s kinetic energy. Furthermore, the DFIG with the proposed controller participates in the... 

Dynamic positioning system is a controller system used to maintain the position and heading of a vessel with no use of anchors, jack ups but only using the propellers installed on the vessel. A vessel has six degrees of freedom, including three rotations and three transfer. In dynamic positioning systems, the vessel is controlled only on the horizontal plane such that its position and heading are controlled according to predetermined values. To achieve this, position and heading of the vessel is determined and the controller system computes the direction and required power of each propeller. Preliminary systems utilized PID controllers. As the control science has advanced, model based... 

Gyrover is a kind of robot which can move with only one single wheel. In this robot, all the mechanical and electronics’ systems are placed in the wheel of robot. So the wheel of robot is the boundary which separates the inner equipment of gyrover with outside environment. In this robot, only one wheel is used for moving, so the amount of friction of movement in gyrover robot is less in comparison with two and more wheeled vehicles. Because of this gyrover can move to more domains. Gyrover robot can move both on land and water. Gyrover robot is not intrinsically stable which means that it cannot stand on ground. So for stability of gyrover another dynamic system should be used. The best... 

This project is intended to introduce a semi-active control for suspension systems of passenger cars wherein, in addition to usual dampers, the damper using Magnetorheological (MR) fluid instead of ordinary oil is used. In order to model the suspension system, a mass-spring model with eight degree-of-freedoms without considering the effect of car velocity is developed. A semi-active vibration control is presented to reduce the amplitude of automotive vibration caused by the alteration of road profile. In order to design a suitable control mechanism, first, an optimal control algorithm, Linear Quadratic Regulator (LQR) and Linear Quadratic Gaussian (LQG), are used to control the system;...