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ghaemi-osgouie--kambeez
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Dynamics and Control of Seat Suspension Systems
, M.Sc. Thesis Sharif University of Technology ; Ghaemi Osgouie, kambeez (Supervisor)
Abstract
Suspension systems play a significant role in vehicles. They are responsible for providing ride comfort to the passengers and maintain car handling. Vibrations induced by the road can cause harmful effects on human body and this reveals the importance of designing and controlling the suspension system. Semi-active control is a reliable and safe method that has attracted a great deal of attention in the suppressing the car vibration. MR damper is a sample of semi-active control method. In most of the studies that have been done in literature the human body model has not been considered in designing the control strategy. In this study, a complete model of suspension system integrated with the...
Optimizing fuzzy logic controller for diabetes type I by genetic algorithm
, Article 2010 The 2nd International Conference on Computer and Automation Engineering, ICCAE 2010, 26 February 2010 through 28 February 2010, Singapore ; Volume 2 , 2010 , Pages 4-8 ; 9781424455850 (ISBN) ; Azizi, A ; Sharif University of Technology
2010
Abstract
Biological systems are highly nonlinear, and there is a significant amount of variability from one patient to another. A controller for drug infusion has to be able to achieve good performance for most of the potential patient population. These controllers are designed for the general population, as no knowledge is available before hand for each particular patient. This necessitates perforce an algorithm that will be able to compensate for the differences between individuals and external factors. Of the possibilities, fuzzy logic direct model reference adaptive control (DMRAC) is the choice for Insulin infusion control for diabetes type I as results presented herein. Safety and robustness...
Design optimization of gimbal robotic joints based on task space manipulability
, Article ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, ESDA2010, 12 July 2010 through 14 July 2010 ; Volume 3 , July , 2010 , Pages 567-572 ; 9780791849170 (ISBN) ; Hemmatian, I ; Ghaemi Osgouie, K ; Sharif University of Technology
2010
Abstract
Featuring a nonlinear novel design, Gimbal transmission, is a replacement for traditional robotic joints like gearboxes and revolute joints. This mechanism is one of the most recent types of nonlinear direct transmission (DT) methods in robots. As an alternative for traditional drive methodologies - herein called direct drive transmission (DD) methods, DT provides dynamic coupling and joint interaction attenuation while its capability to be adjusted for a desired task space point, smooth input-output characteristic, and varying reduction ratio lead to a desired force and motion behavior for the whole manipulator. In this paper, design optimization of a gimbal mechanism used as a replacement...
Optimal configuration of dual-arm cam-lock robot based on task-space manipulability
, Article Robotica ; Volume 27, Issue 1 , 2009 , Pages 13-18 ; 02635747 (ISSN) ; Meghdari, A ; Sohrabpour, S ; Sharif University of Technology
2009
Abstract
In this paper obtaining the optimal configuration of the dual-arm cam-lock (DACL) robot at a specific point is addressed. The objective is to optimize the applicable task-space force in a desired direction. The DACL robot is a reconfigurable manipulator formed by two parallel cooperative arms. The arms normally operate redundantly but when needed, they can lock into each other in certain joints in order to achieve a higher stiffness, while losing some degrees of freedom. Furthermore, the dynamics of the DACL robot is discussed and parametrically formulated. Considering the geometrical constraints at a given point in the robot's workspace, the optimum configuration for maximizing the...
Optimal task-space manipulability of hybrid 4-DOF dual-arm cam-lock manipulators
, Article Proceeding of the 5th International Symposium on Mechatronics and its Applications, ISMA 2008, 27 May 2008 through 29 May 2008, Amman ; 2008 ; 9781424420346 (ISBN) ; Meghdari, A ; Sohrabpour, S ; Sharif University of Technology
2008
Abstract
The Dual-Arm Cam-Lock robot is a reconfigurable manipulator formed by two parallel cooperative arms. Based on the application, these arms may loose some degrees of freedom by locking into each other. However, they are considered as redundant arms when operating without any locked joints/links. In this paper, a method is introduced to find the optimal configuration of this manipulator. The objective is to find the configuration in which maximum cooperative force is exerted to an object in a specific direction. The dynamics of the robot is parametrically formulated for different configurations, and by considering the geometrical constraints optimization is performed using fine-mesh and genetic...
Neural networks control of autonomous underwater vehicle
, Article ICMEE 2010 - 2010 2nd International Conference on Mechanical and Electronics Engineering, Proceedings, 1 August 2010 through 3 August 2010 ; Volume 2 , August , 2010 , Pages V2117-V2121 ; 9781424474806 (ISBN) ; Khayyat, A. A ; Ghaemi Osgouie, K ; Sharif University of Technology
2010
Abstract
This paper describes a neural network controller for autonomous underwater vehicles (AUVs). The designed online multilayer perceptron neural network (OMLPNN) calculates forces and moments in earth fixed frame to eliminate the tracking errors of AUVs whose dynamics are highly nonlinear and time varying. Another OMLPNN has been designed to generate an inverse model of AUV, which determine the appropriate propeller's speed and control surfaces' angles receiving the forces and moments in the body fixed frame. The designed approximation based neural network controller with the use of the backpropagation learning algorithm has advantages and robustness to control the highly nonlinear dynamics of...
The design of PIP controller for a thermal system with large time delay
, Article World Academy of Science, Engineering and Technology ; Volume 32 , 2009 , Pages 890-894 ; 2010376X (ISSN) ; Sarrafan, A ; Ghaemi Osgouie, K ; Sharif University of Technology
2009
Abstract
This paper will first describe predictor controllers when the proportional-integral-derivative (PID) controllers are inactive for procedures that have large delay time (LDT) in transfer stage. Therefore in those states, the predictor controllers are better than the PID controllers, then compares three types of predictor controllers. The value of these controller's parameters are obtained by trial and error method, so here an effort has been made to obtain these parameters by Ziegler-Nichols method. Eventually in this paper Ziegler-Nichols method has been described and finally, a PIP controller has been designed for a thermal system, which circulates hot air to keep the temperature of a...
Sensitivity Analysis of Piezoelectrical Actuator Microgripper
, M.Sc. Thesis Sharif University of Technology ; Ramezani, Asghar (Supervisor) ; Ghaemi Osgouie, Kambiz (Supervisor)
Abstract
Increasing and diversified use of micro electromechanical components necessitates further development of methods for their secure gripping and transfer. In this research, a piezoelectrically driven microgripper including two gripping sets with four arms has been designed. The system can hold and handle microparts from 100 to 150 microns by applying corresponding voltages between 80 to 20 volts. The design is such that after positioning the work piece between the two microgripper arms the piezoelectric comb-drive actuators are activated. Then the two gripping arms are moved toward each other and ultimately grasp the work piece. In order to determine the behavior of the...
Dynamic Characteristics Analysis of Drill-String in Deviated Oil Well
, M.Sc. Thesis Sharif University of Technology ; Ghaemi Osgouie, Kambiz (Supervisor) ; Salarieh, Hassan (Co-Advisor)
Abstract
Oil field industry is one of the most challenging engineering subjects. In oil well drilling, undesired motion could raise a lot of problems such as stuck pipes; wash out pipe, and etc. In this industry, motion prediction is very important because a good prediction can avoid instruments failure and as a result considerable amount of time could be saved. Predicting dynamic characteristics of drill-string such as whirl orbit, whirl speed, and axial, lateral, and torsional displacements, accelerations, and velocities, might be useful in avoiding or decreasing failures. A program based on FEM (Finite Element Method) is developed in MATLAB considering deviation of drill-string, contacting with...
The select of a permanent magnet brushed DC motor with optimal controller for providing propellant of @home mobile robot
, Article 2010 IEEE International Conference on Mechatronics and Automation, ICMA 2010, 4 August 2010 through 7 August 2010 ; August , 2010 , Pages 1137-1141 ; 9781424451418 (ISBN) ; Khosroshahi, M ; Abbasi, M ; Ghaemi Osgouie, K ; Sharif University of Technology
2010
Abstract
This paper first will describe @Home Mobile Robot and DC motors. In continuous, is designed a Direct current (DC) motor for special task due to specific speed diagram for considered robot. This robot wants to work in intermittent operation condition. Finally is done a speed control on a selected permanent magnet brushed DC motor using of Linear-Quadratic-Regulator (LQR), Linear-Quadratic-Gaussian (LQG) and Fuzzy logic controllers
Kinematic Optimization of The Dual-Arm Cam-Lock Robot
,
Ph.D. Dissertation
Sharif University of Technology
;
Meghdari, Ali
(Supervisor)
;
Sohrabpour, Saeed
(Supervisor)
Abstract
The dual-arm cam-lock robot is a reconfigurable and adaptive robotic arm. The novel design of this robot allows it to manipulate the objects either by cooperation of two completely independent arms, or with locking proper links in each other and featuring the advantages of a parallel manipulator. Depending on the position of the cam-locked links, the robot may lose a few degrees of freedom and gain a different dynamic condition from the view point of the consumed energy, stiffness, dexterity, and etc. So the best configuration of the robot can be selected to perform the desired task, considering all possible configurations of the robot. In this dissertation, formulation and implementation of...
Impedance Control of Stewart Platform with Optimal Gains
, M.Sc. Thesis Sharif University of Technology ; Ghafari, Ali (Supervisor) ; Ghaemi Osgouie, Kambeaz (Supervisor)
Abstract
The main scope of this research is developing an impedance control strategy for a six-degree-of-freedom parallel manipulator with the application in the milling process. One of the most common known parallel manipulators is the Stewart platform, which was proposed in 1965. [It evolved into a popular research topic of robotics in the 1980s.] Problems in various aspects of design, kinematics, dynamics, singularity and workspace analysis have been investigated in the literature. Derivation of control strategies taking advantage of the in-parallel structure or catering for the special problems arising out of that is another important field, whichhas been almost untouched till now.
The main...
The main...
Dynamic Trajectory Generation and Obstacle Avoidance for a Reconfigurable Spherical Robot
, M.Sc. Thesis Sharif University of Technology ; Ghaemi Osgouie, Kambiz (Supervisor) ; Salarieh, Hassan (Supervisor)
Abstract
Recent studies show that spherical shape robots have been widely developed by many robotic researchers. A spherical shape can be also benefited in keeping mechanical components and electronic circuits inside a compact volume. The shell can also perform rolling motions for going fast and smooth on flat area. The reconfigurable spherical robot can be configured into a form of two interconnected hemispheres with three legs equipped with three Omni-directional wheels. The conceptual design of the robot will be initially packed and deployed in a spherical configuration. The spherical construction offers ease in transportation and deployment; for example, a number of these robots can be packed and...
Design and Analysis of a Robotic Duct Cleaning System
, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor) ; Ghaemi Osgouie, Kambiz (Supervisor)
Abstract
Delivering high quality and clean air into occupied spaces is the main goal of Heating, Ventilation and Air Conditioning (HVAC) systems. HVAC systems draw supply air which usually contains fungi and moisture. Fungi and moisture plus organic materials create a good bed for mold growth. Studies prove that duct cleaning process can definitely reduce the amount of pollutants present in the ducts. Hence, it has positive impact on human lives both regarding psychological and physical points of view. Duct cleaning method’s application difficulties and ducts’ unreachable environments motivated duct cleaning firms to employ robots for duct cleaning tasks. Although there are considerable numbers of...
Topology Optimization of a Compliant Mechanism for Micro Object Gripping
, M.Sc. Thesis Sharif University of Technology ; Ghaemi Osgouie, Kambiz (Supervisor) ; Khayyat, Ali Akbar (Co-Advisor)
Abstract
Herein, an introduction to optimization, aiming to help knowledge development in design optimization techniques is given. Besides, a new method of using the theory of topology optimization to optimize a microgripper system, with a piezoelectric ceramic driver (PZT) microactuator is presented as well. An optimization method is also presented to generate better control conditions. In this study a micro object gripper of 9200 µm length, 8100 µm width, and 500 µm thickness is optimized, and performances improvement is analyzed. This thesis is to investigate best practice and give advice on how to understand the process of topology optimization and how to setup an optimization run. At first, an...
Trajectory Optimization of a Dual-arm Cam-lock Robot Considering Redundancy
, M.Sc. Thesis Sharif University of Technology ; Meghdari, A. (Ali) (Supervisor) ; Ghaemi Osgouie, Kambiz (Supervisor)
Abstract
In the present work, trajectory optimization of the Dual-Arm Cam-Lock robot considering kinematic and dynamic redundancy is performed. First, the optimal control problem is solved only considering kinematic redundancy and then is solved considering dynamic redundancy. General form of the dynamic model for the system is developed using Lagrangian relations. Global optimization method is used for redundancy resolution problem. A performance index is defined based on the consumed kinetic energy and is minimized through a desired trajectory using the global optimization method. Formulations of optimal control problem are derived and initial boundary problem is changed to two point boundary value...
Mission Control of Autonomous Underwater Vehicle Using Computational Intelligence
, M.Sc. Thesis Sharif University of Technology ; Khayyat, Amir Ali Akbar (Supervisor) ; Ghaemi Osgouie, Kambiz (Co-Advisor)
Abstract
This thesis describes different neural networks models and an approximation based neural network controller for autonomous underwater vehicles (AUVs). The online multilayer perceptron neural networks (OMLPNN) have been designed to perform modeling of AUVs of which the dynamics are highly nonlinear and time varying. The online recurrent multilayer perceptron neural networks (ORMLPNN) have been additionally designed to generate a memory to pervious states and increase the performance of the modeling. The designed OMLPNN and ORMLPNN with the use of backpropagation learning algorithm have advantages and robustness to model the highly nonlinear functions. The proposed neural networks architecture...
Design of an Intelligent Driver Assistance System
, M.Sc. Thesis Sharif University of Technology ; Khayyat, Amir Ali Akbar (Supervisor) ; Ghaemi Osgouie, Kambiz ($item.subfieldsMap.e)
Abstract
Advanced Driver Assistance System (ADAS) is a major area of research in today’s vehicle control and safety. In General ADAS can be seen as a mother system with various subsystems to help the driver from pre-crash to post-crash situations. One of the subsystems for ADAS is the Collision Avoidance System (CAS). Nowadays, many researchers are working on different Aspects of CAS, from perception to decision making. Many challenges exist while developing a CAS, but today the greatest challenge is decision making of CAS and its interaction with driver’s behavior. Driving is a complex task and since driver’s consciousness, gender, age and reflexes can cause different behaviors; it is, therefore,...
Fuzzy ANN Approach to Support Independent Failures of Rotary Equipment Based on Vibration, Temperature Parameters-Case Study: A Centrifugal Pump in offshore Industry
, M.Sc. Thesis Sharif University of Technology ; Ghaemi Osgouie, Kambiz (Supervisor) ; Ebrahimi Pour, Vahid (Co-Advisor)
Abstract
Pump operating problems may be either hydraulic or mechanical and there is interdependence between the failure diagnoses of these two categories. Consequently, a correct diagnosis of a pump failure needs to consider many symptoms including hydraulic or mechanical causes. Nonlinear, time-varying behavior, and imprecise measurement information of the systems makes it difficult to deal with pump failures with precise mathematical equations, while human operators with the aid of their practical experience can handle these complex situations, with only a set of imprecise linguistic if-then rules and imprecise system states, but this procedure is time consuming and needs the knowledge of human...
Optimum Counterweight Balancing of a (3-RPS)Robot in Dynamic Motion
, M.Sc. Thesis Sharif University of Technology ; Ghaemi Osgouie, Kambiz (Supervisor) ; Khayyat, Amir Ali Akbar (Co-Advisor)
Abstract
In this thesis, Optimum Counterweight and Spring Balancing of a novel kind of mechanism called a general 3-RPS parallel robot in Dynamic Motion are investigated. Balancing is explained as the set of configurations on robot inertial and dimensional parameters which, when convinced, certify that the weight of the links produce less force at the actuators for any configuration of the robot, under dynamic or static behaviors. In the references, different procedures have been suggested for balancing that consisted of counterweights, springs, and other auxiliary equipments. Study represents the essential information for having optimum spring and counterweight balancing in a new (3RPS) robot using...