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sadati--mohammad
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A Prevention Strategy Against Rumor Spreading in Complex Networks
, M.Sc. Thesis Sharif University of Technology ; Khansari, Mohammad (Supervisor)
Abstract
Complex networks have recently become a very noticeable subject because of their remarkable theory on real networks such as rumor spreading. This thesis contributes to a prevention strategy which uses a maximal clique algorithm to find overlapping communities and also uses inverse targeting immunization strategy to immune these communities. By the using maximal clique algorithm combined with inverse targeting strategy we have achieved that the TIK method (targeted immunization using k-clique percolation) obtains 10% of better immunization than HD (highest degree) method which is one of the best methods in targeted immunization strategies. The TIK also demonstrates that rumor spreading is...
A Novel Approach to Mixed Model and Goal Coordination of Large-Scale Systems
, Ph.D. Dissertation Sharif University of Technology ; Sadati, Naser (Supervisor)
Abstract
In this thesis, a new approach is proposed for two-level optimal control of large-scale nonlinear systems. In this approach, by defining some parameters as coordination parameters the overall system is decomposed into several interactive subsystems, where the optimization problem redefines for each one of them. The obtained sub-problems which are in the form of standard optimal control problems with lower dimension are solved in the first level. To obtain the overall optimal solution, coordination of the first level solutions is performed in the second level. For solving the first level problems, the indirect gradient and Newton methods are used. The gradient method is applied in the first...
Modeling,Design and Simulation of Falling and Landing Process in a Robotic Cat
, M.Sc. Thesis Sharif University of Technology ; Meghdari, Ali (Supervisor)
Abstract
Motion dynamics of cat species has always been attractive to be studied. Flexibility in motion due to specific skeleton and complex muscle-skeleton mechanism, control concepts, special way of running, high speed direction change while moving, ability of twisting the body during free fall, and landing on four limbs were widely investigated in literature and the results have been used in different branches such as control, robotics and aerospace.In this project, kinematic and dynamic equations of cat species falling maneuver are derived using quaternions for a simple two-link robot, a three-link robot with tail, and a more complete eight-link model with the addition of legs which is designed...
Hybrid control and motion planning of dynamical legged locomotion
, Book ; Sadati, Nasser
Wiley
2012
Abstract
This book provides a comprehensive presentation of issues and challenges faced by researchers and practicing engineers in motion planning and hybrid control of dynamical legged locomotion. The major features range from offline and online motion planning algorithms to generate desired feasible periodic walking and running motions and tow-level control schemes, including within-stride feedback laws, continuous time update laws and event-based update laws, to asymptotically stabilize the generated desired periodic orbits. This book describes the current state of the art and future directions across all domains of dynamical legged locomotion so that readers can extend proposed motion planning...
Game Theoretic Analysis of Oligopolistic Competition: The Case of Pool-Based Electricity Markets
,
Ph.D. Dissertation
Sharif University of Technology
;
Sadati, Nasser
(Supervisor)
;
Ranjbar, Ali Mohammad
(Co-Advisor)
Abstract
This research investigates the competitive behavior of producers in an oligopolistic market structure and presents new approaches to contrive appropriate bidding strategies using game theory. As a case of oligopolistic competition, we have considered a simplified model of electricity markets, and turned our focus to related economic models of competition. In particular, the supply function model has been adopted because of its realistic simulation of the bidding structure in electricity markets, for which, a new method is proposed to provides closed-form expressions in computing Nash strategies. This method is not only capable of computing all Nash equilibriums of the model, but also the...
3D-Path Simulation and Robust Control of Bevel-Tip Needles in Uncertain Model of Soft Tissues
, M.Sc. Thesis Sharif University of Technology ; Sadati, Naser (Supervisor) ; Ranjbar, Ali Mohammad (Co-Supervisor)
Abstract
In this thesis, first we simulate the needle penetration in the soft tissues via finite element and adaptive finite elemet methods. Then, we design a proper controller for the model of tissue-needle interaction model considering some uncertain parameters and conditions in the needle-tisuue model. Needle penetration speed into the soft tissue and the applied force to needle are supposed to be the system’s inputs in the model. Deformations of tissue particles are modeled based on the tissue particles’ velocities through a set of equations. To solve these equations, numerical methods are used which are conceptually based on finite element methods. In the control step, the needle’s velocity and...
A novel approach to coordination of large-scale systems; Part II - Interaction balance principle
, Article 2005 IEEE International Conference on Industrial Technology, ICIT 2005, Hong Kong, 14 December 2005 through 17 December 2005 ; Volume 2005 , 2005 , Pages 648-654 ; 0780394844 (ISBN); 9780780394841 (ISBN) ; Sharif University of Technology
2005
Abstract
In this part, similar to part I of this paper, a new approach for Goal Coordination is introduced that is more convergent than the previously suggested methods. This is mainly because of using the gradient of interaction errors; difference between the actual interactions and the optimum calculated interaction values, to improve the coordination parameters. The proposed scheme extremely improves the convergence rate of the solution in compare to the classical methods. The significance and applicability of the proposed approach is shown in controlling the excitation voltage of two coupled synchronous machines described by six coupled non-linear differential equations. © 2005 IEEE
A novel approach to coordination of large-scale systems; Part I - Interaction prediction principle
, Article 2005 IEEE International Conference on Industrial Technology, ICIT 2005, Hong Kong, 14 December 2005 through 17 December 2005 ; Volume 2005 , 2005 , Pages 641-647 ; 0780394844 (ISBN); 9780780394841 (ISBN) ; Sharif University of Technology
2005
Abstract
Coordination strategies in large-scale systems are mainly based on two principles; Interaction Prediction Principle and Interaction Balance Principle. In this paper, which consists of two parts, the concept of coordination is introduced within the framework of two-level large-scale systems, and two new approaches for coordination based on Interaction Prediction Principle and Interaction Balance Principle have been presented. The new strategies have much faster convergence rate than the previously suggested classical methods. They extremely reduce the number of iterations required for obtaining the overall optimal solutions. The efficacy and advantage of the proposed approaches, in compare to...
A two-level gradient based approach for intelligent coordination of large-scale systems - Part I
, Article ICTAI 2005: 17th IEEE International Conference on Tools with Artificial Intelligence, ICTAI'05, Hong Kong, 14 November 2005 through 16 November 2005 ; Volume 2005 , 2005 , Pages 470-477 ; 10823409 (ISSN); 0769524885 (ISBN); 9780769524887 (ISBN) ; Sharif University of Technology
IEEE Computer Society
2005
Abstract
In this paper, the concept of coordination is introduced within the framework of two-level large-scale systems and a new approach based on Interaction Prediction Principle is presented. The proposed approach is formulated in an intelligent manner in such a way that it provides a new strategy that can be used to synthesize an on-line supervisory controller for the overall two-level large-scale systems, extendable to multi-level control systems. By using the new methodology which is based on using neural network for modeling each sub-system, typical gradient method for optimization of first-level sub-problems, and the gradient of the interaction prediction errors related to the predicted...
Adaptive 2D-path optimization of steerable bevel-tip needles in uncertain model of brain tissue
, Article 2009 WRI World Congress on Computer Science and Information Engineering, CSIE 2009, Los Angeles, CA, 31 March 2009 through 2 April 2009 ; Volume 5 , 2009 , Pages 254-260 ; 9780769535074 (ISBN) ; Torabi, M ; Sharif University of Technology
2009
Abstract
Although there are many works in which path planning of robots is studied, but path planning of the bevel-tip needles with highly flexible body is different and difficult due to unique properties of soft tissues. Real soft tissues are nonhomogeneously elastic and uncertainly deformable and hence, during needle motions the planned path changes unknowingly. In this paper, a novel adaptive path planning of bevel-tip needles inside the uncertain brain tissue is presented. The proposed approach is based on minimization of a Lyapanov energy function used as the cost function which consists of 6 partial costs: path length, number of changes in bevel direction, tissue deformation, horizontal and...
CPG based controller for a 5-link planar biped robot
, Article 4th IEEE International Conference on Mechatronics, ICM 2007, Kumamoto, 8 May 2007 through 10 May 2007 ; 2007 ; 142441184X (ISBN); 9781424411849 (ISBN) ; Hamed, K ; Sharif University of Technology
2007
Abstract
The canonical problems in control of the biped robots arise from underactuation, impulsive nature of the impact with the environment and existence of the many degrees of freedom in their mechanism. Since biped walkers have fewer actuators than degrees of freedom, they are underactuated mechanical systems. In this paper according to the humans and animals locomotion algorithms, the stability of an underactuated biped walker with point feet is done by Central Pattern Generator (CPG) and feedback networks. For tuning the parameters of the CPG network, the control problem is defined as an optimization problem. This optimization problem is solved by using of Genetic algorithm. Also a new feedback...
Neural controller for a 5-link planar biped robot
, Article 16th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN, Jeju, 26 August 2007 through 29 August 2007 ; 2007 , Pages 980-985 ; 1424416345 (ISBN); 9781424416349 (ISBN) ; Hamed, K ; Sharif University of Technology
2007
Abstract
The canonical problems in control of the biped robots arise from underactuation, impulsive nature of the impact with the environment and existence of the many degrees of freedom in their mechanism. Since biped walkers have fewer actuators than degrees of freedom, they are underactuated mechanical systems. In this paper according to the humans and animals locomotion algorithms, the stability of an underactuated biped walker with point feet is done by central pattern generator and feedback networks. For tuning the parameters of the CPG network, the control problem is defined as an optimization problem. This optimization problem is solved by using of Genetic algorithm. Also a new feedback...
Fuzzy wavelet modeling using data clustering
, Article 1st IEEE Symposium on Computational Intelligence and Data Mining, CIDM 2007, Honolulu, HI, 1 April 2007 through 5 April 2007 ; 2007 , Pages 114-119 ; 1424407052 (ISBN); 9781424407057 (ISBN) ; Marami, B ; Sharif University of Technology
2007
Abstract
In this paper, a novel approach for tuning the parameters of fuzzy wavelet systems which are used for modeling of nonlinear and complex systems is proposed. In fuzzy inference system, each fuzzy rule is analogous to a wavelet basis function multiplied by a coefficient. Using clustering techniques, the center of these basis functions are located in the detected center of clusters. In this way, not only the approximation accuracy is increased, but also the number of unknown parameters is decreased. The feasibility of the proposed method is shown by modeling two highly nonlinear functions. The comparison of the results using the proposed approach, with the previous schemes, shows the...
Decentralized impedance control of nonredundant multi-manipulator systems
, Article 2008 IEEE International Conference on Networking, Sensing and Control, ICNSC, Sanya, 6 April 2008 through 8 April 2008 ; 2008 , Pages 206-211 ; 9781424416851 (ISBN) ; Ghaffarkhah, A ; Sharif University of Technology
2008
Abstract
In this paper, we propose a decentralized control scheme for combined motion/force control of nonredundant multi-manipulator robotic systems, cooperatively grasping a rigid body in a prespecifled position/force trajectory. The proposed control scheme uses the impedance method for modeling the internal force exerted by the end effectors to the object. The precise mathematical analysis of the overall dynamical system and the proposed controller are presented and the stability of the overall system is studied. The proposed controller, then, is applied to a cooperative system composed of two PUMA560 manipulators and the simulation results are presented to verify the proposed control scheme
Adaptive multi-model sliding mode control of robotic manipulators using soft computing
, Article Neurocomputing ; Volume 71, Issue 13-15 , 2008 , Pages 2702-2710 ; 09252312 (ISSN) ; Ghadami, R ; Sharif University of Technology
Elsevier
2008
Abstract
In this paper, an adaptive multi-model sliding mode controller for robotic manipulators is presented. By using the multiple models technique, the nominal part of the control signal is constructed according to the most appropriate model at different environments. Adaptive single-input-single-output (SISO) fuzzy systems or radial basis function (RBF) neural networks, regarding their functional equivalence property, are used to approximate the discontinuous part of control signal; control gain, in a classical sliding mode controller. The key feature of this scheme is that prior knowledge of the system uncertainties is not required to guarantee the stability. Also the chattering phenomenon in...
Optimal control of robot manipulators with a new two-level gradient-based approach
, Article Electrical Engineering ; Volume 88, Issue 5 , 2006 , Pages 383-393 ; 09487921 (ISSN) ; Babazadeh, A ; Sharif University of Technology
2006
Abstract
In this paper, a new approach for optimal control of robot manipulators is presented. For this purpose, the system is considered as a two-level large-scale system where a gradient-based coordination strategy is used to coordinate the overall system. This is achieved within a decomposition-coordination framework, where the robot manipulator is first decomposed into several sub-systems at the first level, and then, the coordination is done at the second level. The solution is based on Interaction Prediction Principle, where in the first level, the optimization is done by a gradient method and in the second level, the coordination is done by a new method based on the gradient of interaction...
A non-linear neural D/A converter for direct digital frequency synthesizers
, Article International Joint Conference on Neural Networks 2006, IJCNN '06, Vancouver, BC, 16 July 2006 through 21 July 2006 ; 2006 , Pages 2669-2672 ; 10987576 (ISSN); 0780394909 (ISBN); 9780780394902 (ISBN) ; Sedighi, B ; Sharif University of Technology
Institute of Electrical and Electronics Engineers Inc
2006
Abstract
In this paper, a new non-linear D/A converter (DAC) is presented. This D/A converter uses neural network to approximate a sine function. It is targeted for direct digital frequency synthesizers in which the phase to sine amplitude conversion is usually performed using a ROM. Utilizing the proposed DAC, the power hungry ROM is removed. A design example is presented and the performance of the DAC is compared to the conventional method. The impact of non-idealities on the performance of the system is also investigated. © 2006 IEEE
Design of a gain-scheduling anti-swing controller for tower cranes using fuzzy clustering techniques
, Article CIMCA 2006: International Conference on Computational Intelligence for Modelling, Control and Automation, Jointly with IAWTIC 2006: International Conference on Intelligent Agents Web Technologies and International Commerce, Sydney, NSW, 28 November 2006 through 1 December 2006 ; 2006 ; 0769527310 (ISBN); 9780769527314 (ISBN) ; Hooshmand, A ; Sharif University of Technology
IEEE Computer Society
2006
Abstract
The main objective of this paper is to design a fast,non-expensive and practical controller for towercranes. The controllers are designed to transfer theloads from point to point, as fast as possible, and at thesame time the load swing is kept small during thetransfer process. Moreover, variations of the systemparameters such as cable length are taken intoconsideration. It is shown how the state feedbackcontrollers along with the gain scheduling could beused for a time varying linear model with varyingparameters. For this reason, linear controllers aredesigned for a number of operating points, where theirparameters are interpolated for conditions in between.In this way, a globally nonlinear...
Control of multi-agent systems based on redundant manipulator global optimization techniques
, Article 2006 IEEE International Conference on Systems, Man and Cybernetics, Taipei, 8 October 2006 through 11 October 2006 ; Volume 3 , 2006 , Pages 2499-2504 ; 1062922X (ISSN); 1424401003 (ISBN); 9781424401000 (ISBN) ; Elhamifar, E ; Sharif University of Technology
Institute of Electrical and Electronics Engineers Inc
2006
Abstract
In this paper, a new approach for path generation and control of multi-agent systems is proposed. This method is based on global optimization techniques used for solving the inverse kinematic problem of redundant manipulators. Convergence of any performance function such as obstacle avoidance, collision avoidance, and heading angle to its global optimum is guaranteed by introducing a control law which is based on the Pontryagin's Maximum Principle. The efficacy of the proposed algorithm is demonstrated through simulation experiments. © 2006 IEEE
Application of neural networks to decentralized control of robot manipulators with high degree of freedom
, Article ICTAI 2005: 17th IEEE International Conference on Tools with Artificial Intelligence, ICTAI'05, Hong Kong, 14 November 2005 through 16 November 2005 ; Volume 2005 , 2005 , Pages 484-488 ; 10823409 (ISSN); 0769524885 (ISBN); 9780769524887 (ISBN) ; Elhamifar, E ; Sharif University of Technology
2005
Abstract
In this paper a neural network decentralized control for trajectory tracking of robot manipulators is developed. The proposed decentralized control allows the overall closed-loop system to be stabilized while making the tracking error to be uniformly ultimately bounded (UUB), without having any prior knowledge of the robot manipulator dynamics. The interconnections in the dynamic equations of each subsystem are considered with unknown nonlinear bounds. The RBF neural networks (RBFNNs) are proposed to model the unknown nonlinear dynamics of the robots and the interconnection terms. Using Lyapunov method, the stability of the overall system is investigated, © 2005 IEEE