A Hybrid Meta-Heuristic Algorithm to Solve Three Dimensional Highway Alignment Optimization Problem

, M.Sc. Thesis Sharif University of Technology Faghih, Sabiheh Alsadat (Author) ; Poorzahedi, Hossain (Supervisor)

Abstract

There are several algorithms in the literature to solve the problem of finding an optimal path between two points in a region. Such path satisfies certain constraints while optimizing the objective function. There are many factors in building, or finding, such paths in the real world, whose considerations complicate the solution procedure. This led the researchers to seriously consider meta-heuristics to solve the problem. This study hybridizes several suitable and effective meta-heuristic algorithms to solve the routing problem on a given topography. In this hybrid meta-heuristic algorithm an Ant System finds a horizontal path between the two points under considerations on the topography. A...

Enhancing Quality of Service in I/O Cache of Data Storage Systems

, M.Sc. Thesis Sharif University of Technology Tajdari, Sabiheh (Author) ; Asadi, Hossein (Supervisor)

Abstract

Quality of Service (QoS) has recently become one of the most important challenges in data storage systems due to the growing use of data intensive applications in enterprise and mainstream systems. Flash-based Solid-State Drives (SSDs) are high-performance storage devices used in data storage systems to fulfill the performance demands of different applications using shared data storage system. Flash-based storage systems have limited endurance and poor write performance, resulting in quality of service issues such as unfairness. Different techniques such as I/O caching can be used to address QoS in storage systems but they adversely affect system endurance. To our knowledge, previous studies...

Implementation and intelligent gain tuning feedback–based optimal torque control of a rotary parallel robot

, Article JVC/Journal of Vibration and Control ; 2021 ; 10775463 (ISSN) Tajdari, F ; Ebrahimi Toulkani, N ; Sharif University of Technology

SAGE Publications Inc 2021

Abstract

Aiming at operating optimally minimizing error of tracking and designing control effort, this study presents a novel generalizable methodology of an optimal torque control for a 6-degree-of-freedom Stewart platform with rotary actuators. In the proposed approach, a linear quadratic integral regulator with the least sensitivity to controller parameter choices is designed, associated with an online artificial neural network gain tuning. The nonlinear system is implemented in ADAMS, and the controller is formulated in MATLAB to minimize the real-time tracking error robustly. To validate the controller performance, MATLAB and ADAMS are linked together and the performance of the controller on the...

Implementation and intelligent gain tuning feedback–based optimal torque control of a rotary parallel robot

, Article JVC/Journal of Vibration and Control ; Volume 28, Issue 19-20 , 2022 , Pages 2678-2695 ; 10775463 (ISSN) Tajdari, F ; Ebrahimi Toulkani, N ; Sharif University of Technology

SAGE Publications Inc 2022

Abstract

Aiming at operating optimally minimizing error of tracking and designing control effort, this study presents a novel generalizable methodology of an optimal torque control for a 6-degree-of-freedom Stewart platform with rotary actuators. In the proposed approach, a linear quadratic integral regulator with the least sensitivity to controller parameter choices is designed, associated with an online artificial neural network gain tuning. The nonlinear system is implemented in ADAMS, and the controller is formulated in MATLAB to minimize the real-time tracking error robustly. To validate the controller performance, MATLAB and ADAMS are linked together and the performance of the controller on the...

Intelligent optimal feed-back torque control of a 6DOF surgical rotary robot

, Article 11th Power Electronics, Drive Systems, and Technologies Conference, PEDSTC 2020, 4 February 2020 through 6 February 2020 ; 2020 Tajdari, F ; Ebrahimi Toulkani, N ; Zhilakzadeh, N ; Sharif University of Technology

Institute of Electrical and Electronics Engineers Inc 2020

Abstract

Sophisticated surgeons are widely indicating the use of surgical robots in order to reject human error, increase precision, and speed. Among well-known robotic mechanisms, parallel robots are broadly more investigated regarding their special characters as higher acceleration, speed, and accuracy, and less weight. Specific surgical procedures confine, and restrict their workspace, while controlling and validating the robots are complicated regarding to their complex dynamic. To this end, in this paper, a 6-DOF robot, with rotary manipulators, is designed and controlled. Addressing nonlinearity of parallel robots, an innovative methodology is formulated to robustly penalize the error of...

Semi-Real evaluation, and adaptive control of a 6DOF surgical robot

, Article 11th Power Electronics, Drive Systems, and Technologies Conference, PEDSTC 2020, 4 February 2020 through 6 February 2020 ; 2020 Tajdari, F ; Ebrahimi Toulkani, N ; Zhilakzadeh, N ; Sharif University of Technology

Institute of Electrical and Electronics Engineers Inc 2020

Abstract

Sophisticated surgeons are widely indicating the use of surgical robots in order to reject human error, increase precision, and speed. Among well-known robotic mechanisms, parallel robots are broadly more investigated regarding their special characters as higher acceleration, speed, and accuracy, and less weight. Specific surgical procedures confine and restrict their workspace, while controlling and validating the robots are complicated based on their complex dynamic. To this end, in this paper, a 6-DOF robot, with linear manipulators, is designed and controlled. Addressing the inherent nonlinearity of the robot mechanism, an adaptive PID manipulator is employed and validated with nonlinear...