Loading...
Search for: saadat-foumani--m
0.182 seconds

    Dynamic modeling, control system design and mil–hil tests of an unmanned rotorcraft using novel low-cost flight control system

    , Article Iranian Journal of Science and Technology - Transactions of Mechanical Engineering ; 2019 ; 22286187 (ISSN) Khalesi, M. H ; Salarieh, H ; Saadat Foumani , M ; Sharif University of Technology
    Springer  2019
    Abstract
    Unmanned helicopters have gained great importance during recent years due to their special abilities such as hover flight, vertical take-off and landing, maneuverability and superior agility. The advances in electronic devices technologies lead to more powerful and lighter processors to be used in avionic systems which have attracted more attention to these UAVs. The first steps of utilizing an unmanned helicopter are dynamic modeling, control system design and performing model-in-the-loop (MIL) and hardware-in-the-loop (HIL) tests which are presented in this paper. In this research, MIL and HIL tests of an unmanned helicopter are done using novel Linux-based flight control system built on... 

    System identification and robust attitude control of an unmanned helicopter using novel low-cost flight control system

    , Article Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering ; Volume 234, Issue 5 , 27 August , 2020 , Pages 634-645 Khalesi, M. H ; Salarieh, H ; Saadat Foumani, M ; Sharif University of Technology
    SAGE Publications Ltd  2020
    Abstract
    In recent years, unmanned aerial systems have attracted great attention due to the electronic systems technology advancements. Among these vehicles, unmanned helicopters are more important because of their special abilities and superior performance. The complex nonlinear dynamic system (caused by main rotor flapping dynamics coupled with the rigid body rotational motion) and considerable effects of ambient disturbance make their utilization hard in actual missions. Attitude dynamics have the main role in helicopter stabilization, so implementing proper control system for attitude is an important issue for unmanned helicopter hovering and trajectory tracking performance. Besides this,... 

    Dynamic modeling, control system design and MIL–HIL tests of an unmanned rotorcraft using novel low-cost flight control system

    , Article Iranian Journal of Science and Technology - Transactions of Mechanical Engineering ; Volume 44, Issue 3 , 28 March , 2020 , Pages 707-726 Khalesi, M. H ; Salarieh, H ; Saadat Foumani, M ; Sharif University of Technology
    Springer  2020
    Abstract
    Unmanned helicopters have gained great importance during recent years due to their special abilities such as hover flight, vertical take-off and landing, maneuverability and superior agility. The advances in electronic devices technologies lead to more powerful and lighter processors to be used in avionic systems which have attracted more attention to these UAVs. The first steps of utilizing an unmanned helicopter are dynamic modeling, control system design and performing model-in-the-loop (MIL) and hardware-in-the-loop (HIL) tests which are presented in this paper. In this research, MIL and HIL tests of an unmanned helicopter are done using novel Linux-based flight control system built on... 

    Simulation and experimental validation of flow-current characteristic of a sample hydraulic servo valve

    , Article Scientia Iranica ; Volume 17, Issue 5 B , 2010 , Pages 327-336 ; 10263098 (ISSN) Sadooghi, M. S ; Seifi, R ; Saadat Foumani, M ; Sharif University of Technology
    2010
    Abstract
    This paper presents a novel model to simulate the flow-current characteristic curve of an electro-hydraulic servo valve in steady state condition. This characteristic curve has three major zones: dead zone, linear zone and saturation zone. By using the presented approach, we can simulate the behavior of all types of valves including under lapped, critical center (zero lapped) and over lapped valves. A hydraulic tester has been designed and constructed for validation of the results. It can test the performance of flow-current and some other properties of the valve. Comparison of experimental and simulated curves describes that the model has an acceptable accuracy in determining the four... 

    Nonlinear power balance control of a SPA hydraulic hybrid truck

    , Article 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009, Singapore, 14 July 2009 through 17 July 2009 ; 2009 , Pages 805-810 ; 9781424428533 (ISBN) Taghavipour, A ; Alasty, A ; Saadat Foumani, M ; Sharif University of Technology
    2009
    Abstract
    An integrated procedure for mathematical modeling and power control balance for a SPA (Split Parallel Architecture) hydraulic hybrid vehicle is presented in this paper. Dynamic mathematical model of the powertrain is constructed firstly, which includes five modules: diesel engine, traction motor, starter, loading pump and accumulator. Based on the mathematic model of control modes a stability analysis is done. For some control modes a Sliding Mode Control is designed, which uses full-states closed-loop feedback. The paper finally illustrates and discusses the results of simulation. The results show that the performance and stability of control modes are proper and a power control strategy... 

    Decentralized control of rhythmic activities in fully-actuated/under-actuated robots

    , Article Robotics and Autonomous Systems ; Volume 101 , 2018 , Pages 20-33 ; 09218890 (ISSN) Yazdani, M ; Salarieh, H ; Saadat Foumani, M ; Sharif University of Technology
    Elsevier B.V  2018
    Abstract
    Rhythmic activities such as swimming stroke in the human body are learnable through conscious trainings. Inspiringly, the main objective of this study is to develop a control framework to reproduce the described functionality in the imitating robots. To do so, a two layer supervisory controller is proposed. The high-level controller, which acts as the conscious controller during trainings, is a supervisory dynamic-based controller and uses all system sensory data to generate stable rhythmic movements. On the other hand, the low-level controller in this structure is a distributed trajectory-based controller network. Each node in this network is an oscillatory dynamical system which has the... 

    Bio-inspired decentralized architecture for walking of a 5-link biped robot with compliant knee joints

    , Article International Journal of Control, Automation and Systems ; 2018 ; 15986446 (ISSN) Yazdani, M ; Salarieh, H ; Saadat Foumani, M ; Sharif University of Technology
    Institute of Control, Robotics and Systems  2018
    Abstract
    Animal walking is one of the most robust and adaptive locomotion mechanisms in the nature, involves sophisticated interactions between neural and biomechanical levels. It has been suggested that the coordination of this process is done in a hierarchy of levels. The lower layer contains autonomous interactions between muscles and spinal cord and the higher layer (e.g. the brain cortex) interferes when needed. Inspiringly, in this study we present a hierarchical control architecture with a state of the art intrinsic online learning mechanism for a dynamically walking 5-link biped robot with compliant knee joints. As the biological counterpart, the system is controlled by independent control... 

    Accuracy of Kinect's skeleton tracking for upper body rehabilitation applications

    , Article Disability and Rehabilitation: Assistive Technology ; Vol. 9, issue. 4 , 2014 , pp. 344-352 ; ISSN: 17483107 Mobini, A ; Behzadipour, S ; Saadat Foumani, M ; Sharif University of Technology
    2014
    Abstract
    Games and their use in rehabilitation have formed a new and rapidly growing area of research. A critical hardware component of rehabilitation programs is the input device that measures the patients' movements. After Microsoft released Kinect, extensive research has been initiated on its applications as an input device for rehabilitation. However, since most of the works in this area rely on a qualitative determination of the joints' movements rather than an accurate quantitative one, detailed analysis of patients' movements is hindered. The aim of this article is to determine the accuracy of the Kinect's joint tracking. To fulfill this task, a model of upper body was fabricated. The... 

    Optimized age dependent clustering algorithm for prognosis: A case study on gas turbines

    , Article Scientia Iranica ; Volume 28, Issue 3 B , 2021 , Pages 1245-1258 ; 10263098 (ISSN) Mahmoodian, A ; Durali, M ; Abbasian Najafabadi, T ; Saadat Foumani, M ; Sharif University of Technology
    Sharif University of Technology  2021
    Abstract
    This paper proposes an Age-Dependent Clustering (ADC) structure to be used for prognostics. To achieve this aim, a step-by-step methodology is introduced, that includes clustering, reproduction, mapping, and finally estimation of Remaining Useful Life (RUL). In the mapping step, a neural fitting tool is used. To clarify the age-based clustering concept, the main elements of the ADC model is discussed. A Genetic algorithm (GA) is used to find the elements of the optimal model. Lastly, the fuzzy technique is applied to modify the clustering. By investigating a case study on the health monitoring of some turbofan engines, the efficacy of the proposed method is demonstrated. The results showed... 

    Design and Manufacturing of Intelligent Speed Hump

    , M.Sc. Thesis Sharif University of Technology Rashedi, Mohammad (Author) ; Saadat Foumani, Mahmoud (Supervisor)
    Abstract
    The goal of using speed humps is to reduce the velocity of cars to allowable value. Reducing the speed more than necessary before arriving at the hump, causes losing kinetic energy whose compensation needs consuming more fuel. In fact, the total fuel consumption of vehicles is noticeable and it expresses the need for allowable speed definition to prevent wasting fuel. In this project, using different methods in engineering design and by defining allowable speed, an intelligent speed hump is designed and selected from different patterns which may remain protuberant or become like the road surface in level. The parts considered for this hump are selected simple to lower the cost of... 

    Numerical and Experimental Study on Optimization of Overload arameters for Fatigue Life Increase

    , M.Sc. Thesis Sharif University of Technology Sarkheil, Saeed (Author) ; Saadat Foumani, Mahmoud (Supervisor)
    Abstract
    Fatigue life and crack growth retardation due to periodic tensile overload that superposed on constant amplitude cycles has been investigated. The tests were performed using C(T) specimens made of 7075 aluminium. All periodic overload tests were carried out at the same spacing between overloads and the effect of overload ratio on fatigue life has been investigated. Results of experiments revealed that the at low and high overload ratios, crack growth rate is relatively high and there is an optimum OLR that maximize interaction and thus minimize FCGR. Whit OCR-1=50, overload ratio of 1.85 led to maximum interaction and resulted in 219% increase in specimen's life relative to CA loading. Also... 

    Insulin Pen Design With Pahl & Beitz Approach and Prototyping

    , M.Sc. Thesis Sharif University of Technology Amini, Shayan (Author) ; Saadat Foumani, Mahmoud (Supervisor)
    Abstract
    Diabete is disability in the body to produce insulin or use it. Body insulin hormone needed to convert starch, sugar and other foods to energy and thus the body is functioning properly. Considering this incurable disease and its complications, many doctors and researchers trying to control the disease, reduce complications and to create favorable conditions and appropriate solutions for preventing its expanding and also strengthening patients mentally. Be destroyed in digestive system, insulin can not through tablets or similar cases received. The best way known to enter insulin to the body, is injection. This project is about a device to reduce the level of blood glucose in patients with... 

    Optimization of Continuously Variable Transmission In Urban Driving Cycle

    , M.Sc. Thesis Sharif University of Technology Delkhosh, Mojtaba (Author) ; Saadat Foumani, Mahmoud (Supervisor)
    Abstract
    In recent decades, emission from automobiles is considered one of the main reasons for global warming. One of the ways to decrease the fuel consumption of the vehicle, increase the power train efficiency and vehicle acceleration is to use Continuously Variable Transmission (CVT) and infinitely variable transmission (IVT). Previous inquiries include investigate miscellaneous types of continuously variable transmissions and their efficiency and different ways of combination of CVT and other power trains in order to create an IVT. The aim of this research is to optimize one kind of IVT transmission. At first, different state of combination of IVT portions will be investigated. Then, a model is... 

    Design and Control of Semi-active Suspension System with Variable Stiffness

    , M.Sc. Thesis Sharif University of Technology Rahnavard, Mostafa (Author) ; Saadat Foumani, Mahmoud (Supervisor)
    Abstract
    In this research, the effect of variable stiffness and damping, in suspension system, on car performance was studied. The optimization of car performance was obtained by minimization of an objective function including the body acceleration, suspension travel and tire deflection. Firstly, considering the stochastic input for a quarter car model, minimization of the objective function was done by changing the stiffness and damping coefficients in the frequency domain. The Linear Quadratic Regulator (LQR) method was implemented to minimize the objective function. In order to supply the active force obtained by optimization, different semi-active designs, in which stiffness and damping were... 

    Inverse Problem Of Pyroshock Simulation Apparatus

    , M.Sc. Thesis Sharif University of Technology Adl, Morteza (Author) ; Saadat Foumani, Mahmood (Supervisor)
    Abstract
    One of the important experiments on satellites and their components is testing of their resistance to shock wave known to pyroshock. Pyroshock is transient response of a structure to a high frequency and high acceleration shock wave that is created by the action of a member of pyrotechnics in the satellite structure. This research is for design, construction and calibration of a pyroshock simulator apparatus which is done with specific requirements and aims. For this purpose, in first step an experimental test is done and validation of computer simulation is obtained by using results of test. By use of computer simulation tool, new design is presented. After constructing the apparatus and... 

    Modeling and Sensitivity Analysis of Vehicle Pollutants Emission Using Experimental Data

    , M.Sc. Thesis Sharif University of Technology Radmehr, Ahmad (Author) ; Saadat Foumani, Mahmoud (Supervisor)
    Abstract
    Recently lots of studies have been done on driving cycles and parameters affecting pollutants emission and fuel consumption. Due to changes of driving behavior and traffic situations, it’s necessary to update driving cycle of a city to obtain more accurate simulation and analysis results. In this project, first of all driving cycle of Tehran city is developed using three different methods. These methods include choosing representative microtrips from specified traffic situations, clustering and choosing representative microtrips from all available data. Results show that using clustering method is more accuarate and parameters of the cycle developed using this method is closer to measured... 

    Modeling and NVH Analysis of a Four-Cylinder Gasoline Engine and Providing a way to Reduce it

    , M.Sc. Thesis Sharif University of Technology Khorshidi, Mohammad (Author) ; Saadat Foumani, Mahmoud (Supervisor)
    Abstract
    Millions of people are exposed to noise every day in their work and life, and their physical and mental health is at risk due to this issue. Hence, the issue of noise and vibration has become an important factor in car quality. One of the sources of noise and vibration in the vehicle is the engine. The engine is the heart of the car and its most important part. Therefore, reducing Engine noise can have a significant effect on the noise emitted by the vehicle. Engine noise can be divided into three categories: 1 - combustion noise 2 - mechanical noise 3 - aerodynamic noise. This project is in line with a project defined between the university and industry aimed at improving all sources of... 

    Mechanical Design and Fabrication of a Parallel Hybrid Vehicle Powertrain Simulator

    , M.Sc. Thesis Sharif University of Technology Nakhaei, Hamid (Author) ; Saadat Foumani, Mahmoud (Supervisor)
    Abstract
    In this research, the mechanical section of a reduced-scale hybrid vehicle simulator was designed and fabricated. In order to scale down the vehicle dynamics, a method based on dimensional analysis was proposed. An internal combustion engine and an electric motor were selected as power sources and then, scaling was performed, according to the specifications of the combustion engine. Afterwards, the power transmission system was designed first in concept and then in more detail. Finally, the design was manufactured and assembled. The study was made in conjunction with another study responsible for the controlling section of the work, conducted by Safabakhsh The sponsor of these two researches... 

    Enhancement and Data Acquisition Design and Install for a RC Helicopter Tester

    , M.Sc. Thesis Sharif University of Technology Darbandi, Adel (Author) ; Saadat Foumani, Mahmoud (Supervisor)
    Abstract
    Modern science and technology’s desire is increasing for Control Algorithms Testing Instruments which allow testing autonomics due to advancement in robotic science and increased application for autonomics. In this Thesis, a manufactured tester is equipped with sensors to allow data acquisition and Control algorithms tests for RC helicopters, which are a variety of autonomics. For this purpose; a manufactured 3-DOF tester was used and for control application purposes one degree of freedom was added and it was made to 4-DOF. Also, Mechanical defections which cause vibration resonance failing was solved. In the end, a data acquisition system with an appropriate rate for signal gathering and... 

    Free Vibration Alanysis of Rotating Cylindrical-Conical Shells with Elastic Boundary Conditions

    , Ph.D. Dissertation Sharif University of Technology Sarkheil, Saeed (Author) ; Saadat Foumani, Mahmoud (Supervisor)
    Abstract
    In this research the vibration of rotating and non-rotating shells was investigated. In the non-rotating shells field, the vibration of joined cylindrical shells and joined conical shells that each sections of them has independent material, thickness, length and angle were investigated. By analyzing the free vibration of joined conical shells, we can perform the free vibration analysis on every complex thin-walled geometry.In the rotating shells field, first the governing equations of the rotating conical shells are derived and then, the vibration of rotating cylindrical-conical shells and joined conical shells were investigated. The governing equations of rotating conical shells and...