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Nonlinear tracking control of a microbeam displacement by electrostatic actuation
, Article World Academy of Science, Engineering and Technology ; Volume 79 , 2011 , Pages 232-236 ; 2010376X (ISSN) ; Layeghi, H ; Salarieh, H ; Alasti, A ; Sharif University of Technology
2011
Abstract
In this study tracking problem of tip of a micro cantilever, actuated by electrostatic, is investigated. Dynamic model of the system is a PDE. Using electrostatic actuation introduced significant nonlinearity in dynamic model of the system. Control goals are achieved by means of backstepping for SI and feedback linearization for MI system. Performance of control system is inspected for some assumptions and simplifications. The results are in according to numerical simulations
Target Tracking Using Multi-Agent Systems With Inertial and Non-Holonomic Agents
, M.Sc. Thesis Sharif University of Technology ; Sayyaadi, Hassan (Supervisor)
Abstract
Behavioral investigation and control of multi-agent systems was one of the most attractive problems in robotics which has been studied since the middle of 20th century. Tracking a target is shown by many organic mechanisms during hunting and etc. and is one of the important topics of researches. In this thesis tracking a target by a multi-agent system has been considered which the agents are wheeled mobile robots and have non-holonomic motion constraints. A sample dimensionless and continuous time synchronous dynamic is proposed for the motion of these agents and the goal is to track a moving target while the agents create and keep a desired formation during their tracking process....
Nonlinear tracking control of a microbeam displacement by electrostatic actuation
, Article World Academy of Science, Engineering and Technology ; Volume 79 , July , 2011 , Pages 232-236 ; ISSN: 2010376X ; Layeghi, H ; Salarieh, H ; Alasti, A ; Sharif University of Technology
Abstract
In this study tracking problem of tip of a micro cantilever, actuated by electrostatic, is investigated. Dynamic model of the system is a PDE. Using electrostatic actuation.introduced significant nonlinearity in dynamic model of the system. Control goals are achieved by means of backstepping for SI and feedback linearization for MI system. Performance of control system is inspected for some assumptions and simplifications. The results are in according to numerical simulations
Visual tracking by dictionary learning and motion estimation
, Article 2012 IEEE International Symposium on Signal Processing and Information Technology, ISSPIT 2012 ; 2012 , Pages 274-279 ; 9781467356060 (ISBN) ; Babagholami-Mohamadabadi, B ; Feghahati, A. H ; Manzuri-Shalmani, M. T ; Jamzad, M ; Sharif University of Technology
2012
Abstract
In this paper, we present a new method to solve tracking problem. The proposed method combines sparse representation and motion estimation to track an object. Recently. sparse representation has gained much attention in signal processing and computer vision. Sparse representation can be used as a classifier but has high time complexity. Here, we utilize motion information in order to reduce this computation time by not calculating sparse codes for all the frames. Experimental results demonstrates that the achieved result are accurate enough and have much less computation time than using just a sparse classifier
A Prediction based Dynamic Tracking Algorithm For Wireless Sensor Networks
, M.Sc. Thesis Sharif University of Technology ; Hemmatyar, Ali Mohammad Afshin (Supervisor) ; Jahangeri, Amir Hossein (Co-Supervisor)
Abstract
Recently, advances in the fabrication and integration of sensing, communication technologies and economical deployment of large scale sensor networks which are capable of large scale target tracking, become possible.therfore, the wireless sensor networks are a fast growing and marvelous research area that has attracted considerable research attention in the recent past. The creation of large-scale sensor networks interconnencting several hundered to a few thousand sensor nodes opens-up several wide range of application and technical challenges. Sensor nodes have been deployed to play significant roles in battlefield, disaster-prone area, traffic control, habitat monitoring and intruder...
Reference-free monocular 3D tacking of deformable surfaces
, Article 2012 11th International Conference on Information Science, Signal Processing and their Applications, ISSPA 2012, 2 July 2012 through 5 July 2012 ; July , 2012 , Pages 395-400 ; 9781467303828 (ISBN) ; Ghadakchi, V ; Kasaei, S ; Sharif University of Technology
2012
Abstract
We address the problem of deformable surfaces tracking in a monocular video for the purpose of reconstructing the 3D shape of the intended surface. The proposed method is based on structure from motion. In this method, deformation of the surface is modeled as a Gaussian process, and hence the tracking problem is formulated using the predictive capability of stochastic processes. Based on our experimental results, the proposed method is even more accurate than template-based methods. Also, it is highly robust against the tracking initialization, which is a challenging problem in all tracking algorithms
Designing a hierarchical model-predictive controller for tracking an unknown ground moving target using a 6-DOF quad-rotor
, Article International Journal of Dynamics and Control ; September , 2020 ; Badri, P ; Mohammadkhani, H ; Sharif University of Technology
Springer Science and Business Media Deutschland GmbH
2020
Abstract
In this paper, a hierarchical predictive controller is designed in order to solve the tracking problem of a moving ground target by a quad-rotor in an unknown and uneven environment. This controller has internal and external predictive controller levels. In the lower layer of the controller, a constrained predictive controller is designed that is capable of rejecting perturbations and quickly tracking the reference path, and in the outer loop, a model predictive controller is designed to optimally detect the moving ground target where, the sub-cost functions were defined so that the quad-rotor would be able to track the moving ground target even if it was temporarily out of sight of the...
Designing a hierarchical model-predictive controller for tracking an unknown ground moving target using a 6-DOF quad-rotor
, Article International Journal of Dynamics and Control ; Volume 9, Issue 3 , 2021 , Pages 985-999 ; 2195268X (ISSN) ; Badri, P ; Mohammadkhani, H ; Sharif University of Technology
Springer Science and Business Media Deutschland GmbH
2021
Abstract
In this paper, a hierarchical predictive controller is designed in order to solve the tracking problem of a moving ground target by a quad-rotor in an unknown and uneven environment. This controller has internal and external predictive controller levels. In the lower layer of the controller, a constrained predictive controller is designed that is capable of rejecting perturbations and quickly tracking the reference path, and in the outer loop, a model predictive controller is designed to optimally detect the moving ground target where, the sub-cost functions were defined so that the quad-rotor would be able to track the moving ground target even if it was temporarily out of sight of the...
A new motion planning method for discretely actuated hyper-redundant manipulators
, Article Robotica ; February , 2015 ; 02635747 (ISSN) ; Zohoor, H ; Habibnejad Korayem, M ; Sharif University of Technology
Cambridge University Press
2015
Abstract
A hyper-redundant manipulator is made by mounting the serial and/or parallel mechanisms on top of each other as modules. In discrete actuation, the actuation amounts are a limited number of certain values. It is not feasible to solve the kinematic analysis problems of discretely actuated hyper-redundant manipulators (DAHMs) by using the common methods, which are used for continuous actuated manipulators. In this paper, a new method is proposed to solve the trajectory tracking problem in a static prescribed obstacle field. To date, this problem has not been considered in the literature. The removing first collision (RFC) method, which is originally proposed for solving the inverse kinematic...
Fuzzy trajectory tracking control of an autonomous air 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 V2347-V2352 ; 9781424474806 (ISBN) ; Saghafi, F ; Sharif University of Technology
2010
Abstract
The development and the implementation of a new guidance law are addressed for a six dimensional trajectory tracking problem, three dimensions for position tracking and three dimensions for velocity tracking, of a micro air vehicle. To generate the desired trajectory a virtual leader is defined which is moved in space. In the guidance law, position and velocity feedbacks are used by fuzzy controllers to generate two acceleration commands. Then, a fuzzy coordinator is applied to coordinate the acceleration commands. Nonlinear six-degree-of-freedom equations of motion are used to model the vehicle dynamics. Also, a bank-to-turn acceleration autopilot for vehicle is considered to follow the...
A new motion planning method for discretely actuated hyper-redundant manipulators
, Article Robotica ; Volume 35, Issue 1 , 2017 , Pages 101-118 ; 02635747 (ISSN) ; Zohoor, H ; Habibnejad Korayem, M ; Sharif University of Technology
Cambridge University Press
2017
Abstract
A hyper-redundant manipulator is made by mounting the serial and/or parallel mechanisms on top of each other as modules. In discrete actuation, the actuation amounts are a limited number of certain values. It is not feasible to solve the kinematic analysis problems of discretely actuated hyper-redundant manipulators (DAHMs) by using the common methods, which are used for continuous actuated manipulators. In this paper, a new method is proposed to solve the trajectory tracking problem in a static prescribed obstacle field. To date, this problem has not been considered in the literature. The removing first collision (RFC) method, which is originally proposed for solving the inverse kinematic...
Efficient embedding of empirically-derived constraints in the ODE formulation of multibody systems: Application to the human body musculoskeletal system
, Article Mechanism and Machine Theory ; Volume 133 , 2019 , Pages 673-690 ; 0094114X (ISSN) ; Poursina, M ; Rostami, M ; Mousavi, A ; Parnianpour, M ; Khalaf, K ; Sharif University of Technology
Elsevier Ltd
2019
Abstract
We present a novel method for deriving the governing equations of the musculoskeletal system, a new class of multibody systems in which the constituent components are connected together via anatomical joints which behave differently compared with traditional mechanical joints. In such systems, the kinematics of the joints and the corresponding constraints are characterized experimentally. We generate the equations of motion of these complex systems in which the homogeneous transformation matrices become matrix-valued functions of the generalized coordinate vector due to the empirical expression of body coordinates as smooth functions of generalized coordinates. The detailed mathematical...
Time-varying formation tracking for noisy multi-agent systems with unknown leader trajectory
, Article Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering ; Volume 236, Issue 7 , 2022 , Pages 1386-1399 ; 09596518 (ISSN) ; Bigdeli, N ; Haeri, M ; Sharif University of Technology
SAGE Publications Ltd
2022
Abstract
In this article, time-varying formation tracking problem for multi-agent systems is investigated. It is assumed the number of agents is changing and obstacles should be avoided along the trajectory. In addition, the tracking formation should be reached while the leader trajectory is unknown and communication data are noisy. To reach the desired formation tracking, first, a virtual leader is constructed using the local neighbouring data. Second, the reference signal is created based on the virtual leader and the leader data (which is available for some agents). The data fusion at this stage is done based on Kalman filtering to reduce the effect of communication noise. Third, an integral state...