Sharif Digital Repository

One of the recently developed approaches for control of chaos is the minimum entropy (ME) control technique. In this method an entropy function based on the Shannon definition, is defined for a chaotic system. The control action is designed such that the entropy as a cost function is minimized which results in more regular pattern of motion for the system trajectories. In this paper an online optimization technique using particle swarm optimization (PSO) method is developed to calculate the control action based on ME strategy. The method is examined on some standard chaotic maps with error feedback and delayed feedback forms. Considering the fact that the optimization is online, simulation... 

Differential Evolution (DE) and Genetic Algorithms (GA) are population based search algorithms that come under the category of evolutionary optimization techniques. In the present study, these evolutionary methods have been utilized to conduct the optimum design of a fuzzy controller for mobile robot trajectory tracking. Comparison between their performances has also been conducted. In this paper, we will present a fuzzy controller to the problem of mobile robot path tracking for a CEDRA rescue robot. After designing the fuzzy tracking controller, the membership functions will be optimized by evolutionary algorithms in order to obtain more acceptable results  

This paper presents a fuzzy algorithm for controlling chaos in nonlinear systems via minimum entropy approach. The proposed fuzzy logic algorithm is used to minimize the Shannon entropy of a chaotic dynamics. The fuzzy laws are determined in such a way that the entropy function descends until the chaotic trajectory of the system is replaced by a regular one. The Logistic and the Henon maps as two discrete chaotic systems, and the Duffing equation as a continuous one are used to validate the proposed scheme and show the effectiveness of the control method in chaotic dynamical systems  

To have a complete model of a thunniform Fish-Robot, models of both body and tail are required. The dynamic model of the body is developed according to the parameters of a thunniform Fish-Robot built in MIT University, while, as the main part of this paper, the dynamic model of the tail is developed using fuzzy logic. Using experimental data and table look-up scheme, a fuzzy black box is introduced that gives the value of thrust force generated for any value of the Fish-Robot's input parameters: frequency of tail oscillation, amplitude of tail oscillation and speed of the Fish-Robot. In the second part, a trajectory fuzzy controller is designed for the Fish-Robot. The output of trajectory... 

We design and simulate the motion of a swimmer, the Quadroar, with three-dimensional translation and reorientation capabilities in low-Reynolds-number conditions. The Quadroar is composed of an I-shaped frame whose body link is a simple linear actuator and four disks that can rotate about the axes of flange links. The time symmetry is broken by a combination of disk rotations and the one-dimensional expansion or contraction of the body link. The Quadroar propels on forward and transverse straight lines and performs full three-dimensional reorientation maneuvers, which enable it to swim along arbitrary trajectories. We find continuous operation modes that propel the swimmer on planar and... 

In this article, the transesterification of waste cooking oil (WCO) to biodiesel fuel (BDF) has been studied using KOH loaded on millimetric γ-Al2O3 particles in a novel type of two-impinging-jets reactor (TIJR). The effects of various parameters such as KOH loading (wt %), catalyst loading, and methanol-to-oil molar ratio on the BDF yield were studied. The catalyst particles with a KOH loading of 25 wt % at appropriate reaction conditions (i.e., catalyst loading = 4 wt % and methanol-to-oil molar ratio = 15:1) and at 65 °C were used in the TIJR. The influences of various operating and design parameters such as jet Reynolds number value, feed flow rate, jet diameter, and the internozzle... 

Background: An effective master robot for haptic tele-surgery applications needs to provide a solution for the inversed movements of the surgical tool, in addition to sufficient workspace and manipulability, with minimal moving inertia. Method: A novel 4+1-DOF mechanism was proposed, based on a triple parallelogram linkage, which provided a Remote Center of Motion (RCM) at the back of the user's hand. The kinematics of the robot was analyzed and a prototype was fabricated and evaluated by experimental tests. Results: With a RCM at the back of the user's hand the actuators far from the end effector, the robot could produce the sensation of hand-inside surgery with minimal moving inertia. The... 

Using a second receiver antenna close to the main transceiver antenna of inverse synthetic aperture radar (ISAR), it is possible to find 3-D positions of target scattering points. Such system is called bistatic, monopulse, or interferometric ISAR (InISAR). In the conventional model of ISAR, the unknown flying object should have a linear trajectory, and only small deviations from this trajectory can be compensated. Target motions which are highly nonlinear or curvy cannot be used in the conventional model. In this paper, we propose a new model for InISAR to process all collected data from the target, regardless of the form of the flight path. More accuracy is achieved for 3-D positioning of... 

Design and control of micro robots have been one of the interesting fields in robotics in recent years. One class of these micro robots is the legged robots. Various designs of legged robots have been proposed in the literature. All designs rely on friction for locomotion. In this paper dynamic model of a planar two-legged micro robot is presented using Luger friction model, and an adaptive neural controller used to control the robot to improve robustness and velocity of the robot. As mentioned earlier, friction plays an important role in locomotion of the legged robots. However, especially in legged micro robots, it is difficult to model the frictional force correctly since environmental... 

The cavity quantum electrodynamics of various complex systems is here analyzed using a general versatile code developed in this research. Such quantum multi-partite systems normally consist of an arbitrary number of quantum dots in interaction with an arbitrary number of cavity modes. As an example, a nine-partition system is simulated under different coupling regimes, consisting of eight emitters interacting with one cavity mode. Two-level emitters (e.g. quantum dots) are assumed to have an arrangement in the form of a linear chain, defining the mutual dipole-dipole interactions. It was observed that plotting the system trajectory in the phase space reveals a chaotic behavior in the... 

In recent years, a number of patents have been devoted to designing micro robots for minimally invasive therapies inspired by Paramecium. Paramecium changes its swimming direction due to application of an external magnetic or electric field. Changing ciliary beat direction and frequency have been identified as possible methods for maneuvering through water; however, effects of variations in ciliary spacing on swimming trajectory have been poorly studied. In this work, it is aimed to analyze the effects of adjusting the ciliary spacing on swimming trajectory. For determining the swimming trajectory, Paramecium membrane is discretized to boundary elements with length of 15μm on which there are... 

This article presents a process of numerically predicting and experimentally verifying the dispersion quality and penetration level of fuel particles entering and moving in various directions relative to vortex engine walls. If the length scale of particles considered in this study is not comparable to the chamber length and, furthermore, the density is ignored, the effect of the particle on the flow field can be neglected and a one-way solution will be viable for the problem. The solutions in each case are carried out to estimate the particle trajectory and parameters affecting it. The governing equations are converted to a set of nonlinear, coupled, ordinary differential equations (ODEs)... 

Human motion planning studies are of considerable importance in producing human-like trajectories for various industrial or clinical applications (e.g. assistive robots). In this case, the capability of Central Nervous System (CNS) in generating a large repertoire of actions can be inspirational to develop more efficient motion planning approaches. Here, inspired by structural and functional modularity in the CNS, a novel modular and hierarchical model is developed to plan the sit-to-stand (STS) transfer under varying environmental conditions. In this model, the planning process is distributed among several functionally simple modules. The cooperation of modules enables the model to plan the... 

The control of a brachiation robot has been the primary objective of this study. A brachiating robot is a type of a mobile arm that is capable of moving from branch to branch similar to a long-armed ape. In this paper, to minimize the actuator work, Pontryagin's minimum principle was used to obtain the optimal trajectories for two different problems. The first problem considers brachiation between fixed branches with different distance and height, whereas the second problem deals with the brachiating and catching of a moving target branch. Theoretical results show that the control effort in the proposed method is reduced by 25% in comparison with the target dynamics method which was proposed... 

The origins and evolution of the Middle Eastern dust storms which frequently impact the residents of this arid region were studied. A methodology was adapted and developed to identify the desert regions of potential dust sources and determine their contributions to PM10 concentrations in the highly-populated receptor city of Tehran, Iran. Initially, the episodes of regional dust intrusion and the resulting amounts of increase in the particulate concentrations during these episodes were determined using a statistical analyzing methodology. The dust episodes were also inspected with the aerosol index information from the Ozone Monitoring Instrument (OMI). The Hybrid Single-Particle Lagrangian... 

Dielectrophoresis (DEP) is an electrokinetic phenomenon which is used for manipulating micro- and nanoparticles in micron-sized devices with high sensitivity. In recent years, electrode-based DEP by patterning narrow oblique electrodes in microchannels has been used for particle manipulation. In this theoretic study, a microchannel with triangular electrodes is presented and a detailed comparison with oblique electrodes is made. For each shape, the behavior of particles is compared for three different configurations of applied voltages. Electric field, resultant DEP force, and particle trajectories for configurations are computed by means of Rayan native code. The separation efficiency of... 

Problems regarding simulation of field emitter array (FEA) electron guns are discussed. A simple method is proposed to significantly reduce computational requirements such as computation power, system memory, and time of FEA electron gun simulation and modeling. The method can be applied to any numerical solver regardless of its meshing technique. In order to extract field emission parameter from any experimental cathode I-V curve, a partly numerical algorithm, which uses the presented truncation method at the heart of its solver, is proposed. The proposed method and algorithm are applied to a number of examples, including a double-gated FEA problem, and its effectiveness in terms of error... 

Motion planning and trajectory control are two basic challenges of unmanned vehicles. In motion planning problem, feasible trajectories are developed while nonlinear dynamic model and performance constraints of the vehicle under utility are considered. In this study, motion planning is performed via an enhanced particle swarm optimization algorithm. The resulting offline generated trajectories are tracked using a nonlinear trajectory control system methodology. The Lyapunov-based constrained backstepping approach and command filters are utilized in designing the trajectory control system. Command filters smoothen the input signals and provide their derivatives. Evaluation of the proposed... 

Kinematic control of a special hyper-redundant manipulator with lockable joints is studied. In this manipulator, the extra cables are replaced by a locking system to reduce the weight of the structure and the number of actuators. This manipulator has discrete and continuous variables due to its locking system. Therefore, a hybrid approach has been adopted in control. At first the forward kinematics and velocity kinematics of this manipulator are derived, and then a novel closed-loop control algorithm is presented. This algorithm consists of decision making, an inner loop controller, and kinematic calculation blocks. The decision making block is the logical part of the control scheme in which... 

Fuzzy Control of rowing exercise using Functional Electrical Stimulation (FES) concerns ankle, knee and hip joints. Muscular Modeling for each joint may contain two groups of muscles, namely extension and flexion. In the proposed method, joint controllers provide electrical stimulation pulses to the appropriate muscle group based on the trajectory error and according to a prescribed pattern designed for rowing exercise. Results indicate that the simulated Fuzzy control of desired angles closely match the experimental values for prescribed joints. Moreover, the robustness of the controller in presence of external disturbance is examined and the results show that the tracking of each joint...