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 hav...
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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 the fuzzy controller for mobile robot trajectory tracking. Comparison between their performances has also been conducted. In this paper we present a fuzzy controller to the problem of mobile robot path tracking for the CEDRA rescue robot with a complicated kinematical model. After designing the fuzzy tracking controller, the membership functions would be optimized by evolutionary algorithms in order to obtain more acceptable results.
This paper describes a nursing robot system currently under development at the center of excellence in design, robotics and automation. Our goal was to design and fabricate of a robot specifically for paraplegic patie...
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This paper describes a nursing robot system currently under development at the center of excellence in design, robotics and automation. Our goal was to design and fabricate of a robot specifically for paraplegic patients and the design procedure led to a plan, which can be employed in any hospital environment. Through the design procedure, the team members conducted a survey on the robot client's needs and disabilities, which provided a unique view on mechanical design features, in addition to, performing dynamical analysis on the designed mechanisms. Dynamical simulation of mechanisms helped us to find the best design and solutions as well as optimization of parts has resulted in a matchless mobile robot which can serve as nurse, rehabilitation center, physical therapist and virtual physician.
Real-time linear robust control of a two-phase hybrid stepper motor with quantitative feedback theory method in micro-stepping operation is considered in this paper. Utilizing the phase currents as inputs, linear robu...
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Real-time linear robust control of a two-phase hybrid stepper motor with quantitative feedback theory method in micro-stepping operation is considered in this paper. Utilizing the phase currents as inputs, linear robust controller is derived for a hybrid stepper motor that achieves robustness to parametric and dynamic uncertainties such as viscous friction, load torque, flux linkage and other uncertainties. Simulation and experimental studies are presented to show the efficiency of the control design approach.
In this paper, design and real time experimental implementation of fuzzy gain scheduling of PID controller for hybrid stepper motor in micro-stepping operation is described that was developed to track the desired posi...
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In this paper, design and real time experimental implementation of fuzzy gain scheduling of PID controller for hybrid stepper motor in micro-stepping operation is described that was developed to track the desired positioning problem. The control problems characterized by mathematical models exhibit significant nonlinearity and uncertainty. The good performance of proposed fuzzy PID controller is shown.
Shape memory alloys (SMA's) are inherently non-linear devices exhibiting significant hysteresis in their stress strain-temperature characteristic. We have used the variable sub-layer SMA model of Ikuta (1991) to e...
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Shape memory alloys (SMA's) are inherently non-linear devices exhibiting significant hysteresis in their stress strain-temperature characteristic. We have used the variable sub-layer SMA model of Ikuta (1991) to extract the advanced dynamic model of our proposed varying stress SMA actuator. A nonlinear finite element analysis was used to model the proposed bending spring in the actuator and the extended variable sub-laver model of Ikuta was considered to extract stress-displacement relations. Finally, these two models are combined with thermo dynamic model of SMA and a schematic flowchart is proposed to calculate SMA resultant strain under an arbitrary current input. At the end, we applied this model to extract open loop harmonic and step responses of our proposed SMA actuator.
This article describes the design and implementation of a fuzzy controller developed for improving car stability by controlling car side-slip angle. The strategy has been to estimate the slip angle by a trained neural...
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The compound axle is a space saving suspension component that is relatively inexpensive and easy to install. Therefore it is used in rear suspension system of most front wheel drive passenger cars. This article presen...
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A dynamical model was developed in order to study the jumping process in human, and the effect of factors like joint speeds and hand motion. An experiment was designed and setup to compare the theoretical model with t...
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In some tasks, a rigid robot manipulator handles a long, slender, and flexible tool, which usually has not been equipped with vibration measuring devices. This situation makes a difficult tool tip position control pro...
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In some tasks, a rigid robot manipulator handles a long, slender, and flexible tool, which usually has not been equipped with vibration measuring devices. This situation makes a difficult tool tip position control problem. In this paper, a new method will be presented for simultaneous tip position and vibration suppression control of a flexible tool on a rigid-link 3-DOF robot. This approach uses fuzzy logic rule-based controllers without using any sensor and actuator on the tool and with no a priori knowledge about the tool. Numerical simulation of robot and tool set has been accomplished and results support the fact that designed fuzzy controllers perform remarkably well in reducing vibrations and precision guidance of robot tool tip for tracking various trajectories.
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