Bahram Tarvirdizadeh
Department of Mechatronics Eng., Faculty of New Sciences and Technologies, University of Tehran, Tehran, Iran
[ 1 ] - Planning and Control of Two-Link Rigid Flexible Manipulators in Dynamic Object Manipulation Missions
This research focuses on proposing an optimal trajectory planning and control method of two link rigid-flexible manipulators (TLRFM) for Dynamic Object Manipulation (DOM) missions. For the first time, achievement of DOM task using a rotating one flexible link robot was taken into account in [20]. The authors do not aim to contribute on either trajectory tracking or vibration control of the End-...
[ 2 ] - Development of a Robust Observer for General Form Nonlinear System: Theory, Design and Implementation
The problem of observer design for nonlinear systems has got great attention in the recent literature. The nonlinear observer has been a topic of interest in control theory. In this research, a modified robust sliding-mode observer (SMO) is designed to accurately estimate the state variables of nonlinear systems in the presence of disturbances and model uncertainties. The observer has a simple ...
[ 3 ] - A TS Fuzzy Model Derived from a Typical Multi-Layer Perceptron
In this paper, we introduce a Takagi-Sugeno (TS) fuzzy model which is derived from a typical Multi-Layer Perceptron Neural Network (MLP NN). At first, it is shown that the considered MLP NN can be interpreted as a variety of TS fuzzy model. It is discussed that the utilized Membership Function (MF) in such TS fuzzy model, despite its flexible structure, has some major restrictions. After modify...
[ 4 ] - استفاده از روش‌های آماری و هوش مصنوعی جهت پیش‌بینی دمای گاز خروجی از توربین یک موتور میکروتوربین گاز آزمایشگاهی
در این مقاله ارتباط دمای گاز خروجی از توربین یک موتور میکروتوربین گاز آزمایشگاهی نسبت به تغییرات پارامتر دور عملکردی موتور، با دو روش داده‌کاوی بررسی شده است. برای این منظور پارامتر دمای گاز خروجی از توربین به‌عنوان مقدار خروجی اندازه‌گیری شده از موتور و دور عملکردی موتور به‌عنوان متغیر ورودی در نظر گرفته شده است. از شبکة عصبی پرسپترون یک‌لایه و دولایه و شبکة عصبی شعاعی به‌همراه روش رگرسیون چند...
[ 5 ] - Fuzzy Motion Control for Wheeled Mobile Robots in Real-Time
Due to various advantages of Wheeled Mobile Robots (WMRs), many researchers have focused to solve their challenges. The automatic motion control of such robots is an attractive problem and is one of the issues which should carefully be examined. In the current paper, the trajectory tracking problem of WMRs which are actuated by two independent electrical motors is deliberated. To this end, and ...
[ 6 ] - توسعه سامانه مکاترونیکی بلادرنگ سنجش استرس، مبتنی بر سیگنال‌های حیاتی
Stress has affected human’s lives in many areas, today. Stress can adversely affect human’s health to such a degree as to either cause death or indicate a major contributor to death. Therefore, in recent years, some researchers have focused to developing systems to detect stress and then presenting viable solutions to manage this issue. Generally, stress can be identified through three differe...
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