Mohammad Reza Hairi Yazdi
School of Mechanical Engineering, University of Tehran, Iran.
[ 1 ] - From Passive Dynamic Walking to Passive Turning of Biped walker
Dynamically stable biped robots mimicking human locomotion have received significant attention over the last few decades. Formerly, the existence of stable periodic gaits for straight walking of passive biped walkers was well known and investigated as the notion of passive dynamic walking. This study is aimed to elaborate this notion in the case of three dimensional (3D) walking and extend it f...
[ 2 ] - Energy Dissipation Rate Control Via a Semi-Analytical Pattern Generation Approach for Planar Three-Legged Galloping Robot based on the Property of Passive Dynamic Walking
In this paper an Energy Dissipation Rate Control (EDRC) method is introduced, which could provide stable walking or running gaits for legged robots. This method is realized by developing a semi-analytical pattern generation approach for a robot during each Single Support Phase (SSP). As yet, several control methods based on passive dynamic walking have been proposed by researchers to provide an...
[ 3 ] - Analysis of 3D Passive Walking Including Turning Motions for the Finite-width Rimless Wheel
The focus of studies in the field of passive walking has often been on straight walking, while less attention has been paid to the field of turning motions. In this paper, the passive motions of a finite width rimless wheel as the simplest 3D model of passive biped walkers was investigated with a focus on turning motions. For this purpose, the hybrid model of the system consisting of continuous...
[ 4 ] - Multi-frequency piezomagnetoelastic energy harvesting in the monostable mode
The present article investigates effects of the multi-frequency excitation on the output power of a piezomagnetoelastic energy harvester. The piezomagnetoelastic power generator is assumed to operate in the mono-stable mode. A perturbation technique based on the method of multiple scales is employed to develop an analytical solution to nonlinear differential equations governing the system dynam...
[ 5 ] - Exact analytical approach for free longitudinal vibration of nanorods based on nonlocal elasticity theory from wave standpoint
In this paper, free longitudinal vibration of nanorods is investigated from the wave viewpoint. The Eringen’s nonlocal elasticity theory is used for nanorods modelling. Wave propagation in a medium has a similar formulation as vibrations and thus, it can be used to describe the vibration behavior. Boundaries reflect the propagating waves after incident. Firstly, the governing quation of nanoro...
[ 6 ] - طراحی استراتژی کنترل بهینه آنلاین برای اتوبوس هیبرید هیدرولیک
در این مقاله، طراحی یک استراتژی کنترل بهینه برای سیستم قوای محرکه‌ی اتوبوس هیبرید هیدرولیک موازی ارائه شده‌است. این سیستم شامل یک موتور احتراق‌داخلی به‌عنوان مؤلفه‌ی اول تولید قدرت و یک پمپ-موتور هیدرولیکی به‌عنوان مؤلفه‌ی دوم می‌باشد.. طراحی یک استراتژی کنترل مناسب برای سیستم‌های قوای محرکه هیبرید، بسیار تابع روند تغییرات سرعت در سیکل رانندگی است. این تابعیت تاحدی است که روند تغییرات سرعت سیکل...
[ 7 ] - Design of an anti-lock regenerative braking system for a series hybrid electric vehicle
In this paper, an adaptive rule based controller for an anti-lock regenerative braking system (ARBS) of a series hybrid electric bus (SHEB) has been proposed. The proposed controller integrates the regenerative braking and wheel anti-lock functions by controlling the electric motor of the hybrid vehicle, without using any conventional mechanical anti-lock braking system. The performance of the ...
[ 8 ] - طراحی و صحه‌گذاری روشی نامبتنی-بر-مدل برای حفظ عملکرد ایمن باتری در خودروی‌برقی بوسیله شبیه‌سازی سخت‌افزار-در-حلقه
این مقاله به ارایه روشی برای حفظ محدوده ولتاژ ایمن باتری در خودروی برقی می‌پردازد. در روش پیشنهادی با استفاده از مقدار لحظه‌ای ولتاژ باتری، محدودسازی حداکثر گشتاور موتور کششی بر اساس یک ارتباط سیگنالینگ بین سیستم مدیریت باتری (BMS) و واحد کنترل خودرو انجام می‌شود. عملکرد روش پیشنهادی مبتنی بر دقت مدل‌سازی باتری نیست و برای شرایط مختلف عمر باتری قابل استفاده است. عملکرد روش پیشنهادی بوسیله بستر ...
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