soleiman manteghi - Academia.edu (original) (raw)

Uploads

Papers by soleiman manteghi

Research paper thumbnail of The fatigue design of uPVC water pipe with consideration of environmental effects

Plastics, Rubber and Composites Processing and Applications, 1992

Fatigue crack growth and threshold stress intensity factor tests have been performed in air and i... more Fatigue crack growth and threshold stress intensity factor tests have been performed in air and in water on samples prepared from uPVC pressure pipe. The results were consistent with published data although, contrary to previous results obtained in water, crack growth rate was not found to be dependent on applied load ratio R

Research paper thumbnail of Fatigue Tests on Duplex Stainless Steel Tubular T-Joints

Welding in the World, 2002

Research paper thumbnail of Numerical and Neural Network Modeling and control of an Aircraft Propeller

Applied and Computational Mechanics, 2018

In this paper, parametric and numerical model of the DC motor, connected to aircraft propellers a... more In this paper, parametric and numerical model of the DC motor, connected to aircraft propellers are extracted. This model is required for controlling trust and velocity of the propellers, and consequently, an aircraft. As a result, both of torque and speed of the propeller can be controlled simultaneously which increases the kinematic and kinetic performance of the aircraft. Parametric model of the motor is derived by conducting standard tests such as locked rotor test and step and sine wave input one. In order to derive a neural network and numerical model, a set of sinusoidal, triangular, and random step signals are applied as the input to the motor and its speed is recorded as an output. Neural network of the motor is extracted by using these datasets and considering a multilayer perceptron (MLP) neural network structure with Levenberg-Marquardt training method. Results of the numerical model and parametric model are compared and validated by experimental implementations. The sup...

Research paper thumbnail of A Method for Simultaneous Control of Speed and Torque of the Motors of a Cable Suspended Robot for Tracking Procedure (Research Note)

Research paper thumbnail of Dynamics and input–output feedback linearization control of a wheeled mobile cable-driven parallel robot

Multibody System Dynamics, 2016

Research paper thumbnail of Design and optimal control of dual-stage Stewart platform using Feedback-Linearized Quadratic Regulator

Advanced Robotics, 2016

Abstract Design and optimal control of a dual-stage Stewart robot is performed in this paper usin... more Abstract Design and optimal control of a dual-stage Stewart robot is performed in this paper using sequential optimal feedback linearization method considering the dynamics of the jacks. Considering the limited length of the jacks, the possible dynamic workspace of this robot is extremely limited. Dual-stage platform version of this robot is designed and proposed in this paper to improve this limitation. As a result, the dynamic workspace of the robot is increased by increasing the degrees of freedom (DOFs) of the system. Modeling and dynamics of the new proposed system are developed considering the dynamics of the jacks. Besides, the robot is controlled with the highest accuracy and the lowest energy using an optimal control strategy based on Feedback-Linearized Quadratic Regulator (FLQR). Two sequential controlling loops are employed for simultaneous control of the joint space and work space of the robot. The efficiency of the proposed manipulator toward increasing the workspace of the robot and also the accuracy of the proposed controller are investigated using MATLAB for a dual-stage Stewart robot. The kinematics and kinetics of the robot are extracted, the proposed controller is implemented and the results are analyzed which show the efficiency of the proposed structure and controlling method. Graphical Abstract

Research paper thumbnail of A novel method for simultaneous control of speed and torque of the motors of a cable suspended robot for tracking procedure

Research paper thumbnail of Construction and Control of Parallel Robots

Habib/Interdisciplinary Mechatronics, 2013

Research paper thumbnail of Optimal motion planning of non-linear dynamic systems in the presence of obstacles and moving boundaries using SDRE: application on cable-suspended robot

Nonlinear Dynamics, 2014

ABSTRACT In this paper a closed-loop non-linear optimal controller is designed via State Dependen... more ABSTRACT In this paper a closed-loop non-linear optimal controller is designed via State Dependent Riccati Equation (SDRE) and employed for a spatial six-cable robot. SDRE provides a systematic and effective design of controller for non-linear systems. The power series approximation method is extended and used to solve SDRE. Trajectory tracking along with point to point movement is carried out. Moreover, two common constraints of optimal path planning, i.e., obstacles and moving boundaries are studied, and proper strategies are proposed to deal with these constraints. Obstacle avoidance technique used in this paper is based on the concept of Artificial Potential Field, while calculus of variations is applied to choose the optimal initial or end points from the moving boundaries. Capabilities of SDRE method provides an outstanding opportunity to be combined with the considered strategies. Simulations for the spatial six-cable robot are done, and Dynamic Load Carrying Capacity is computed to illustrate the efficiency of the employed procedure. Finally the results are validated by experimental tests conducted on ICaSbot which is a spatial six-cable robot manufactured in robotics research laboratory of Iran University of Science and Technology.

Research paper thumbnail of Numerical and neural network modeling of motors of a robot

2015 3rd RSI International Conference on Robotics and Mechatronics (ICROM), 2015

Research paper thumbnail of The fatigue design of uPVC water pipe with consideration of environmental effects

Plastics, Rubber and Composites Processing and Applications, 1992

Fatigue crack growth and threshold stress intensity factor tests have been performed in air and i... more Fatigue crack growth and threshold stress intensity factor tests have been performed in air and in water on samples prepared from uPVC pressure pipe. The results were consistent with published data although, contrary to previous results obtained in water, crack growth rate was not found to be dependent on applied load ratio R

Research paper thumbnail of Fatigue Tests on Duplex Stainless Steel Tubular T-Joints

Welding in the World, 2002

Research paper thumbnail of Numerical and Neural Network Modeling and control of an Aircraft Propeller

Applied and Computational Mechanics, 2018

In this paper, parametric and numerical model of the DC motor, connected to aircraft propellers a... more In this paper, parametric and numerical model of the DC motor, connected to aircraft propellers are extracted. This model is required for controlling trust and velocity of the propellers, and consequently, an aircraft. As a result, both of torque and speed of the propeller can be controlled simultaneously which increases the kinematic and kinetic performance of the aircraft. Parametric model of the motor is derived by conducting standard tests such as locked rotor test and step and sine wave input one. In order to derive a neural network and numerical model, a set of sinusoidal, triangular, and random step signals are applied as the input to the motor and its speed is recorded as an output. Neural network of the motor is extracted by using these datasets and considering a multilayer perceptron (MLP) neural network structure with Levenberg-Marquardt training method. Results of the numerical model and parametric model are compared and validated by experimental implementations. The sup...

Research paper thumbnail of A Method for Simultaneous Control of Speed and Torque of the Motors of a Cable Suspended Robot for Tracking Procedure (Research Note)

Research paper thumbnail of Dynamics and input–output feedback linearization control of a wheeled mobile cable-driven parallel robot

Multibody System Dynamics, 2016

Research paper thumbnail of Design and optimal control of dual-stage Stewart platform using Feedback-Linearized Quadratic Regulator

Advanced Robotics, 2016

Abstract Design and optimal control of a dual-stage Stewart robot is performed in this paper usin... more Abstract Design and optimal control of a dual-stage Stewart robot is performed in this paper using sequential optimal feedback linearization method considering the dynamics of the jacks. Considering the limited length of the jacks, the possible dynamic workspace of this robot is extremely limited. Dual-stage platform version of this robot is designed and proposed in this paper to improve this limitation. As a result, the dynamic workspace of the robot is increased by increasing the degrees of freedom (DOFs) of the system. Modeling and dynamics of the new proposed system are developed considering the dynamics of the jacks. Besides, the robot is controlled with the highest accuracy and the lowest energy using an optimal control strategy based on Feedback-Linearized Quadratic Regulator (FLQR). Two sequential controlling loops are employed for simultaneous control of the joint space and work space of the robot. The efficiency of the proposed manipulator toward increasing the workspace of the robot and also the accuracy of the proposed controller are investigated using MATLAB for a dual-stage Stewart robot. The kinematics and kinetics of the robot are extracted, the proposed controller is implemented and the results are analyzed which show the efficiency of the proposed structure and controlling method. Graphical Abstract

Research paper thumbnail of A novel method for simultaneous control of speed and torque of the motors of a cable suspended robot for tracking procedure

Research paper thumbnail of Construction and Control of Parallel Robots

Habib/Interdisciplinary Mechatronics, 2013

Research paper thumbnail of Optimal motion planning of non-linear dynamic systems in the presence of obstacles and moving boundaries using SDRE: application on cable-suspended robot

Nonlinear Dynamics, 2014

ABSTRACT In this paper a closed-loop non-linear optimal controller is designed via State Dependen... more ABSTRACT In this paper a closed-loop non-linear optimal controller is designed via State Dependent Riccati Equation (SDRE) and employed for a spatial six-cable robot. SDRE provides a systematic and effective design of controller for non-linear systems. The power series approximation method is extended and used to solve SDRE. Trajectory tracking along with point to point movement is carried out. Moreover, two common constraints of optimal path planning, i.e., obstacles and moving boundaries are studied, and proper strategies are proposed to deal with these constraints. Obstacle avoidance technique used in this paper is based on the concept of Artificial Potential Field, while calculus of variations is applied to choose the optimal initial or end points from the moving boundaries. Capabilities of SDRE method provides an outstanding opportunity to be combined with the considered strategies. Simulations for the spatial six-cable robot are done, and Dynamic Load Carrying Capacity is computed to illustrate the efficiency of the employed procedure. Finally the results are validated by experimental tests conducted on ICaSbot which is a spatial six-cable robot manufactured in robotics research laboratory of Iran University of Science and Technology.

Research paper thumbnail of Numerical and neural network modeling of motors of a robot

2015 3rd RSI International Conference on Robotics and Mechatronics (ICROM), 2015