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Papers by soleiman manteghi
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
Welding in the World, 2002
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...
In this paper, a new method is proposed for controlling the motors of ICaSbot (IUST Cable Suspend... more In this paper, a new method is proposed for controlling the motors of ICaSbot (IUST Cable Suspended Robot), which is a modi ed version of crane aiming to object handling in industrial environments. In order to provide more accurate tracking, torque and speed of the motors are controlled simultaneously, using inverse kinematics and inverse dynamics of the robot. The equations of the motors are evaluated as a look-up table by conducting some special experimental tests and calibrations, while their data sheets and motor parameters are not available. The required feedforward signal of the motors are estimated by the aid of inverse dynamics of the robot, while its errors are compensated by the aid of PID controller on the speed and torque of the motor. As a result, the required (Pulse Width Modulation) PWM of the motor is exerted to produce a desired angular velocity, while a speci c amount of torque is applied on the motors. Not only the voltage of the motors is controlled using the mentioned PWM, but also the current is improved using the feedback control of the torques. PID gains are optimized using Ziegler-Nichols method. By the aid of the mentioned combination of feedforward and feedback controlling terms of the motor speed and torque, the desired trajectory is tracked with the highest possible accuracy. E ciency of the proposed method is eventually proved by comparing the experimental tests with simulation results.
Multibody System Dynamics, 2016
In comparison to the conventional parallel robots, cable-driven parallel robots (CDPRs) have gene... more In comparison to the conventional parallel robots, cable-driven parallel robots (CDPRs) have generally superior features such as simple production technology, low energy consumption, large workspace, high payload to moving weight ratio, and also low cost. On the other hand, a wheeled mobile robot (WMR) which is capable of covering a vast area can be used when no specific space is designated for the stationary accessories of a robot. In this paper, the integration of a CDPR with a WMR is proposed to overcome some of the issues related to each of these robots. The kinematic equations of the robot are presented. To derive the dynamic equations, Gibbs-Appel (G-A) formulation is used, which in contrary to the Lagrange formulation benefits from advantages of quasi-velocities over generalized coordinates as well as not requiring Lagrange multipliers. The dynamic equations of the two parts are coupled, and the interacting effects are observable from the governing equations. By considering non-holonomic wheels for the robot, internal dynamics appears in the equations. However, based on some conditions, the equations are input-output linearizable via a static feedback. The platform trajectory is designed based on the given end-effector trajectory. The effectiveness of the controller is shown through simulations and experimental tests. Cable-driven parallel robots • Wheeled mobile robots • Non-holonomic constraints • Gibbs-Appel formula • Input-output feedback linearization • Trajectory planning B M.H. Korayem
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
Scientia Iranica
In this paper, a new method is proposed for controlling the motors of ICaSbot (IUST Cable Suspend... more In this paper, a new method is proposed for controlling the motors of ICaSbot (IUST Cable Suspended Robot), which is a modi ed version of crane aiming to object handling in industrial environments. In order to provide more accurate tracking, torque and speed of the motors are controlled simultaneously, using inverse kinematics and inverse dynamics of the robot. The equations of the motors are evaluated as a look-up table by conducting some special experimental tests and calibrations, while their data sheets and motor parameters are not available. The required feedforward signal of the motors are estimated by the aid of inverse dynamics of the robot, while its errors are compensated by the aid of PID controller on the speed and torque of the motor. As a result, the required (Pulse Width Modulation) PWM of the motor is exerted to produce a desired angular velocity, while a speci c amount of torque is applied on the motors. Not only the voltage of the motors is controlled using the mentioned PWM, but also the current is improved using the feedback control of the torques. PID gains are optimized using Ziegler-Nichols method. By the aid of the mentioned combination of feedforward and feedback controlling terms of the motor speed and torque, the desired trajectory is tracked with the highest possible accuracy. E ciency of the proposed method is eventually proved by comparing the experimental tests with simulation results.
Construction and Control of Parallel Robots
Habib/Interdisciplinary Mechatronics, 2013
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.
2015 3rd RSI International Conference on Robotics and Mechatronics (ICROM), 2015
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 superiority of the proposed method is also shown respect to traditional PID algorithm.
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
Welding in the World, 2002
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...
In this paper, a new method is proposed for controlling the motors of ICaSbot (IUST Cable Suspend... more In this paper, a new method is proposed for controlling the motors of ICaSbot (IUST Cable Suspended Robot), which is a modi ed version of crane aiming to object handling in industrial environments. In order to provide more accurate tracking, torque and speed of the motors are controlled simultaneously, using inverse kinematics and inverse dynamics of the robot. The equations of the motors are evaluated as a look-up table by conducting some special experimental tests and calibrations, while their data sheets and motor parameters are not available. The required feedforward signal of the motors are estimated by the aid of inverse dynamics of the robot, while its errors are compensated by the aid of PID controller on the speed and torque of the motor. As a result, the required (Pulse Width Modulation) PWM of the motor is exerted to produce a desired angular velocity, while a speci c amount of torque is applied on the motors. Not only the voltage of the motors is controlled using the mentioned PWM, but also the current is improved using the feedback control of the torques. PID gains are optimized using Ziegler-Nichols method. By the aid of the mentioned combination of feedforward and feedback controlling terms of the motor speed and torque, the desired trajectory is tracked with the highest possible accuracy. E ciency of the proposed method is eventually proved by comparing the experimental tests with simulation results.
Multibody System Dynamics, 2016
In comparison to the conventional parallel robots, cable-driven parallel robots (CDPRs) have gene... more In comparison to the conventional parallel robots, cable-driven parallel robots (CDPRs) have generally superior features such as simple production technology, low energy consumption, large workspace, high payload to moving weight ratio, and also low cost. On the other hand, a wheeled mobile robot (WMR) which is capable of covering a vast area can be used when no specific space is designated for the stationary accessories of a robot. In this paper, the integration of a CDPR with a WMR is proposed to overcome some of the issues related to each of these robots. The kinematic equations of the robot are presented. To derive the dynamic equations, Gibbs-Appel (G-A) formulation is used, which in contrary to the Lagrange formulation benefits from advantages of quasi-velocities over generalized coordinates as well as not requiring Lagrange multipliers. The dynamic equations of the two parts are coupled, and the interacting effects are observable from the governing equations. By considering non-holonomic wheels for the robot, internal dynamics appears in the equations. However, based on some conditions, the equations are input-output linearizable via a static feedback. The platform trajectory is designed based on the given end-effector trajectory. The effectiveness of the controller is shown through simulations and experimental tests. Cable-driven parallel robots • Wheeled mobile robots • Non-holonomic constraints • Gibbs-Appel formula • Input-output feedback linearization • Trajectory planning B M.H. Korayem
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
Scientia Iranica
In this paper, a new method is proposed for controlling the motors of ICaSbot (IUST Cable Suspend... more In this paper, a new method is proposed for controlling the motors of ICaSbot (IUST Cable Suspended Robot), which is a modi ed version of crane aiming to object handling in industrial environments. In order to provide more accurate tracking, torque and speed of the motors are controlled simultaneously, using inverse kinematics and inverse dynamics of the robot. The equations of the motors are evaluated as a look-up table by conducting some special experimental tests and calibrations, while their data sheets and motor parameters are not available. The required feedforward signal of the motors are estimated by the aid of inverse dynamics of the robot, while its errors are compensated by the aid of PID controller on the speed and torque of the motor. As a result, the required (Pulse Width Modulation) PWM of the motor is exerted to produce a desired angular velocity, while a speci c amount of torque is applied on the motors. Not only the voltage of the motors is controlled using the mentioned PWM, but also the current is improved using the feedback control of the torques. PID gains are optimized using Ziegler-Nichols method. By the aid of the mentioned combination of feedforward and feedback controlling terms of the motor speed and torque, the desired trajectory is tracked with the highest possible accuracy. E ciency of the proposed method is eventually proved by comparing the experimental tests with simulation results.
Construction and Control of Parallel Robots
Habib/Interdisciplinary Mechatronics, 2013
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.
2015 3rd RSI International Conference on Robotics and Mechatronics (ICROM), 2015
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 superiority of the proposed method is also shown respect to traditional PID algorithm.