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RISS 인기검색어
- 검색키워드
- 저자 : Ghayour Mostafa (검색결과 6 건)
- 무료
- 기관 내 무료
- 유료
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Optimal Trajectory Planning of a Mobile Robot with Spatial Manipulator For Obstacle Avoidance
Shariati Nia Mostafa,Ghayour Mostafa,Mosayebi Masoud 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
Mobile robots consist of a mobile platform with one or many manipulators mounted on it are of great interest in a number of applications. Combination of platform and manipulator causes robot operates in extended work space. The analysis of these systems includes kinematics redundancy that makes more complicated problem. However, it gives more feasibility to robotic systems because of the existence of multiple solutions in a specified workspace. This paper presents a methodology in generating paths and trajectories for both the mobile platform and a 3DOF manipulator mounted on it, in the presence of obstacles. Obstacles add kinematics constraint into optimization problem. The method employs smooth and continuous functions such as polynomials. The proposed method includes obtaining time history of the mobile robot motion. It is supposed that the obstacles can be enclosed in cylinders. The platform has been used in this research is a differentially-driven platform. The core of the method is based on mapping the nonholonomic constraint to a space where it can be satisfied trivially. A suitable criterion can be used to solve an optimization problem to find the optimal solution. In this research, the problem of path planning with simultaneous optimization of kinematics and dynamic indices has been accomplished using genetic algorithm in order to find the global optimum solution. The validity of the methodology is demonstrated by using a differential-drive mobile manipulator system, various simulations of platform with a spatial 3-link manipulator are presented to show the effectiveness of the presented method.
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Increasing the performance of energy harvesting in vibration mode shapes
Jabbari, Majid,Ghayour, Mostafa,Mirdamadi, Hamid Reza Techno-Press 2016 Advances in computational design Vol.1 No.2
This paper presents a method of design for the energy harvesting of a piezoelectric cantilever beam. Vibration modes have strain nodes where the strain distribution changes in the direction of the beam length. Covering the strain nodes of the vibration modes with continuous electrodes effects a cancellation of the voltages outputs. The use of segmented electrodes avoids cancellations of the voltage for multi-mode vibration. The resistive load affects the voltage and generated power. The optimum resistive load is considered for segmented and continuous electrodes, and then the power output is verified. One of the effective parameters on energy harvesting performance is the existence of concentrated mass. This topic is studied in this paper. Resonance and off-resonance cases are considered for the harvester. In this paper, both theoretical and experimental methods are used for satisfactory results.
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Observer Based Tip Tracking Control of Two-Link Flexible Manipulator
Mosayebi Masoud,Ghayour Mostafa,Shariati Nia Mostafa 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
In this paper, a non-linear observer is designed to estimate the time derivatives of the flexural degrees of freedom that are not conveniently or economically accessible. A non-linear control strategy is developed based on input-output linearization. This is achieved by defining new outputs near the end point of the arm that results in stable zero dynamics. The control objective is considered tip position tracking of a desired trajectory. Stability of the observer error dynamics is proved by Lyapunov theorem. The controller performance is demonstrated by numerical simulation on a two-link flexible manipulator with a tip load in vertical plane.
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Swing Angle Estimation for Anti-Sway Overhead Crane Control Using Load Cell
Mohammad Ebrahimi,Mostafa Ghayour,Seyed M. Madani,Amir Khoobroo 제어·로봇·시스템학회 2011 International Journal of Control, Automation, and Vol.9 No.2
Overhead crane movement results in suspended load sway, which may cause dangers and damages. Common anti-sway methods are based on swing angle information. This paper presents a novel method that uses load cell sensors for swing angle estimation. According to our proposed method, a damping signal is generated and added to the speed reference in order to suppress the suspended load sway. Conventional methods of swing angle estimation are based on measurement by camera vision, acceleration, or some other type of sensor. Compared to conventional methods, the proposed method based on load cell is simpler to build and less sensitive to ambient conditions. The effectiveness of the method is verified by computer simulation.
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Free vibration analysis of multi-directional functionally graded circular and annular plates
Iman Davoodi Kermani,Mostafa Ghayour,Hamid Reza Mirdamadi 대한기계학회 2012 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.26 No.11
This paper addresses the free vibration of multi-directional functionally graded circular and annular plates using a semianalytical/numerical method, called state space-based differential quadrature method. Three-dimensional elasticity equations are derived for multi-directional functionally graded plates and a solution is given by the semi-analytical/numerical method. This method gives an analytical solution along the thickness direction, using a state space method and a numerical solution using differential quadrature method. Some numerical examples are presented to show the accuracy and convergence of the method. The most of simulations of the present study have been validated by the existing literature. The non-dimensional frequencies and corresponding displacements mode shapes are obtained. Then the influences of thickness ratio and graded indexes are demonstrated on the non-dimensional natural frequencies.
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Mehdi Salehi,Saeed Ziaei-Rad,Mostafa Ghayour,Mohammad Ali Vaziri-Zanjani 대한기계학회 2013 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.27 No.3
Vibration-based structural damage detection has been the focus of attention by many researchers over the last few decades. However, most methods proposed for this purpose utilize extracted modal parameters or some indices constructed on the basis these parameters. Our literature review revealed that few papers have employed frequency response functions (FRFs) for detecting structural damage. In this paper, a technique is presented for damage detection which is based on measured FRFs. Independent component analysis (ICA) has been implemented on the spatiotemporal responses in each frequency in order to reduce the dimension of the data. This is based on the concept that the forced harmonic response of a linear vibrating system can be fully captured utilizing a single ICA mode. A different approach is also presented in which ICA is applied to the frequency domain data. Operational deflection shapes (ODSs) have been decomposed using ICA to localize the damage. The efficiency of both methods is demonstrated through some numerical and experimental case studies.
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