Research on PID-Based Minimum Rule Base Fuzzy Controller in Active Joint Dental Automation

Farzin Matin,Hamid Cheraghi,Nasim Sobhani,Farzin Piltan,Maryam Rahmani 보안공학연구지원센터 2016 International Journal of Grid and Distributed Comp Vol.9 No.6

This paper describes the design intelligent based nonlinear controller for three dimensions joint dental robot manipulators in presence of uncertainty. Three-dimension joint dental robot manipulator has some important challenges such as nonlinearity, multi-input multi-output (MIMO), uncertainty in dynamic formulation, and coupling effect. To eliminate the effect of these challenge linear filter PID controller is introduce in this research. However, this controller has some advantages in certain condition but in uncertainty, it has problems. To improve this technique in presence of uncertainty, minimum rule base PID like fuzzy controller is introduced. This method reduces the rise-time, steady state error and improves the trajectory performance in uncertain condition. Stability and robustness improve in proposed method as well reduce the number of rule base.

Artificial Robust Control of Robot Arm : Design a Novel SISO Backstepping Adaptive Lyapunov Based Variable Structure Control

Farzin Piltan,N. Sulaiman,Amin Jalali,Sobhan Siamak,Iman Nazari 보안공학연구지원센터(IJCA) 2011 International Journal of Control and Automation Vol.4 No.4

Casein-based hydrogel carrying insulin: preparation, in vitro evaluation and in vivo assessment

Farzin Hadizadeh,Bahman Khameneh,Elham Khodaverdi,Sepehr Maftouhian,Ali Aliabadi,Mohammad Hassanzadeh‑Khayyat,Fatemeh Mohammadpour 한국약제학회 2019 Journal of Pharmaceutical Investigation Vol.49 No.6

Hydrogels show great potential particularly in the development of drug delivery because of their desirable properties. The enzymatic crosslinked casein hydrogel is a new generation and has received great attention for drug delivery. In the present study, the enzymatic crosslinked casein hydrogel containing insulin was prepared and in vitro and in vivo evaluations were assessed. The hydrogels were also evaluated using differential scanning calorimeter; X-ray diffraction; Scanning electron microscopy and Atomic force microscopy methods. The rheological and releasing behaviors at different media were also investigated. The secondary structure of insulin was assayed by CD method and finally, the hypoglycemic effects were tested in the diabetic rats. Hydrogel showed a three-dimensional porous structure. Rheographs indicated the combination of thixotropic and pseudoplastic behaviors. In vitro release studies confirmed that insulin released in acidic condition slowly, however, in neutral and alkaline environments insulin rapidly released. The structure of insulin preserved following release. Hypoglycemic effects were observed by oral administration of insulin-loaded hydrogel. Thus, the enzymatic crosslinked hydrogel can be considered as a good candidate for oral delivery of insulin.

An Adaptive sliding surface slope adjustment in PD Sliding Mode Fuzzy Control for Robot Manipulator

Farzin Piltan,Nasri Sulaiman,Samira Soltani,M. H. Marhaban,R. Ramli 보안공학연구지원센터(IJCA) 2011 International Journal of Control and Automation Vol.4 No.2

Nonlinear spectral design analysis of a structure for hybrid self-centring device enabled structures

Farzin G. Golzar,Geoffrey W. Rodgers,J. Geoffrey Chase 국제구조공학회 2017 Structural Engineering and Mechanics, An Int'l Jou Vol.61 No.6

Seismic dissipation devices can play a crucial role in mitigating earthquake damages, loss of life and post-event repair and downtime costs. This research investigates the use of ring springs with high-force-to-volume (HF2V) dissipaters to create damage-free, recentring connections and structures. HF2V devices are passive rate-dependent extrusion-based devices with high energy absorption characteristics. Ring springs are passive energy dissipation devices with high self-centring capability to reduce the residual displacements. Dynamic behaviour of a system with nonlinear structural stiffness and supplemental hybrid damping via HF2V devices and ring spring dampers is used to investigate the design space and potential. HF2V devices are modelled with design forces equal to 5% and 10% of seismic weight and ring springs are modelled with loading stiffness values of 20% and 40% of initial structural stiffness and respective unloading stiffness of 7% and 14% of structural stiffness (equivalent to 35% of their loading stiffness). Using a suite of 20 design level earthquake ground motions, nonlinear response spectra for 8 different configurations are generated. Results show up to 50% reduction in peak displacements and greater than 80% reduction in residual displacements of augmented structure compared to the baseline structure. These gains come at a cost of a significant rise in the base shear values up to 200% mainly as a result of the force contributed by the supplemental devices.

Modeling and Control of Four Degrees of Freedom Surgical Robot Manipulator Using MATLAB/SIMULINK

Farzin Piltan,Ali Taghizadegan,Nasri B Sulaiman 보안공학연구지원센터 2015 International Journal of Hybrid Information Techno Vol.8 No.11

Recent development of robot technology is revolutionizing the medical field. The concept of using robot assistance in medical surgery has been receiving more and more recognition throughout the world. Robot-assisted surgery has the advantage of reducing surgeons' hand tremor, decreasing post-operative complications, reducing patients' pains, and increasing operation dexterity inside the patients' body. Robotic assistants have been broadly used in many medical fields such as orthopedics, neurology, urology and cardiology, and robot assisted surgery is keeping expanding its influences in more general medical field. This research study aims at utilizing advanced robotics manipulator technologies to help surgeons perform delicate procedures associated with surgery. The Four-axis Virtual Robot arm (FVR) is a MATLAB-based computer program, which can be used to simulate the functions of a real robotic manipulator in terms of design parameters, movement and control. It has been designed with adjustable kinematic parameters to mimic a 4-axis articulate robotic manipulator with revolute joints having 4 degrees of freedom. The FVR can be manipulated using direct kinematics to change the spatial orientation of virtual objects in three dimensions. Picking and placing of virtual objects can be done by using the virtual proximity sensors and virtual touch sensors incorporated in to the jaw design of the FVR. Furthermore, it can be trained to perform a sequence of movements repeatedly, to simulate the function of a real surgical robotic manipulator. All steps to modeling are discussed in this research. Proportional-Integral-Derivative control technique is used to control of FVR.

Mechanical and Thermal Properties of Carbon/Basalt Intra-ply Hybrid Composites. I. Effect of Intra-ply Hybridization

Farzin Azimpour-Shishevan,Hamit Akbulut,M. A. Mohtadi-Bonab 한국섬유공학회 2020 Fibers and polymers Vol.21 No.11

The effects of intra-ply hybridization on mechanical and thermal properties of carbon/basalt fibers reinforcedepoxy composites were experimentally investigated. Combination of superior mechanical properties of carbon fiber, goodthermal stability and basalt fiber toughness is the main purpose of designing of these composites. Three types ofhomogeneous carbon fiber reinforced polymer (CFRP), basalt fiber reinforced polymer (BFRP) and intra-ply hybrid ofcarbon/basalt reinforced polymer (CBFRP) composites were fabricated by using vacuum assisted resin infusion molding(VARIM) method. All fabricated composite plates were cut according to ASTM standard. The effect of incorporation ofbasalt fiber with carbon fiber on mechanical properties, such as modulus of elasticity, tensile strength, flexural modulus,flexural strength and inter laminar shear strength (ILSS) were studied by bending, tensile and short beam shear (SBS)experiments. Measurement of thermal conductivity, dynamic mechanic analyze (DMA), thermogravimetric analyze (TGA)tests were also carried out for thermal characterization of fabricated homogeneous and hybrid composites. Furthermore,dynamic drop test (DDT) was used to evaluate hybridization effect on hydrophobicity of composites. The results indicatedthat the CBFP hybrid composites perform a moderate mechanical performance between homogeneous CFRP and BFRPcomposites. On the other hand, incorporation of basalt fiber in the structure of carbon fiber composite not only enhances thethermal stability of composites but also moderates the fabrication price by alternating cheaper basalt fiber with expensivecarbon fiber.

Three-dimensional modeling of system of vibrating spherical balls using discrete element method†

Farzin Salehpour-Oskouyi,Morteza Homayoun Sadeghi 대한기계학회 2014 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.28 No.1

The modeling of particulate systems has been an important focus of research worldwide, as these are fairly common in nature, such asrain drops in air, snowfall, and several industrial processes such as chemistry, agriculture, pharmaceutical, powder metallurgy, soil mechanics,casting, cement manufacturing, civil, and etc. In recent years, one of important aspects of the granular material physics in industriesis controlling way of the granular flow. One of the best ways of controlling the flow is the use of mechanical vibrations to guide theparticles in desirable way. In this paper the effect of horizontal harmonic vibration on the particles flow is theoretically and experimentallyinvestigated. During the base vibration, the spherical particles collide with each other and with the walls as well, causing a globalpattern of particle motion which is interpreted as flow. The motion of spherical particles and the interaction forces due to the vibration isobtained numerically via discrete element method (DEM). Finally, the presented numerical model is compared with the experimental oneand a good agreement between them is noticed.

Improved Secure Uncertain Robot by Artificial Based Adaptive Methodology

Farzin Piltan,Zahra Hivand,Sara Emamzadeh,Mina Mirzaie,Mohammad Hossain Yarmahmoudi 보안공학연구지원센터 2014 International Journal of u- and e- Service, Scienc Vol.7 No.6

This paper examines secure uncertain robot which performance is improved secure by artificial intelligence based on-line tuning method. Computed like torque (CLT) methodology is selected as a framework to construct the control law and address the better performance and reduce the error in presence of uncertainty in any trajectory. The main goal in security in any industrial factory is to guarantee acceptable trajectories tracking between the robot arm actual output and the desired input in presence of uncertainty and external disturbance. The proposed approach effectively combines the design technique from computed torque methodology is based on nonlinear stable system and fuzzy estimator to estimate the nonlinearity of undefined system dynamic in uncertain robot. The input represents the function between error and the rate of error. The outputs represent actual trajectory to improve the security, respectively. The fuzzy partly sliding switching methodology is on-line tune the computed torque like method based on adaptive methodology. The performance of the computed torque like method which controller coefficient is on-line tuned by fuzzy partly sliding switching algorithm (ACTLM) is validated the security through comparison with computed torque like methodology (CTLM). Simulation results signify good performance of trajectory in presence of uncertainty and external disturbance; it is used to show guarantee the security.

A Simplified Procedure for Performance-Based Design

Farzin Zareian,Helmut Krawinkler 한국지진공학회 2007 한국지진공학회논문집 Vol.11 No.4

This paper focuses on providing a practical approach for decision making in Performance-Based Design (PBD). Satisfactory performance is defined by several performance objectives that place limits on direct (monetary) loss and on a tolerable probability of collapse. No specific limits are placed on conventional engineering parameters such as forces or deformations, although it is assumed that sound capacity design principles are followed in the design process. The proposed design procedure incorporates different performance objectives up front, before the structural system is created, and assists engineers in making informed decisions on the choice of an effective structural system and its stiffness (period), base shear strength, and other important global structural parameters. The tools needed to implement this design process are (1) hazard curves for a specific ground motion intensity measure, (2) mean loss curves for structural and nonstructural subsystems, (3) structural response curves that relate, for different structural systems, a ground motion intensity measure to the engineering demand parameter (e.g., interstory drift or floor acceleration) on which the subsystem loss depends, and (4) collapse fragility curves. Since the proposed procedure facilitates decision making in the conceptual design process, it is referred to as a Design Decision Support System, DDSS. Implementation of the DDSS is illustrated in an example to demonstrate its practicality.