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Design FPGA-Based CL-Minimum Control Unit
Farzin Piltan,Omid Avatefipour,Samira Soltani,Omid Mahmoudi,Mahmoud Reza Safaei Nasrabad,Mehdi Eram,Zahra Esmaeili,Sara Heidari,Kamran Heidari,Mohammad Mahidi Ebrahimi 보안공학연구지원센터 2016 International Journal of Hybrid Information Techno Vol.9 No.1
Most of controllers need real time mobility operation so one of the most important devices which can be used to solve this challenge is Field Programmable Gate Array (FPGA). FPGA can be used to design a controller in a single chip Integrated Circuit (IC). To have higher implementation speed with good performance cMinimum Control Unit (MCU) is implemented on Spartan 3E FPGA using Xilinx software. Design a 4 bits Field Programmable Gate Array (FPGA)- based carry lookahead MCU is the main challenging works. MCU is control unit to control of data transfer between input and output and process the input data. In this research, MCU is used to control the 4 bits, Arithmetic Logic Unit (ALU). Combinational logic characterized by its propagation delay and contamination delay. To reduce the delay hardware description language (HDL) type of programming is very important. To reduce the route delay and logic delay, type of HDL design is very important. In this research, we used lookahead design, which reduce about 10% delay in comparison with ripple carry.
Research on Oscillation-Free Robust Control for Active Joint Dental Automation
Farzin Piltan,Meysam Esmaeili,Mohammad Ali Tayebi,Mahsa Piltan,Mojtaba Yaghoot,Nasri B. Sulaiman 보안공학연구지원센터 2016 International Journal of Hybrid Information Techno Vol.9 No.11
Design a robust oscillation-free controller for multi input-multi output (MIMO) nonlinear uncertain dynamical system (sensitive dental joint) is the main objective in this research. In this paper, robust sliding mode controller will be selected as a main control technique and linear controller will be design to improve the stability and robustness to control of dental joint. The proposed approach effectively combines of design methods from switching sliding mode controller, and linear Proportional-Integral-Derivative (PID) control to improve the performance, stability and robustness of the sliding mode controller. Conventional sliding mode controller has two important subparts, switching and equivalent. Switching part (discontinuous part) is very important in uncertain condition but it causes chattering phenomenon. To solve the chattering, the most common method used is linear boundary layer saturation method, but this method lost the stability. To reduce the chattering with respect to stability and robustness; linear controller is added to the switching part of the sliding mode controller. The linear controller is to reduce the role of sliding surface slope and switching (sign) function. This controller improves the stability and robustness, reduces the chattering as well and reduces the level of energy due to the torque performance as well.
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.
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.