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RISS 인기검색어
- 검색키워드
- 저자 : Mehrdad Boroushaki (검색결과 4 건)
- 무료
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Mohammad Khodabakhsh,Mehrdad Boroushaki,Golamreza Vossoughi 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
In this paper, Artificial Neural Networks (ANN) has been used to identify the dynamics of robots used in haptic and master slave devices in order to improve transparency. In haptic and master slave devices, transparency depends on some factors such as robot"s mass and inertia, gravitational forces and friction [1]. In such systems, mass and inertia of the robot has an undesirable effect on the system outputs, which should be neutralized for improved transparency. The main purpose of this paper introducting a method to neutralize the undesirable effects of mass and inertia of the robot. A recurrent multilayer perceptron (RMLP) is used in a way that the inputs and outputs of the neural network are, respectively, the outputs and inputs of the robot mechanism. Hence, the desired outputs of the mechanism can be given to the neural network as inputs and corresponding required inputs of the robot mechanism can be obtained from the network"s output. With this method it is possible to eliminate the undesired influence of mass and inertia on the robot dynamics. The results are compared with the simulations. This comparison shows the effectiveness of using recurrent neural network to achieve this goal.
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Real-time Velocity Optimization of a Group of Autonomous Members via Ant Colony Optimization (ACO)
Ramin Vatankhah,Shahram Etemadi,Aria Alasty,Mehrdad Boroushaki,Gholamreza Vossoughi 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In this paper, the agent velocity in robotic swarm was determined by using Ant Colony optimization (ACO) algorithm to maximize the swarm center velocity. First briefly we present an analytical study of swarm motion in a quasi static environment, in which, motion of each member is being affected by interactive forces and an agent. Interactive effects on each member could be attractive or repulsive due to being far from or close to other members respectively. It is also considered that field of view of all members is limited, i.e. even the agent accesses its local information. Ant colony algorithm is a mathematical model of ants" behaviour in finding the shortest path between nest and food. The agent velocity in robotic swarm was determined by using ACO to maximize the swarm center velocity. The results show the high ability of this evolutionary algorithm in solving complicated dynamic optimization problems.
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Estimation of weibull parameters for wind energy application in Iran's cities
Sedghi, Majid,Hannani, Siamak K.,Boroushaki, Mehrdad Techno-Press 2015 Wind and Structures, An International Journal (WAS Vol.21 No.2
Wind speed is the most important parameter in the design and study of wind energy conversion systems. The weibull distribution is commonly used for wind energy analysis as it can represent the wind variations with an acceptable level of accuracy. In this study, the wind data for 11 cities in Iran have been analysed over a period of one year. The Goodness of fit test is used for testing data fit to weibull distribution. The results show that this data fit to weibull function very well. The scale and shape factors are two parameters of the weibull distribution that depend on the area under study. The kinds of numerical methods commonly used for estimating weibull parameters are reviewed. Their performance for the cities under study was compared according to root mean square and wind energy errors. The result of the study reveals the empirical, modified maximum likelihood estimate of wind speed with minimum error. Also, that the moment and modified maximum likelihood are the best methods for estimating the energy production of wind turbines.
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Estimation of weibull parameters for wind energy application in Iran’s cities
Majid Sedghi,Siamak K. Hannani,Mehrdad Boroushaki 한국풍공학회 2015 Wind and Structures, An International Journal (WAS Vol.21 No.2
Wind speed is the most important parameter in the design and study of wind energy conversion systems. The weibull distribution is commonly used for wind energy analysis as it can represent the wind variations with an acceptable level of accuracy. In this study, the wind data for 11 cities in Iran have been analysed over a period of one year. The Goodness of fit test is used for testing data fit to weibull distribution. The results show that this data fit to weibull function very well. The scale and shape factors are two parameters of the weibull distribution that depend on the area under study. The kinds of numerical methods commonly used for estimating weibull parameters are reviewed. Their performance for the cities under study was compared according to root mean square and wind energy errors. The result of the study reveals the empirical, modified maximum likelihood estimate of wind speed with minimum error. Also, that the moment and modified maximum likelihood are the best methods for estimating the energy production of wind turbines.
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