Design FPGA-Based Fuzzification Algorithm for Model-free Control Techniques

Farzin Piltan,Maryam Rahmani,Omid Mahmoudi,Meysam Esmaeili,Mohammad Ali Tayebi,Mahsa Piltan,Hamid Cheraghi 보안공학연구지원센터 2016 International Journal of Hybrid Information Techno Vol.9 No.8

Many of fuzzy control applications require real-time operation; higher density programmable logic devices such as field programmable gate array (FPGA) can be used to integrate large amounts of logic in a single IC. This work, proposes a developed method to fuzzifier algorithm with optimal-tunable gains method-using FPGA. The maximum frequency in FPGA-based design is about 72.4 MHz and the delay time in this design is about 13.78 ns. It is observed that this algorithm is able to make as a fast response at 13.78 clock period with 72.4 of a maximum frequency and 2.1 ns for minimum input arrival time after clock. From investigation and synthesis summary, 24.3 for maximum input arrival time after clock with 13.9 MHZ frequencies, this design has 13.78 ns delays for each controller to 46 logic elements and the offset before CLOCK is 82.1 ns.

Research on FPGA-Based Controller for Nonlinear System

Farzin Piltan,Maryam Rahmani,Meysam Esmaeili,Mohammad Ali Tayebi,Mahsa Piltan Hamid Cheraghi,Mohammad R. Rashidian,Arzhang Khajeh 보안공학연구지원센터 2015 International Journal of u- and e- Service, Scienc Vol.8 No.3

Many of linear control applications require real-time operation; higher density programmable logic devices such as field programmable gate array (FPGA) can be used to integrate large amounts of logic in a single IC. This work, proposes a developed method to design PD controller (PDC) with optimal- gains using FPGA. The method used to design PD controller is to design it as digital design Proportional and Derivative controller in parallel through the summer. The proposed design is 32-bits FPGA-based controller (32PDC), which uses 32-bits for each input/output variable. The single joint of robot is used to test the controller in simulation environments, using VHDL code for the purpose of simulation in Xilinx. The same design is coded in MATLAB environment (MPDC) in order to make a comparison with the proposed FPGA-based design. PDC needs 16 clock cycles to complete one action with maximum frequency of 108.5 MHz. 32PDC is able to produce an output in 13.24 MHz with the robot system. Therefore, the proposed controller will be able to control a wide range of the systems with high sampling rate and 75.545 ns delays.

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.

PEG-Mediated Catalyst-Free Expeditious Synthesis of Functionalized Benzene/Biaryl and Fluoren-9-one Derivatives from Activated Acetylenes and 1,3-Diones

Piltan, Mohammad,Yavari, Issa,Moradi, Loghman,Zarei, Seyed Amir Korean Chemical Society 2012 대한화학회지 Vol.56 No.3

Poly(ethylene glycol) (PEG) has been used as a sustainable, non-volatile, and environmentally friendly reaction solvent for the synthesis of functionalized benzene/biaryl and fluoren-9-one derivatives from activated acetylenes and 1,3-diones at $100^{\circ}C$. No additional solvent and catalyst are required.

FPGA-based ARX-Laguerre PIO fault diagnosis in robot manipulator

Piltan, Farzin,Kim, Jong-Myon Techno-Press 2018 Advances in robotics research Vol.2 No.1

The main contribution of this work is the design of a field programmable gate array (FPGA) based ARX-Laguerre proportional-integral observation (PIO) system for fault detection and identification (FDI) in a multi-input, multi-output (MIMO) nonlinear uncertain dynamical robot manipulators. An ARX-Laguerre method was used in this study to dynamic modeling the robot manipulator in the presence of uncertainty and disturbance. To address the challenges of robustness, fault detection, isolation, and estimation the proposed FPGA-based PI observer was applied to the ARX-Laguerre robot model. The effectiveness and accuracy of FPGA based ARX-Laguerre PIO was tested by first three degrees of the freedom PUMA robot manipulator, yielding 6.3%, 10.73%, and 4.23%, average performance improvement for three types of faults (e.g., actuator fault, sensor faults, and composite fault), respectively.

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.

Design FPGA-Based Chattering-free Sliding Mode Controller for PUMA Robot Manipulator

Mahsa Piltan,Abdolwahab Kazerouni,Ali Rafie 보안공학연구지원센터 2015 International Journal of Hybrid Information Techno Vol.8 No.12

Design of a robust controller for multi input-multi output (MIMO) nonlinear uncertain dynamical system can be a challenging work. This research focuses on the design and analysis of a high performance chattering free PD plus PD partly sliding mode controller in presence of uncertainties. In this research, sliding mode controller is a robust and stable nonlinear controller, which selected to control of robot manipulator. The proposed approach effectively combines of design methods from switching sliding mode controller, and linear Proportional-Derivative (PD) control to improve the performance, stability and robustness of the sliding mode controller. 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. To improve the flexibility, design high speed and low cost controller, micro-electronic device (FPGA-Based) controller is introduced in this research. The proposed design is 30-bits FPGA-based controller for inputs and 35-bits for output. All joints of robot are used to test the controller in simulation environments, using VHDL code for the purpose of simulation in Xilinx. The maximum frequency in FPGA-based design is about 63.6 MHz and the delay time in this design is about 15.7 ns. It is observed that this controller is able to make as a fast response at 15.716 clock period with 63.6 of a maximum frequency and 4.407 for minimum input arrival time after clock. From investigation and synthesis summary, 30.286 for maximum input arrival time after clock with 33.018 frequencies, this design has 15.716 delays for each controller to 46 logic elements and the offset before CLOCK is 55.773 for 132 logic gates.

Design Active Robot Controller for Dental Automation

Farzin Piltan,Sara Yekband,Rezvan Mirzaie,Samira Soltani,Nasri. B Sulaiman,Amin Jalali 보안공학연구지원센터 2015 International Journal of u- and e- Service, Scienc Vol.8 No.4

Following the developments in industrial robot technology, robotics has found its way into the medical field and is used in a range of surgical disciplines. The main purpose of the use of robots is to increase the precision, quality and safety of surgical procedures. Robotics is not yet used in dentistry even though all the necessary technologies have already been developed and could easily be adapted. Some of the technologies are already used in dentistry, such as image-based simulation of implant surgery followed by the use of surgical guides, and creating digital impressions of pre parathions using an intra-oral scanner, after which a milling device produces the restoration, but we have not yet seen any robot able to prepare teeth for crowns, inlays or bridges. Such a robot would fundamentally be a dental drilling device coupled with a navigation device to determine the correct position of the device in relation to the patient. The robot would either be operated directly by a dentist or be preprogrammed to perform its functions based on imaging data (CT scan). Finally, an intra-oral scanner would be used to make digital impressions. This data would then be transferred to the lab to produce temporary crowns or bridges in a very short time using a milling machine and to manufacture the final restorations in much shorter time than with conventional procedures. Robotics could offer dentistry improved accuracy, predictability, safety, quality of care and speed of treatment. One might wonder why robots have not yet been introduced to dentistry, as the functions needed are relatively simple. An explanation could be that robotics in dentistry is an example of a disruptive technology, meaning that the current manufacturers of dental equipment might fear a negative effect on their current business and the alienation of dentists, as robots might be seen as a threat to dental professionals. The passive robotic arm will sense the patient’s movement, sending feedback in the form of translation and rotation data to the dental robot giving it the capability to adjust. This device will address the age-old problem in dentistry – precision and safety. This research focuses on the intelligent control of dental drilling procedures on a stationary object. This project addresses the ability of the system to detect movement of the object and accordingly adjust the drill before continuing the procedure.

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.

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