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RISS 인기검색어
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- 저자 : Ramin Vatankhah (검색결과 3 건)
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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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Ramin Vatankhah,Ali Najafi,Hassan Salarieh,Aria Alasty 대한기계학회 2014 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.28 No.2
In non-classical micro-beams, the strain energy of the system is obtained based on the non-classical continuum mechanics. This paperpresents the problem of boundary control of a vibrating non-classical micro-cantilever Timoshenko beam to achieve the asymptotic decayrate of the closed loop system. For this aim, we need to establish the well- posedness of the governing partial differential equations(PDEs) of motion in presence of boundary feedbacks. A linear control law is constructed to suppress the system vibration. The controlforces and moments consist of feedbacks of the velocities and spatial derivatives of them at tip of the micro-beam. To verify the effectivenessof the proposed boundary controllers, numerical simulations of the open loop and closed loop PDE models of the system areworked out using finite element method (FEM). New Timoshenko beam element stiffness and mass matrices are derived based on thestrain gradient theory and verification of this new beam element is accomplished.
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Fuzzy sliding‐mode control of a human arm in the sagittal plane with optimal trajectory
Fateme Fotouhi Ardakani,Ramin Vatankhah,Mojtaba Sharifi 한국전자통신연구원 2018 ETRI Journal Vol.40 No.5
Patients with spinal cord injuries cannot move their limbs using their intact muscles. A suitable controller can be used to move their arms by employing the functional electrical stimulation method. In this article, a fuzzy exponential sliding‐mode controller is designed to move a musculoskeletal human arm model to track an optimal trajectory in the sagittal plane. This optimal arm trajectory is obtained by developing a policy for the central nervous system. In order to specify the optimal trajectory between two points, two dynamic and static optimal criteria are applied simultaneously. The first dynamic objective function is defined to minimize the joint torques, and the second static optimization is offered to minimize the muscle forces at each moment. In addition, fuzzy logic is used to tune the sliding‐surface parameter to enable an appropriate tracking performance. Simulation results are evaluated and compared with experimental data for upward and downward movements of the human arm.
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