Design SPARTAN FPGA-Based PD Controller for FOD Systems

Amirzubir Sahamijoo,Farzin Piltan,Hootan Ghiasi,Mohammad Reza Avazpour,Mohammad Hadi Mazloom,Nasri B. Sulaiman 보안공학연구지원센터 2016 International Journal of Smart Home Vol.10 No.11

It goes without saying that, there is quite a diverse mixture of the linear controller. Nevertheless, I assume the most famous would probably be Proportional Integral (PI) controller. The things with PI controller are that most of PI controllers are reduction the error. As well as PI controllers, another kind of linear controller worth mentioning could be Proportional Derivative (PD) controller and the unique characteristic of PD controller is that PD controllers are high speed and independent of system’s dynamic modeling. In addition, there are the usual things like PID controllers and PI2D controllers. The main objective of this paper designs a minimum delay proportional-derivative (PD) controller to the control of first order delay (FOD) system. First order delay system has delay time about 4 seconds in certain and about 19 seconds in limited uncertain condition. To improve the flexibility, design high-speed and low-cost controller, the micro-electronic device (FPGA-Based) controller is used in this research. The proposed design is 30-bits FPGA-based controller for inputs and 35-bits for output. In this research, the maximum frequency is 63.629 MHz and the minimum period is 15.716 ns, the minimum input arrival time before the clock is 4.362 ns and the maximum output required time after clock is19.727 ns. In this algorithm, the delay time for the derivative algorithm is 15.526 ns which 87.8% is a logic delay and 12.2% is route delay.

Functional-Based Auto-Tuned IC Engine

Amirzubir Sahamijoo,Farzin Piltan,Shahnaz Tayebihaghighi,Nasri b Sulaiman 보안공학연구지원센터 2016 International Journal of u- and e- Service, Scienc Vol.9 No.12

One of the most familiar challenge of air pollution over the cities is smog hanging. The effects of inhaling particulate matter have been studied in humans and animals and include asthma, lung cancer, cardiovascular issues, and premature death. There are, however, some additional products of the combustion process that include nitrogen oxides and sulfur and some un-combusted hydrocarbons, depending on the operating conditions and the fuel-air ratio. one of the important parameters to the control of lung cancer in big cities around the world is tuning the fuel to air ratio. To tuning the fuel to air ratio, functional based nonlinear controller is introduced. A mathematical function is used to improve the performance of the tuning the fuel to air ratio.

Methodologies of Chattering Attenuation in Sliding Mode Controller

Amirzubir Sahamijoo,Farzin Piltan,Mohammad Hadi Mazloom,Mohammad Reza Avazpour,Hootan Ghiasi,Nasri B. Sulaiman 보안공학연구지원센터 2016 International Journal of Hybrid Information Techno Vol.9 No.2

Uncertain or complicated systems are difficult to control. Modeling the system uncertainties is an especial topics in most of engineering field. On the other hand, since system has uncertainty, design stable and robust controller is crucial importance in control engineering. To solve this challenge nonlinear control technique is the best choice. Sliding mode control is one important type of robust control. Model imprecision may come from actual uncertainty about the plant or from a purposeful simplification of the system's dynamics. Modeling inaccuracies can cause strong adverse effects on the control design of nonlinear systems. For the class of systems to which it applies, sliding mode controller design provides a systematic approach to the problem of maintaining stability and consistent performance in the face of modeling imprecision. However, sliding mode controller is a robust and stable controller but it has an important challenge called, chattering phenomenon. This research focuses on the comparative between three methods to eliminate/reduce the chattering.

Robust Auto-Intelligent Sliding Accuracy for High Sensitive Surgical Joints

Amirzubir Sahamijoo,Farzin Piltan,Mohammad Reza Avazpour,Hootan Ghiasi,Mohammad Hadi Mazloom 보안공학연구지원센터 2015 International Journal of Hybrid Information Techno Vol.8 No.8

The use of robots in medical applications has increased considerably in the last decade. Today, there are robots being used in complex surgeries such as those of the brain, eye, heart, and hip. Complex surgeries have complex requirements, such as high precision, reliability over multiple and long procedures, ease of use for physicians and other personnel, and a demonstrated advantage, to the patient, of using a robot. Furthermore, all new technologies in the medical area have to undergo strict regulatory clearance procedures, which may include clinical trials, as outlined by various government regulatory agencies. Variable Structure controller is a powerful nonlinear robust controller under condition of partly uncertain dynamic parameters of system. This controller is used to control of highly nonlinear systems especially for surgical joints. Limitation of robustness in uncertain dynamic parameter is the main drawback in pure Variable Structure controller. This challenge in pure Variable Structure controller and intelligent Variable Structure controller is reduced by using sliding surface auto-tuning. Artificial intelligence theory is used to reduce the system’s limitation. In this research, PI fuzzy sliding surface tuning Variable Structure controller is introduced. To eliminate the uncertain limitation, 49 rules Mamdani inference system is design and supervised the Variable Structure methodology. This method is based on resolve the on line sliding surface slope as well as improve the output performance by tuning the sliding surface slope coefficient. The sliding surface gain () of this controller is adjusted online depending on the last values of error () and integral of error (Σ) by sliding surface slope updating factor (). Fuzzy-based tuning controller is stable controller, which does not need to limits the dynamic model of surgical joints.

Fuzzy Surface Slope Auto Tuner for Medical Robot

Somayeh Jowkar,Farzin Piltan,Amirzubir Sahamijoo,Ali Taghizadegan,Rouhollah Bahrami,Hossein Rashidi Bod,Nasri. B Sulaiman 보안공학연구지원센터 2016 International Journal of Bio-Science and Bio-Techn Vol.8 No.6

Medical robots are sensitive tools to improve the surgery’s performance. One of the most active research area in this field is control of medical robot. In this research, nonlinear, stable and robust Sliding Mode controller (SMC) is used as a based controller. This algorithm works based on the functional operation. The main traditional functions for this algorithm are switching and saturation functions. In this research, fuzzy algorithm is used to design a unique function to adjust the output performance. According to this research, the chattering eliminated based on applied modified sliding function, which is more robust than conventional sliding mode controller.

Intelligent Prevent the Risk of Carcinoma of the Lung Progression

Sareh Mohammadi Jaberi,Farzin Piltan,Amirzubir Sahamijoo,Nasri b Sulaiman 보안공학연구지원센터 2015 International Journal of Bio-Science and Bio-Techn Vol.7 No.4

Smog hanging over cities is the most familiar and obvious form of air pollution. The effects of inhaling particulate matter have been studied in humans and animals and include asthma, lung cancer, cardiovascular issues, and premature death. There are, however, some additional products of the combustion process that include nitrogen oxides and sulfur and some un-combusted hydrocarbons, depending on the operating conditions and the fuel-air ratio. Tuning the fuel to air ratio caused to control the lung cancer. Lung cancers are tumors arising from cells lining the airways of the respiratory system. Design of a robust nonlinear controller for automotive engine can be a challenging work. This research paper focuses on the design and analysis of a high performance PID like fuzzy controller for automotive engine, in certain and uncertain condition. The proposed approach effectively combines of design methods from linear Proportional-Integral-Derivative (PID) controller and fuzzy logic theory to improve the performance, stability and robustness of the automotive engine. To solve system’s dynamic nonlinearity, the PID fuzzy logic controller is used as a PID like fuzzy logic controller. The PID like fuzzy logic controller is updated based on gain updating factor. In this methodology, fuzzy logic controller is used to estimate the dynamic uncertainties. In this methodology, PID like fuzzy logic controller is evaluated. PID like fuzzy logic controller has three inputs, Proportional (P), Derivative (D), and Integrator (I), if each inputs have linguistic variables to defined the dynamic behavior, it has ×× linguistic variables. To solve this challenge, parallel structure of a PD-like fuzzy controller and PI-like fuzzy controller is evaluated. In the next step, the challenge of design PI and PD fuzzy rule tables are supposed to be solved. To solve this challenge PID like fuzzy controller is replaced by PD-like fuzzy controller with the integral term in output. This method is caused to design only PD type rule table for PD like fuzzy controller and PI like fuzzy controller.

Robust Auto-Intelligent Sliding Accuracy for High Sensitive Surgical Joints

Mohammad Hadi Mazloom,Farzin Piltan,Amirzubir Sahamijoo,Mohammad Reza Avazpour,Hootan Ghiasi,Nasri B. Sulaiman 보안공학연구지원센터 2016 International Journal of Bio-Science and Bio-Techn Vol.8 No.1

The objective of this paper is to design and coordinate controllers that will enhance transient stability of three dimensions motor subject to large disturbances. Two specific classes of controllers have been investigated, the first one is a type of disturbance signals added to the excitation systems of the generating units. To address a wide range of operating conditions, a nonlinear control design technique, called highly nonlinear computed torque control, is used. While these two types of controllers improve the dynamic performance significantly, a coordination of these controllers is even more promising. Results show that the proposed control technique provides better stability than conventional computed torque fixed gain controllers.

Trajectory Tracking Control of Multi Degrees of Freedom Joints: Robust Fuzzy Logic-Based Sliding Mode Approach

S.Yauldegar,Hootan Ghiasi,Mohammad Hadi Mazloom,Amirzubir Sahamijoo,Mohammad Reza Avazpour,Farzin Piltan 보안공학연구지원센터 2014 International Journal of Control and Automation Vol.7 No.12

The multi degrees of freedom actuator is an important joint, which has attracted worldwide developing interests for its medical, industry and aerospace applications. This paper addresses the problem of trajectory tracking of three dimensions joint in the presence of model uncertainties and external disturbances. An adaptive fuzzy sliding mode controller (AFLSMC) is proposed to steer a three dimension joint along a desired trajectory precisely. First, the dynamics model of a three dimension joint is formulated and the trajectory tracking problem is described. Second, a sliding mode controller (SMC) is designed to track a time-varying trajectory. The fuzzy logic system (FLS) is employed to approximate the uncertain model of the three dimension joint, with the tracking error and its derivatives and the commanded trajectory and its derivatives as FLS inputs and the approximation of the uncertain model as FLS output. And a fuzzy logic system is also adopted to attenuate the chattering results from the SMC. The control gains are tuned synchronously with the sliding surface according to fuzzy rules, with switching sliding surface as fuzzy logic inputs and control gains as fuzzy logic outputs. The stability and convergence of the closed-loop controller is proven using the Lyapunov stability theorem. Finally, the effectiveness and robustness of the proposed controller are demonstrated via simulation results. Contrasting simulation results indicate that the AFLSMC attenuates the chattering effectively and has better performance against the SMC.

Research on First Order Delays System Automation

Mohammad Reza Avazpour,Farzin Piltan,Mohammad Hadi Mazloom,Amirzubir Sahamijoo,Hootan Ghiasi,Nasri B. Sulaiman 보안공학연구지원센터 2015 International Journal of Grid and Distributed Comp Vol.8 No.4

Many of industrial plant require high performance and linear operation; higher density position and/or incremental PID can be used to integrate large amounts of control methodology in a single methodology. This work, proposes a developed method to design PID controller (PID) with optimal-tunable gains method using PC-based method. Many industrial processes can be represented by a first order model. The time delay occurs when a sensor or an actuator are used with a physical separation. The method used to design a PID is to design it as Proportional – derivative controller (PDC) and proportional – integral controller (PIC) connected in parallel through a summer. PIC is designed by accumulating the output of PDC. This method contributes to avoid writing a huge number of fuzzy rules and to reduce the memory considerations in digital design.

Design Sensitive Model Reference Controller with Application to Medical Technology

Rouhollah Bahrami,Samira Soltani,Hossein Rashidi Bod,Somayeh Jowkar,Amirzubir Sahamijoo,Ali Taghizadegan,Nasri. B Sulaiman 보안공학연구지원센터 2016 International Journal of Hybrid Information Techno Vol.9 No.7

The past two decades have seen the incorporation of robotics into medical applications. From a manufacturing perspective, robots have been used in pharmaceuticals, preparing medications. But on more novel levels, robots have been used in service roles, surgery, and prosthetics. The capability of high-precision operation in manufacturing settings gave the medical industry high hopes that robots could be used to assist in surgery. Not only are robots capable of much higher precision than a human, they are not susceptible to human factors, such as trembling and sneezing, that are undesirable in the surgery room. Another advantage to robots in medicine is the ability to perform surgery with very small incisions, which results in minimal scar tissue, and dramatically reduced recovery times. The popularity of these minimally invasive surgical (MIS) procedures has enabled the incorporation of robots in surgeries. In this paper, model reference computed torque controller is recommended for four degrees of freedom serial links robot manipulator, which modeled in SIMSCAPE. To design stable controller conventional computed torque controller is recommended. It is a nonlinear, stable, and reliable controller. The proposed approach effectively combines of design methods from nonlinear controller, and linear Proportional-Derivative (PD) control to improve the performance and stability. This paper has two important objectives: a) study on modeling of 4 degrees of freedom (DOF) based on Simscape software and b) design PD model reference computed torque controller to improve the sensitivity of surgical robot manipulator.