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RISS 인기검색어
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- 저자 : Hassan Salarieh (검색결과 3 건)
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Masoud Yazdani,Hassan Salarieh,Mahmoud Saadat Foumani 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.6
Animal walking is one of the most robust and adaptive locomotion mechanisms in the nature, involves sophisticated interactions between neural and biomechanical levels. It has been suggested that the coordination of this process is done in a hierarchy of levels. The lower layer contains autonomous interactions between muscles and spinal cord and the higher layer (e.g. the brain cortex) interferes when needed. Inspiringly, in this study we present a hierarchical control architecture with a state of the art intrinsic online learning mechanism for a dynamicallywalking 5-link biped robot with compliant knee joints. As the biological counterpart, the system is controlled by independent control units for each joint at the lower layer. In order to stabilize the system, these units are driven by a sensory feedback from the posture of the robot. A central stabilizing controller at the upper layer arises in case of failing the units to stabilize the system. Consequently, the units adapt themselves by including online learning mechanism. We show that using this architecture, a highly unstable system can be stabilized with identicalsimple controller units even though they do not have any feedback from all other units of the robot. Moreover, this architecture may help to better understand the complex motor tasks in human.
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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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VEHICLE TRAJECTORY CHALLENGE IN PREDICTIVE ACTIVE STEERING ROLLOVER PREVENTION
Mohammad Ghazali,Mohammad Durali,Hassan Salarieh 한국자동차공학회 2017 International journal of automotive technology Vol.18 No.3
High center of mass vehicles are likely to rollover in extreme maneuvers. Available works present control strategies to prevent rollover. In these works, however, other important parameters such as path trajectory tracking are not a main concern. In this paper conflicts between rollover prevention and trajectory tracking is investigated. Model predictive control (MPC) is adopted to predict and avoid rollover while tracking desired trajectory. For this regard a model based future error estimation is introduced. The control framework predicts both rollover and trajectory error simultaneously. It avoids rollover while tries to track the trajectory. Simulation results for two controllers with and without trajectory tracking are presented. The results indicate that the controllers effectively limit rollover as a hard constraint while the trajectory tracking controller also minimizes and recovers the path error.
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