An Adaptive sliding surface slope adjustment in PD Sliding Mode Fuzzy Control for Robot Manipulator

Farzin Piltan,Nasri Sulaiman,Samira Soltani,M. H. Marhaban,R. Ramli 보안공학연구지원센터(IJCA) 2011 International Journal of Control and Automation Vol.4 No.2

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.

Hand Tremors Reduction Based on Integral Intelligent Filter Computed Torque Controller

Mahdi Mirshekaran,Farzin Piltan,Nasri Sulaiman,Alireza Salehi,Meysam Kazeminasab,Zahra Esmaeili 보안공학연구지원센터 2015 International Journal of Bio-Science and Bio-Techn Vol.7 No.1

Computed torque controller (CTC) is one of the types of feedback linearization nonlinear controller. This controller works very well in certain positions. However this controller has many advantages in certain conditions but it has challenges in uncertainty. The main challenge in CTC is fluctuations in uncertainties. In this research low pass filter is used to reduce the fluctuations in CTC. To improve the result of this controller intelligent CTC is recommended based on fuzzy logic engineering. In this research fuzzy logic theory is used to tune the new low pass filter CTC coefficients. The process of setting of integral intelligent Computed Torque Controller can be determined as an optimization task. Over the years, use of intelligent strategies for tuning of these controllers has been growing. This research is used to reduce or eliminate the computed torque controller problem based on low pass filter and fuzzy logic theory to control of flexible robot manipulator system and testing of the quality of process control in the simulation environment of MATLAB/SIMULINK Simulator.

Design High Frequency Surgical Robot Controller : Design FPGA-Based Controller for Surgical Robot Manipulator Simscape Modeling

Ali Taghizadegan,Farzin Piltan,Nasri. B Sulaiman 보안공학연구지원센터 2016 International Journal of Hybrid Information Techno Vol.9 No.5

Recent developments of robotics allocated many of industrial and medical activities. So that most of industries turned to use surgical robots in their production line or in their surgery. Being precise, spent less time-consuming, present uniform quality with less cost and reducing waste and energy are some advantages of using robots in industry. This paper has two important objectives: a) study on modeling and controlling of 4 degrees of freedom (DOF) based on Simscape software and b) design FPGA-based controller for this type of surgical robot manipulator. Simscape provides an environment for modeling and simulating physical systems. Simscape modeling can be designed to control and test system-level performance. Conventional PID controller is a stable linear type model-free controller that reduces the delay time in highly nonlinear system. In this research, linear controller need real time mobility operation, and one of the most important devices which can be used to solve this challenge is Field Programmable Gate Array (FPGA). FPGA can be used to design a controller in a single chip Integrated Circuit (IC). To design PID type FPGA-based controller two types algorithm are needed: derivative algorithm and integral algorithm. In HDL based derivative algorithm the minimum input arrival time before clock is 16.466 ns and the maximum frequency is 60.73 MHz, but in the best design action, the maximum frequency to design this single chip algorithm should be 63.629 MHz. In HDL integral algorithm the minimum input arrival time before clock is 15.599 ns and the maximum frequency is 64.1 MHz, but in the best design action, the maximum frequency to design this single chip algorithm should be 178.190 MHz.

Nonlinear Model-Free Control and ARX Modeling of Industrial Motor

Maryam Sarostad,Farzin Piltan,Fatemeh Dehghan Ashkezari,Nasri B. Sulaiman 보안공학연구지원센터 2016 International Journal of Smart Home Vol.10 No.12

System identification is one of the main challenges in real time control. To design the best controller for linear or nonlinear systems, mathematical modeling is the main challenge. To solve this challenge conventional and intelligent identification are recommended. The second important challenge in the field of control theory is, design high-performance controller. To improve the performance of controller, two factors are very important: 1) high performance mathematical or intelligent modeling, 2) chose the best controller for the system. This paper has two main objectives: after data collection from position motor from industry the first objective is modeling and system identification based on Auto-Regressive with eXternal model input (ARX) and defined Z-function and Sfunction and the second objective is; design the high-performance controller to have the minimum rise time and error.

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.

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.

Fuzzy Hype-Plane Variable Sliding Mode Control to Reduce Joint Vibrations

Mahmoud Reza Safaei Nasrabad,Ehsan Pouladi,Ghasem Sahamijoo,Alireza Salehi,Farzin Piltan,Nasri b. Sulaiman 보안공학연구지원센터 2014 International Journal of u- and e- Service, Scienc Vol.7 No.5

The sliding mode controller is used to speed up the error convergence when the error is greater than one. To reduce the error terminal sliding mode controller is recommended in this research. Fuzzy hype-plane variable sliding mode controller is adopted to guarantee the error convergence to zero in a finite time when the error is around the zero. The chattering in the conventional sliding model control systems is avoided with the employed continuous controller. To increase the system robustness in presence of uncertainty fuzzy logic controller is recommended. This technique is used to adjust the band of terminals. The simulation results show that the proposed scheme has strong robust against the uncertainties and disturbances, as well as leads to the convergence of the output to the desired value quickly and precisely than employing either sliding mode controller or terminal sliding mode controller alone.

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.