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RISS 인기검색어
- 검색키워드
- 저자 : Hamid Cheraghi (검색결과 7 건)
- 무료
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- 유료
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A Motor Vibration Control for Robot Arm with Application to Surgical Tools
Hamid Cheraghi,Farzin Piltan,Nasim Sobhani,Maryam Rahmani,Farzin Matin 보안공학연구지원센터 2015 International Journal of Hybrid Information Techno Vol.8 No.6
Multi Degree of Freedom Joints (MDJ) are typically thought to be used for industrial purposes however they are beginning to gain the attention of the medical field. A current application pertains to using the precision and stability of a robot arm with MDJ to assist in minimally invasive surgery. In this research, adaptive sliding mode controls are presented as robust controls for multi degree of freedom joints. The objective of the study is to design controls for actuators without the knowledge of boundary of uncertainties/disturbances by using an adaptive sliding mode control while elucidating the robustness of the adaptive sliding mode control. A sliding mode control provides for ultimate accuracy in the presence of the bounded disturbance/uncertainties, although the sliding mode control also causes chattering. Chattering is undesirable for use with robot medical tools, since it might causes damage to them with a subsequent loss of accuracy and oscillation on end-effectors tools. Such chatter is caused by overestimation of the controller gain. An adaptive sliding mode is proposed as a solution to the problems created by chattering.
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Literature Review on Matching Composite Sketches to Facial Photographs
Hamid Cheraghi,Hyo Jong Lee 대한전기학회 2017 정보 및 제어 심포지엄 논문집 Vol.2017 No.4
Establishing security in every society needs to practical activities and using emerging technologies which are extended by having positive influence in human life. Law enforcement agencies are using biometrical tools for apprehension of suspect on the large scale. In most of the cases the mugshot or photograph of suspect is not available so, two methods can help police for arresting the accused forensic sketch and composite sketch software. Composite sketch is generating facial sketch by selecting face components through software. In this research article, we have considered three most important methods for matching composite sketches to face photo: (i) Component Base Representation(CBR) algorithm, (ii) the FaceSketchID system, and (iii) Human Visual System Algorithms.
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Research on PID-Based Minimum Rule Base Fuzzy Controller in Active Joint Dental Automation
Farzin Matin,Hamid Cheraghi,Nasim Sobhani,Farzin Piltan,Maryam Rahmani 보안공학연구지원센터 2016 International Journal of Grid and Distributed Comp Vol.9 No.6
This paper describes the design intelligent based nonlinear controller for three dimensions joint dental robot manipulators in presence of uncertainty. Three-dimension joint dental robot manipulator has some important challenges such as nonlinearity, multi-input multi-output (MIMO), uncertainty in dynamic formulation, and coupling effect. To eliminate the effect of these challenge linear filter PID controller is introduce in this research. However, this controller has some advantages in certain condition but in uncertainty, it has problems. To improve this technique in presence of uncertainty, minimum rule base PID like fuzzy controller is introduced. This method reduces the rise-time, steady state error and improves the trajectory performance in uncertain condition. Stability and robustness improve in proposed method as well reduce the number of rule base.
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Design Active Intelligent Multi Degrees of Freedom Joint Controller for Dental Automation
Maryam Rahmani,Nasim Sobhani,Hamid Cheraghi Farzin Piltan,Farzin Matin 보안공학연구지원센터 2015 International Journal of Hybrid Information Techno Vol.8 No.10
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. However this technique is very essential to have the minimal pain and reduce bleeding but control of these robots/joints are very complicated. This paper proposes new fuzzy type sliding mode controller for multi-DOF joints to control of motor vibration. The fuzzy (PD+I)2 single-input single-output (SISO) fuzzy system is used to control of chattering in sliding mode controller. In most research al researchers wants to eliminate the chattering but, this research focuses on chattering control. Various operation situations such as the set point control and the trajectory control are simulated. The simulation results demonstrate that the chattering and the steady state errors, which usually occur in the classical sliding mode control, are limitation control and satisfactory trajectory tracking is achieved.
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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.
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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.
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