An industrial robot is defined by ISO 8373 as an automatically controlled, reprogrammable, multip... more An industrial robot is defined by ISO 8373 as an automatically controlled, reprogrammable, multipurpose manipulator programmable in three or more axes. The field of robotics may be more practically defined as the study, design and use of robot systems for manufacturing (a top-level definition relying on the prior definition of robot). Typical applications of robots include welding, painting, assembly, pick and place (such as packaging, palletizing and SMT), product inspection, aerospace, and testing; all accomplished with high endurance, speed, and precision. To have precision type of controller played an important role. This project focuses on the design, implementation and analysis of a high quality nonlinear controller for industrial PUMA robot manipulator, in presence of uncertainties. In this design sliding mode controller is the best candidate. Pure sliding mode controller can be used to control of partly known nonlinear dynamic parameters of robot manipulator. Conversely, pur...
A Field Programmable Gate Array (FPGAs) is a small Field Programmable Device (FPD) that supports ... more A Field Programmable Gate Array (FPGAs) is a small Field Programmable Device (FPD) that supports thousands of logic gates. FPGA is a high speed, low cost, short time to market and small device size. Technically speaking an FPGA can be used to solve any problem which is computable. This is trivially proven by the fact FPGA can be used to implement a Soft microprocessor. Their advantage lies in that they are sometimes significantly faster for some applications due to their parallel nature and optimality in terms of the number of gates used for a certain process. Specific applications of FPGAs include digital signal processing, software-defined radio, ASIC prototyping, medical imaging, computer vision, speech recognition, nonlinear control, cryptography, bioinformatics, computer hardware emulation, radio astronomy, metal detection and a growing range of other areas. Traditionally, FPGAs have been reserved for specific vertical applications where the volume of production is small. For t...
International Journal of Advanced Science and Technology, 2012
ABSTRACT This paper expands a sliding mode fuzzy controller which sliding surface gain is optimiz... more ABSTRACT This paper expands a sliding mode fuzzy controller which sliding surface gain is optimized by Gradient Descent Optimization Algorithm (GDOA). The main goal is to guarantee acceptable trajectories tracking between the second order nonlinear system (robot manipulator) actual and the desired trajectory. The fuzzy controller in proposed sliding mode fuzzy controller is based on Mamdani's fuzzy inference system (FIS) and it has one input and one output. The input represents the function between sliding function, error and the rate of error. The outputs represent torque, respectively. The GDOA is the most prominent iterative method for solving sparse systems of nonlinear equations. The GDOA is a composite of simple, elegant ideas that almost anyone can understand. Pure sliding mode fuzzy controller has difficulty in handling unstructured model uncertainties. To solve this problem applied GDOA to sliding mode fuzzy controller for adjusting the sliding surface gain (). Since the sliding surface gain () is adjusted by GDOA, it is nonlinear and continuous. GDOA sliding mode fuzzy controller is stable model-free controller which eliminates the chattering phenomenon without to use the boundary layer saturation function. Lyapunov stability is proved in GDOA sliding mode fuzzy controller based on switching (sign) function. This controller has acceptable performance in presence of uncertainty (e.g., overshoot=0.1%, rise time=0.6 second, steady state error = 1.1e-9 and RMS error=1.8e-9).
International Journal of Robotics and Automation, 2011
One of the most important challenges in the field of robotics is robot manipulators control with ... more One of the most important challenges in the field of robotics is robot manipulators control with acceptable performance, because these systems are multi-input multi-output (MIMO), nonlinear and uncertainty. Presently, robot manipulators are used in different (unknown and/or unstructured) situation consequently caused to provide complicated systems, as a result strong mathematical theory are used in new control methodologies to design nonlinear robust controller with acceptable performance (eg, minimum error, good ...
Myeloid neoplasms (MN) are heterogeneous clonal disorders arising from the expansion of hematopoi... more Myeloid neoplasms (MN) are heterogeneous clonal disorders arising from the expansion of hematopoietic stem and progenitor cells. In parallel with genetic and epigenetic dynamics, the immune system plays a critical role in modulating tumorigenesis, evolution and therapeutic resistance at the various stages of disease progression. Single-cell technologies represent powerful tools to assess the cellular composition of the complex tumor ecosystem and its immune environment, to dissect interactions between neoplastic and non-neoplastic components, and to decipher their functional heterogeneity and plasticity. In addition, recent progress in multi-omics approaches provide an unprecedented opportunity to study multiple molecular layers (DNA, RNA, proteins) at the level of single-cell or single cellular clones during disease evolution or in response to therapy. Applying single-cell technologies to MN holds the promise to uncover novel cell subsets or phenotypic states and highlight the conn...
This paper examines single input single output (SISO) chattering free variable structure control ... more This paper examines single input single output (SISO) chattering free variable structure control (VSC) which controller coefficient is on-line tuned by fuzzy backstepping algorithm. VSC methodology is selected as a framework to construct the control law and address the stability and robustness of the close loop system based on Lyapunove formulation. The main goal is to guarantee acceptable trajectories tracking between the robot arm actual output and the desired input. The proposed approach effectively combines the design technique from variable structure controller is based on Lyapunov and fuzzy estimator to estimate the nonlinearity of undefined system dynamic in backstepping controller. The input represents the function between variable structure function, error and the rate of error. The outputs represent fuel ratio, respectively. The fuzzy backstepping methodology is on-line tune the variable structure function based on adaptive methodology. The performance of the SISO VSC whic...
The application of design nonlinear controller such as computed torque controller in control of 6... more The application of design nonlinear controller such as computed torque controller in control of 6 degrees of freedom (DOF) robot arm will be investigated in this research. One of the significant challenges in control algorithms is a linear behavior controller design for nonlinear systems (e.g., robot manipulator). Some of robot manipulators which work in industrial processes are controlled by linear PID controllers, but the design of linear controller for robot manipulators is extremely difficult because they are hardly nonlinear and uncertain. To reduce the above challenges, the nonlinear robust controller is used to control of robot manipulator. Computed torque controller is a powerful nonlinear controller under condition of partly uncertain dynamic parameters of system. This controller is used to control of highly nonlinear systems especially for robot manipulators. To adjust this controller’s coefficient baseline methodology is used and applied to CTC.
First order delay system (FODS) is in class of nonlinear systems. In these systems design control... more First order delay system (FODS) is in class of nonlinear systems. In these systems design control algorithms are very important. In this research nonlinear terms of incremental Proportional Integral Derivative (PID) algorithm is used to nonlinear model-free integrate large amounts of control methodology in a single methodology. This work, proposes a developed method to design nonlinear based PID controller. In this methodology nonlinear model-free sliding mode algorithm help incremental PID to estimate and linearization of first order delay system. According to this research, the controller robustness improved based on nonlinear term of sliding mode algorithm and the chattering is reduced/eliminate based on PID incremental method.
An industrial robot is defined by ISO 8373 as an automatically controlled, reprogrammable, multip... more An industrial robot is defined by ISO 8373 as an automatically controlled, reprogrammable, multipurpose manipulator programmable in three or more axes. The field of robotics may be more practically defined as the study, design and use of robot systems for manufacturing (a top-level definition relying on the prior definition of robot). Typical applications of robots include welding, painting, assembly, pick and place (such as packaging, palletizing and SMT), product inspection, aerospace, and testing; all accomplished with high endurance, speed, and precision. To have precision type of controller played an important role. This project focuses on the design, implementation and analysis of a high quality nonlinear controller for industrial PUMA robot manipulator, in presence of uncertainties. In this design sliding mode controller is the best candidate. Pure sliding mode controller can be used to control of partly known nonlinear dynamic parameters of robot manipulator. Conversely, pur...
A Field Programmable Gate Array (FPGAs) is a small Field Programmable Device (FPD) that supports ... more A Field Programmable Gate Array (FPGAs) is a small Field Programmable Device (FPD) that supports thousands of logic gates. FPGA is a high speed, low cost, short time to market and small device size. Technically speaking an FPGA can be used to solve any problem which is computable. This is trivially proven by the fact FPGA can be used to implement a Soft microprocessor. Their advantage lies in that they are sometimes significantly faster for some applications due to their parallel nature and optimality in terms of the number of gates used for a certain process. Specific applications of FPGAs include digital signal processing, software-defined radio, ASIC prototyping, medical imaging, computer vision, speech recognition, nonlinear control, cryptography, bioinformatics, computer hardware emulation, radio astronomy, metal detection and a growing range of other areas. Traditionally, FPGAs have been reserved for specific vertical applications where the volume of production is small. For t...
International Journal of Advanced Science and Technology, 2012
ABSTRACT This paper expands a sliding mode fuzzy controller which sliding surface gain is optimiz... more ABSTRACT This paper expands a sliding mode fuzzy controller which sliding surface gain is optimized by Gradient Descent Optimization Algorithm (GDOA). The main goal is to guarantee acceptable trajectories tracking between the second order nonlinear system (robot manipulator) actual and the desired trajectory. The fuzzy controller in proposed sliding mode fuzzy controller is based on Mamdani's fuzzy inference system (FIS) and it has one input and one output. The input represents the function between sliding function, error and the rate of error. The outputs represent torque, respectively. The GDOA is the most prominent iterative method for solving sparse systems of nonlinear equations. The GDOA is a composite of simple, elegant ideas that almost anyone can understand. Pure sliding mode fuzzy controller has difficulty in handling unstructured model uncertainties. To solve this problem applied GDOA to sliding mode fuzzy controller for adjusting the sliding surface gain (). Since the sliding surface gain () is adjusted by GDOA, it is nonlinear and continuous. GDOA sliding mode fuzzy controller is stable model-free controller which eliminates the chattering phenomenon without to use the boundary layer saturation function. Lyapunov stability is proved in GDOA sliding mode fuzzy controller based on switching (sign) function. This controller has acceptable performance in presence of uncertainty (e.g., overshoot=0.1%, rise time=0.6 second, steady state error = 1.1e-9 and RMS error=1.8e-9).
International Journal of Robotics and Automation, 2011
One of the most important challenges in the field of robotics is robot manipulators control with ... more One of the most important challenges in the field of robotics is robot manipulators control with acceptable performance, because these systems are multi-input multi-output (MIMO), nonlinear and uncertainty. Presently, robot manipulators are used in different (unknown and/or unstructured) situation consequently caused to provide complicated systems, as a result strong mathematical theory are used in new control methodologies to design nonlinear robust controller with acceptable performance (eg, minimum error, good ...
Myeloid neoplasms (MN) are heterogeneous clonal disorders arising from the expansion of hematopoi... more Myeloid neoplasms (MN) are heterogeneous clonal disorders arising from the expansion of hematopoietic stem and progenitor cells. In parallel with genetic and epigenetic dynamics, the immune system plays a critical role in modulating tumorigenesis, evolution and therapeutic resistance at the various stages of disease progression. Single-cell technologies represent powerful tools to assess the cellular composition of the complex tumor ecosystem and its immune environment, to dissect interactions between neoplastic and non-neoplastic components, and to decipher their functional heterogeneity and plasticity. In addition, recent progress in multi-omics approaches provide an unprecedented opportunity to study multiple molecular layers (DNA, RNA, proteins) at the level of single-cell or single cellular clones during disease evolution or in response to therapy. Applying single-cell technologies to MN holds the promise to uncover novel cell subsets or phenotypic states and highlight the conn...
This paper examines single input single output (SISO) chattering free variable structure control ... more This paper examines single input single output (SISO) chattering free variable structure control (VSC) which controller coefficient is on-line tuned by fuzzy backstepping algorithm. VSC methodology is selected as a framework to construct the control law and address the stability and robustness of the close loop system based on Lyapunove formulation. The main goal is to guarantee acceptable trajectories tracking between the robot arm actual output and the desired input. The proposed approach effectively combines the design technique from variable structure controller is based on Lyapunov and fuzzy estimator to estimate the nonlinearity of undefined system dynamic in backstepping controller. The input represents the function between variable structure function, error and the rate of error. The outputs represent fuel ratio, respectively. The fuzzy backstepping methodology is on-line tune the variable structure function based on adaptive methodology. The performance of the SISO VSC whic...
The application of design nonlinear controller such as computed torque controller in control of 6... more The application of design nonlinear controller such as computed torque controller in control of 6 degrees of freedom (DOF) robot arm will be investigated in this research. One of the significant challenges in control algorithms is a linear behavior controller design for nonlinear systems (e.g., robot manipulator). Some of robot manipulators which work in industrial processes are controlled by linear PID controllers, but the design of linear controller for robot manipulators is extremely difficult because they are hardly nonlinear and uncertain. To reduce the above challenges, the nonlinear robust controller is used to control of robot manipulator. Computed torque controller is a powerful nonlinear controller under condition of partly uncertain dynamic parameters of system. This controller is used to control of highly nonlinear systems especially for robot manipulators. To adjust this controller’s coefficient baseline methodology is used and applied to CTC.
First order delay system (FODS) is in class of nonlinear systems. In these systems design control... more First order delay system (FODS) is in class of nonlinear systems. In these systems design control algorithms are very important. In this research nonlinear terms of incremental Proportional Integral Derivative (PID) algorithm is used to nonlinear model-free integrate large amounts of control methodology in a single methodology. This work, proposes a developed method to design nonlinear based PID controller. In this methodology nonlinear model-free sliding mode algorithm help incremental PID to estimate and linearization of first order delay system. According to this research, the controller robustness improved based on nonlinear term of sliding mode algorithm and the chattering is reduced/eliminate based on PID incremental method.
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Papers by Iman Nazari