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Optimal Predictive Impedance Control in the Presence of Uncertainty for a Lower Limb Rehabilitation Robot

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Journal of Systems Science & Complexity 2020年第5期33卷 1310-1329页

作者： JALAEIAN-F.Mohsen fateh mohammad Mehdi RAHIMIYAN Morteza Department of Electrical and Robotic Engineering Shahrood University of TechnologyShahroodIran

As an innovative concept,an optimal predictive impedance controlle is introduced here to control a lower limb rehabilitation robo in the presence of *** desired impedance law is considered to propose a conventional model-based impedance controller for the ***,external disturbances,model imperfection,and parameters uncertainties reduce the performance of the controller in *** order to cope with these uncertainties,an optimal predictive compensator is introduced as a solution for a proposed convex optimization problem,which is performed on a forward finite-length *** a result,the LLRR has the desired behavior even in an uncertain *** performance and efficiency of the proposed controller are verified by the simulation results.

关键词： Impedance control lower limb rehabilitation robots model predictive compensator optimal predictive impedance controller optimization in the presence of uncertainty

Growth and Yield of Sesame (<i>Sesamum indicum</i>L.) under the Influence of Planting Geometry and Irrigation Regimes

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American Journal of Plant Sciences 2015年第7期6卷 980-986页

作者： Asif Nadeem Shahabudin Kashani Nazeer Ahmed Mahmooda Buriro Zahid Saeed fateh mohammad Shafeeque Ahmed Agriculture Extension Panjgoor Pakistan Livestock Research Institute Turbat Pakistan Sindh Agriculture University Tandojam Pakistan

A field study to evaluate the “growth and yield of sesame (Sesamum indicum L.) under the influence of planting geometry and irrigation regimes” was carried out at Oilseeds Section, Agriculture Research Institute, Tandojam located at (25°25'60"N, 68°31'60"E) during Kharif 2013. The experiment was laid out in a three replicated randomized complete block design (RCBD) factorial, having net plot size 3 × 3 m (9 m2). The treatments comprised three planting geometry (30 × 20 cm, 45 × 15 cm and 60 × 10 cm) and three irrigation regimes (2 irrigations at 20 and 40 DAS, 3 irrigations at 20, 40 and 60 DAS and 4 irrigations at 20, 40, 60 and 80 DAS). The analysis of variance showed that all the planting geometry and irrigation regimes significantly (P -1 (15.67), capsules plant-1 (38.00), seeds capsule-1 (51.44), seed weight plant-1 (31.89 g), seed index (2.83 g), biological yield (2301.23 kg·ha-1), seed yield (742.33 kg·ha-1) and harvest index (30.44%), followed by planting geometry of 60 × 10 cm in all the parameters. However, minimum growth and yield traits of sesame were recorded under planting geometry of 30 × 20 cm. Moreover, plant height was maximum (99.89 cm) under planting geometry of 30 × 20 cm. Among irrigation regimes, four irrigations (20, 40, 60 and 80 DAS) recorded maximum plant height (103.33 cm), branches plant-1 (16.44), capsules plant-1 (41.22), seeds capsule-1 (54.56), seed weight plant-1 (33.22 g), seed index (2.92 g), biological yield (2321.21 kg·ha-1), seed yield (748.78 kg·ha-1) and harvest index (31.00%), followed by three irrigations (20, 40 and 60 DAS) almost in all the traits. However, minimum growth and yield traits of sesame were recorded when crop was applied two irrigations (20 and 40 DAS). In case of interactive effects, the interaction of planting geometry of 45 × 15 cm × four irrigations (20, 40, 60 and 80 DAS) resulted in maximum attributes, particularly seed yield (765.00 kg·ha-1), whereas minimum traits were noted in the interaction of plan

关键词： Sesame Planting Geometry Irrigation Regimes High Yield

Response of Various Sesame Varieties under the Influence of Nitrogen and Phosphorus Doses

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American Journal of Plant Sciences 2015年第2期6卷 405-412页

作者： Shahab-u-Din Kashani Mahmoodah Buriro Asif Nadeem Nazeer Ahmed Zahid Saeed fateh mohammad Shafeeque Ahmed Livestock Research Institute Turbat Pakistan Sindh Agriculture University Tandojam Pakistan Agriculture Extension Panjgoor Pakistan

A field study to evaluate the “Response of various sesame (Sesamum indicum L.) varieties under the influence of nitrogen and phosphorus doses’’ was carried out at Oilseeds Section, Agriculture Research Institute, Tandojam during Kharif 2013. The experiment was laid out in a three replicated randomized complete block design (RCBD) factorial, having net plot size 6 × 3 m (18 m2). The treatments comprised two varieties such as S-17 and Pr-125, and six doses of NP i.e. (No fertilizer (Control), NP @ 30 - 30 kg·ha-1, NP @ 50 - 30 kg·ha-1, NP @ 50 - 50 kg·ha-1, NP @ 70 - 50 kg·ha-1 and NP @ 70 - 70 kg·ha-1). The analysis of variance suggested that all the doses of NP affected significantly (P < 0.05) growth and yield of sesame varieties as compared to No fertilizer (Control) treatment. In the case of fertilizer doses, NP @ 70 - 70 kg·ha-1 produced maximum plant height (102.33 cm), branches plant-1 (18.50), capsules plant-1 (42.17), seeds capsule-1 (57.67), seed weight plant-1 (37.50 g), seed index (3.10 g) and seed yield (774.17 kg·ha-1), whereas NP @ 70 + 50 kg·ha-1 and NP @ 50 - 50 kg·ha-1 ranked 2nd and 3rd in all the growth and yield traits, particularly seed yield (763.50 kg·ha-1 and 694.50 kg·ha-1). Among sesame varieties, S-17 resulted in maximum plant height (91.89 cm), branches plant-1 (15.11), capsules plant-1 (37.06), seeds capsule-1 (50.56), seed weight plant-1 (32.00 g), seed index (2.63 g) and seed yield (682.11 kg·ha-1), whereas variety Pr-125 resulted in minimum traits, particularly seed yield (657.56 kg·ha-1). In the case of interactive effects, the interaction of NP @ 70 - 70 kg·ha-1 × variety S-17 produced maximum values, particularly seed yield (782.67), whereas minimum results were recorded in the interaction of No fertilizer (Control) × variety Pr-125. Hence results concluded that the interaction of NP @ 70 - 50 kg·ha-1 variety S-17 was found most economical for

关键词： Sesame NP Doses High Yield

Assessment of micro-scale heat exchangers efficiency using lattice Boltzmann method and design of experiments

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Energy and Built Environment

Energy and Built Environment 2024年第6期5卷 840-852页

作者： Mokhtar Ferhi Sameh Abidi Ridha Djebali fateh Mebarek-Oudina UR22ES12:Modeling Optimization and Augmented Engineering ISLAIBUniversity of JendoubaBéja 9000Tunisia Higher Institute of Humanities of Jendouba University of JendoubaTunisia Department of Management Information Systems College of Business AdministrationQassim UniversityAl-RassAl-QassimSaudi Arabia Department of Physics Faculty of SciencesUniversity of 20 août 1955-SkikdaB.P 26 Road El-HadaiekSkikda 21000Algeria Laboratoire des Matériaux et Génie Energétique(LMGE) University of 20 août 1955-SkikdaSkikda 21000Algeria

The study is focused on the use of nanofluids in a micro-open tall cavity,which is a type of micro heat exchanger(MHE).The cavity is heated from the bottom sidewall in a sinusoidal pattern,and the effects of four input parameters(Ra,Ha,Kn,and Vf)on heat transfer and irreversibility are investigated using numerical simulations based on Lattice Boltzmann Method(LBM).The findings of the study suggest that the local heat transfer on the bottom sidewall is strongly influenced by Ra and Ha,while the surface distribution of entropy generation is mainly dependent on *** study also shows that the optimization of the magnitude and wavelength of the sinusoidal temperature can improve both local heat transfer and surface distribution of entropy *** results of the study provide valuable insights into the design of micro heat exchangers and suggest that the optimization of micro-porous geometries using DOE could lead to increased energy *** study contributes to our understanding of the complex interactions between input parameters in micro heat exchangers and highlights the importance of considering multiple parameters in the design process.

关键词： MHD Slip flow regime Micro heat exchanger Design of experiments Optimization

A Precise Robust Fuzzy Control of Robots Using Voltage Control Strategy

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International Journal of Automation and computing 2013年第1期10卷 64-72页

作者： mohammad Mehdi fateh Sara fateh Department of Electrical and Robotic Engineering Shahrood University of Technology

Fuzzy control of robot manipulators with a decentralized structure is facing a serious challenge. The state-space model of a robotic system including the robot manipulator and motors is in non-companion form, multivariable, highly nonlinear, and heavily coupled with a variable input gain matrix. Considering the problem, causes and solutions, we use voltage control strategy and convergence analysis to design a novel precise robust fuzzy control （PRFC） approach for electrically driven robot manipulators. The proposed fuzzy controller is Mamdani type and has a decentralized structure with guaranteed stability. In order to obtain a precise response, we regulate a fuzzy rule which governs the origin of the tracking space. The proposed design is verified by stability analysis. Simulations illustrate the superiority of the PRFC over a proprotional derivative like （PD-like） fuzzy controller applied on a selective compliant assembly robot arm （SCARA） driven by permanent magnet DC motors.

关键词： Precise performance fuzzy control robot manipulator voltage control strategy convergence analysis stability analysis

Modeling and Robust Discrete LQ Repetitive Control of Electrically Driven Robots

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International Journal of Automation and computing 2013年第5期10卷 472-480页

作者： mohammad Mehdi fateh Maryam Baluchzadeh Department of Electrical and Robotic Engineering Shahrood University of Technology

Discrete linear quadratic control has been efciently applied to linear systems as an optimal ***,a robotic system is highly nonlinear,heavily coupled and *** overcome the problem,the robotic system can be modeled as a linear discrete-time time-varying system in performing repetitive *** modeling motivates us to develop an optimal repetitive *** contribution of this paper is *** the frst time,it presents discrete linear quadratic repetitive control for electrically driven robots using the mentioned *** proposed control approach is based on the voltage control ***,uncertainty is efectively compensated by employing a robust time-delay *** uncertainty can include parametric uncertainty,unmodeled dynamics and external *** highlight its ability in overcoming the uncertainty,the dynamic equation of an articulated robot is introduced and used for the simulation,modeling and control *** analysis verifes the proposed control approach and simulation results show its efectiveness.

关键词： Discrete linear quadratic control repetitive control electrically driven robot robust time-delay controller uncertainty

Discrete-time indirect adaptive fuzzy control for robot manipulators

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International Journal of Intelligent Computing and Cybernetics 2014年第4期7卷 382-396页

作者： mohammad Mehdi fateh Siamak Azargoshasb Department of Electrical Engineering University of ShahroodShahroodIran

Purpose–The purpose of this paper is to design a discrete indirect adaptive fuzzy controller for a robotic *** paper addresses how to overcome the approximation error of the fuzzy system and uncertainties for asymptotic tracking control of robotic *** uncertainties include parametric uncertainty,un-modeled dynamics,discretization error and external ***/methodology/approach–The proposed controller is model-free and voltage-based in the form of discrete-time Mamdani fuzzy *** parameters of fuzzy controller are adaptively tuned for asymptotic tracking of a desired trajectory.A robust control term is used to compensate the approximation error of the fuzzy *** adaptive mechanism is derived based on the stability ***–The proposed model-free discrete control is robust against all uncertainties associated with the robot manipulator and *** approximation error of the fuzzy system is well compensated to achieve asymptotic tracking of the desired *** analysis and simulation results show its efficiency in the tracking ***/value–A novel discrete indirect adaptive fuzzy controller is designed for electrically driven robot manipulators using the voltage control *** novelty of this paper is compensating the approximation error of the fuzzy system and discretizing error for asymptotic tracking of the desired trajectory.

关键词： Nonlinear control Fuzzy logic Intelligent control Robotics Adaptive control

Guaranteed-stability adaptive fuzzy control of a hydraulic elevator

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International Journal of Intelligent Computing and Cybernetics 2013年第3期6卷 252-271页

作者： mohammad Mehdi fateh Mohaddeseh Amerian Department of Electrical and Robotic Engineering Shahrood University of TechnologyShahroodIran

Purpose-A hydraulic elevator including the hydraulic actuator and cabin is highly nonlinear with many parameters and *** state-space model is in non-companion form and uncertain due to the parametric errors,flexibility of the ropes,friction and external load disturbances.A model-based control cannot perform well while a precise model is not available and all state variables cannot be *** overcome the problems,this paper aims to develop a direct adaptive fuzzy control(DAFC)for the hydraulic ***/methodology/approach-The controller is an adaptive PD-like Mamdani type fuzzy controller using position error and velocity error as *** design is based on the stability ***-The proposed control can overcome uncertainties,guarantee stability,provide a good tracking performance and operate as active vibration suppression by tracking a smooth *** controller is not involved in the nonlinearity,uncertainty and vibration of the system due to being free from *** performance is superior to a PD-like fuzzy controller due to being adaptive as illustrated by ***/value-The proposed DAFC is applied for the first time on the hydraulic *** to classic adaptive fuzzy,it does not require all system *** addition,it is not limited to the systems,which have the state-space model in companion form and constant input gain,thus is much less computational and easier to implement.

关键词： Nonlinear control Adaptive control Fuzzy logic Intelligent control

Voltage control strategy for an uncertain mobile robot

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International Journal of Intelligent Computing and Cybernetics 2014年第4期7卷 436-452页

作者： mohammad Mehdi fateh Ali Asghar Arab Department of Electrical Engineering University of ShahroodShahroodIran Electrical and Robotic Engineering Shahrood University of TechnologyShahroodIran

Purpose–The uncertainty and nonlinearity are the challenging problems for the control of a nonholonomic wheeled mobile *** overcome these problems,many valuable methods have been proposed by using two control loops namely the kinematic control and the torque control so *** majority of the proposed approaches the dynamics of actuators is omitted for simplicity in the control *** drawback degrades the control performance in high-velocity tracking *** the other hand,to guarantee stability and overcome uncertainties,the control methods become computationally extensive and may be impractical due to using all *** purpose of this paper is to design a simple controller with guaranteed stability for overcoming the nonlinearity,uncertainty and actuator ***/methodology/approach–The control design includes two control loops,the kinematic control loop and the novel dynamic control *** dynamic control loop uses the voltage control strategy instead of the torque control *** of the robot orientation,robot position,robot linear and angular velocity,and motor currents are given to the control ***–To improve the precision,the dynamics of motors are taken into *** most important advantages of the proposed control law is that it is free from the robot dynamics,thereby the controller is simple,fast response and robust with ignorable tracking *** control approach is verified by stability *** results show the effectiveness of the proposed control applied on an uncertain nonholonomic wheeled mobile robot driven by permanent magnet dc motors.A comparison with an adaptive sliding-mode dynamic control approach confirms the superiority of the proposed approach in terms of precision,simplicity of design and ***/value–The originality of the paper is to present a new control design for an uncertain nonholonomic wheeled mobile robot by using voltage control strategy in replac

关键词： Nonlinear control Robust control Actuator dynamics Nonholonomic wheeled robot Robotics