Moharam Habibnejad Korayem

Bio: Moharam Habibnejad Korayem is an academic researcher from Iran University of Science and Technology. The author has contributed to research in topics: Mobile manipulator & Cantilever. The author has an hindex of 31, co-authored 328 publications receiving 3483 citations. Previous affiliations of Moharam Habibnejad Korayem include Islamic Azad University & Islamic Azad University, Science and Research Branch, Tehran.

Finite-time state-dependent Riccati equation for time-varying nonaffine systems: rigid and flexible joint manipulator control.

Abstract: This article investigates finite-time optimal and suboptimal controls for time-varying systems with state and control nonlinearities. The state-dependent Riccati equation (SDRE) controller was the main framework. A finite-time constraint imposed on the equation changes it to a differential equation, known as the state-dependent differential Riccati equation (SDDRE) and this equation was applied to the problem reported in this study that provides general formulation and stability analysis. The following four solution methods were developed for solving the SDDRE; backward integration, state transition matrix (STM) and the Lyapunov based method. In the Lyapunov approach, both positive and negative definite solutions to related SDRE were used to provide suboptimal gain for the SDDRE. Finite-time suboptimal control is applied for robotic manipulator, as finite-time constraint strongly decreases state error and operation time. General state-dependent coefficient (SDC) parameterizations for rigid and flexible joint arms (prismatic or revolute joints) are introduced. By including nonlinear control inputs in the formulation, the actuator׳s limits can be inserted directly to the state-space equation of a manipulator. A finite-time SDRE was implemented on a 6R manipulator both in theory and experimentally. And a reduced 3R arm was modeled and tested as a flexible joint robot (FJR). Evaluations of load carrying capacity and operation time were investigated to assess the capability of this approach, both of which showed significant improvement.

Sensitivity analysis of nanoparticles pushing critical conditions in 2-D controlled nanomanipulation based on AFM

Abstract: This paper investigates the sensitivity of critical parameters in AFM-based nanomanipulation, including the nanoparticle pushing force and time versus changing all parameters of the nanomanipulation process. The presented model includes both adhesional and normal friction forces. Also, pull-off forces are modeled by using the Johnson–Kendall–Roberts (JKR) contact mechanics model. Dynamic equations are developed based on the free body diagram of the pushing system, including AFM cantilever and probe, nanoparticle, and substrate. Dynamic simulation of gold particle manipulation on a silicon substrate is performed. In this model, the nanoparticle can be traced at every moment and at the same time all the dynamics and deformations of nanoparticle can be achieved from numerical simulation. Depending on obtained diagrams for parameters sensitivity, the suggested behavior will be followed by the particle such as rolling, sliding, stick-slip, and rotation. Its novelty is that the sensitivity of critical force and critical time for particle pushing on the substrate are obtained for all parameters. This is important for designing and choosing of geometry and materials of AFM, nanoparticle, and substrate. Also this is effective on choosing of proper initial condition in pushing purposes. Finally, it can be used to adjust proper pushing time and force for an accurate and successful pushing and assembly, and real-time visualization during micro/nanomanipulation using real-time force data.

Load maximization of flexible joint mechanical manipulator using nonlinear optimal controller

Abstract: In this paper, a closed loop nonlinear optimal control approach is investigated for flexible joint manipulators (FJM). The dynamic load carrying capacity (DLCC) of these manipulators is obtained via this approach. The state-dependent Riccati equation (SDRE) technique is used for solving nonlinear optimal control problem. This method uses special parameterization to develop the nonlinear system to a linear structure having state-dependent coefficient matrices. The Taylor series numerical method is addressed by approximating the solution to the SDRE. Simulations for FJM are provided to illustrate the effectiveness of this approach for designing nonlinear feedback controllers and computing DLCC of these manipulators. Also effects of change in spring factors of manipulator and control parameters on resulted trajectory of manipulator are considered. DLCC is calculated subject to the limits in actuators and tracking accuracy. Finally the results are checked by comparison with experimental results.

Mathematical modeling and trajectory planning of mobile manipulators with flexible links and joints

Abstract: This paper is concerned with mathematical modeling and optimal motion designing of flexible mobile manipulators. The system is composed of a multiple flexible links and flexible revolute joints manipulator mounted on a mobile platform. First, analyzing on kinematics and dynamics of the model is carried out then; open-loop optimal control approach is presented for optimal motion designing of the system. The problem is known to be complex since combined motion of the base and manipulator, non-holonomic constraint of the base and highly non-linear and complicated dynamic equations as a result of the flexible nature of both links and joints are taken into account. In the proposed method, the generalized coordinates and additional kinematic constraints are selected in such a way that the base motion coordination along the predefined path is guaranteed while the optimal motion trajectory of the end-effector is generated. This method by using Pontryagin’s minimum principle and deriving the optimality conditions converts the optimal control problem into a two point boundary value problem. A comparative assessment of the dynamic model is validated through computer simulations, and then additional simulations are done for trajectory planning of a two-link flexible mobile manipulator to demonstrate effectiveness and capability of the proposed approach.

Improvement of 3P and 6R mechanical robots reliability and quality applying FMEA and QFD approaches

Abstract: In the past few years, extending usage of robotic systems has increased the importance of robot reliability and quality. To improve the robot reliability and quality by applying standard approaches such as Failure Mode and Effect Analysis (FMEA) and Quality Function Deployment (QFD) during the design of robot is necessary. FMEA is a qualitative method which determines the critical failure modes in robot design. In this method Risk Priority Number is used to sort failures with respect to critical situation. Two examples of mechanical robots are analyzed by using this method and critical failure modes are determined for each robot. Corrective actions are proposed for critical items to modify robots reliability and reduce their risks. Finally by using QFD, quality of these robots is improved according to the customers' requirements. In this method by making four matrixes, optimum values for all technical parameters are determined and the final product has the desired quality.

Table Of Integrals Series And Products

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Robot vision

Abstract: A scheme is developed for classifying the types of motion perceived by a humanlike robot. It is assumed that the robot receives visual images of the scene using a perspective system model. Equations, theorems, concepts, clues, etc., relating the objects, their positions, and their motion to their images on the focal plane are presented. >

Computer and Robot Vision

Abstract: Computer and Robot Vision Vol. 1, by R.M. Haralick and Linda G. Shapiro, Addison-Wesley, 1992, ISBN 0-201-10887-1.

Dynamic analysis of flexible manipulators, a literature review

Abstract: In this paper a survey of the literature related to dynamic analyses of flexible robotic manipulators has been carried out. Both link and joint flexibility are considered in this work and an effort has been made to critically examine the methods used in these analyses, their advantages and shortcomings and possible extension of these methods to be applied to a general class of problems. Papers are classified according to modeling, control and experimental studies. In case of modeling they are subdivided according to the method of analysis and number of links involved in the analysis. An effort has been made to include the works of a huge variety of researchers working in this field and a total of 433 papers created in the years 1974–2005 have been reviewed in this work.

Mechanical properties of nanoparticles: basics and applications

Abstract: The special mechanical properties of nanoparticles allow for novel applications in many fields, e.g., surface engineering, tribology and nanomanufacturing/nanofabrication. In this review, the basic physics of the relevant interfacial forces to nanoparticles and the main measuring techniques are briefly introduced first. Then, the theories and important results of the mechanical properties between nanoparticles or the nanoparticles acting on a surface, e.g., hardness, elastic modulus, adhesion and friction, as well as movement laws are surveyed. Afterwards, several of the main applications of nanoparticles as a result of their special mechanical properties, including lubricant additives, nanoparticles in nanomanufacturing and nanoparticle reinforced composite coating, are introduced. A brief summary and the future outlook are also given in the final part. (Some figures may appear in colour only in the online journal)