فهرست مطالب

Journal of Majlesi Journal of Mechatronic Systems
Volume:1 Issue: 1, Mar 2012

  • تاریخ انتشار: 1391/02/20
  • تعداد عناوین: 6
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  • Sayedali Mousavi, Mohsen Hassani, Saeed Saki Entezami Pages 1-5

    The creeping grinding operation of a tool steel blade was evaluated and experimented for removing the residual stains on the surface of the roads and streets. The surface smoothness of the sample was modeled through neural network and Fuzzy logic methods, and the working conditions were met and provided based on the incombustibly of workpiece. The Fuzzy inferential system rules, and the neural network were modeled based on the experiments, and back propagation algorithms, respectively, and then the outputs were compared with real values. The results guarantee the lack of any changes and distortions in the material nature and the surface smoothness is provided and met which is influential on the expected functions of the work piece. At the same time, a precise determination of the surface smoothness (Ra) is done. According to the results, the cost efficiency, and the better quality of the product, the artificial intelligence-based methods and applications are suggested for this operation.

  • Amir Aminzadeh Ghavifekr, Arash Arjmandi, Kanan Sehat Pages 7-13

    This paper evaluates Adaptive Genetic Algorithm (AGA) and Particle Swarm Optimization (PSO) to find a time optimal quadratic polynomial trajectory of an anthropomorphic manipulator. This robot that is used in minimally invasive surgery (MIS) must achieve motions under the constraints of displacement, velocity, acceleration and jerk of each joint. The modeling and resolution of the constraints are presented. PSO and different selection methods of the genetic algorithm are evaluated and compared in order to define the best one according to convergence speed and optimal time. These methods can solve the premature convergence and slow convergence problems in MIS. Simulation and experimental results for the grasper of a compact laparoscopic surgical robot prototype system validate the algorithms

  • Alireza Barati Pages 15-22

    Induction motors are widely used in industry and the need for better control of these motors with minimal harmony and distortion is growing every day. In this paper, a practical method is proposed for speed control in induction motors. To control the speed of induction motors, the rotor resistance control method has been investigated. It will be shown that the structure of the Buck chopper in the rotor of induction motor can be considered as a solution to control the rotor resistance. In the proposed method, by using IGBT in Buck chopper, a variable resistance is produced. Then, this variable resistance is employed in the rotor to control the speed. Simulations have been performed and after ensuring validity of the method, the high power Buck chopper was built.

  • Mohammad Ali Kieh Badroudi Nezhad, Mehdi Esakhani, Jafar Massah Pages 23-29

    In this article, it has been tried to take care of identifying and picking tomato through image–processing method. Through boosting the vision of a computer to gain discipline and arrangement for picking tomato, though there is a chaos in an agriculture setting besides smart processing system is applied which is equipped with wave''s length wireless camera used to analyze given targets and issue required commands, thus it is able to be administer to the project. The guideline accounts for an idea of adjustable and constant model employing a sort of robotic brain with high processing capability make the robot understand that when it identifies a target such as a tomato and then announces it. Furthermore it issues required commands to pick it by means of calculating tomato spatial coordinates with respect to robot distance. In short, the design includes three stages 1- the identification of presence and the absence of tomatoes and its conversion into electrical signals, 2- the processing of received signals from wireless camera and determining the direction and speed of the departure, 3- producing voltage and required current for conducting motors, sand and arm in a proper and precise manner.

  • Amir Babaie, Abolfath Nikranjbar Pages 32-39

    This paper presents an adaptive fuzzy logic modeling and control (AFLC) of the Prismatic Revolute (P-R) manipulator associated with uncertainties. To estimate the uncertain parts of the process, fuzzy logic systems are used and to speed up the learning of fuzzy systems in order to extent the algorithm to online application and also reducing the error of the system against the unwanted changes and variation of the inputs parameters, recursive least square estimation (RLSE) method is introduced. Also to comparing the robustness of this method against uncertainties, the already implemented recursive least square learning method is compared with another adaptive controller based on Lyapunov algorithm (MIT-Rule).Finally the effectiveness of the proposed approach is verified in identification and control of the two degrees of freedom manipulator with uncertainties showing great performance on achieving the targets.

  • Elaheh Sayari, Mahdi Yaghoobi, Mahdi Ghanaatpishe, Nazanin Shirzadkhan Pages 41-48

    Nowadays, uncertainty in management projects managers has faced numerous challenges. Old and unscientific methods do not meet their needs. Therefore different managers have benefited from the fuzzy set theory to state uncertainty. In this paper, the first stage of the risk management process is used to determine the risk of the general risks affecting the project and including conversion projects Credit and financial institutions to the banks are identified and prioritized. At this stage for identifying the risks affecting in the project process the fuzzy Delphi method was used. This method is a structured process for collecting and classifying the knowledge among a group of expert in the form of natural language which is distributed through questionnaires among individuals and controlled feedback and comments received will be done.The results showed that after the implementation the three stages of survey and achievement of consensuses among experts in training and test data, finally, it was found that the integration of financial and credit risk relative to other risks can be better estimated. Also, the results with consideration of three hypotheses for the project show that if attract resources risks, profits, interest, credit and equity occurs profits will be change, if risks occur within the organization and technology will bring cost to the project and if risk of rules and regulations, events (political) institutions integration, open activities (non-professional), likely to occur on the property and the classic elite, the project will be loss.

    Keywords: Uncertainty, Risk Management, Fuzzy Set, Delphi, Credit Risk