فهرست مطالب

Journal of Majlesi Journal of Mechatronic Systems
Volume:5 Issue: 3, Sep 2016

  • تاریخ انتشار: 1395/08/23
  • تعداد عناوین: 6
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  • Hassan Reza Arabi Ayask*, Mustafa Vahedipour Dahraei Page 1
    Flying capacitor multilevel inverters are increasingly used in industry applications. In order to improve the harmonic performance of the output voltage under low modulation index region, the paper presents a novel PWM method for flying capacitor multilevel inverters based on the idea of controlling freedom degree. PWM method for flying capacitor multilevel inverters exhibit good performance under both high and low modulation index regions and is capable of balances flying capacitor voltage in a period. Simulation results confirm the validity of this method.
    Keywords: Multilevel Inverters, Flying Capacitor, PWM, Harmonic, control freedom degree
  • Estimation of Localization in Wireless Sensor Networks
    Ali Yadollahi Page 6
    A Wireless Sensor Network (WSN) is built of thousands of interconnected nodes that do specific duties. Each node has a sensor that monitors environmental conditions in order to receive data and pass them through the network to a main location. The function of the main location is to analyse the obtained data of sensor nodes and decide about them. In many cases, position recognition of nodes is needed. A very simple solution is to utilize several nodes as an anchor node with the determined positions. Anchor nodes are distributing the information about localization using grid scan with the information of anchor nodes within the networks and other nodes can detect their positions by using localization of the anchor node. To estimate positions, the measurement of distances or angles between sensor node and anchor's node is needed. The most common type of distance measurement is the decreasing-strength technique of received signal strength indicator (RSSI), the usage of the angle of arrival (AOA) and time difference of arrival (TDOA) techniques. In the present paper, aforementioned techniques and their effectiveness have been investigated. Based on the obtained results, RSSI technique have a better performance rather than other techniques in the less noisy environments without a hitch.
  • Qasem Abdollah Nezhad*, Habib Bagheri, Mohammad Hosein Arabi Page 7
    Mechanisms and robots are used for transmission of force and torque and also for performing a precise motion and work. Dynamics plays a critical role in control of robots with sensitive structures. Dynamic-based calculations were perceived more essential than static-based calculations by recent emergence of machines and structures with significantly high speeds and accelerations. By current rapid advancements in technology the application of mechanical principles, particularly dynamics seems highly essential. These principles account for the fundamentals of analysis and design for a wide range of applications including analysis and design of mobile structures, fixed structures under impact loads, robot-like machines, automatically-controlled assemblies, rockets, missiles, spaceships, land and airborne vehicles, electronic projectiles for electrical devices, various equipments including turbines, pumps, reciprocating engines, lifts, tool machines, etc. The present study aims at investigating the variations (increase and decrease) in masses of linkages (arms) of a 2-degree of freedom robot (without degree of freedom in end effector) and the effect of individual variation in each linkage on position and angular velocity of other linkage and ultimately on performance of a robot with 2 degrees of freedom. For the purposes of this study we used Matlab Software and applied direct dynamic method (Newton-Euler Equations).
    Keywords: 2-Degree of Freedom robot, Linkage, Direct dynamic, Newton-Euler equations
  • Siamak Abdezadeh *, Diako Saadi, Yousef Tohidirad, Rahim Rashidy, Zahed Soltani Aliabadi Page 13
    Today, the intelligent systems and robotics have turned to one of the most flourishing areas of research and technology development. Rehabilitation is one of non-pharmacological treatment within the public health system, which generally means restoring the capabilities to the maximum independence. The process of empowering muscles in order to make them to a normal and common value is an expensive and prolonged work.; There are some commercial exercise machines used for rehabilitation purposes. However, these machines have limited use because of their insufficient freedom in motion. Hence, it is clearly necessary to use Mechatronic technologies in rehabilitation area.This study aims to describe the functionality of its hardware and software board controller in performing patients’ rehabilitation. Simulation has been done using Simulink MATLAB. Furthermore pulse-width modulation method is used to program ATmega16 microcontroller to control mechanical part of robots.
    Keywords: software board, rehabilitation robot, micro controller, Simulink, intelligent system
  • Amir Naderolasli*, Mohammad Ataei Page 19
    This article presents the control of line-of-sight for two-DOF gimbal system. To improve the performance system, the direct identifier-based adaptive controller is proposed. In this strategy, the parameters of controller polynomials are calculated through recursive least square. With respect to the obtained polynomials, the control signal is implemented for both elevation and azimuth axes. This approach is applied to track a target in 3D spaces for two-DOF gimbal system and test both the axes. The simulation results confirm the efficiency of this purposed controller and satisfy the tracking a given target.
    Keywords: Tracking, Two-DOF gimbal system, direct self-tuning, Line-of-sight
  • Ana Bavarsad* Page 25
    Nowadays Positioning systems have special point of view according to their applications in industries and academic research. Also a lot of algorithm and experimental systems had been proposed that each has advantages and disadvantages such as vision based systems. Less number of used cameras, dynamical high speed measurement and 3D and real time measurement are some instances that are considered in proposed measurement setup. Proposed system used CMUCAM3 powerful image processor and powerful ARM microprocessor. Experimental measurements show that system can be used as measurement unit in navigation systems that must determine 3D position of robotic systems.
    Keywords: Measurement, Robotic System, Camera, ARM