حیدر طوسیان شاندیز

The aim of this paper is to create an efficient controller that can precisely track the position of autonomous surface vessels by utilizing the dynamic inversion control technique. One of the key objectives of this controller is to mitigate or eliminate the effects of environmental disturbances like wind, waves, and water flow. On the other hand, intelligent methods are used to remove disturbances and fixing modeling errors. These methods include the use of fuzzy methods to adjust the control parameters in the linear controller used in the dynamic inversion controller and the use of perceptron neural network along with the dynamic inversion controller. The effectiveness of the proposed methods is evaluated not only based on the step response but also on their ability to track a complex path. Finally, the proposed methods have been compared with one of the classic methods, namely the PID control. This evaluation provides insights into how the proposed methods fare in terms of both step response and trajectory tracking when compared to the traditional PID control approach.

Lighting continuity is one of the preferences of citizens. Public lighting management from the viewpoint of city residents improves social welfare. The quality of lamps and duration of lighting defect correction is important in lighting continuity. In this regard, reward and penalty mechanism plays an important role in contract. Selecting labor and lamps has a significant impact on risk reduction during the contract period. This research improves strategies for public lighting asset management. The lifespan of lamp that announced by manufacturers is used to calculate maintenance cost in order to provide a possibility to estimate the actual cost of high-pressure sodium luminaire in public lighting system. Guarantee period of lamps and maximum permissible lighting defect detection and correction time is used for reward and penalty mechanism. The result shows that the natural life guarantee and permissible correction time have a considerable effect in maintenance cost and city resident’s satisfaction.

Public lighting networks are constructed and maintained to provide social security and traffic safety. Due to the expansion of cities, the development in public lighting is inevitable. In addition to new investment, the public lighting service and maintenance program imposes high costs on distribution companies. Since performance assessment methods focus on a combination of key performance indicators and provide relative efficiency, distribution companies should identify the effective efficiency factors and then set economic goals. This research, simultaneously uses  public lighting asset management model and assesses the efficiency and benchmarking of regions, and finally proposes a tool for setting economic goals for initial investment and maintenance of public lighting to Regulator and Distribution Company. This tool allows comparing costs and, using manufacturer information on the lifetime of the parts. The results show that actual maintenance costs are significantly higher than maintenance costs based on the nominal lifetime of the parts.

In recent years the analysis of the constrained mechanical system by using singular models has been established. Singular models consist of both differential and algebraic equation so they are very useful for modeling constraint mechanical systems where the restrictions are usually introduced by algebraic equations. Due to the importance of singular systems، control approaches of such systems have attracted many interests. In this paper، we address an adaptive state feedback control approach for MIMO singular systems that makes the closed loop dynamics of this class of systems regular، impulse free and stable. The proposed controller has been implemented on a 3-link constrained robot manipulator which is modeled by singular systems. The control objective is that the Robot end-effector moves on a special surface with determined force applying to that. The wall surface limit the robot manipulator moves. The stability of proposed controller has been proved using Lyapunov theorem. Simulation results illustrate the effectiveness of presented controller