Mechatronics Research Laboratory

Qazvin, Iran

Mechatronics Research Laboratory

Qazvin, Iran
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Flanders M.,University of Alberta | Flanders M.,University College Cork | Kavanagh R.C.,University College Cork | Kavanagh R.C.,Mechatronics Research Laboratory
Engineering Design Graphics Journal | Year: 2013

Mental rotations are among the most difficult of all spatial tasks to perform, and even those with high levels of spatial ability can struggle to visualize the result of compound rotations. This pilot study investigates the use of the virtual reality-based Rotation Tool, created using the Virtual Reality Modeling Language (VRML) together with MATLAB and the Simulink 3D Animation Toolbox, to assist engineering students in the visualization of compound rotations made about both fixed and mobile reference frames. This tool allows students to verify the non-commutative nature of compound rotations, as well as the relationship between fixed and mobile frame rotations. The effectiveness of the Rotation Tool is evidenced by the improved ability of students to work through questions pertaining to compound rotations, as well as their increased confidence when doing so.


Mostafazadeh N.,Sharif University of Technology | Bakhshandeh Babarsad O.,Mechatronics Research Laboratory | Ghassem-Sani G.,Sharif University of Technology
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) | Year: 2012

This paper presents a novel method for answering complex temporal ordering questions in the context of an event and query-based text summarization. This task is accomplished by precisely mapping the problem of "query-based summarization of temporal ordering questions" in the field of Natural Language Processing to "verifying a finite state model against a temporal formula" in the realm of Model Checking. This mapping requires specific definitions, structures, and procedures. The output of this new approach is promisingly a readable and informative summary satisfying the user's needs. © 2012 Springer-Verlag.


Rahman M.A.,Mechatronics Research Laboratory | Anwar S.,Mechatronics Research Laboratory | Izadian A.,Mechatronics Research Laboratory
Proceedings of the IEEE International Conference on Industrial Technology | Year: 2015

In this paper, we present an innovative approach in detecting fault conditions in a battery in which multiple model adaptive estimation (MMAE) technique is applied using electrochemical model of a Li-Ion cell. This physics based model of Li-ion battery (with LiCoO2 cathode chemistry) with healthy battery parameters was considered as the reference model. Battery fault conditions such as aging, overcharge, and over discharge cause significant variations of parameters from nominal values and can be considered as separate models. Output error injection based partial differential algebraic equation (PDAE) observers are used to generate the residual voltage signals. These residuals are then used in MMAE algorithm to detect the ongoing fault conditions of the battery. Simulation results show that the fault conditions can be detected and identified accurately which indicates the effectiveness of the proposed battery fault detection method. © 2015 IEEE.


Mahboubi S.,Mechatronics Research Laboratory | Fakhrabadi M.M.S.,Mechatronics Research Laboratory | Fakhrabadi M.M.S.,Islamic Azad University at Karaj | Ghanbari A.,Mechatronics Research Laboratory
Robotics and Autonomous Systems | Year: 2013

Spherical mobile robots are a novel type of mobile robots having some advantages in motion over other ordinary mobile robots. The advantages can be related to their symmetric spherical shape. Despite many works being conducted in recent years on spherical mobile robots, it seems that finding the best driving mechanism with higher efficiency still needs much research. In this article, a novel type of spherical mobile robot is introduced. This robot has a hybrid structure of the spherical robots and ordinary four legged or quadruped robots. Adding legs to the spherical robot reduces some disadvantages of its behavior. After introduction of the mentioned robot, its dynamic model based on Lagrange equations is obtained. The accuracy of the developed dynamic model in tracking a trajectory is verified through a dynamic simulation. Experimental results in tracking a square trajectory is presented to show the verification. © 2012 Elsevier B.V. All rights reserved.


Shirazi A.R.,Mechatronics Research Laboratory | Fakhrabadi M.M.S.,Islamic Azad University at Karaj | Ghanbari A.,Mechatronics Research Laboratory
Advanced Robotics | Year: 2012

Performance indices of parallel manipulators (PMs) vary widely with the variation of geometric properties. Improvement of one parameter often leads to worsen the other parameters. Therefore, getting into an optimum design for the PMs has been subject of much recent research. In this paper, we optimize three performance parameters of a PM simultaneously including workspace, condition number, and stiffness. In addition, a new performance index is introduced for stiffness evaluation of the PMs. The index is invariant under similarities. Because of complexity of cost function and number of variables, choosing an optimization method that can converge to the optimum point is very important. We select particle swarm optimization (PSO) method and show that this algorithm is perfect for performance optimization of PMs. Furthermore, we propose a new subroutine added to PSO algorithm to improve its convergence. © 2012 Copyright Taylor & Francis and The Robotics Society of Japan.


Shilpiekandula V.,Mechatronics Research Laboratory | Youcef-Toumi K.,Mechatronics Research Laboratory
IFAC Proceedings Volumes (IFAC-PapersOnline) | Year: 2011

Flexure-based mechanisms contain slender beam-like modules that undergo linear elastic deflections over small ranges of motion at nanoscale resolutions. They are hence often used as bearing elements in nanopositioning systems, along with precision actuator and sensing subsystems. An integrated design and control methodology proposed in Part I of this paper proposed varying design topology and controller order for meeting performance requirements of the closed-loop controlled system. A detailed set of steps was given for meeting requirements such as a desired static or dynamic load-capacity, bandwidth, or range of motion. In this part of the paper, an application case study for a practical precision positioning and alignment system is worked out to illustrate the steps involved in using the proposed methodology. The details of optimization problem formulation and solutions for design and control are presented. The outcome of the exercise is a novel design topology, with it shape and size optimized, and a controller synthesized such that a desired control bandwidth and design requirements of strength and modal separation are met. © 2011 IFAC.


Shilpiekandula V.,Mechatronics Research Laboratory | Youcef-Toumi K.,Mechatronics Research Laboratory
IFAC Proceedings Volumes (IFAC-PapersOnline) | Year: 2011

Flexure-based mechanisms, also referred to as flexures, are widely being used as motion-guidance, or bearing, elements in applications requiring multi-degree-of-freedom positioning and alignment. Unlike friction-bearings (such as sliding or rolling contact bearings), flexures can be designed to offer, to a large extent, reliable linear elastic motion with a high resolution (on the order of nanometers) over small ranges of motion (on order of micrometers). Example applications include positioning a probe or sample in atomic force microscopy, alignment of tool and sample in stamping processes, and fine-positioning of wafers and masks in semiconductor manufacturing. These applications are often required satisfy critical functional requirements, such as load-capacity, bandwidth, resolution, and range. A systematic approach is needed to simultaneously address the design and control challenges involved, starting from the initial design concept generation stage to the final control implementation and testing. In this paper, we present an integrated design and control method for implementing flexure-based nanopositioning systems. We discuss the need for varying design topology and order of a controller in design and control optimization. An automation engine generates a set of flexure-based design topologies and also controllers of varying order in the optimization. A simple 1-DOF example is worked out to illustrate the steps involved in using this methodology. The outcome of the exercise is a novel design topology, with it shape and size optimized, and a controller synthesized such that a desired control bandwidth and design requirements of strength and modal separation are met. © 2011 IFAC.


Hashemi E.,Islamic Azad University at Qazvin | Ghaffari Jadidi M.,Islamic Azad University at Qazvin | Ghaffari Jadidi M.,Mechatronics Research Laboratory | Shah Mohammadi M.R.,Islamic Azad University at Qazvin | Karimi M.,Bu - Ali Sina University
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM | Year: 2011

Biped robots path planning must suit several stability requirements of bipedal locomotion. Specifying an appropriate path with proper physical and geometrical constraints is essential due to the limited workspace for limbs. Bezier curve is a suitable solution since it is smooth, parametric and configurable for biped robots and leads to flexible trajectory generation by determination of a few control points in a plane. This paper is focused on proposing a systematic method to generate velocity profile and practical path planning with consideration of acceleration limits. Experimental results are compared with simulated ones in diverse maneuvers to verify this approach. © 2011 IEEE.

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