Article history: Received 25 July 2014 Received in revised form 8 August 2014 Accepted 2 November... more Article history: Received 25 July 2014 Received in revised form 8 August 2014 Accepted 2 November 2014 Available online 13 November 2014
International Journal of Hybrid Information Technology, 2015
Following the developments in industrial robot technology, robotics has found its way into the me... more Following the developments in industrial robot technology, robotics has found its way into the medical field and is used in a range of surgical disciplines. The main purpose of the use of robots is to increase the precision, quality and safety of surgical procedures. Robotics is not yet used in dentistry even though all the necessary technologies have already been developed and could easily be adapted. Some of the technologies are already used in dentistry, such as image-based simulation of implant surgery followed by the use of surgical guides, and creating digital impressions of pre parathions using an intra-oral scanner, after which a milling device produces the restoration, but we have not yet seen any robot able to prepare teeth for crowns, inlays or bridges. Such a robot would fundamentally be a dental drilling device coupled with a navigation device to determine the correct position of the device in relation to the patient. However this technique is very essential to have the...
Establishing security in every society needs to practical activities and using emerging technolog... more Establishing security in every society needs to practical activities and using emerging technologies which are extended by having positive influence in human life. Law enforcement agencies are using biometrical tools for apprehension of suspect on the large scale. In most of the cases the mugshot or photograph of suspect is not available so, two methods can help police for arresting the accused forensic sketch and composite sketch software. Composite sketch is generating facial sketch by selecting face components through software. In this research article, we have considered three most important methods for matching composite sketches to face photo: (i) Component Base Representation(CBR) algorithm, (ii) the FaceSketchID system, and (iii) Human Visual System Algorithms.
International Journal of Research in Organizational Behavior and Human Resource Management, 2015
Attention to role of moral and ethical values always has been in different fields of life in huma... more Attention to role of moral and ethical values always has been in different fields of life in human history. it was mainly because that human nature have an undeniable tendency to divine and human values. Islamic work ethic is one of the concepts that have been studied by many researchers in recent years. The aim of this article is, determine the relationship between Islamic work ethic and achievement motivation. in this study it is assumed that people who have high achievement motivation, have a more emphasis in values of Islamic work ethic therefore, this paper tries to examine the relationship between these two concepts. The research data collected through questionnaire and among 244 people of teachers of girlie schools in Eslamshahr in Iran. to test of hypotheses, the spearman correlation test to assess correlations was used and than for measure of casual relations between variables regression was used. Research findings suggest that there is a significant and positive correlatio...
International Journal of Hybrid Information Technology, 2016
Many of fuzzy control applications require real-time operation; higher density programmable logic... more Many of fuzzy control applications require real-time operation; higher density programmable logic devices such as field programmable gate array (FPGA) can be used to integrate large amounts of logic in a single IC. This work, proposes a developed method to fuzzifier algorithm with optimal-tunable gains method-using FPGA. The maximum frequency in FPGA-based design is about 72.4 MHz and the delay time in this design is about 13.78 ns. It is observed that this algorithm is able to make as a fast response at 13.78 clock period with 72.4 of a maximum frequency and 2.1 for minimum input arrival time after clock. From investigation and synthesis summary, 24.3 for maximum input arrival time after clock with 13.9 frequencies, this design has 13.78 delays for each controller to 46 logic elements and the offset before CLOCK is 82.1 .
International Journal of Grid and Distributed Computing, 2016
This paper describes the design intelligent based nonlinear controller for three dimensions joint... more This paper describes the design intelligent based nonlinear controller for three dimensions joint dental robot manipulators in presence of uncertainty. Three-dimension joint dental robot manipulator has some important challenges such as nonlinearity, multi-input multi-output (MIMO), uncertainty in dynamic formulation, and coupling effect. To eliminate the effect of these challenge linear filter PID controller is introduce in this research. However, this controller has some advantages in certain condition but in uncertainty, it has problems. To improve this technique in presence of uncertainty, minimum rule base PID like fuzzy controller is introduced. This method reduces the risetime, steady state error and improves the trajectory performance in uncertain condition. Stability and robustness improve in proposed method as well reduce the number of rule base.
International Journal of u- and e-Service, Science and Technology, 2015
Many of linear control applications require real-time operation; higher density programmable logi... more Many of linear control applications require real-time operation; higher density programmable logic devices such as field programmable gate array (FPGA) can be used to integrate large amounts of logic in a single IC. This work, proposes a developed method to design PD controller (PDC) with optimal-gains using FPGA. The method used to design PD controller is to design it as digital design Proportional and Derivative controller in parallel through the summer. The proposed design is 32-bits FPGA-based controller (32PDC), which uses 32-bits for each input/output variable. The single joint of robot is used to test the controller in simulation environments, using VHDL code for the purpose of simulation in Xilinx. The same design is coded in MATLAB environment (MPDC) in order to make a comparison with the proposed FPGA-based design. PDC needs 16 clock cycles to complete one action with maximum frequency of 108.5 MHz. 32PDC is able to produce an output in 13.24 MHz with the robot system. Therefore, the proposed controller will be able to control a wide range of the systems with high sampling rate and 75.545 ns delays.
International Journal of Artificial Intelligence and Applications for Smart Devices, 2014
Multi-degrees-of-freedom (DOF) actuators are wide used in a number of Industries. Currently, a si... more Multi-degrees-of-freedom (DOF) actuators are wide used in a number of Industries. Currently, a significant number of the existing robotic actuators that can realize multi-DOF motion are constructed using gear and linkages to connect several single-DOF motors in series and/or parallel. The main challenge to use this actuator is control. Nonlinear controllers are the main choice to control of spherical motors. Computed torque controller is one of the nonlinear controllers. One of the main challenges in this controller is having dependence to the systems dynamic as well as measure the desired acceleration. To reduce above challenges, hype-plane computed torque controller is recommended in this research. Fuzzy hype-plane variable computed torque controller is adopted to guarantee the error convergence to zero in a finite time when the error is around the zero without to use desired acceleration. To increase the system robustness in presence of uncertainty fuzzy logic controller is recommended.
Multi-degree-of-freedom (DOF) actuators are finding wide use in a number of Industries (such as a... more Multi-degree-of-freedom (DOF) actuators are finding wide use in a number of Industries (such as aerospace, automotive industry and surgical robot). Currently, a significant number of the existing robotic actuators that can realize multi-DOF motion are constructed using gear and linkages to connect several single-DOF motors in series and/or parallel. Not only do such actuators tend to be large in size and mass, but they also have a decreased positioning accuracy due to mechanical deformation, friction and backlash of the gears and linkages. A number of these systems also exhibit singularities in their workspaces, which makes it virtually impossible to obtain uniform, high-speed, and high-precision motion. For high precession trajectory planning and control, it is necessary to replace the actuator system made up of several single-DOF motors connected in series and/or parallel with a single multi-DOF actuator. The need for such systems has motivated years of research in the development...
International Journal of Information Engineering and Electronic Business, 2014
The minimum rule base Proportional Integral Derivative (PID) Fuzzy Sliding Mode Controller (SMC) ... more The minimum rule base Proportional Integral Derivative (PID) Fuzzy Sliding Mode Controller (SMC) with application to spherical motor is presented in this research. The popularity of PID Fuzzy Sliding Mode Controller can be attributed to their robust performance in a wide range of operating conditions and partly to their functional simplicity. The process of setting of PID Fuzzy Sliding Mode Controller can be determined as an optimization task. Over the years, use of intelligent strategies for tuning of these controllers has been growing especially in nonlinear and uncertain systems. Proportional Integral Derivative methodology has three inputs and if any input is described with seven linguistic values, and any rule has three conditions, we will need 343 rules. It is too much work to write 343 rules and have lots of problem to design embedded control system e.g., Field Programmable Gate Array (FPGA). In this research the PID-like fuzzy controller can be constructed as a parallel structure of a PD-like fuzzy controller and a conventional PI controller to have the minimum rule base and good trajectory follow disturbance to control of spherical motor. However Sliding Mode Controller is work based on cancelling decoupling and nonlinear terms of dynamic parameters for each direction of three degree of freedom spherical motor, this controller is work based on motor dynamic model and this technique is highly sensitive to the knowledge of all parameters of nonlinear spherical motor"s dynamic equation which caused to challenge in uncertain system. This research is used to reduce or eliminate the Sliding Mode Controller problem based on minimum rule base fuzzy logic theory to control of three degrees of freedom spherical motor system and testing of the quality of process control in the simulation environment of MATLAB/SIMULINK Simulator.
International Journal of Intelligent Systems and Applications, 2014
Spherical three Degree-of-Freedom (DOF) is controlled by model-base fuzzy computed torque control... more Spherical three Degree-of-Freedom (DOF) is controlled by model-base fuzzy computed torque controller. The spherical motor has three revolute joints allowing the corresponding parts to move horizontally and vertically. When developing a controller using conventional control methodology (e.g., feedback linearization methodology), a design scheme has to be produced, usually based on a system"s dynamic model. The work outline in this research utilizes soft computing applied to new conventional controller to address these methodology issues. Computed torque controller (CTC) is influential nonlinear controllers to certain systems which this method is based on compute the required arm torque using nonlinear feedback control law. When all dynamic and physical parameters are known, CTC works superbly; practically a large amount of systems have uncertainties and fuzzy feedback Inference Engine (FIS) is used to reduce this kind of limitation. Fuzzy logic provides functional capability without the use of a system dynamic model and has the characteristics suitable for capturing the approximate, varying values found in a M ATLAB based area. Based on this research model-base fuzzy computed torque controller applied to spherical motor is presented to have a stable and robust nonlinear controller and have a good result compared with conventional and pure fuzzy logic controllers.
Identifying composite sketches with digital face photos is an important and challenging task for ... more Identifying composite sketches with digital face photos is an important and challenging task for law enforcement agencies. It has attracted a wide research interest in the face recognition area. In this paper, we present a novel framework that identifies the photo corresponding to a given composite face sketch. A coupled deep convolutional neural network, named Sketch-Photo Net (SP-Net) is proposed, which is fed with a positive or negative photo-sketch pair. In the proposed SP-Net, the customized VGG-Face network is adopted as base model and is followed by two branches, namely S-Net and P-Net, for sketch and photo, respectively. The S-Net and the P-Net are able to learn discriminative features between the sketches and the photos, regardless of the appearance gap by introducing the concept of elastic learning. In other words, to extract the most important features from the input, the network needs to learn the relevant features along with the irrelevant ones. To do so, higher dimension layers are used after the three 512 layers from VGG-FaceNet. Since the network learns representative features, we decrease the dimension of the layers to produce the most representative features. In addition, contrastive loss is employed to discover the coherent visual structures between sketch and photo. Experimental results on E-PRIP face sketch dataset indicate that the proposed network significantly outperforms the state-of-the-art composite sketch identification methods. INDEX TERMS Composite sketch, hand-drawn sketches, convolutional neural network, contrastive loss. I. INTRODUCTION
Multi-degrees-of-freedom (DOF) actuators are wide used in a number of Industries. Currently, a si... more Multi-degrees-of-freedom (DOF) actuators are wide used in a number of Industries. Currently, a significant number of the existing robotic actuators that can realize multi-DOF motion are constructed using gear and linkages to connect several single-DOF motors in series and/or parallel. The main challenge to use this actuator is control. Nonlinear controllers are the main choice to control of spherical motors. Computed torque controller is one of the nonlinear controllers. One of the main challenges in this controller is having dependence to the systems dynamic as well as measure the desired acceleration. To reduce above challenges, hype-plane computed torque controller is recommended in this research. Fuzzy hype-plane variable computed torque controller is adopted to guarantee the error convergence to zero in a finite time when the error is around the zero without to use desired acceleration. To increase the system robustness in presence of uncertainty fuzzy logic controller is recommended.
Multi Degree of Freedom Joints (MDJ) are typically thought to be used for industrial purposes how... more Multi Degree of Freedom Joints (MDJ) are typically thought to be used for industrial purposes however they are beginning to gain the attention of the medical field. A current application pertains to using the precision and stability of a robot arm with MDJ to assist in minimally invasive surgery. In this research, adaptive sliding mode controls are presented as robust controls for multi degree of freedom joints. The objective of the study is to design controls for actuators without the knowledge of boundary of uncertainties/disturbances by using an adaptive sliding mode control while elucidating the robustness of the adaptive sliding mode control. A sliding mode control provides for ultimate accuracy in the presence of the bounded disturbance/uncertainties, although the sliding mode control also causes chattering. Chattering is undesirable for use with robot medical tools, since it might causes damage to them with a subsequent loss of accuracy and oscillation on end-effectors tools....
Multi-degree-of-freedom (DOF) actuators are finding wide use in a number of Industries (such as a... more Multi-degree-of-freedom (DOF) actuators are finding wide use in a number of Industries (such as aerospace, automotive industry and surgical robot). Currently, a significant number of the existing robotic actuators that can realize multi-DOF motion are constructed using gear and linkages to connect several single-DOF motors in series and/or parallel. Not only do such actuators tend to be large in size and mass, but they also have a decreased positioning accuracy due to mechanical deformation, friction and backlash of the gears and linkages. A number of these systems also exhibit singularities in their workspaces, which makes it virtually impossible to obtain uniform, high-speed, and high-precision motion. For high precession trajectory planning and control, it is necessary to replace the actuator system made up of several single-DOF motors connected in series and/or parallel with a single multi-DOF actuator. The need for such systems has motivated years of research in the development...
A Field Programmable Gate Array (FPGAs) is a small Field Programmable Device (FPD) that supports ... more A Field Programmable Gate Array (FPGAs) is a small Field Programmable Device (FPD) that supports thousands of logic gates. FPGA is a high speed, low cost, short time to market and small device size. Technically speaking an FPGA can be used to solve any problem which is computable. This is trivially proven by the fact FPGA can be used to implement a Soft microprocessor. Their advantage lies in that they are sometimes significantly faster for some applications due to their parallel nature and optimality in terms of the number of gates used for a certain process. Specific applications of FPGAs include digital signal processing, software-defined radio, ASIC prototyping, medical imaging, computer vision, speech recognition, nonlinear control, cryptography, bioinformatics, computer hardware emulation, radio astronomy, metal detection and a growing range of other areas. Traditionally, FPGAs have been reserved for specific vertical applications where the volume of production is small. For t...
International Journal of Artificial Intelligence and Applications for Smart Devices, 2014
Currently, a significant number of the existing robotic actuators that can realize multi-DOF moti... more Currently, a significant number of the existing robotic actuators that can realize multi-DOF motion are constructed using gear and linkages to connect several single-DOF motors in series and/or parallel. The main challenge to use this actuator is control. Nonlinear controllers are the main choice to control of spherical motors. Computed torque controller is one of the nonlinear controllers. One of the main challenges in this controller is having dependence to the systems dynamic as well as measure the desired acceleration. To reduce above challenges, hype-plane computed torque controller is recommended in this research. Fuzzy hype-plane variable computed torque controller is adopted to guarantee the error convergence to zero in a finite time when the error is around the zero without to use desired acceleration. To increase the system robustness in presence of uncertainty fuzzy logic controller is recommended.
Many of linear control applications require real-time operation; higher density
programmable logi... more Many of linear control applications require real-time operation; higher density programmable logic devices such as field programmable gate array (FPGA) can be used to integrate large amounts of logic in a single IC. This work, proposes a developed method to design PD controller (PDC) with optimal- gains using FPGA. The method used to design PD controller is to design it as digital design Proportional and Derivative controller in parallel through the summer. The proposed design is 32-bits FPGA-based controller (32PDC), which uses 32-bits for each input/output variable. The single joint of robot is used to test the controller in simulation environments, using VHDL code for the purpose of simulation in Xilinx. The same design is coded in MATLAB environment (MPDC) in order to make a comparison with the proposed FPGA-based design. PDC needs 16 clock cycles to complete one action with maximum frequency of 108.5 MHz. 32PDC is able to produce an output in 13.24 MHz with the robot system. Therefore, the proposed controller will be able to control a wide range of the systems with high sampling rate and 75.545 ns delays.
Article history: Received 25 July 2014 Received in revised form 8 August 2014 Accepted 2 November... more Article history: Received 25 July 2014 Received in revised form 8 August 2014 Accepted 2 November 2014 Available online 13 November 2014
International Journal of Hybrid Information Technology, 2015
Following the developments in industrial robot technology, robotics has found its way into the me... more Following the developments in industrial robot technology, robotics has found its way into the medical field and is used in a range of surgical disciplines. The main purpose of the use of robots is to increase the precision, quality and safety of surgical procedures. Robotics is not yet used in dentistry even though all the necessary technologies have already been developed and could easily be adapted. Some of the technologies are already used in dentistry, such as image-based simulation of implant surgery followed by the use of surgical guides, and creating digital impressions of pre parathions using an intra-oral scanner, after which a milling device produces the restoration, but we have not yet seen any robot able to prepare teeth for crowns, inlays or bridges. Such a robot would fundamentally be a dental drilling device coupled with a navigation device to determine the correct position of the device in relation to the patient. However this technique is very essential to have the...
Establishing security in every society needs to practical activities and using emerging technolog... more Establishing security in every society needs to practical activities and using emerging technologies which are extended by having positive influence in human life. Law enforcement agencies are using biometrical tools for apprehension of suspect on the large scale. In most of the cases the mugshot or photograph of suspect is not available so, two methods can help police for arresting the accused forensic sketch and composite sketch software. Composite sketch is generating facial sketch by selecting face components through software. In this research article, we have considered three most important methods for matching composite sketches to face photo: (i) Component Base Representation(CBR) algorithm, (ii) the FaceSketchID system, and (iii) Human Visual System Algorithms.
International Journal of Research in Organizational Behavior and Human Resource Management, 2015
Attention to role of moral and ethical values always has been in different fields of life in huma... more Attention to role of moral and ethical values always has been in different fields of life in human history. it was mainly because that human nature have an undeniable tendency to divine and human values. Islamic work ethic is one of the concepts that have been studied by many researchers in recent years. The aim of this article is, determine the relationship between Islamic work ethic and achievement motivation. in this study it is assumed that people who have high achievement motivation, have a more emphasis in values of Islamic work ethic therefore, this paper tries to examine the relationship between these two concepts. The research data collected through questionnaire and among 244 people of teachers of girlie schools in Eslamshahr in Iran. to test of hypotheses, the spearman correlation test to assess correlations was used and than for measure of casual relations between variables regression was used. Research findings suggest that there is a significant and positive correlatio...
International Journal of Hybrid Information Technology, 2016
Many of fuzzy control applications require real-time operation; higher density programmable logic... more Many of fuzzy control applications require real-time operation; higher density programmable logic devices such as field programmable gate array (FPGA) can be used to integrate large amounts of logic in a single IC. This work, proposes a developed method to fuzzifier algorithm with optimal-tunable gains method-using FPGA. The maximum frequency in FPGA-based design is about 72.4 MHz and the delay time in this design is about 13.78 ns. It is observed that this algorithm is able to make as a fast response at 13.78 clock period with 72.4 of a maximum frequency and 2.1 for minimum input arrival time after clock. From investigation and synthesis summary, 24.3 for maximum input arrival time after clock with 13.9 frequencies, this design has 13.78 delays for each controller to 46 logic elements and the offset before CLOCK is 82.1 .
International Journal of Grid and Distributed Computing, 2016
This paper describes the design intelligent based nonlinear controller for three dimensions joint... more This paper describes the design intelligent based nonlinear controller for three dimensions joint dental robot manipulators in presence of uncertainty. Three-dimension joint dental robot manipulator has some important challenges such as nonlinearity, multi-input multi-output (MIMO), uncertainty in dynamic formulation, and coupling effect. To eliminate the effect of these challenge linear filter PID controller is introduce in this research. However, this controller has some advantages in certain condition but in uncertainty, it has problems. To improve this technique in presence of uncertainty, minimum rule base PID like fuzzy controller is introduced. This method reduces the risetime, steady state error and improves the trajectory performance in uncertain condition. Stability and robustness improve in proposed method as well reduce the number of rule base.
International Journal of u- and e-Service, Science and Technology, 2015
Many of linear control applications require real-time operation; higher density programmable logi... more Many of linear control applications require real-time operation; higher density programmable logic devices such as field programmable gate array (FPGA) can be used to integrate large amounts of logic in a single IC. This work, proposes a developed method to design PD controller (PDC) with optimal-gains using FPGA. The method used to design PD controller is to design it as digital design Proportional and Derivative controller in parallel through the summer. The proposed design is 32-bits FPGA-based controller (32PDC), which uses 32-bits for each input/output variable. The single joint of robot is used to test the controller in simulation environments, using VHDL code for the purpose of simulation in Xilinx. The same design is coded in MATLAB environment (MPDC) in order to make a comparison with the proposed FPGA-based design. PDC needs 16 clock cycles to complete one action with maximum frequency of 108.5 MHz. 32PDC is able to produce an output in 13.24 MHz with the robot system. Therefore, the proposed controller will be able to control a wide range of the systems with high sampling rate and 75.545 ns delays.
International Journal of Artificial Intelligence and Applications for Smart Devices, 2014
Multi-degrees-of-freedom (DOF) actuators are wide used in a number of Industries. Currently, a si... more Multi-degrees-of-freedom (DOF) actuators are wide used in a number of Industries. Currently, a significant number of the existing robotic actuators that can realize multi-DOF motion are constructed using gear and linkages to connect several single-DOF motors in series and/or parallel. The main challenge to use this actuator is control. Nonlinear controllers are the main choice to control of spherical motors. Computed torque controller is one of the nonlinear controllers. One of the main challenges in this controller is having dependence to the systems dynamic as well as measure the desired acceleration. To reduce above challenges, hype-plane computed torque controller is recommended in this research. Fuzzy hype-plane variable computed torque controller is adopted to guarantee the error convergence to zero in a finite time when the error is around the zero without to use desired acceleration. To increase the system robustness in presence of uncertainty fuzzy logic controller is recommended.
Multi-degree-of-freedom (DOF) actuators are finding wide use in a number of Industries (such as a... more Multi-degree-of-freedom (DOF) actuators are finding wide use in a number of Industries (such as aerospace, automotive industry and surgical robot). Currently, a significant number of the existing robotic actuators that can realize multi-DOF motion are constructed using gear and linkages to connect several single-DOF motors in series and/or parallel. Not only do such actuators tend to be large in size and mass, but they also have a decreased positioning accuracy due to mechanical deformation, friction and backlash of the gears and linkages. A number of these systems also exhibit singularities in their workspaces, which makes it virtually impossible to obtain uniform, high-speed, and high-precision motion. For high precession trajectory planning and control, it is necessary to replace the actuator system made up of several single-DOF motors connected in series and/or parallel with a single multi-DOF actuator. The need for such systems has motivated years of research in the development...
International Journal of Information Engineering and Electronic Business, 2014
The minimum rule base Proportional Integral Derivative (PID) Fuzzy Sliding Mode Controller (SMC) ... more The minimum rule base Proportional Integral Derivative (PID) Fuzzy Sliding Mode Controller (SMC) with application to spherical motor is presented in this research. The popularity of PID Fuzzy Sliding Mode Controller can be attributed to their robust performance in a wide range of operating conditions and partly to their functional simplicity. The process of setting of PID Fuzzy Sliding Mode Controller can be determined as an optimization task. Over the years, use of intelligent strategies for tuning of these controllers has been growing especially in nonlinear and uncertain systems. Proportional Integral Derivative methodology has three inputs and if any input is described with seven linguistic values, and any rule has three conditions, we will need 343 rules. It is too much work to write 343 rules and have lots of problem to design embedded control system e.g., Field Programmable Gate Array (FPGA). In this research the PID-like fuzzy controller can be constructed as a parallel structure of a PD-like fuzzy controller and a conventional PI controller to have the minimum rule base and good trajectory follow disturbance to control of spherical motor. However Sliding Mode Controller is work based on cancelling decoupling and nonlinear terms of dynamic parameters for each direction of three degree of freedom spherical motor, this controller is work based on motor dynamic model and this technique is highly sensitive to the knowledge of all parameters of nonlinear spherical motor"s dynamic equation which caused to challenge in uncertain system. This research is used to reduce or eliminate the Sliding Mode Controller problem based on minimum rule base fuzzy logic theory to control of three degrees of freedom spherical motor system and testing of the quality of process control in the simulation environment of MATLAB/SIMULINK Simulator.
International Journal of Intelligent Systems and Applications, 2014
Spherical three Degree-of-Freedom (DOF) is controlled by model-base fuzzy computed torque control... more Spherical three Degree-of-Freedom (DOF) is controlled by model-base fuzzy computed torque controller. The spherical motor has three revolute joints allowing the corresponding parts to move horizontally and vertically. When developing a controller using conventional control methodology (e.g., feedback linearization methodology), a design scheme has to be produced, usually based on a system"s dynamic model. The work outline in this research utilizes soft computing applied to new conventional controller to address these methodology issues. Computed torque controller (CTC) is influential nonlinear controllers to certain systems which this method is based on compute the required arm torque using nonlinear feedback control law. When all dynamic and physical parameters are known, CTC works superbly; practically a large amount of systems have uncertainties and fuzzy feedback Inference Engine (FIS) is used to reduce this kind of limitation. Fuzzy logic provides functional capability without the use of a system dynamic model and has the characteristics suitable for capturing the approximate, varying values found in a M ATLAB based area. Based on this research model-base fuzzy computed torque controller applied to spherical motor is presented to have a stable and robust nonlinear controller and have a good result compared with conventional and pure fuzzy logic controllers.
Identifying composite sketches with digital face photos is an important and challenging task for ... more Identifying composite sketches with digital face photos is an important and challenging task for law enforcement agencies. It has attracted a wide research interest in the face recognition area. In this paper, we present a novel framework that identifies the photo corresponding to a given composite face sketch. A coupled deep convolutional neural network, named Sketch-Photo Net (SP-Net) is proposed, which is fed with a positive or negative photo-sketch pair. In the proposed SP-Net, the customized VGG-Face network is adopted as base model and is followed by two branches, namely S-Net and P-Net, for sketch and photo, respectively. The S-Net and the P-Net are able to learn discriminative features between the sketches and the photos, regardless of the appearance gap by introducing the concept of elastic learning. In other words, to extract the most important features from the input, the network needs to learn the relevant features along with the irrelevant ones. To do so, higher dimension layers are used after the three 512 layers from VGG-FaceNet. Since the network learns representative features, we decrease the dimension of the layers to produce the most representative features. In addition, contrastive loss is employed to discover the coherent visual structures between sketch and photo. Experimental results on E-PRIP face sketch dataset indicate that the proposed network significantly outperforms the state-of-the-art composite sketch identification methods. INDEX TERMS Composite sketch, hand-drawn sketches, convolutional neural network, contrastive loss. I. INTRODUCTION
Multi-degrees-of-freedom (DOF) actuators are wide used in a number of Industries. Currently, a si... more Multi-degrees-of-freedom (DOF) actuators are wide used in a number of Industries. Currently, a significant number of the existing robotic actuators that can realize multi-DOF motion are constructed using gear and linkages to connect several single-DOF motors in series and/or parallel. The main challenge to use this actuator is control. Nonlinear controllers are the main choice to control of spherical motors. Computed torque controller is one of the nonlinear controllers. One of the main challenges in this controller is having dependence to the systems dynamic as well as measure the desired acceleration. To reduce above challenges, hype-plane computed torque controller is recommended in this research. Fuzzy hype-plane variable computed torque controller is adopted to guarantee the error convergence to zero in a finite time when the error is around the zero without to use desired acceleration. To increase the system robustness in presence of uncertainty fuzzy logic controller is recommended.
Multi Degree of Freedom Joints (MDJ) are typically thought to be used for industrial purposes how... more Multi Degree of Freedom Joints (MDJ) are typically thought to be used for industrial purposes however they are beginning to gain the attention of the medical field. A current application pertains to using the precision and stability of a robot arm with MDJ to assist in minimally invasive surgery. In this research, adaptive sliding mode controls are presented as robust controls for multi degree of freedom joints. The objective of the study is to design controls for actuators without the knowledge of boundary of uncertainties/disturbances by using an adaptive sliding mode control while elucidating the robustness of the adaptive sliding mode control. A sliding mode control provides for ultimate accuracy in the presence of the bounded disturbance/uncertainties, although the sliding mode control also causes chattering. Chattering is undesirable for use with robot medical tools, since it might causes damage to them with a subsequent loss of accuracy and oscillation on end-effectors tools....
Multi-degree-of-freedom (DOF) actuators are finding wide use in a number of Industries (such as a... more Multi-degree-of-freedom (DOF) actuators are finding wide use in a number of Industries (such as aerospace, automotive industry and surgical robot). Currently, a significant number of the existing robotic actuators that can realize multi-DOF motion are constructed using gear and linkages to connect several single-DOF motors in series and/or parallel. Not only do such actuators tend to be large in size and mass, but they also have a decreased positioning accuracy due to mechanical deformation, friction and backlash of the gears and linkages. A number of these systems also exhibit singularities in their workspaces, which makes it virtually impossible to obtain uniform, high-speed, and high-precision motion. For high precession trajectory planning and control, it is necessary to replace the actuator system made up of several single-DOF motors connected in series and/or parallel with a single multi-DOF actuator. The need for such systems has motivated years of research in the development...
A Field Programmable Gate Array (FPGAs) is a small Field Programmable Device (FPD) that supports ... more A Field Programmable Gate Array (FPGAs) is a small Field Programmable Device (FPD) that supports thousands of logic gates. FPGA is a high speed, low cost, short time to market and small device size. Technically speaking an FPGA can be used to solve any problem which is computable. This is trivially proven by the fact FPGA can be used to implement a Soft microprocessor. Their advantage lies in that they are sometimes significantly faster for some applications due to their parallel nature and optimality in terms of the number of gates used for a certain process. Specific applications of FPGAs include digital signal processing, software-defined radio, ASIC prototyping, medical imaging, computer vision, speech recognition, nonlinear control, cryptography, bioinformatics, computer hardware emulation, radio astronomy, metal detection and a growing range of other areas. Traditionally, FPGAs have been reserved for specific vertical applications where the volume of production is small. For t...
International Journal of Artificial Intelligence and Applications for Smart Devices, 2014
Currently, a significant number of the existing robotic actuators that can realize multi-DOF moti... more Currently, a significant number of the existing robotic actuators that can realize multi-DOF motion are constructed using gear and linkages to connect several single-DOF motors in series and/or parallel. The main challenge to use this actuator is control. Nonlinear controllers are the main choice to control of spherical motors. Computed torque controller is one of the nonlinear controllers. One of the main challenges in this controller is having dependence to the systems dynamic as well as measure the desired acceleration. To reduce above challenges, hype-plane computed torque controller is recommended in this research. Fuzzy hype-plane variable computed torque controller is adopted to guarantee the error convergence to zero in a finite time when the error is around the zero without to use desired acceleration. To increase the system robustness in presence of uncertainty fuzzy logic controller is recommended.
Many of linear control applications require real-time operation; higher density
programmable logi... more Many of linear control applications require real-time operation; higher density programmable logic devices such as field programmable gate array (FPGA) can be used to integrate large amounts of logic in a single IC. This work, proposes a developed method to design PD controller (PDC) with optimal- gains using FPGA. The method used to design PD controller is to design it as digital design Proportional and Derivative controller in parallel through the summer. The proposed design is 32-bits FPGA-based controller (32PDC), which uses 32-bits for each input/output variable. The single joint of robot is used to test the controller in simulation environments, using VHDL code for the purpose of simulation in Xilinx. The same design is coded in MATLAB environment (MPDC) in order to make a comparison with the proposed FPGA-based design. PDC needs 16 clock cycles to complete one action with maximum frequency of 108.5 MHz. 32PDC is able to produce an output in 13.24 MHz with the robot system. Therefore, the proposed controller will be able to control a wide range of the systems with high sampling rate and 75.545 ns delays.
Uploads
Papers by Hamid Cheraghi
programmable logic devices such as field programmable gate array (FPGA) can be used
to integrate large amounts of logic in a single IC. This work, proposes a developed
method to design PD controller (PDC) with optimal- gains using FPGA. The method
used to design PD controller is to design it as digital design Proportional and Derivative
controller in parallel through the summer. The proposed design is 32-bits FPGA-based
controller (32PDC), which uses 32-bits for each input/output variable. The single joint of
robot is used to test the controller in simulation environments, using VHDL code for the
purpose of simulation in Xilinx. The same design is coded in MATLAB environment
(MPDC) in order to make a comparison with the proposed FPGA-based design. PDC
needs 16 clock cycles to complete one action with maximum frequency of 108.5 MHz.
32PDC is able to produce an output in 13.24 MHz with the robot system. Therefore, the
proposed controller will be able to control a wide range of the systems with high
sampling rate and 75.545 ns delays.
programmable logic devices such as field programmable gate array (FPGA) can be used
to integrate large amounts of logic in a single IC. This work, proposes a developed
method to design PD controller (PDC) with optimal- gains using FPGA. The method
used to design PD controller is to design it as digital design Proportional and Derivative
controller in parallel through the summer. The proposed design is 32-bits FPGA-based
controller (32PDC), which uses 32-bits for each input/output variable. The single joint of
robot is used to test the controller in simulation environments, using VHDL code for the
purpose of simulation in Xilinx. The same design is coded in MATLAB environment
(MPDC) in order to make a comparison with the proposed FPGA-based design. PDC
needs 16 clock cycles to complete one action with maximum frequency of 108.5 MHz.
32PDC is able to produce an output in 13.24 MHz with the robot system. Therefore, the
proposed controller will be able to control a wide range of the systems with high
sampling rate and 75.545 ns delays.