Article
Engineering, Civil
M. Ahmadizadeh, A. M. Shafei, R. Jafari
Summary: This paper investigates the multiple impacts of 2D open-loop robotic systems composed of n elastic links and revolute joints. Through deriving dynamic equations, modeling impact-contact mechanism, employing Timoshenko beam theory for transverse vibrations, and considering structural and air damping, the study analyzes the dynamic behavior of the system. Additionally, special computational algorithms are used to control the impact phase with high precision.
INTERNATIONAL JOURNAL OF STRUCTURAL STABILITY AND DYNAMICS
(2021)
Article
Engineering, Mechanical
A. M. Shafei, M. M. Riahi
Summary: This paper presents a dynamic modeling of the closed-loop flexible linkages in non-impact and impact stages using the Timoshenko beam theory and assumed modes method. The dynamic equations for the suspension stage are obtained using the Gibbs-Appell formulation, and the governing equations for the impact stage are derived using Newton's impact method. Simulations are performed on two closed loop manipulators with four elastic links to investigate the effects of mode shapes on the temporal response of these mechanical systems. A criterion based on the mechanical energy conservation law is presented for validating the obtained results.
MECHANICAL SYSTEMS AND SIGNAL PROCESSING
(2022)
Article
Engineering, Marine
S. F. Dehkordi
Summary: The study developed a dynamic model of a robotic chain considering its motion in a fluid medium. The dynamic effects of the fluid on flexible arms were mathematically expressed and simulations were conducted under different conditions to observe the deformation of the robot links.
Article
Mechanics
Theresa E. Honein, Oliver M. O'Reilly
Summary: This technical brief presents a simple and concise derivation of the Gibbs-Appell equations for the dynamics of a constrained rigid body.
JOURNAL OF APPLIED MECHANICS-TRANSACTIONS OF THE ASME
(2021)
Article
Mathematics
Calin Itu, Ana Toderita, Lucia-Violeta Melnic, Sorin Vlase
Summary: This study aimed to investigate the forces acting on a dummy in a race car during a frontal collision with a wall, using a complex car model equipped with safety seat belts and a shock absorption system. The behavior of the dummy was analyzed through accelerations measured at different body points and the forces experienced by the seat belts. The Gibbs-Appell method was employed to evaluate the system response based on motion equations for shock problems. The use of this method, along with FEM modeling and Altair Hyperworks software II, allowed for efficient evaluation of seat belt functionality under potential defects.
Article
Engineering, Mechanical
A. Zahedi, A. M. Shafei, M. Shamsi
Summary: This paper presents a direct and straightforward approach to derive the kinetic equations of planar mechanisms with multiple kinematic closed loops. It analyzes the mechanisms with constrained joints by disassembling them into closed chains and applying kinematic and dynamic analysis to the joints of each chain. The recursive Gibbs-Appell methodology is used to extract the equations of motion for each individual chain, and the motion equations of the separate chains are combined to derive the main mechanism's kinetic equations, considering the dynamic coupling between the chains. The theoretical results are validated by comparing them with experimental results obtained from a sample mechanism.
MECHANISM AND MACHINE THEORY
(2023)
Article
Mathematics
Sorin Vlase, Marin Marin, Negrean Iuliu
Summary: This paper presents the main analytical methods used in the study of complex multibody systems with deformable elements, including the finite element method, Lagrange's equations, Gibbs-Appell equations, Maggi's formalism, and Hamilton's equations. The advantages and disadvantages of these methods are comparatively presented.
Article
Engineering, Mechanical
Theresa E. Honein, Oliver M. O'Reilly
Summary: By constructing a single representative particle constrained to move on a configuration manifold, the relationships and equivalences between different formulations of the equations of motion can be explored and explained through several helpful geometric interpretations.
NONLINEAR DYNAMICS
(2021)
Article
Mathematics, Applied
Zeynep Ozat, Bayram Cekim, Mehmet Ali Ozarslan
Summary: In this paper, we introduce the main properties of ?(?)-Laguerre based Appell polynomials and provide corresponding results. We also introduce several specific families of ?(?)-Laguerre polynomials and exhibit their main properties.
APPLIED MATHEMATICS AND COMPUTATION
(2023)
Article
Automation & Control Systems
Y. Kim, T. Singh
Summary: This paper focuses on the energy-time optimal control problem of wheeled mobile robots undergoing point-to-point transitions in an obstacles free space. Two models are used to derive the necessary conditions for optimality, and Jacobi elliptic functions are used to parameterize the solutions. The analysis reveals that the optimal control is constrained on the intersection of cylinders.
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
(2022)
Article
Computer Science, Interdisciplinary Applications
Jerome Loheac, Vineeth Satheeskumar Varma, Irinel Constantin Morarescu
Summary: This paper proposes control design strategies to minimize the time required by a mobile robot to accomplish a certain task while transmitting/receiving a message. It first designs a minimal-time control for simplified robot dynamics using the Pontryagin maximum principle, and then demonstrates how these results can be used to efficiently control more complicated non-holonomic dynamics.
MATHEMATICS AND COMPUTERS IN SIMULATION
(2022)
Article
Mathematics
Leonid Berlin, Andrey Galyaev, Pavel Lysenko
Summary: The time-optimal control problem for a system consisting of two non-synchronous oscillators is examined in this study. By proposing necessary extremum conditions in the form of nonlinear matrix equalities, the relationship between the reachability set and control classes of the oscillators is described. The obtained analytical results are validated through mathematical modeling.
Article
Mathematics
Leishi Wang, Mingtao Li, Xin Pei, Juan Zhang
Summary: China's livestock industry has been growing rapidly, but it faces the challenge of supply-demand imbalance. This study proposes four optimal breeding strategies based on modeling and analyzing the behavior of livestock farmers, and identifies the most suitable strategy through profit comparison. The results indicate that livestock farmers should adjust farm productivity according to price changes in order to maximize profits.
Article
Automation & Control Systems
Cristopher Hermosilla, Michele Palladino
Summary: In this paper, we prove a fully nonsmooth Pontryagin maximum principle for optimal control problems driven by a sweeping process with drift term x is an element of f(t, x, u) -N-C(t)(x). The novel exact penalization technique is used to exploit the controllability properties of the dynamics and prove the maximum principle in the case when the moving set C(t) is both nonsmooth and nonconvex.
SIAM JOURNAL ON CONTROL AND OPTIMIZATION
(2022)
Article
Mathematics
Francesco Aldo Costabile, Maria Italia Gualtieri, Anna Napoli
Summary: This paper proposes a general approach to bivariate Appell polynomials based on matrix calculus, presenting known and new basic results such as recurrence relations, determinant forms, and differential equations. The applications of this approach to linear functional and linear interpolation are briefly discussed, along with examples of bivariate Appell polynomial sequences.
Article
Materials Science, Multidisciplinary
Moharam Habibnejad Korayem, Zahra Rastegar
Summary: In modeling and simulating manipulation, accuracy is crucial, leading researchers to eliminate simplifications and limitations such as damping properties of biological particles and ignorance of oscillatory drag. By considering particles viscoelastic and implementing oscillatory drag, the modeling accuracy is increased, impacting particle behavior prediction under manipulation.
MECHANICS OF ADVANCED MATERIALS AND STRUCTURES
(2021)
Article
Materials Science, Multidisciplinary
M. H. Korayem, H. Khaksar
Summary: This article investigates the optimum path planning for elliptical and cubic nanoparticles using one and dual probe atomic force microscopes. The cost function considers four different parameters, including area under critical time-force diagram, critical indentation depth, path smoothness, and area under force-time diagram of primary impact of nanoparticles. Three different obstacles are also added for more realistic simulations. The effects of roughness on both surface and particles are considered, and a genetic algorithm method is used for path planning.
MECHANICS OF ADVANCED MATERIALS AND STRUCTURES
(2022)
Article
Microscopy
M. H. Korayem, P. Panahi, H. Khaksar
Summary: Four contact models, including Hertz, Jamari, Jeng-Wang, and Weng-Tang-Zhou-Zhu were compared. Among these models, Jeng-Wang was found to be the most suitable for particle-substrate contact. Comparing the results from different models in elliptical geometry, it was observed that Jeng-Wang had the highest indentation depth, while Weng-Tang-Zhou-Zhu had the lowest indentation depth.
Article
Anatomy & Morphology
Moharam Habibnejad Korayem, Arash Hashemi, Alireza Habibnejad Korayem
Summary: This paper investigates the vibration analysis and control of a ZnO non-uniform multi-layered piezoelectric micro-cantilever in non-contact mode using a sliding mode controller (SMC). The results show that SMC method reduces the control input close to the surface and increases accuracy near the surface, while hysteresis effects and surface topography are also studied with simulations.
MICROSCOPY RESEARCH AND TECHNIQUE
(2021)
Article
Engineering, Multidisciplinary
Moharam Habibnejad Korayem, Hesam Khaksar
Summary: This article investigates the impact of impact on the dynamic modeling and simulation of cubic and elliptic nanoparticles in manipulation process based on atomic force microscopy (AFM). The results show different movement patterns of nanoparticles under various forces, providing insights into the manipulation process of nanoparticles.
APPLIED MATHEMATICAL MODELLING
(2021)
Article
Engineering, Multidisciplinary
Moharam Habibnejad Korayem, Afsaneh Hedayat, Siavash Fathollahi Dehkordi
Summary: This article derives the kinematic and dynamic constraints of a closed kinematic chain and the motion equations of a cooperative robotic chain. By using friction to bring the end effector of a cooperative arm into contact with a common load, complex constraints and solutions for slip are provided. The results show that dynamic load-carrying capacity of any system can be improved when appropriate conditions for friction and internal force are met.
APPLIED MATHEMATICAL MODELLING
(2021)
Article
Engineering, Mechanical
M. H. Korayem, H. Khaksar, A. Mousavi
Summary: This study focuses on the control of nanomanipulation process in three general areas, using adaptive fuzzy sliding-mode control technique and elliptical/cubic geometries. Results demonstrate high accuracy of the proposed method, achieving control objectives in less than 0.04 seconds.
MECHANICAL SYSTEMS AND SIGNAL PROCESSING
(2021)
Article
Anatomy & Morphology
Moharam Habibnejad Korayem, Zahra Rastegar
Summary: In this study, the authors utilized the capabilities of atomic force microscopy to optimize paths in a live environment with fixed and moving obstacles. By defining a cost function and considering constraints, they were able to minimize tool error and particle deformation in biological applications. The study showed that the constraint on applied force was more effective than others and increased path planning time.
MICROSCOPY RESEARCH AND TECHNIQUE
(2021)
Article
Robotics
M. H. Korayem, S. Azargoshasb, A. H. Korayem, Sh. Tabibian
Summary: A low-cost communication system for human-robot interaction was designed and implemented in this paper. A hidden Markov model-based voice command detection system was proposed and tested with a non-native database. Experimental results showed that the system is capable of recognizing voice commands and achieving better performance compared to a trained system on a native database.
Article
Engineering, Aerospace
M. H. Korayem, S. F. Dehkordi, O. Mehrjooee
Summary: The analysis of motion equations of flexible-link manipulators shows the existence of nonlinear terms and behavioral instability in their outcomes. When the differential equations have structural time-dependent parameters, there is a higher chance for system instability, especially chaos. Preventing physical parameters and system inputs that cause chaotic responses is important.
ADVANCES IN SPACE RESEARCH
(2022)
Article
Engineering, Mechanical
R. Goodarzi, M. H. Korayem, H. Tourajizadeh, M. Nourizadeh
Summary: This paper models a novel moving cable-driven robot, taking into account the vibration of the cables in its nonlinear format. The study shows that modeling the cable's vibration as a nonlinear system leads to more accurate results.
NONLINEAR DYNAMICS
(2022)
Article
Automation & Control Systems
Moharram Habibnejad Korayem, Naeim Yousefi Lademakhi
Summary: This paper investigates the theory and application of a combined nonlinear suboptimal control and estimator based on the state-dependent differential Riccati equation, aiming to achieve finite-time tracking of manipulators with flexible joints. The integration of an estimator with a controller allows for full-state feedback for the system.
OPTIMAL CONTROL APPLICATIONS & METHODS
(2023)
Article
Automation & Control Systems
Paria Moradi, Moharram Habibnejad Korayem, Naeim Yousefi Lademakhi
Summary: In this article, the values of torque loss due to friction in robot joints were identified, and a model for this phenomenon was presented using the lugre friction model and nonlinear least-squares error-estimation method. Three forms of the lugre friction model were used to model the system's friction, with the third model including a nonlinear viscous term. The performance of the designed algorithms was examined using a nonlinear sliding mode controller. The results showed the superiority of the identified models with time-varying parameters. The accuracy of the proposed friction models was validated through simulations on a 6R laboratory robot.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING
(2023)
Article
Robotics
Moharam Habibnejad Korayem, Hamidreza Rezaei Adriani, Naeim Yousefi Lademakhi
Summary: This paper presents a method based on neural networks for intelligently extracting weighting matrices of the optimal controllers' cost function. Through simulation and experimental results, the effectiveness of the proposed method is validated, showing better controller performance and lower operation error compared to traditional methods.
Article
Multidisciplinary Sciences
M. H. Korayem, M. R. Vazifeh Ardalani, A. Toorani
Summary: In this study, the stability of a wheeled-legged robot is investigated by introducing the position of the center of mass relative to the geometric center of the robot as an independent degree of freedom. A novel force-angle method is proposed and applied for stability analysis, and its effectiveness is validated by comparing with the results of an actual robot.
ARABIAN JOURNAL FOR SCIENCE AND ENGINEERING
(2023)
