Showing 8 results for Miri
M. Chalkosh Amiri,
Volume 14, Issue 1 (1-1994)
Abstract
A. Hosseini, M. Keshmiri, and M. J. Sadigh,
Volume 26, Issue 1 (7-2007)
Abstract
The optimal path planning of cooperative manipulators is studied in the present research. Optimal Control Theory is employed to calculate the optimal path of each joint choosing an appropriate index of the system to be minimized and taking the kinematics equations as the constraints. The formulation has been derived using Pontryagin Minimum Principle and results in a Two Point Boundary Value Problem, (TPBVP). The problem is solved for a cooperative manipulator system consisting of two 3-DOF serial robots.
S. Amiri and S. H. Amirshahi,
Volume 26, Issue 2 (1-2008)
Abstract
The reflectance factors of transparent fibers, free delustering agent, are predicted by geometric as well as Kubelka-Munk models.
Transparent fibers are simulated by a net of glass capillary tubes containing different solutions of dyestuffs. Based on the results, prediction of the reflectance factor of capillary net by geometric model is relatively better than those obtained from Kubelka-Munk model. However, the geometric model suffers from a complex and massive computation process. Generally speaking, the geometric model performs better for dark transparent samples due to the ignorable internal scattering phenomena. On the other hand, the Kubelka-Munk model provides better results for light samples, where the geometric model fails in acceptable prediction.
M. Ghomeshi Bozorg, M. Keshmiri ,
Volume 34, Issue 1 (7-2015)
Abstract
In this paper, considering all the linear and nonlinear inertia terms of moving masses on a flexible beam, the dynamic response and dynamic stability of the beam are studied. Homotopy perturbation method is used to perform the analysis and results are provided in a stability map for the different values of mass and velocity of the moving masses. It is concluded that there is a borderline in the diagram that separates the stable and unstable regions. For the first time, this borderline is determined semi-analytically. Results of the stability analysis are validated using the Floquet theory. In addition to this borderline, it is also concluded that the Homotopy perturbation method is capable of evaluating the new critical values for mass and velocity which cause vibration resonance in the beam. The locus of these resonant points, which is totally a new finding in dynamic analysis of beam-moving mass problem, is determined semi-analytically. Finally, the effect of the friction between the beam and the moving mass is studied on the stability of the system and resonant conditions. Accuracy of the results for this case is also evaluated with a numerical simulation.
M. Soltani, M. Keshmiri, A. K. Misra,
Volume 35, Issue 1 (9-2016)
Abstract
In present study, dynamic modeling and control of a tethered space robot system in trajectory tracking of its end effector is investigated. Considering variation of the tether length in the model, dynamics of the system is modeled using Lagrange’s method. Librational motion of the tether is controlled by adjusting the tether length similar to conventional manipulators,control of the robot is performed by its motors. It is clear that, in the trajectory tracking of the end effector, the tether length should be kept more or less constant, keeping them in a stable position. Limiting the tether length variation while using it as a tool for controlling the tether librational motion, is the main challenging part of the control system. To deal with this problem, a hybrid control system is proposed to control the system. A nonlinear model predictive control approach (NMPC) is utilized to control the tether librational motion and a modified computed torque method (CTM) is used to control the manipulator motion. Initially the NMPC controller is developed for a simple tethered satellite system. Then it is combined with the CTM controller. The proposed controller is employed to control motion of a space robot’s end effector on a predefined trajectory. Performance of the controller is then evaluated by numerical simulations.
N. Safaeian Hamzeh Kolaei, M. Miri, M. Rashki,
Volume 35, Issue 2 (2-2017)
Abstract
Weighted Simulation-based Design Method (WSDM) is recently developed as an efficient method for Reliability-
Based Design Optimization (RBDO). Despite simplicity, this method degrades effectiveness to obtain accurate optimum design for
high dimension RBDO. Besides, its application range is restricted to RBDOs including only random design variables. In the
present study, local search strategy is employed to enhance the accuracy of conventional WSDOM, and to reduce the computational cost. Besides, a shifting strategy is proposed to increase the application range of WSDM for handling general RBDO problems. The efficiency of the proposed methods is investigated by solving some structural reliability problems.
Comparisonof the obtained results with exact solutions confirms accuracy and superiority of the proposed method for
solving various engineering problems.
M. Rezaee, Sh. Amiri Jahed Amiri Jahed,
Volume 36, Issue 1 (9-2017)
Abstract
In the vibration of a cracked structure with small amplitude oscillations, the crack necessarily is not fully open or fully closed. Therefore, in order to provide a realistic model for the crack, one should relate the stiffness and damping at the crack location to the amount of the opening of the crack. In this study, a continuous model for vibration of a beam with a fatigue crack under low amplitude oscillations is presented in which the crack is not fully open or fully closed. By introducing a nonlinear model for the crack, the equation governing the vibration of the cracked beam is extracted. In order to consider the nonlinear behavior of the crack and to take into account the energy loss at the crack during the vibration, the bending moment at the crack location was considered as a nonlinear function of the angle of crack opening and its variations with respect to the time. The governing nonlinear equation is solved using the perturbation method. The solution reveals the dependency of the resonance frequency on the vibration amplitude. Analytical and explicit expressions are also derived for the nonlinear stiffness coefficient and the damping coefficient of the crack at the crack location. Finally, using the derived expressions for the crack parameters and experimental tests results for cracked beam, the nonlinear stiffness coefficient and the damping coefficient at the crack location is obtained.
N. Cheraghi, M. Miri, M. Rashki,
Volume 39, Issue 1 (8-2020)
Abstract
This paper presents a probabilistic assessment on the free vibration analysis of functionally graded material plates, including layers with magneto-electro-elastic properties, using the 3D solution and surrogate models. The plate is located on an elastic foundation and the intra-layer slipping effect is also considered in the analysis by employing the generalized intra-layer spring model. Due to the high computational cost of the 3D solution in calculating the free vibration frequency of the plate, surrogate models are used. The meta models including kriging method, radial fundamental function method and polynomial response surface method are used to construct the surrogate model. For surrogate models training, the results of the three-dimensional solving method are used. The elastic foundation hardness, the intra-layer slipping effect, the material properties index, and the layer densities are considered as the variables with uncertainty. The three-dimensional solution method is validated through a comparison with other available reference. The results obtained through the surrogate models have been compared to those of the 3D solution formulation, showing a good agreement. The effects of some parameters including the elastic foundation hardness, the intra-layer slipping effect, the density of each layer, and the material properties index on the fundamental frequency of functionally graded material plates are investigated. By using three-dimensional solution method and Kriging Surrogate Model, it is shown that the shear and transverse components of elastic foundation hardness and the density of each layer have the greatest effect on the fundamental frequency of the functionally graded material plates.
