List of Articles Robots

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  1 - Model Reference Adaptive Control Design for a Teleoperation System with Output Prediction
  K. Hosseini-Sunny H. R. Momeni F. Janabi-Sharifi
  In this paper a new control scheme is proposed to ensure stability and performance of the teleoperation systems while a wide range of time delay of transmission line is allowed. For this mean, time delay is estimated and used to predict the plant output. A model referen More

  In this paper a new control scheme is proposed to ensure stability and performance of the teleoperation systems while a wide range of time delay of transmission line is allowed. For this mean, time delay is estimated and used to predict the plant output. A model reference adaptive controller (MRAC) is designed for the master site using the predicted output of the plant. The proposed control system indicates good stability and force tracking performance. For the slave site, an independent MRAC is designed and it is shown that a good tracking for the position and velocity signals is achieved. Manuscript profile
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  2 - Exponential Stability Analysis of Discrete Linear Teleoperation Systems with Nonuniform Sampling
  A. Aminzadeh Ghavifekr A. Rikhteghar Ghiasi M. A. Badamchizadeh F. Hashemzadeh
  Teleoperation systems have attracted more attention in processes that human operator’s availability is difficult. In this paper, using retarded functions, teleoperation systems have been modeled as a special case of Network Control Systems (NCS) with nonuniform sampling More

  Teleoperation systems have attracted more attention in processes that human operator’s availability is difficult. In this paper, using retarded functions, teleoperation systems have been modeled as a special case of Network Control Systems (NCS) with nonuniform sampling and network delays. It is assumed that slave and master robots are linear and continues-time systems and input-delay approach is used for the stability analysis. Using the proposed Lyapunov function, the sufficient conditions for the stability of discrete network-based teleoperation system is proposed. It will be represented that the proposed conditions are less conservative than previous recent researches. Also an upper bound of sampling time for discrete control signals is computed in a manner that does not disturb the stability conditions. To meet this condition the problem is defined as the convex optimization program and is represented by the LMI terms. In the simulation part, the behavior of the teleoperation system under the nonuniform sampling is represented and the effect of sampling time on the trade-off between the stability and transparency has been studied. Manuscript profile
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  3 - testDesign Decentralized Controller for a Group of Cooperative Robot to Pushing a Box in Presence of Network Constraints
  میلاد مرادی سید محمد مهدی Seyyed M. Mehdi Dehghan
  The problem of pushing objects by a group of cooperative robots has many applications on land and sea level and due to its importance, it has become a standard problem for evaluating various theories of robot cooperation. In this case, each robot produces distributed co More

  The problem of pushing objects by a group of cooperative robots has many applications on land and sea level and due to its importance, it has become a standard problem for evaluating various theories of robot cooperation. In this case, each robot produces distributed control force to push the object in the desired direction. The proposed methods for distributed control of an object on a time-varying path require information about the position of the robots relative to the object. The problem of the lack of sufficient knowledge of each robot of how the robots are positioned relative to the body can be solved by proposing a consensus issue on positional moments. In this case, the robots must reach a consensus on these moments by exchanging information through the communication network between them. The effect of communication network between robots on the process of reaching consensus and the effect of delay in consensus on the results of control of object on the desired path is the subject of this article. In this paper, the appropriate control law for achieving consensus in the absence of full connection between all bots, delay and the probability of data loss in the communication network is presented. The maximum allowable network delay is also specified to prevent the instability of object motion control. The simulation results show the capability of the proposed method for controlling the velocity of the object on the desired variable path and show the effect of network constraints on the performance of the controller. Manuscript profile
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  4 - Etiology of Robot Crimes: With Emphasis on Rational Choice Theory
  mahboub afrasiab kamran shirzad
  Nowadays, artificial intelligence has become increasingly important as a technological advancement. Different applications of artificial intelligence in different realms, while being the source of services for humans, but the emergence of robotic crimes has posed challe More

  Nowadays, artificial intelligence has become increasingly important as a technological advancement. Different applications of artificial intelligence in different realms, while being the source of services for humans, but the emergence of robotic crimes has posed challenges for humans. Therefore, the main issue in this area is the intervention of robots in criminal behavior. Regarding the crimes of the first generation of robots / non-intelligent robots, it should be said that robots have no role in committing a crime and are only a tool in the hands of the programmer. However, the generation of intelligent robots are active and rational social actors who move beyond the will of the programmer and seek to make moral decisions. The study, which seeks to analyze the crimes of robots in the light of rational choice theory, concludes that intelligent robots are among the white-collar criminals among criminals who pay the most attention to cost-benefit analyzes. In addition, the first generation of robots lack the ability to measure the benefits and costs of crime Manuscript profile