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PID Controller Design for a Mechatronic System using Lion Optimization Algorithm
Amirhossein Safdari;Amirhosein Mansouri;Mohammad Javad Fazli;Payam Zarafshan;Khalil Alipour;Bahram Tarvirdizadeh
2025 Fifth National and the First International Conference on Applied Research in Electrical Engineering (AREE)
Year: 2025 | Conference Paper |
Controllers act as a bridge between the operator and the system, allowing the operator to communicate with the system as if it were a human. In other words, the controller is like the thinking brain of an industrial process. A controller communicates all the commands that an expert wants to apply to the system to follow its standard flow process and ultimately achieve the desired response. When in...Show More
Machine Learning Based Multiple Impedance Control of a Space Free-Flying Robot
Amirhossein Safdari;Payam Zarafshan;Khalil Alipour;Bahram Tarvirdizadeh;Gu Fang
2024 12th RSI International Conference on Robotics and Mechatronics (ICRoM)
Year: 2024 | Conference Paper |
This study investigates the application of Machine Learning (ML) to reduce the inherent computational burden in Multiple Impedance Control (MIC) for robotic systems. Impedance Control (IC) is a powerful method for robots to interact with their environment by simultaneously controlling position and force. However, the increasing complexity of control methods such as MIC requires more and more compl...Show More
Utilizing a Solar Pond and Earthenware Water Tank in Wood Drying with a Smart Solar Kiln
Arash Raeisi;Pouria Aghanasiri;Payam Zarafshan;Mohammad Dehghani
2024 12th RSI International Conference on Robotics and Mechatronics (ICRoM)
Year: 2024 | Conference Paper |
One of the most effective methods to reduce energy consumption in timber drying is solar drying [1]. Solar kilns convert solar energy into heat for drying air, significantly reducing energy costs compared to conventional steam kilns [2]. This study utilizes a 2 m3 greenhouse-type solar kiln, covered with two plastic layers for insulation and heat collection [3]. While solar kilns perform efficient...Show More
Design and Analysis of the Comb Gripper of the Saffron Flowers Harvesting Robot
Shima Shademani;Shahriyar Kouravand;Payam Zarafshan;Khalil Aalipour;Amir Ghalamzan Esfahani
2023 11th RSI International Conference on Robotics and Mechatronics (ICRoM)
Year: 2023 | Conference Paper |
Saffron is one of the most valuable spices in the world, whose origin is attributed to Iran. Iran produces about 90% of the world's saffron annually, however, the harvesting of this product in Iran is mostly done manually. Manual harvest of saffron brings problems. Decreasing the quality of saffron and contamination of saffron with microorganisms are among the problems that arise during manual har...Show More
Design and Analysis of a Fiber Laser Flying Robot for Cleaning Power Line Insulators
Arash Raeisi;Pouria Aghanasiri;Hamed Etezadi;Payam Zarafshan;Mohammad Dehghani
2023 11th RSI International Conference on Robotics and Mechatronics (ICRoM)
Year: 2023 | Conference Paper |
It is one of humanity’s greatest needs today to be able to transmit electric current using power lines from power plants to cities, Therefore, power generation companies are always thinking about improving power transmission lines. As a result of pollution sitting on electrical insulators and making them conductive, power lines lose most of their power. Therefore, we need more effective and newer ...Show More
A Fuzzy Controller Design for a Stem-Vibration Strawberry Harvester Robot
2022 8th Iranian Conference on Signal Processing and Intelligent Systems (ICSPIS)
Year: 2022 | Conference Paper |
Cited by: Papers (2)
Recent studies have shown the acceptable performance of robotic solutions as reliable techniques in agricultural fields. Robotic fruit shakers contain planar mechanisms with a high degree of freedom. This research involved the performance evaluation of several conventional controllers, as well as a fuzzy controller, in controlling the vibration of a strawberry fruit-stem system using a five-degree...Show More
A 3D Printer Design and Fabrication for Chocolate
Sahar Hosseini;Mohammad Dehghani;Payam Zarafshan;Fatemeh Azarikia
2022 10th RSI International Conference on Robotics and Mechatronics (ICRoM)
Year: 2022 | Conference Paper |
Recently, 3D printers have been introduced to the food industry and have attracted many attentions. In this paper, the design and fabrication of a 3D printer for chocolate is presented. First, some important properties of chocolate are introduced. Then, the design of the printer and its mechanical components are studied. Likewise, electrical components such as motors and sensors are introduced. Af...Show More
Formation Control of Multi-quadrotors Based on Deep Q-learning
Roujin Mousavifard;Khalil Alipour;Mohammad Amin Najafqolian;Payam Zarafshan
2022 10th RSI International Conference on Robotics and Mechatronics (ICRoM)
Year: 2022 | Conference Paper |
Cited by: Papers (6)
The purpose of this study is to address a model-free formation problem for a team of quadrotors. A cascade controller including a tracking controller and an attitude controller, is developed. The assumptions preserve the nonlinearity and the under-actuation of the model. The tracking controller uses reinforcement learning to develop a model-free online controller. Moreover, the attitude controller...Show More
Deep Learning Prediction of Chlorophyll Content in Tomato Leaves
Mohsen Imanzadeh Khoshrou;Payam Zarafshan;Mohammad Dehghani;Gholamreza Chegini;Akbar Arabhosseini;Behzad Zakeri
2021 9th RSI International Conference on Robotics and Mechatronics (ICRoM)
Year: 2021 | Conference Paper |
Cited by: Papers (4)
Precision agriculture has improved crops production around the world. Non-destructive evaluation of chlorophyll contents of plant leaves can be a useful solution, in the field of precision farming. In order to take the required measures, sometimes it is essential to precisely evaluate the chlorophyll content, without cutting the target leaves. In this work, a deep learning methodology is proposed ...Show More
Modeling and Control of a Pollinator Flying Robot
Mozhdeh Mazinani;Payam Zarafshan;Mohammad Dehghani;Hamed Etezadi;Kourosh Vahdati;Gholamreza Chegini
2021 9th RSI International Conference on Robotics and Mechatronics (ICRoM)
Year: 2021 | Conference Paper |
Cited by: Papers (5)
Pollination is an important factor of crops growth. Insufficient natural pollination is the cause of using artificial pollination as a complementary method. Using unmanned aerial vehicles is one of the novel methods for artificial pollination. In this paper, a developed quadrotor consisting of four motors is studied for walnut pollination. The robot is modeled to achieve a real control Simulation....Show More
Design and Manufacture of an Aerial Pollinator Robot for Walnut Trees
Mozhdeh Mazinani;Mohammad Dehghani;Payam Zarafshan;Hamed Etezadi;Kourosh Vahdati;Gholamreza Chegini
2021 9th RSI International Conference on Robotics and Mechatronics (ICRoM)
Year: 2021 | Conference Paper |
Cited by: Papers (6)
Pollination is one of the most important factors in fruit production. Naturally, pollination is done by wind and insects. However, it may not be enough, due to the global natural pollinator decline and unstable weather conditions. Population growth and increased demand for agricultural products have led to use artificial pollination as a complementary method to improve this problem. Due to the dic...Show More
Trajectory Control of a Robotic Carrier for Solar Power Plant Cleaning System
F. Hajiahmadi;M. Dehghani;P. Zarafshan;S. Ali A. Moosavian;S. R. Hassan-Beygi
2019 7th International Conference on Robotics and Mechatronics (ICRoM)
Year: 2019 | Conference Paper |
Cited by: Papers (5)
In most environments, solar panels need some cleaning system for dust removal. Recently, robotic cleaning systems have been introduced and used in power plants. Typically, one cleaning robot is dedicated for each row of panels, since it is difficult to move the robot between the rows. This paper is on introduction and control of a robotic carrier system, which can move the cleaning robot between t...Show More
Dynamics Modeling and Position Control of a Robotic Carrier for Solar Panel Cleaning System
F. Hajiahmadi;P. Zarafshan;M. Dehghani;S. Ali A. Moosavian;S. R. Hassan-Beygi
2019 7th International Conference on Robotics and Mechatronics (ICRoM)
Year: 2019 | Conference Paper |
Cited by: Papers (5)
In this paper, modeling and control of a robotic carrier for the cleaning system of solar power plants is presented. Since solar panels are placed at natural environments, there is always a problem of dust accumulation on the panels, which results in absorbed energy reduction. Hence, robotic cleaners can be used for solar panels. For relocation of such cleaning robots between solar panel rows, an ...Show More
Design and Analysis of a Solar Linear Move Irrigation System
A. Ebrahimy;P. Zarafshan;S. R. Hassan-Beygi;M. Dehghani;S. E. Hashemy
2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)
Year: 2018 | Conference Paper |
Cited by: Papers (5)
Solar Energy is the most popular renewable energy, which is available unlimitedly all around the globe. In many modern engineering devices, it is highly appreciated to harness the green solar energy, both since it is clean compared to fossil fuels, and since it is always accessible with no need to any external power line, specifically in field operations. Linear move irrigation systems continually...Show More
Experimental Analysis of an Optimal Redundancy Resolution Scheme in a Cable-Driven Parallel Robot
Masoud Ghanbari;Mohammad Reza Mousavi;S. Ali A. Moosavian;Ali Nasr;Payam Zarafshan
2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)
Year: 2017 | Conference Paper |
Cited by: Papers (1)
This paper addresses the challenge of redundancy resolution in parallel cable robots. Redundancy resolution leads in infinite solutions for tension distribution in cables and hence, force distribution has so far turned into an optimization problem in this class of robots. Therefore, the purpose of this work is to propose a method to optimize the force distribution in cables. In the proposed method...Show More
Back-Stepping Sliding Mode Control of Quadrotor under Dynamic Uncertainties
2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)
Year: 2017 | Conference Paper |
Cited by: Papers (1)
this paper addresses the development of high order Sliding Mode Control (SMC) of a Quadrotor. This development has been done using Back-Stepping Sliding Mode Control (BSMC). By considering external disturbances and dynamic uncertainties in parameters, this approach guaranties the convergence of system states to their desired values. Based on Lyapunov stability theory, main achievement of this inve...Show More
Continuous Contact Models for Space Manipulators Capturing Free-Floating Objects
2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)
Year: 2017 | Conference Paper |
This paper presents a comparative study of various existing continuous contact models for impact phase between space manipulator and free-floating target. Contact and impact are always present in space robotic missions that occur inevitably and frequently like the capture operation scenario. Due to the fact that the impact might cause damage or failure in space missions, the necessary precision sh...Show More
Design and Analysis of a Dredger Robot for Covered Irrigation Canals
Sh. Shademani;P. Zarafshan;M. Khashechi;M. H. Kianmehr;S. M. Hashemy
2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)
Year: 2017 | Conference Paper |
Cited by: Papers (3)
Upgrading the current operational and maintenance measures within irrigation districts has become one of the priorities of the authorities' due to the unsatisfactory performance of the existing irrigation systems. In order to achieve this, effective maintenance managements in irrigation canals must be provided, since providing a reliable source of water is challenging, especially in arid and semi-...Show More
Experimental Analysis of an Optimal Redundancy Resolution Scheme in a Cable-Driven Parallel Robot
Masoud Ghanbari;Mohammad Reza Mousavi;S. Ali A. Moosavian;Ali Nasr;Payam Zarafshan
2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)
Year: 2017 | Conference Paper |
Cited by: Papers (1)
This paper addresses the challenge of redundancy resolution in parallel cable robots. Redundancy resolution leads in infinite solutions for tension distribution in cables and hence, force distribution has so far turned into an optimization problem in this class of robots. Therefore, the purpose of this work is to propose a method to optimize the force distribution in cables. In the proposed method...Show More
Hybrid Piecewise Affine Modeling of Cement Grinding Mechatronic Systems
2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM)
Year: 2017 | Conference Paper |
Interaction of continuous and discrete dynamical behavior yields to the formation of hybrid models. Various models have been developed to represent the dynamics of hybrid systems. In this paper, hybrid modeling of cement grinding system is studied. Cement grinding plant possesses nonlinear dynamics with an intractable and costly control routine. Further to the nonlinearity, the plant's dynamics va...Show More
Jacobian-based singularity analysis of a 3-CRRR spatial parallel robot
2016 4th International Conference on Robotics and Mechatronics (ICROM)
Year: 2016 | Conference Paper |
This paper discusses the singularity analysis of a spatial parallel robot. The robot is a 3-CRRR three-degree of freedom mechanism proposed to improve the dynamic stability of robotic manipulation tasks. First, kinematic equations of the robot are analyzed to extract Jacobian matrices of the mechanism. For exploring singular points of the workspace, rank deficiency of the Jacobian matrices is inve...Show More
Sensory feedback performance improvement on RoboCab: An experimental approach to wire-driven parallel manipulator
Mohammadreza Mousavi;Masoud Ghanbari;Ali Nasr;S. Ali A. Moosavian;Payam Zarafshan
2016 4th International Conference on Robotics and Mechatronics (ICROM)
Year: 2016 | Conference Paper |
Cited by: Papers (4)
This paper introduces a method to improve the feedback accuracy using multisensor data fusion. Flexibility in cables and unmodeled rotation of feeder pulley in the spatial workspace cause unreliability in the encoder data as well as sagging in cables. The purpose of this work is to provide an effective scheme to combine other sensors' information from multiple sources to increase the precision and...Show More
Experimental stability study of an Octorotor using an intelligent controller
2016 Artificial Intelligence and Robotics (IRANOPEN)
Year: 2016 | Conference Paper |
Cited by: Papers (2)
In this paper, the attitude stabilization problem of an Octorotor with coaxial motors is studied. To this end, the new method of intelligent adaptive control is presented. The designed controller which includes fuzzy and PID controllers, is completed by resistant adaptive function of approximate external disturbance and changing in the dynamic model. In fact, the regulation factor of PID controlle...Show More
Modeling and control of an octorotor flying robot using the software in a loop
2016 4th International Conference on Control, Instrumentation, and Automation (ICCIA)
Year: 2016 | Conference Paper |
Cited by: Papers (3)
The modeling and simulation phase of flying robots is of great importance because of the high production expenses of their production, the need for a flawless structural design and also the necessity for predicting the robot reactions in various flight modes. In this way, using software and their combination in a design procedure can be resulted in decreasing the cost and increasing speed and accu...Show More
Dynamics modelling and control of a fluidized bed dryer
2016 4th International Conference on Control, Instrumentation, and Automation (ICCIA)
Year: 2016 | Conference Paper |
Cited by: Papers (2)
Husk rice must be dry before any treatment in industrial processes. For food industries, to preserve the quality of materials, the temperature must remain in a specific domain. So, in this paper, control of the moisture content and temperature of the grains are studied. To this end, a mathematical model is used to shape the control algorithm. In addition, the linear model is prepared for the contr...Show More
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