Mohammad Zareinejad

Amirkabir University of Technology

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Seyed Mehdi Rezaei

Amirkabir University of Technology

Heidar Ali Talebi

Amirkabir University of Technology

Hamed Ghafarirad

Amirkabir University of Technology

Keivan Baghestan

Amirkabir University of Technology

Saeed Shiry Ghidary

Amirkabir University of Technology

Mozafar Saadat

University of Birmingham

Ali Tivay

University of Maryland, College Park

Mohammad Sheikh Sofla

University of Lincoln

Reza Seifabadi

National Institutes of Health Clinical Center

Mohammad Reza Dehghan

University of Isfahan

Cooperative Institutions

Amirkabir University of Technology

University of Tehran

Shahid Beheshti University of Medical Sciences

Sharif University of Technology

Iran University of Medical Sciences

Shahid Beheshti University

University of Malaya

Isfahan University of Technology

K.N.Toosi University of Technology

University College London

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Design, Modeling and Implementation of Rotary Piezoelectric Motor

2022 10th RSI International Conference on Robotics and Mechatronics (ICRoM) (2023)

Mohammad Azadkhani Hamed Ghafarirad Mohammad Zareinejad

This paper presents a design process for rotary piezoelectric motors. The design methodology is first investigated, providing insights into the key considerations and challenges. It has been observed that there is not enough focus on mathematical modeling in the literature. A mathematical model is developed and experimentally validated for a rotary piezoelectric motor. This motor employs a rhombic mechanism for amplifying the displacement of the piezo ceramic. The constructed motor is subjected to drive frequencies of 10 Hz and 20 Hz, and the obtained experimental results are compared with the mathematical model. Notably, it is observed that the nonlinearity inherent in the friction phenomenon leads to an increase in model error as the frequency is raised.

Rotary engine

Piezoelectric motor

10.1109/icrom60803.2023.10412500

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A PASSIVE-BASED FORCE REFLECTING ALGORITHM FOR A PIEZO-ACTUATED MACRO-MICRO TELEMANIPULATION SYSTEM

Journal of Computer & Robotics (2010)

Mohammad Zareinejad Shiry Ghidary Saeed Salman Rezaei

Piezoelectric actuators are widely used in micro manipulation applications. However hysteresis nonlinearity limits accuracy of these actuators. This paper presents a novel approach utilizing a piezoelectric nano-stage as slave manipulator of a teleoperation system. The Prandtl-Ishlinskii (PI) model is used to model actuator hysteresis in feedforward scheme to cancel out this nonlinearity. A passive coordination control which uses the new outputs to state synchronize the master and slave robots in free motion is extended to achieve position coordination in contact tasks. The proposed approach uses force feedback using a passivity of the systems and Lyapunov stability methods; the asymptotic stability of force reflecting teleoperation with communication delay and position/force scaling is proven. Performance of the proposed controllers is verified through experiments.

Teleoperation

Passivity

Feed forward

Position (finance)

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Nonlinear Disturbance Observer Based Impedance Control for a Teleoperation System Under Time Delay

Amir Monemian Esfahani Seyed Mehdi Rezaei Mohammad Zareinejad

In this paper a nonlinear disturbance observer (NDO) based impedance control is proposed for a teleoperation system. The unknown friction and uncertainties will be estimated by the observer and added to the control input for compensation. Although friction will improve the stability, it worsens the transparency of the system which is another major point in teleoperation systems. The stability of the system is guaranteed by Lyapunov stability criterion and selecting the best design parameters. Tracking of force/position is achieved by these parameters. Also a fixed time delay is added to the system because of delays in the cables and other sources, it is then compensated with the designed controller. Performance of the proposed control is validated by experimental results.

Teleoperation

Impedance Control

Observer (physics)

Passivity

Position tracking

10.1115/imece2009-12555

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Static Modeling of Soft Reinforced Bending Actuator Considering External Force Constraints

Soft Robotics (2021)

Mohammad Hadi Namdar Ghalati Hamed Ghafarirad Amir Abolfazl Suratgar Mohammad Zareinejad Mohammad Ali Ahmadi-Pajouh

Soft robots are utilized in various operations such as rehabilitation, manipulation, and locomotion. These robots are sometimes excited by means of rubber based bending actuators, which are highly nonlinear and hyperelastic. In addition, in contrast to robots with rigid links and common actuators, continuous deformation of soft bending actuators in the presence of external forces makes the modeling more complicated. Thus, introducing a proper mathematical framework that accurately describes mechanical behavior of these actuators is still a challenge. In this research study, an analytical static model based on the Neo-Hookean material model is proposed. By resorting to the proposed model, a nonlinear relation between the actuator shape and inlet actuation pressure is extracted. Next, by means of the Euler-Bernoulli beam theory, the effect of external forces on the actuator configuration is investigated. Finally, experimental results are presented to validate the proposed theoretical model. In this regard, first, the actuator nonlinear behavior in a free motion is appropriately verified. Then, the actuator configuration, in the presence of two conventional external forces, called following and fixed direction, is analyzed.

Hyperelastic material

10.1089/soro.2021.0010

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Citations (14)

ECF-MUSIC: An empirical characteristic function based direction of arrival (DOA) estimation in the presence of impulsive noise

Digital Signal Processing (2022)

Mohsen Asghari Mohammad Zareinejad Seyed Mehdi Rezaei Hamidreza Amindavar

Direction of arrival

SIGNAL (programming language)

Matrix (chemical analysis)

10.1016/j.dsp.2022.103440

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A controller–observer scheme for nonlinear bilateral teleoperation systems

Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering (2013)

Keivan Baghestan Seyed Mehdi Rezaei Heidar Ali Talebi Mohammad Zareinejad

This article presents an observer-based control scheme for nonlinear bilateral teleoperation systems under variable asymmetric time delays. Estimated velocities are used in control laws, which may make the system unstable. A novel stability analysis is addressed to guarantee the performance of the controller–observer scheme. The proposed scheme is composed of feedback controllers, consisting of two proportional–derivative plus damping controllers in which d-terms are used to passify the delayed proportional and derivative control actions. Two nonlinear high-gain observers are designed in order to estimate the velocity signals of the master and the slave. The stability of the overall closed-loop system is proved under the assumption of passivity of the terminal operator and environment. The performance of the proposed approach is verified using experiments performed on a 2-degree-of-freedom teleoperation system. Experimental results verify that both controller and observer design objectives are satisfied.

Teleoperation

Passivity

Observer (physics)

10.1177/0959651813502176

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Citations (3)

Position coordination of a linear teleoperation system with constant time delay

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (2007)

Kamran Razi Mohammad Javad Yazdanpanah Saeed Shiry Ghidary Hossein Habibollahi Najafabadi Mohammad Zareinejad

In this paper we present a linear time invariant controller for bilateral teleoperation of a pair of N-DOF linear robotic systems under constant time delay. Our framework uses position and velocity signals to achieve position tracking in free motion. It also uses force feedback for compensating the human/environment disturbances to achieve position coordination in contact tasks. In passifying position and velocity feedback terms, for simplicity reasons there is no need to consider the dynamics of the robotic systems as long as they satisfy Euler-Lagrangian dynamic system equation. However when the force feedback is applied, we have to consider the dynamics of the robot in controller design. We do passivity analysis in the frequency domain by using Parseval's identity. Simulation has been performed to illustrate the proposed algorithm and to clarify some points in the design procedure.

Teleoperation

Passivity

Position (finance)

Parseval's theorem

Telerobotics

Constant (computer programming)

10.1109/iros.2007.4399465

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Robust control with unknown dynamic estimation for multi-axial piezoelectric actuators with coupled dynamics

Comptes Rendus Mécanique (2012)

Hamed Ghafarirad Seyed Mehdi Rezaei Mohammad Zareinejad M. Hamdi Ramin Ansari

Hysteresis

Inverse dynamics

10.1016/j.crme.2012.07.003

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Citations (8)

Using polytopic uncertainty to model linearization errors for hydraulic actuator position control

Mostafa Falahi Amir Abdullah Seyed Mahdi Rezaei Ali Tivay Mohammad Zareinejad

The objective of this paper is to study an electro-hydraulic servo system (EHSS) with the task of position control, giving special attention to its uncertainty representation. For this purpose, first, the nonlinear equations of the EHSS are derived. It is shown that an uncertain linear model can be derived from the nonlinear model, capturing the nonlinearity in the form of polytopic uncertainty. Special attention is given to reducing the conservativeness of this approach. The resulting model is used to synthesize an output-feedback H _∞ controller for the EHSS using a Linear Matrix Inequality (LMI)-based approach. The effectiveness of this method is demonstrated after providing simulation and experimental results.

Linearization

Position (finance)

Servomechanism

Feedback linearization

Linear matrix inequality

10.1109/icrom.2015.7367809

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Citations (1)

CONTROL OF PNEUMATIC SERVO SYSTEM BASED ON SIMULTANEOUS PRESSURE OBSERVING ON BOTH SIDES OF THE CYLINDER BY HIGH-GAIN OBSERVER

Sepehr Ramezani Rezaei Seyed Mehdi Mohammad Zareinejad Baghestan Keivan

دییامن هدافتسا لیذ ترابع زا هلاقم نیا هب عاجرا يارب : Please cite this article using: S. Ramezani, S. M. Rezaei, M. Zareinejad, K. Baghestan, Control of pneumatic servo system based on simultaneous pressure observing on both sides of the cylinder by highgain observer, Modares Mechanical Engineering, Vol. 15, No. 1, pp. 1-10, 2015 (In Persian) لرتنک متسیس کیتاموینوورس رب هیاپ تیور نامزمه راشف ود فرط ردنلیس طسوت رگتیور هرهب لااب

Pneumatic cylinder

Observer (physics)

Servomechanism

Electrohydraulic servo valve

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