استاد

غلامرضا وثوقی

زمینه های موردعلاقه

مکاترونیک، سیستم های رباتیک و میکرورباتیک
سیستم های کنترل غیرخطی و مقاوم
تعامل انسان و ماشین / سیستم های هپتیک

زمینه کاری

مکاترونیک، سیستم های رباتیک و میکرورباتیک

صفحه شخصی

دکتری

دانشگاه مینه سوتا

1370

کارشناسی ارشد

دانشگاه مینه سوتا

1362

کارشناسی

دانشگاه مینه سوتا

1360

شماره اتاق: 007-6

شماره تلفن: 66165578

شماره فکس: 66000021

مقالات چاپ شده در سایت

Title:

Design and control of an assistive exoskeleton with passive toe joint

Authors:

Hoghooghi, H., Durali, M., Kashef, A.

Year:

2018

Abstract:

Several exoskeletons with various configurations and degrees-of-freedoms (DOFs) have been introduced in the literature, but not many have addressed the optimal selection of the mechanism's DOFs. In the proposed system a semi-passive to

Title:

Design & application of adaptive variable structure & H∞ robust optimal schemes in nonlinear control of boiler-turbine unit in the presence of various

Authors:

Momeni, S., Zabihollah, A., Behzad, M

Year:

2018

Abstract:

In this article, to improve the precision, performance and robustness of an industrial boiler-turbine, two robust controllers are designed. First, a robust adaptive variable structure control scheme (RAVSC) is proposed to control a non

Title:

Feasibility of infrared tracking of beating heart motion for robotic assisted beating heart surgery

Authors:

Sayyaadi, H, Bahmanyar, S, Ghasemi, M

Year:

2018

Abstract:

Background: Accurate tracking of the heart surface motion is a major requirement for robot assisted beating heart surgery. Method: The feasibility of a stereo infrared tracking system for measuring the free beating heart motion was inv

Title:

Variable admittance control of the exoskeleton for gait rehabilitation based on a novel strength metric

Authors:

Salehi, A., Khandan, A., Arab Baniasad, M, Baghdadi, S, Farahmand, F, Zohoor, H

Year:

2018

Abstract:

Assist-as-needed control is underlain by the aim of replacing skillful therapists with rehabilitation robots. The objective of this research was to introduce a smart assist-as-needed control system for the elderly or partially paralyze

Title:

Assistive-compliant control of wearable robots for partially disabled individuals

Authors:

Sajjadi, M, Pishkenari, H.N, Vossoughi, G

Year:

2018

Abstract:

The main objective of this research was to introduce a smart assist-as-needed control system that helps elderly or partially paralyzed individuals. To ensure that a smart and compliant controller, in each cycle of the gait is developed

Title:

Finite element modeling of trolling-mode AFM

Authors:

Yousefsani, S.A, Shamloo, A, Farahmand, F

Year:

2018

Abstract:

Trolling mode atomic force microscopy (TR-AFM) has overcome many imaging problems in liquid environments by considerably reducing the liquid-resonator interaction forces. The finite element model of the TR-AFM resonator considering the

Title:

On the nonlinear dynamics of trolling-mode AFM: Analytical solution using multiple time scales method

Authors:

Year:

2018

Abstract:

Trolling mode atomic force microscopy (TR-AFM) has resolved many imaging problems by a considerable reduction of the liquid-resonator interaction forces in liquid environments. The present study develops a nonlinear model of the menisc

Title:

Modeling a multilayer piezo-electric transducer by equivalent electro-mechanical admittance matrix

Authors:

Yazdani, M, Salarieh, H, Saadat Foumani, M

Year:

2018

Abstract:

Piezoelectric transducers (sensors and actuators) are widely used to produce motion or to sense displacement. One of the most applicable types of the piezo-electric transducers is a transducer in which the piezo stacks are sandwiched b

Title:

Robust adaptive sliding mode admittance control of exoskeleton rehabilitation robots

Authors:

Shamloo, A, Mashhadian, A

Year:

2018

Abstract:

A nonlinear robust adaptive sliding mode admittance controller is proposed for exoskeleton rehabilitation robots. The proposed controller has robustness against uncertainties of dynamic parameters using an adaptation law. Furthermore,

Title:

Robust Nonlinear Neural Network-Based Control of a Haptic Interaction with an Admittance Type Virtual Environment

Authors:

Nouri-Borujerdi, A, Moazezi, A

Year:

2018

Abstract:

For simulating the surgical procedures in a virtual environment, it is necessary to propose a suitable virtual environment model which can reflect the real physical tool-tissue interaction behavior and a proper human user interface app

Title:

Dynamic Characterization of a Parallel Haptic Device for Application as an Actuator in a Surgery Simulator

Authors:

Gharini, M, Mohammadi Moghaddam, M, Farahmand, F.

Year:

2018

Abstract:

Tactile sense is a key element in developing virtual reality simulators or surgical training systems. In this regard, haptic interfaces, the generator of a sense of touch, play a significant role in producing a realistic haptic feedbac

Title:

A Hybrid Algorithm for Prediction of Varying Heart Rate Motion in Computer-Assisted Beating Heart Surgery

Authors:

Kiyoumarsioskouei, A., Saidi, M.S, Mosadegh, B., Firoozabadi, B

Year:

2018

Abstract:

An essential requirement for performing robotic assisted surgery on a freely beating heart is a prediction algorithm which can estimate the future trajectory of the heart in the varying heart rate (HR) conditions of real surgery with a

Title:

Robust fault tolerant explicit model predictive control(

Authors:

Year:

2018

Abstract:

In this study, a new algorithm for explicit model predictive control of linear discrete-time systems subject to linear constraints, disturbances, uncertainties, and actuator faults is developed. The algorithm is based on dynamic progra

Title:

Motion type analysis of a piezoelectric-actuated vibratory micro-robot in hybrid stick-slip-jump mode

Authors:

Year:

2018

Abstract:

In this paper, the stick-slip-jump motion of a micro-robot with two perpendicular vibratory actuators is studied. A practical model of this micro-robot is designed and fabricated with two Langevin type piezoelectric actuators, which ar

لیست مقالات چاپ شده

Moradi, H., Vossoughi, G. R., Alasty, A., (2014), Suppression of harmonic herturbations and bifurcation control in tracking objectives of a boiler-turbine unit in power grid, Nonlinear Dynamics, 75, 1-2.

Salehi, R., Vossoughi, G. R., Alasty, A., (2014), Modeling and estimation of unmeasured variables in a wastegate operated turbocharger, Journal of Engineering for Gas Turbines and Power, ASME, 136, 5.

Abtahi, M., Vossoughi, G. R., Meghdari, A., (2013), full operational range dynamic modeling of micro cantilever beams, Journals Microelectromechanical System, 22, 5, 1190-1198.

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