List of Articles moharam habibnejad

• Open Access Article
  • Abstract Page
  • Full-Text
  
  1 - Dynamic Analysis of AFM in Air and Liquid Environments Considering Linear and Non-linear Interaction Forces by Timoshenko Beam Model
  P. Maleki Moghadam Abyaneh M.H. Korayem B. Manafi M. Damircheli
  The atomic force microscopy of the cantilever beam frequency response behaviour in the liquid environment is different in comparison with air environment. In this paper, the dynamic analysis of AFM in the air and liquid environments is carried out in consideration of li More

  The atomic force microscopy of the cantilever beam frequency response behaviour in the liquid environment is different in comparison with air environment. In this paper, the dynamic analysis of AFM in the air and liquid environments is carried out in consideration of linear and non-linear interaction forces and also the effect of geometrical parameters such as length, width, height; and inclined angle on the vibrating motion of the rectangular cantilever is investigated. A rectangular cantilever based on the Timoshenko theory is simulated in ADAMS software and more accurate results are obtained by considering the probe tip and the angular location of cantilever at simulation. At the end of the cantilever, a silicone probe is considered where the applied forces on it are approximated using two tangential and vertical springs. The vibrational simulation of cantilever at two states is carried out with regard to linear and non-linear interaction forces. The amplitude and resonance frequency of the simulated cantilever based on Timoshenko theory are different from obtained results of Euler-Bernoulli theory due to the effect of shear deformation and rotary moment in Timoshenko theory. Therefore, the Timoshenko theory has better accuracy in comparison with Euler theory. Many chemical and biological processes occur instantly; therefore the use of cantilevers with small length for improving the imaging speed at the tapping mode and in the liquid environment is essential. Eventually short cantilever that is modeled based on the Timoshenko theory may produce more accurate results. This paper is aimed to demonstrate that the amplitude and resonance frequency of vibration in the liquid environment is different from amplitude and frequency of vibration in the air environment due to the damping coeficient and added mass of liquid. Manuscript profile
• Open Access Article
  • Abstract Page
  • Full-Text
  
  2 - Determining Position and Orientation of 6R Robot using Image Processing
  Amin Habibnejad Korayem Ensieh Niyavarani Saeed Rafee Nekoo Moharam Habibnejad
  Stereo vision is one of the best image processing softwares to identify the environment of robot and allow its simultaneous process for providing three-dimensional measurement in an acceptable rate. On the one hand, vision measurement has simple structure and on the oth More

  Stereo vision is one of the best image processing softwares to identify the environment of robot and allow its simultaneous process for providing three-dimensional measurement in an acceptable rate. On the one hand, vision measurement has simple structure and on the other hand it is independent from active machine or robot. Appropriate software and efficient programming could improve the performance with same hardware (cameras). In this paper, stereo vision robot localization is used and the main code was developed in open source computer vision (Open CV) environment. The mathematical relationship between the three-dimensional reference coordinates and the local coordinates for entire system are presented. The vision system is an independent unit consists of two high definition (HD) cameras, set in a rotary base. The application of this measurement provides the position and orientation of 6R robot to verify its current measurement system. Stereo vision improved the speed of the image processing in comparison with image processing of MATLAB Toolbox that led to online monitoring of trajectory. Experimental tests of the proposed method express the capability of stereo vision in practical operations as a supervisory section. Manuscript profile
• Open Access Article
  • Abstract Page
  • Full-Text
  
  3 - Longitudinal and Lateral Vibration Analysis of Cables in a Cable Robot Using Finite Element Method
  Hami Tourajizadeh Mahdi Yousefzadeh Moharram Korayem
  In this paper, vibrational response of a variable-length cable in longitudinal, lateral and torsional directions is analysed in a cable robot using FE method. The flexibility of cables has remarkable effect on positioning of the end-effector in cable robots. Also consid More

  In this paper, vibrational response of a variable-length cable in longitudinal, lateral and torsional directions is analysed in a cable robot using FE method. The flexibility of cables has remarkable effect on positioning of the end-effector in cable robots. Also considering the fact that the length of the cables are time dependent in a dynamic cable structure like robocrane, the numerical approaches are preferable compared to analytic solutions. To do so, the cable is divided into finite elements in which the virtual work equation and Galerkin method can be implemented for the equations. Considering the stiffness matrix, the characteristic equations and Eigen values of each element can be defined. A simulation study is done in the ANSIS on a planar robocrane with 2-DOF and also for a spatial case with 6-DOF that is controlled by the aid of six variable-length flexible cables in the space for two different types of solid and flexible end-effectors. Whole the cable robot flexibility is analyzed simultaneously instead of separation calculation of each cable. Not only all of the 3-D vibrating behaviour of the whole structure is studied in this paper but also the lengths of the cables are considered as variable. The vibrating response of mode shapes, amplitude and frequencies are extracted and analysed, and the results are compared for two case of solid and flexible end-effector which shows the effect of the flexibility in the position of the end-effector and the tension of the cables in different situations. Manuscript profile
• Open Access Article
  • Abstract Page
  • Full-Text
  
  4 - Determining Maximum Dynamic Load Carrying Capacity of Cable Robots Between Two End Points of Workspace
  Moharam Habibnejad Khaled Najafi Mehdi Bamdad
  In this paper, according to high load capacity and rather large workspace characteristics of cable driven robots (CDRs), maximum dynamic load carrying capacity (DLCC) between two given end points in the workspace along with optimal trajectory is obtained. In order to fi More

  In this paper, according to high load capacity and rather large workspace characteristics of cable driven robots (CDRs), maximum dynamic load carrying capacity (DLCC) between two given end points in the workspace along with optimal trajectory is obtained. In order to find DLCC of CDRs, joint actuator torque and workspace of the robot constraints concerning to non-negative tension in cables are considered. The problem is formulated as a trajectory optimization problem, which is fundamentally a constrained nonlinear optimization problem. Then the iterative linear programming (ILP) method is used to solve the optimization problem. Finally, a numerical example involving a 6 DOF CDR is presented and results are discussed. Manuscript profile
• Open Access Article
  • Abstract Page
  • Full-Text
  
  5 - Design and implementation of feedback linearization control method to determine the DLCC of 6R manipulator
  Leila Alizadeh Saravi Moharam Habibnejad Saeed Rafee Nekoo
  In this study, feedback linearization (FL) for 6R manipulator is designed, simulated and implemented. The presented input-output FL controller has achieved the desired performance for the complicated nonlinear terms in the arm’s dynamic equations. Simulations were used More

  In this study, feedback linearization (FL) for 6R manipulator is designed, simulated and implemented. The presented input-output FL controller has achieved the desired performance for the complicated nonlinear terms in the arm’s dynamic equations. Simulations were used to test the performance of the controller for point-to-point motion as well as continuous trajectory. The results of the point-to-point motion simulations and experiments were compared, where it indicates that the proposed approach preserved smooth motion in a very short process time with good accuracy. The dynamic load carrying capacity (DLCC), which is a criterion to determine FL controller performance on 6R robot, is also investigated, based on saturated torque of the motors and allowable error bounds. Moreover, it was shown that the control law is able to accurately represent closed-loop equations and simultaneously imposed desirable behavior on 6R robot. Manuscript profile
• Open Access Article
  • Abstract Page
  • Full-Text
  
  6 - Frequency Analysis of a Cable with Variable Tension and Variable Rotational Speed
  Moharam Habibnejad AliAkbar Alipour
  In this paper coupled nonlinear equations of motion of a suspended cable with time dependent tension and velocity are derived by using Hamilton’s principal. A modal analysis for a stationary sagged cable is initially carried out in order to identify the dynamic sy More

  In this paper coupled nonlinear equations of motion of a suspended cable with time dependent tension and velocity are derived by using Hamilton’s principal. A modal analysis for a stationary sagged cable is initially carried out in order to identify the dynamic system. The natural solution is directed to compute the natural frequencies and mode shapes of the free vibration of a suspended cable. Natural frequencies and mode shapes are plotted versus a dimensionless parameter l, known as static sag character. In case of moving cable, the tension force and the rotary speed of the pullies are assumed to be sinusoidal functions. Galerkin mode summation approach is utilized to discretize the nonlinear equations of motions. Numerical simulations are carried out in the time domain. A frequency analysis is then carried out and effects of the frequency of tension force and rotary speed on the belt dynamic responses are studied. Manuscript profile
• Open Access Article
  • Abstract Page
  • Full-Text
  
  7 - Engineering Design of the Guidance System of the 6R Tele-robot based on DTMF
  Moharam Habibnejad Korayem Saeed Rafee Nekoo A. Habibnejad Korayem
  In this article, the advantages of navigation based on dual tone multiple frequencies (DTMF) technique through telecommunication lines is studied. First, the calculations of direct and inverse kinematics of the manipulator in computer are transferred to the PIC micropro More

  In this article, the advantages of navigation based on dual tone multiple frequencies (DTMF) technique through telecommunication lines is studied. First, the calculations of direct and inverse kinematics of the manipulator in computer are transferred to the PIC microprocessors center. Next, each PIC is required to control and automate the relevant link separately. The main purpose of this work is making it possible to control the robot via a telephone line and without a modem. In order to apply this idea, computer is analyzed the data which received from the operator and insert the necessary instructions through the serial port using AVR microcontroller in the embedded hardware at the phone line and sends them to the hardware of the robot. Then the robot is performed the processes as a closed loop design and provides the necessary feedback for the computer. Real-time control, low volume of software and hardware computations and the possibility of using the phone lines with low and medium bandwidth in addition to ADSL lines simultaneously are the special features of this method. In the proposed method, control data and the corresponding feedbacks are transmitted as the remote closed loop control, which can be combined in the developing stages with other control methods such as neural networks which results the maximum productivity. At the end of this work, examination of the time delay of tele-controller system and experimenting according to the ISO9283 standard, specific to the accuracy of the robot, is carried out. Manuscript profile
• Open Access Article
  • Abstract Page
  • Full-Text
  
  8 - Sliding Mode Control of AFM in Cantact Mode during Manipulation of Nano-particle
  M. H Korayem M. Noroozi Kh. Daeinabi
  Abstract: Application of atomic force microscope as a manipulator for pushing-based positioning of nano-particles has been of considerable interest during recent years. However a detailed modeling of the interaction forces and control on the AFM tip is important for pro More

  Abstract: Application of atomic force microscope as a manipulator for pushing-based positioning of nano-particles has been of considerable interest during recent years. However a detailed modeling of the interaction forces and control on the AFM tip is important for prosperous manipulation control, a reliable control of the AFM tip position during the AFM-based manipulation process is a main issue. The deflection of the AFM tip caused by manipulation force is the one of nonlinearities and uncertainties which causes difficulties in accurately controlling the tip position, the tip can jump over the target nano-particle then the process will fail. This study aims to design a sliding mode controller (SMC) as robust chattering-free control in contact-mode to control the AFM tip during nano-manipulation process for accomplishment of a precise and effective nano-manipulation task in order to achieve the full automatic nano-manipulation system without direct intervention of an operator. The nano-probe is used to push the spherical micro/nano-particle. Nano-scale interaction forces, elastic deformation in contact areas, and friction forces in tip/nano-particle/substrate system are considered. The first control purpose is controlling and positioning the microcantilever tip at a desired trajectory by the control input force which can be exerted on the microcantilever in the Y direction by a piezo actuator located in the base of the microcantilever. The second control target is PZT-driven positioning stage in AFM-based nano-manipulation in the X,Y in the falt surface. The simulation results show that the designed controllers have been able to make the desired variable state to track specified trajectory during a nano-scale manipulation. Manuscript profile
• Open Access Article
  • Abstract Page
  • Full-Text
  
  9 - Frequency Response of AFM Nano Robot in Liquid by considering the effect of Cantilever's dimension and Environmental Parameters
  Saeed Sami Moharam Habibnejad Korayem
  Dynamic analysis and study of Atomic force microscope in liquid environment is the main goal of this research. Hydrodynamic and squeeze forces act on Cantilever of Atomic force microscope which works in liquid environment, so. In this paper the effect of different envir More

  Dynamic analysis and study of Atomic force microscope in liquid environment is the main goal of this research. Hydrodynamic and squeeze forces act on Cantilever of Atomic force microscope which works in liquid environment, so. In this paper the effect of different environmental and physical factors had studied on frequency response diagrams. The importance of frequency response analysis is studying the possibility of occur a phenomenon which causes disturbance and decreases accuracy of imaging. Timoshenko beam model and finite element method had been used in order to simulation. Meanwhile interaction forces between sample and tip point in gas and liquid environment were also considered in simulations. Achieved results had showed that in comparison with gas, resonance frequency has decreased considerably in liquid environment which is due to additional mass of liquid and also amplitude is decreased in liquid environment that’s because of additional damping due to presence of liquid. Meanwhile several studies in repulsion and attraction area with more and less distance from equilibrium distance, had showed that in repulsion state, stimulation frequency is more than attraction area, that the reason is related to more hardness in repulsion area, and also the presence of interaction forces had caused that in zero excitation frequency, amplitude isn’t zero. Manuscript profile
• Open Access Article
  • Abstract Page
  • Full-Text
  
  10 - Modeling and Optimal Control of a Sport Utility Cable Suspended Robot
  Hami Tourajizadeh Moharam Habibnejad Korayem Mahdi Yousefzadeh
  A new mechanism is presented in this paper for simulating the athlete performance and training the sportsman’s exercises, using a closed loop six degrees of freedom (DOFs) cable suspended robot. This robot cancels the necessity of presence of a sport coach for training More

  A new mechanism is presented in this paper for simulating the athlete performance and training the sportsman’s exercises, using a closed loop six degrees of freedom (DOFs) cable suspended robot. This robot cancels the necessity of presence of a sport coach for training the sportsman. Using the proposed robot, it is possible to program the robot for training the athlete limb (arm, leg and etc.) within a predefined trajectory corresponding to his special sport performance. The limb of the sportsman which is involved in the game and should be trained could be attached to the end-effector of the cable robot. Since in many sports a large environmental space needs to be covered by the athlete movement, ordinary robots are not capable to be employed for this application while cable robots are applicable since a large dynamic workspace can be covered by them. Moreover, training the sportsman limb requires a precise movement of the mentioned end-effector on a predefined trajectory. This importance could not be satisfied without using a proper closed loop controlling system since a variable external disturbing force applies on the end-effector as a result of the weight of the sportsman limb and its dynamic movement. Studio cams and automatic brancard for carrying the damaged sportsman out of the field are also of other applications of the presented closed loop cable robot. So required dynamic and control formulation of the end-effector of the cable robot is derived for handling the athlete limb on a predefined trajectory in a closed loop way. Simulation on using the MATLAB confirms the possibility of the mentioned claim for simulating the sportsman training. Finally the efficiency of the proposed mechanism in training the athletes’ limb is also proved by conducting experimental test on Iran University of Science and Technology (IUST) cable robot (ICaSbot). Manuscript profile
• Open Access Article
  • Abstract Page
  • Full-Text
  
  11 - Optimal Trajectory Planning for Flexible Mobile Manipulators under Large Deformation Using Meta-heuristic Optimization Methods
  Habib Esfandiar Moharam Habibnejad Korayem Mohammad Haghpanahi
  In present paper, a point to point optimal path is planned for a mobile manipulator with flexible links and joints. For this purpose, a perfect dynamic modeling is performed for mobile manipulators considering large deformation in links, shear effects, elastic joints, e More

  In present paper, a point to point optimal path is planned for a mobile manipulator with flexible links and joints. For this purpose, a perfect dynamic modeling is performed for mobile manipulators considering large deformation in links, shear effects, elastic joints, effect of gravitation, and non-holonomic constraints. To study large deformation of links, non-linear relation of displacement-strain and Green’s strain tensor are used. Optimal path is planned based on direct methods and applying meta-heuristic optimization methods. In order to get an optimal path profile, maximum load carried by manipulator and minimum transmission time are considered as the objective functions for optimization problem. To provide the parameters of optimization problem, parametric optimization problem is solved using Harmony Search (HS) and Simulated Annealing (SA) efficient methods. In order to investigate the efficiency of the proposed method, simulation studies are performed considering two-link flexible manipulator with wheeled base. The results indicate that the proposed method has a suitable power and performance when facing dynamics non-linear system. Moreover, the results of path planning for manipulators by small and large deformation models are also compared. The effect of flexibility in joints is studied when planning a point to point path. Manuscript profile
• Open Access Article
  • Abstract Page
  • Full-Text
  
  12 - Investigation of the AFM Indenter’s Geometry Effect On Micro/Nano Biological Cells’ Indentation
  Yousef Habibi Sooha Moharam Habibnejad Zahra Rastegar
  10.30495/admt.2021.560583.1019
  The elasticity modules of the micro/Nanoparticles, especially biological particles are measured using different tools such as atomic force microscopy. The tip of the atomic force microscopy as an indenter has different shapes such as spherical, conical and pyramidal. In More

  The elasticity modules of the micro/Nanoparticles, especially biological particles are measured using different tools such as atomic force microscopy. The tip of the atomic force microscopy as an indenter has different shapes such as spherical, conical and pyramidal. In the contact of these tips and biological cells, avoiding the cell damage is a necessity. The goal of this paper is investigation and comparison of different tips’ geometries. Different tip’s geometries and their related theories were collected and proposed. To generalize theories’ application for any kind of particle (even non-biological particles) some of simplifying assumptions used in these theories, such as tip rigidity, were removed. Simulation of the force- indentation depth was done for gold nanoparticle and observed that if simplifying assumptions were not removed there would be big errors in calculating the elasticity module of some particles. Then, simulations were done for two yeast and mouse embryo cells. For both cells, in general, the geometry of the curve group, the geometry of the pyramidal group and finally the geometry of the conical group were positioned from the highest to the lowest places. For hyperbolic, conical and pyramidal tips, the important parameter was semi vertical angel. To observe its effect, different magnitudes of this parameter were simulated. According to observed results in three investigated geometries and for both cells, bigger semi vertical angel created higher curves and this means in bigger angels the possibility of cell damage is higher. Manuscript profile