Showing 4 results for Bayani
Hassan Bayani, Mehdi Tale Masouleh, Ahmad Kalhor,
Volume 15, Issue 12 (2-2016)
Abstract
This paper presents implementation of position control for planar cable-driven parallel robots using Visual servoing. The main contribution of this paper contains three objectives. First, a method is used toward kinematic modeling of the robot using four-bar linkage kinematic concept, which could be used in online control approaches for real-time purposes due to decreasing of the unknown parameters and computation time. In order to track the position of End-Effector, an online image processing procedure is developed and implemented. Finally, as the third contribution, two different controllers in classic and modern approaches are applied in order to validate the model with plant and obtain the most promising controller. As classic controller, pole placement approach is suggested and results demonstrate weaknesses in modeling the uncertainties although they represent acceptable performance. Due to the latter incapability, sliding mode controller is utilized and experimental tests represent effectiveness of this method. Result of the latter procedure is an inimitable operation on the desired task however, it suffers from chattering effect. Moreover, results of these controllers confirm accommodation between the model and robot. The whole procedure imposed, could be applied for any kind of cable-driven parallel robot.
Ali Aflakiyan, Mehdi Tale Masouleh, Hassan Bayani, Rasoul Sadeghian,
Volume 16, Issue 4 (6-2016)
Abstract
In this paper, kinematic and dynamic model of planar cable-driven parallel robots are introduced in general form which are verified for a constrained cable-driven parallel robot in Sim-mechanics. Path planning based on artificial potential field approach is considered to prevent collision between dynamic obstacle, end-effector and cables in order to achieve collision-free path. As well as to reduce energy consumption, cable tension constraints have been involved in optimization of path planning. This method is proposed to control a cable robot. Therefore, obstacles are distributed randomly in order to have a complex environment. By this way, cable tension constraint is studied as one of the most crucial challenges for cable driven robots. Moreover, Fmincon function of Matlab is applied in order to take into account the required constraints and maintain the limits for cables tension. The latter leads to solve the redundancy resolution which is a definite asset in controlling a cable-driven parallel robot. Finally, a four-cables driven parallel robot is controlled by using the so-called computed torque method for tracking the desired and optimized path. The method is explained and obtained results indicate the efficiency of the proposed approach.
Volume 27, Issue 3 (Summer 2024)
Abstract
Introduction: Clinical studies have pointed to muscle atrophy in diabetic patients. This study was conducted with the aim of determining the effect of resistance training on the expression of some transcription factors effective on muscle hypertrophy in type 2 diabetic rats.
Methods: For this purpose, type 2 diabetes was induced by intraperitoneal injection of nicotinamide-STZ in fourteen male Wistar rats (220 ± 10 g). Then diabetic rats were randomly selected in resistance and control groups. Rats in the resistance group participated in a 10-week resistance training (5 times weekly) in the form of climbing a step ladder with resistance (tying a weight to the tail based on the percentage of body weight), and the control group did not participate in the exercises. 48 hours after the last training session, the expression of PI3K and AMPK genes in the soleus muscle, as well as the weight of the soleus muscle and the ratio of soleus muscle weight to body weight (soleus/body weight ratio) were measured and compared by independent t test between groups.
Results: Compared to control group, resistance training resulted in significant increase in PI3K expression, soleus muscle weight and soleus/body weight ratio (P < 0.05).
Conclusion: Resistance training leads to soleus muscle hypertrophy in diabetic rats, and this improvement can probably be attributed to the increased PI3K expression.
Volume 30, Issue 3 (Fall 2024)
Abstract
The present study mainly aims at "identifying the characteristics of environmental curriculum elements in the higher education system based on the Acker's approach". The research method was qualitative and based on phenomenological strategy. The statistical population of this study included experts and professors in the field of curriculum and environmental education who were selected through purposive sampling using the snowball method. The selection of sample continued until the theoretical data saturation, and finally 22 people were interviewed, including 9 curriculum specialists and 13 environmental education specialists. The necessary data were collected through semi-structured interviews and analyzed using Nvivo software version 8 by "themes network" thematic analysis technique and analyzed during open, pivotal and selective coding steps. Also, in this study, Lincoln and Guba (1985) evaluation method was used to ensure the validity and reliability of the information. To this aim, the reliability, credibility, verifiability and transferability criteria were considered. The results indicated that the ten elements of the environmental curriculum (including logic, objectives, content, teaching-learning activities, the role of professors, educational resources, grouping, place, time and method of evaluation) for higher education have features that if used can increase students' environmental capabilities.
