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All Journal International Journal of Electrical and Computer Engineering IAES International Journal of Robotics and Automation (IJRA) Indonesian Journal of Electrical Engineering and Computer Science
Alireza Rezaee
University of Tehran
Automotive Engineering Computer Science & IT Electrical & Electronics Engineering

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 1 
Digital Encoder Designing for Mobile Robot Control Alireza Rezaee; Reza Afshar
International Journal of Electrical and Computer Engineering (IJECE) Vol 4, No 5: October 2014
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (176.526 KB)

Abstract

In this paper we present the design of a quadrature decoder/counter interface IC (ASIC) that performs the decoding, counting, and bus interface function in digital motor control systems, employing an Altra FLEX 10KA, 2s150fg456 Xilinx device. The ASIC contains a pair of digital filters, a quadrature decoder, an up/down counter, a latch and inhibit circuit, and an 8-bit bus interface to a digital processing system. The design of digital of the digital filter is based on the finite state machine model with datapath (FSMD). A novel scheme for detecting the motor rotation direction is also proposed. The ASIC can be applied to a digital motor control system forgetting the rotation speed or position of the motor, which is quipped with an optical encoder. The data acquisition can be extended to 16-bit integer format by two continuos reading cycles. Simulation and experimental tests are shown to verify the ASIC function properly.DOI:http://dx.doi.org/10.11591/ijece.v4i4.5500
Controlling of Mobile Robot by Using of Predictive Controller Alireza Rezaee
IAES International Journal of Robotics and Automation (IJRA) Vol 6, No 3: September 2017
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (1173.73 KB) | DOI: 10.11591/ijra.v6i3.pp207-215

Abstract

In this paper implementation of Model PredictiveController on mobile robot was explained. The conductedexperiments show effectiveness of the proposed method oncontrol of the mobile robot. Furthermore the effects of the modelparameters such as control horizon, prediction horizon,weighting factor and signal filter band on the controllerperformance were studied. Finally, a comparison between thedesigned MPC controller and PID and adaptive controllers waspresented demonstrating superior performance of the ModelPredictive Controllers.
Mobile Robot Framework Designing and Transferring of Data by PCI Controller Alireza Rezaee
IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 2: June 2016
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (704.003 KB) | DOI: 10.11591/ijra.v5i2.pp109-114

Abstract

In this paper, a differential robot is designed and controlled by PCI card. This card connected between personal computer and microcontroller. Furthermore PID controller was designed by Asic device and implemented on robot.In this paper, instead of using that massive hardware’s, it designed a single FPGA chip to perform the same motion control of robot wheels. We developed a general purposed motion control of robot using a field programmable gate array (FPGA).In order to obtain independent robots movement, the main PID controller is implemented with a Field Programmable Gate Array. The main PID controller routine was designed to be fairly general purpose and modular form. While it is used to control a DC motor, it could be re-deployed to other situations where some parameter has to be controlled to a set value under varying conditions. The actual control software is located in a single function and its major inputs and output are held in a structure. Although it was designed originally for a specific job it is really only intended as an example of the basic techniques involved and to allow those with no control system knowledge to experiment with a simple PID system., FPGA, ATmega128L, Robot, Digital.
Automated Ground Vehicles Navigation with Genetic Algorithm Alireza Rezaee
Indonesian Journal of Electrical Engineering and Computer Science Vol 12, No 9: September 2014
Publisher : Institute of Advanced Engineering and Science

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Abstract

Automated ground vehicles are being used increasingly in automation of factories for material transmitting or other missions. The navigation of these vehicles is a challenge as the configuration of the environment such as factory changes. The path-planning problem has been shown to be NP-hard, thus this problem is often solved using heuristic optimization methods such as genetic algorithms. In this paper a genetic algorithm for path planning of the mobile robots specifically automated ground vehicles with a basic knowledge about navigation area boundaries and configuration of obstacles. The goal in this paper is to travel the shortest path in minimal time while avoiding obstacles in a navigation environment. For this reason, an effective structure for genetic algorithm was implemented. http://dx.doi.org/10.11591/telkomnika.v12i9.6271 
Co-Authors Reza Afshar