as special depositional environments which are adjacent to the seas, deltas have provided a field for human habitat establishment. geomorphic features of deltas are in constant transformation due to their dynamic features. constructing dams on rivers can intensify these changes and cause either negative or positive consequences. minab delta in hormozgan province of iran is a round or crescent-s...

Tracking control of the direct-drive robot manipulators in high-speed is a challenging problem. The Coriolis and centrifugal torques become dominant in the high-speed motion control. The dynamical model of the robotic system including the robot manipulator and actuators is highly nonlinear, heavily coupled, uncertain and computationally extensive in non-companion form. In order to overcome thes...

A simple easy to implement algorithm is proposed to address wall tracking task of an autonomous robot. The robot should navigate in unknown environments, find the nearest wall, and track it solely based on locally sensed data. The proposed method benefits from coupling fuzzy logic and Q-learning to meet requirements of autonomous navigations. Fuzzy if-then rules provide a reliable decision maki...

This paper presents simulation and experimental results of position-based visual servoing control process of a 6R robot using 2 fixed cameras. This method has the ability to deal with real time changes in the relative position of the target-object with respect to robot. Also, greater accuracy and independency of servo control structure from the target pose coordinates are the additional advanta...

a general robotic mechanism was presented for in-pipe inspection oflevel pipes with varied diameter or curved pipelines. the robot employed three legs comprised of parallelogram linkages mechanism which enables adapting to various elbow joints in the piping systems. the curvatures in pipeline are the most important constraints in front of the robot through navigation process. to study the adapt...

the aim of this paper is to introduce and study a new concept ofstrong double $(a)_ {delta}$-convergent sequence offuzzy numbers with respect to an orlicz function and also someproperties of the resulting sequence spaces of fuzzy   numbers areexamined. in addition, we define the double$(a,delta)$-statistical convergence of fuzzy  numbers andestablish some connections between the spaces of stron...

This paper presents path following control for fully actuated rigid body systems in three-dimensional space. Transverse Feedback Linearization and a parallel transport frame are used to design a path following controller that is suitable for paths that are parametrized as regular threefold continuously differentiable curves. The application of this frame enables the handling of paths with zero ...

In this paper, we briefly review recent results by the authors on the formulation of the equations of motion of closed-chain mechanisms and the development of PD control strategies with guaranteed Lyapunov asymptotic stability. We then introduce and derive the equations of motion of the Rice Planar Delta Robot which was designed and built at Rice University as a test bed to perform control expe...

One of the main advantages of the Gantry-Tau machine is a large accessible workspace/footprint ratio compared to many other parallel machines. The design presented in this paper achieves a workspace/footprint ratio of more than 2.7 with fixed length links, which is high for a PKM. Typical PKMs, for example the Delta robot, has a ratio less than one. Optimisation schemes are typically used in or...

this paper presents a delay compensator fuzzy control for trajectory tracking of omni-directional mobile robots. fuzzy logic control (flc) of the robots is a suitable strategy for dealing with model uncertainties, nonlinearities and disturbances.  on the other hand, in many robotic applications such as mobile robots, delay phenomenon is able to substantially deteriorate the behavior of system's...