Advanced Instrumentation Laboratory, University of Tehran

🎉 I'm thrilled to announce that my research article titled "Fault-Observer-Based Fault-Tolerant Fuzzy Terminal Sliding Mode Control of a Quadrotor Encountered the Deviation of Rotor Thrust" has been published in the journal of Advanced Control for Applications. This work addresses one of the pressing challenges in the control of UAVs, ensuring precise and reliable trajectory tracking even when the quadrotor experiences structural faults and actuator limitations. After months of rigorous research, simulations, and refinement, I’m proud to present a novel control approach that combines the strengths of fault estimation, fuzzy logic, and terminal sliding mode theory to enhance the resilience of a quadrotor suffering from rotor deviation. 🔍 Key Highlights of this Study are as follows: ✅ Developing a Fault-Tolerant Fuzzy Terminal Sliding Mode Controller (FT2SMC) for a quadrotor with structural faults and input saturation. ✅ Introducing a Fault Observer to estimate the fault vector, treating faults as external disturbances within the system dynamics. ✅ Designing a Fuzzy Inference System (FIS) to estimate the discontinuous control term and reduce chattering, a common issue in sliding mode control. ✅ Validating the superior performance of the proposed control methodology through MATLAB simulations, demonstrating robust trajectory tracking and lower control effort compared to a conventional terminal sliding mode controller and an observer-based back-stepping control strategy. 🙏 I would like to express my sincere appreciation to my beloved colleagues, Nima Safaei and Professor Moosa Ayati for their invaluable guidance, insights, and unwavering support throughout this research journey. Your expertise and collaboration have been instrumental in bringing this work to fruition. I wish we would collaborate again. The article is free to read via the following link: 🔗 https://lnkd.in/dpP5DV7U Also, the article is accessible with the journal link: 🔗 https://lnkd.in/dD2YzZ5j

This paper employs a Fault-Observer-Based Fault-Tolerant Fuzzy Terminal Sliding Mode Controller (FT²SMC) to ensure the robust performance of highly nonlinear quadrotor dynamics with structural faults. This control strategy remains effective even under input saturation conditions. A fault observer is utilized to estimate the fault vector, which is incorporated into the equations of motion as an external disturbance. Furthermore, a Fuzzy Inference System (FIS) is integrated to approximate the discontinuous term of the terminal sliding mode control, thereby mitigating the chattering phenomenon. The finite-time convergence of the tracking errors in attitude and altitude to the origin is rigorously guaranteed, and the overall closed-loop stability of the faulty quadrotor is established using the Lyapunov theory. This ensures that the system maintains trajectory tracking accuracy despite faults. Simulation results substantiate the remarkable efficacy of the proposed controller in guiding the quadrotor to the desired altitude. Moreover, the superiority of the proposed control algorithm is demonstrated through comparative simulation analyses with an Adaptive Sliding Mode Control (ASMC) and a Disturbance-Observer-Based Back-Stepping Control (DOBBSC). Authors: Mohammad Bagher Sajjadi, Nima Safaie, Moosa Ayati Advanced Instrumentation Laboratory, School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran

I am thrilled to share that I have finished my BSc in mechanical engineering at the University of Tehran. My final project title was "Design and Manufacture of an Automatic Tuner for Violin" which I did under the supervision of Moosa Ayati. For this project, I had to engage in various studies and work in multiple fields, such as music theory, Android programming, mechanical design, electrical design, and microcontroller coding. Working on this device gave me a sense of what it is like to work on a practical, real-life project. Also, combining a scientific project with music, two fields that I like, was an interesting experience for me. With the completion of my bachelor's program and the experiences that I have gained during this period, I am more excited than ever to see what the future holds!

This study, initially, proposes the application of a Model Predictive Control (MPC)-based Reinforcement Learning (RL) algorithm to regulate the flow of vehicles merging onto a freeway. Once the flow is managed, the merging process will be further optimized using another MPC+RL algorithm designed to minimize both jerk and travel time, thereby enhancing overall performance. The objective of the second approach is to achieve zero collisions between vehicles, ensuring safety and efficiency during the merging process. This presentation, provides a comprehensive overview of autonomous driving systems, covering key elements from autonomy levels to advanced control techniques. Beginning with an introduction to autonomy levels, the discussion progresses to collision avoidance techniques and path-planning algorithms. Subsequent sections delve into lateral and longitudinal control, including car-following models and adaptive cruise control utilizing reinforcement learning. The presentation explores model predictive control in braking and cut-in scenarios, highlighting the intricate strategies to ensure safe and efficient autonomous driving. The presentation offers valuable insights into the multifaceted challenges and sophisticated solutions within autonomous vehicle technology by addressing these diverse facets. #ElectricVehicle #AutonomousVehicle #MachineLearning #خودرو_الکتریکی #خودرو_خودران

The “Mechatronics” course project has come to a successful conclusion, with students showcasing their self-balancing two-wheeled robot. This impressive project involved designing and controlling a robot capable of carrying a glass of water, handling weights, following a floor line, and being manually controlled via an Android app! The B.Sc. students applied everything they had learned, completing the task from start to finish. Congratulations to all, including the hardworking TA team, for this remarkable achievement!

This project focused on advancing lane departure warning systems by exploring both traditional and AI-based approaches to improve road safety. It covered the use of OpenCV with the Hough Transform for straight-line detection and the sliding window technique for curved lanes, demonstrating the efficiency of these methods in structured environments. Additionally, it showcased the implementation of ResNet34 and semantic segmentation to address more complex scenarios, utilizing the TuSimple dataset for real-world challenges and the CARLA simulation dataset for diverse, controlled testing conditions. The project highlighted key insights into the strengths and limitations of each approach. Traditional methods were shown to be computationally efficient and effective in simpler scenarios, while deep learning models exhibited superior adaptability and accuracy under challenging conditions, albeit with greater computational demands. This work provided a comprehensive understanding of computer vision techniques and their applications in autonomous systems. #ElectricVehicleChargingStation #AutonomousVehicle #MachineLearning #خودرو_الکتریکی #خودرو_خودران #ایستگاه_شارژ_خودرو

Iran will soon require heavy vehicles, including semi-trailer trucks, to improve its road transport fleet, and as road traffic increases, vehicle safety will become more crucial. Consequently, electronic stability control (ESC) systems are expected to become a mandatory standard for heavy vehicles. Due to the commercial nature of ESC technology for heavy vehicles, there is limited research on the subject. It is required to thoroughly investigate the ESC system for semi-trailer trucks, addressing related challenges to support the localization of this technology in Iran.   #ElectricVehicle #AutonomousVehicle #خودرو_الکتریکی #خودرو_خودران

پروژه تدوین استاندارد مصرف انرژی و تعیین برچسب انرژی آسانسور، پله برقی و پیادهروی متحرک در آزمایشگاه ابزاردقیق پیشرفته دانشکدگان فنی دانشگاه تهران یک مرحله دیگر را به پایان رساند. خوشبختانه با همکاری شرکت سامانه پایش قدرت، و تایید کمیته فنی، بخش دوم استاندارد ملی تحت عنوان "عملکرد انرژی آسانسورها، پلکان های برقی و پیادهروهای متحرک–قسمت 2: محاسبه و ردهبندی انرژی آسانسورها" (INSO 23257-2) تدوین و منتشر گردید. در بخش دوم این استاندارد اصطلاحات و اصول کلی اندازهگیری و محاسبه انرژی مصرفی آسانسورها مطرح و برچسب انرژی معرفی شده است. The energy performance of elevators, escalators, and moving walks and determining their energy label project in the Advanced Instrument Laboratory of the University of Tehran, College of Engineering, fulfilled another step. In cooperation with Samaneh Payesh Ghordart Company (SPG Co.), and by confirmation of the technical committee of the field, a new national standard called “Energy performance of lifts, escalators, and moving walks —Part 2: Energy calculation and classification for lifts (elevators)” (INSO 23257-1) has been published. The second part of this standard discusses the general terms, methodology of energy measurement,  and energy label for elevators. #Energy_performance_lifts_escalators_moving_walks #Energy_label #برچسب_انرژی_آسانسور_پلکان_برقی_پیادهرو_متحرک #تابلو_برق_اتوماسیون

پروژه تدوین استاندارد مصرف انرژی و تعیین برچسب انرژی آسانسور، پله برقی و پیادهروی متحرک از سال 1395 با همکاری پژوهشگاه نیرو و ساتبا شروع شد. مجری این پروژه آزمایشگاه ابزاردقیق پیشرفته دانشکدگان فنی دانشگاه تهران بوده و پس از انجام تستهای متعدد با همکاری شرکت سامانه پایش قدرت، و برگزاری دهها جلسه کمیته فنی خوشبختانه این استاندارد ملی تحت عنوان "عملکرد انرژی آسانسورها، پلکان برقی و پیادهروهای متحرک-قسمت 1: اندازهگیری و تصدیق انرژی" (INSO 23257-1) تدوین گردید. در بخش اول این استاندارد اصطلاحات و اصول کلی اندازهگیری انرژی آسانسور، پله برقی و پیادهروی متحرک مطرح شده است. The energy performance of elevators, escalators, and moving walks and determining their energy label is a project that was initiated in 2016 with the cooperation of Niro Research Institute and SATBA. The Advanced Instrument Laboratory of the University of Tehran, College of Engineering, conducted this project. After numerous tests in cooperation with Samaneh Payesh Ghordart Company (SPG Co.), and holding dozens of technical committee meetings with experts in this field, fortunately, a new national standard called “Energy performance of lifts, escalators, and moving walks-Part1: Energy measurement and verification” (INSO 23257-1) has been published. The first part of this standard discusses the terms and general principles of energy measurement for elevators, escalators, and moving walks. #Energy_performance_lifts_escalators_moving_walks #Energy_label #برچسب_انرژی_آسانسور_پلکان_برقی_پیادهرو_متحرک #تابلو_برق_اتوماسیون

Iran will soon require heavy vehicles, including semi-trailer trucks, to improve its road transport fleet, and as road traffic increases, vehicle safety will become more crucial. Consequently, electronic stability control (ESC) systems are expected to become a mandatory standard for heavy vehicles. Due to the commercial nature of ESC technology for heavy vehicles, there is limited research on the subject. It is required to thoroughly investigate the ESC system for semi-trailer trucks, addressing related challenges to support the localization of this technology in Iran.   #ElectricVehicle #AutonomousVehicle #خودرو_الکتریکی #خودرو_خودران