Amirkabir University of TechnologyAUT Journal of Modeling and Simulation2588-295349220171201NGTSOM: A Novel Data Clustering Algorithm Based on Game Theoretic and Self- Organizing Map13314285010.22060/miscj.2016.850ENM.GhayekhlooYoung Researchers and Elite Club, Qazvin Branch, Islamic Azad University, Qazvin, IranM. B.MenhajDept. of Electrical Engineering, Amirkabir University of Technology, Tehran, Iran0000-0002-9470-5532R.AzimiYoung Researchers and Elite Club, Qazvin Branch, Islamic Azad University, Qazvin, IranE.ShekariDept. of Decision Science and Knowledge Engineering, University of Economic Sciences, Tehran, IranJournal Article20151013Identifying clusters is an important aspect of data analysis. This paper proposes a novel<br />data clustering algorithm to increase the clustering accuracy. A novel game theoretic self-organizing<br />map (NGTSOM ) and neural gas (NG) are used in combination with Competitive Hebbian Learning<br />(CHL) to improve the quality of the map and provide a better vector quantization (VQ) for clustering<br />data. Different strategies of Game Theory are proposed to provide a competitive game for nonwinning<br />neurons to participate in the learning phase and obtain more input patterns. The performance<br />of the proposed clustering analysis is evaluated and compared with that of the K-means, SOM and<br />NG methods using different types of data. The clustering results of the proposed method and existing<br />state-of-the-art clustering methods are also compared which demonstrates a better accuracy of the<br />proposed clustering method.Amirkabir University of TechnologyAUT Journal of Modeling and Simulation2588-295349220171201Thermo-Electro Mechanical Impedance based Structural Health Monitoring: Euler- Bernoulli Beam Modeling14315284110.22060/miscj.2016.841ENN.SepehryFaculty of Mechanical and Mechatronics Engineering, Shahrood University of Technology, Shahrood, IranF.Bakhtiari-NejadDept. of Mechanical Engineering, Amirkabir University of Technology, Tehran, IranM.ShamshirsazNew Technologies Research Center, Amirkabir University of Technology, Tehran, IranJournal Article20151209In recent years, impedance measurement method by piezoelectric (PZT) wafer active<br />sensor (PWAS) has been widely adopted for non-destructive evaluation (NDE). In this method, the<br />electrical impedance of a bonded PWAS is used to detect a structural defect. The electro-mechanical<br />coupling of PZT materials constructs the original principle of this method. Accordingly, the electrical<br />impedance of PWAS can sense any change in the mechanical impedance of the structure. A thermal<br />stress on a structure, which was generated by environmental temperature, could change the electrical<br />impedance of PWAS. The thermal stress which affects the output impedance of PWAS is also<br />developed. A temperature-dependent model, the temperature dependency of PWAS, and structure<br />material properties are investigated for a PWAS bonded to an Euler Bernoulli clamped-clamped beam.<br />The Rayleigh-Ritz and spectral element methods are studied and, then, verified by 3D finite element<br />method (FEM).Amirkabir University of TechnologyAUT Journal of Modeling and Simulation2588-295349220171201Generalized Aggregate Uncertainty Measure 2 for Uncertainty Evaluation of a Dezert-Smarandache Theory based Localization Problem15316282610.22060/miscj.2016.826ENA.Mohammad-ShahriDept. of Electrical Engineering, Iran University of Science & Technology, Tehran, IranM.KhodabandehDept. of Electrical Engineering, Iran University of Science & Technology, Tehran, IranJournal Article20160709In this paper, Generalized Aggregated Uncertainty measure 2 (GAU2), as a new<br />uncertainty measure, is considered to evaluate uncertainty in a localization problem in which cameras’<br />images are used. The theory that is applied to a hierarchical structure for a decision making to combine<br />cameras’ images is Dezert-Smarandache theory. To evaluate decisions, an analysis of uncertainty is<br />executed at every level of the decision-making system. The second generalization of Aggregated<br />Uncertainty measure (GAU2) which is applicable for DSmT results is used as a supervisor. The<br />GAU2 measure in spite of the GAU1 measure can be applied to the problems with vague borders or<br />continuous events. This measure may help to make decisions based on better preference combinations<br />of sensors or methods of fusion. GAU2 is used to evaluate uncertainty after applying classic DSmT<br />and hybrid DSmT with extra knowledge. Therefore by using the decision making system, results with<br />less uncertainty are generated in spite of high conflict sensory data.Amirkabir University of TechnologyAUT Journal of Modeling and Simulation2588-295349220171201Near-Optimal Controls of a Fuel Cell Coupled with Reformer using Singular Perturbation methods16317287210.22060/miscj.2016.872ENS.Nazem-ZadehDept. of Electrical and Computer Engineering, Tarbiat Modares University, Tehran, IranM.T.Hamidi-BeheshtiDept. of Electrical and Computer Engineering, Tarbiat Modares University, Tehran, Iran0000-0001-9863-0673Journal Article20160601A singularly perturbed model is proposed for a system comprised of a PEM Fuel Cell<br />(PEM-FC) with Natural Gas Hydrogen Reformer (NG-HR). This eighteenth order system is decomposed<br />into slow and fast lower order subsystems using singular perturbation techniques that provides tools for<br />separation and order reduction. Then, three different types of controllers, namely an optimal full-order,<br />a near-optimal composite controller based on the slow and the fast subsystems, and a near-optimal<br />reduced-order controller based on the reduced-order model, are designed. The comparison of closedloop<br />responses of these three controllers shows that there are minimal degradations in the performance<br />of the composite and the reduced order controllers.Amirkabir University of TechnologyAUT Journal of Modeling and Simulation2588-295349220171201A Hybrid Modeling for Continuous Casting Scheduling Problem17318089110.22060/miscj.2017.11583.4946ENM. H.Fazel ZarandiDept. of Industrial Engineering, Amirkabir University of Technology, Tehran, IranF.Kashani AzadDept. of Industrial Engineering, Amirkabir University of Technology, Tehran, IranA. H.Karimi KashaniDept. of Industrial Engineering, Amirkabir University of Technology, Tehran, IranJournal Article20160426This paper deals with a multi-agent-based interval type-2 fuzzy (IT2F) expert system<br />for scheduling steel continuous casting. Continuous caster scheduling is a complex and extensive<br />process that needs expert staff. In this study, a distributed multi-agent-based structure is proposed as a<br />solution. The agents used herein can cooperate with each other via various communication protocols.<br />To facilitate such communication, an appropriate negotiation protocol (i.e., contract net protocol)<br />is proposed. The due dates specified by expert staff are represented by IT2F membership functions<br />(MFs). As a part of the objective functions, a simple procedure is proposed to calculate the total<br />earliness and tardiness penalty when the due date’s MFs are IT2F. The proposed hybrid multi-agentbased<br />system combines the multi-agent systems with type-2 fuzzy concepts which conforms to the<br />real-world continuous casting problem.Amirkabir University of TechnologyAUT Journal of Modeling and Simulation2588-295349220171201Developing a Model for Measuring Severity of Effects Caused by Interconnected Units in Electronic Supply Chains18118692810.22060/miscj.2017.11487.4943ENA.KazemiFaculty of Industrial and Mechanical Engineering, Qazvin Branch, Islamic Azad University, Qazvin, IranL.AhmadpourFaculty of Industrial and Mechanical Engineering, Qazvin Branch, Islamic Azad University, Qazvin, IranJournal Article20160319For many electronic supply chain networks in the world that can comprise hundreds of<br />companies with several tiers of suppliers and intermediate customers, there are numerous presenting<br />risks to consider. In the electronic supply chain, the situation are even worse, for the characteristics of<br />this supply chain: excessive lean management, global sourcing and the rather more uncertain market<br />demand. Electronic companies are forced to manage their supply chains effectively to increase efficiency<br />and reactivity. This paper proposes a mathematical model for estimating the severity of interactions<br />between supply chain’s units and how their affect on the entire supply chain. Based on the model,<br />scholars can model supply chains easily with considering interconnected units. Basic characteristics of<br />supply chains are considered in the model. The units, which are used to simulate the members of supply<br />chains, produce appropriate products by intelligent choices. The relationships on units are connected by<br />their activities ; then, the proposed model is applied to an experimental example. The model yields its<br />numerical parameters and responses by means of Lingo software.Amirkabir University of TechnologyAUT Journal of Modeling and Simulation2588-295349220171201Partial Observation in Distributed Supervisory Control of Discrete-Event Systems18719892910.22060/miscj.2017.12041.4997ENV.SaeidiDept. of Electrical Engineering, Abbaspour School of Engineering, Shahid Beheshti University, Tehran, IranA.AfzalianDept. of Electrical Engineering, Abbaspour School of Engineering, Shahid Beheshti University, Tehran, IranD.GharavianDept. of Electrical Engineering, Abbaspour School of Engineering, Shahid Beheshti University, Tehran, IranJournal Article20161016Distributed supervisory control is a method to synthesize local controllers in discrete-event<br />systems with a systematic observation of the plant. Some works were reported on extending this method<br />by which local controllers are constructed so that observation properties are preserved from monolithic to<br />distributed supervisory control, in an up-down approach. In this paper, we find circumstances in which<br />observation properties are preserved from monolithic to distributed supervisory control. Local observation<br />properties, i.e. local normality and local relative observability are employed for investigating observation<br />properties of each local controller, which are constructed by any localization algorithm that preserves control<br />equivalency to the monolithic supervisor with respect to the plant. These properties enable us to investigate<br />the observation properties from monolithic to distributed supervisory control. Moreover, observation<br />equivalence property is defined according to the control equivalence in a distributed supervisory control<br />with partial observation. It is proved that with preserving observation equivalence of the local controllers to<br />the monolithic supervisor, the control equivalence is satisfied, if and only if the intersection of local event<br />sets is a subset of or equal to the global observable event set.Amirkabir University of TechnologyAUT Journal of Modeling and Simulation2588-295349220171201Saturated Neural Adaptive Robust Output Feedback Control of Robot Manipulators:An Experimental Comparative Study19920892710.22060/miscj.2017.12177.5010ENM.PourrahimDept. of Electrical Engineering, Najafabad Branch, Islamic Azad University, Najafabad, IranK.ShojaeiDept. of Electrical Engineering, Najafabad Branch, Islamic Azad University, Najafabad, IranA.ChatraeiDept. of Electrical Engineering, Najafabad Branch, Islamic Azad University, Najafabad, IranO.ShahnazariDept. of Electrical Engineering, Najafabad Branch, Islamic Azad University, Najafabad, IranJournal Article20161118In this study, an observer-based tracking controller is proposed and evaluated<br />experimentally to solve the trajectory tracking problem of robotic manipulators with the torque saturation<br />in the presence of model uncertainties and external disturbances. In comparison with the state-of-the-art<br />observer-based controllers in the literature, this paper introduces a saturated observer-based controller<br />based on a radial basis function neural network. This technique helps the controller produce feasible<br />control signals for the robot actuators. As a result, it efficiently diminishes the actuators saturation risk<br />and consequently, a better transient performance is obtained. The stability analyses of the dynamics<br />of the tracking errors and state estimation errors are given with the help of a Lyapunov-based stability<br />analysis method. The theoretical analyses will systematically prove that the errors are semi-globally<br />uniformly ultimately bounded and they converge to a small set around the origin whose size is adjustable<br />by a suitable tuning of parameters. At last, some real experiments are performed on a laboratory robotic<br />arm to illustrate the efficiency of the proposed control system for real industrial applications.Amirkabir University of TechnologyAUT Journal of Modeling and Simulation2588-295349220171201Adaptive Control Strategy for a Bilateral Tele- Surgery System Interacting with Active Soft Tissues20921693110.22060/miscj.2017.12074.5000ENM.Sharifi1 Department of Electrical Engineering, Amirkabir University of Technology, Tehran, IranH. A.Talebi1 Department of Electrical Engineering, Amirkabir University of Technology, Tehran, IranJournal Article20161023In this paper, the problem of control and stabilization of a bilateral tele-surgery robotic<br />system in interaction with an active soft tissue is considered. To the best of the authors’ knowledge, the<br />previous works did not consider a realistic model for a moving soft tissue like heart tissue in beating heart<br />surgery. Here, a new model is proposed to indicate significant characteristics of a moving soft tissue,<br />rolling as the teleoperation system environment. The model is formed by a parallel combination of a<br />viscoelastic passive part and an active part. Furthermore, the delays in communication and parameter<br />uncertainties of the master and slave robot dynamics are considered. Using an adaptive control strategy,<br />the ultimate boundedness of the system trajectories while interacting with the active environment is<br />certified, and this ultimate bound is calculated. Moreover, to evaluate the theoretical results, simulation<br />results are presented.Amirkabir University of TechnologyAUT Journal of Modeling and Simulation2588-2953492201712013-RPS Parallel Manipulator Dynamical Modelling and Control Based on SMC and FL Methods21722699210.22060/miscj.2017.11945.4985ENM.ShahidiFaculty of Mechanical Engineering, University of Tabriz, Tabriz, IranJ.KeighobadiFaculty of Mechanical Engineering, University of Tabriz, Tabriz, Iran0000-0002-1216-4518A. R.KhoogarDepartment of Mechanical Engineering, Maleke-Ashtar University of Technology, Tehran, IranJournal Article20160905In this paper, a dynamical model-based SMC (Sliding Mode Control) is proposed for<br />trajectory tracking of a 3-RPS (Revolute, Prismatic, Spherical) parallel manipulator. With ignoring small<br />inertial effects of all legs and joints compared with those of the end-effector of 3-RPS, the dynamical model of<br />the manipulator is developed based on Lagrange method. By removing the unknown Lagrange multipliers, the<br />distribution matrix of control input vector disappears from the dynamical equations. Therefore, the calculation<br />of the aforementioned matrix is not required for modeling the manipulator. It in trun results in decreased<br />mathematical manipulation and low computational burden. As a robust nonlinear control technique, a SMC<br />system is designed for the tracking of the 3-RPS manipulator. According to Lyapunov’s direct method, the<br />asymptotic stability and the convergence of 3-RPS manipulator to the desired reference trajectories are<br />proved. Based on computer simulations, the robust performance of the proposed SMC system is evaluated<br />with respect to FL (feedback linearization) method. The proposed model and control algorithms can be<br />extended to different kinds of holonomic and non-holonomic constrained parallel manipulators.Amirkabir University of TechnologyAUT Journal of Modeling and Simulation2588-295349220171201A Comparison Between Fourier Transform Adomian Decomposition Method and Homotopy Perturbation Method for Linear and Non-Linear Newell-Whitehead-Segel Equations22723899010.22060/miscj.2017.12051.4998ENS. S.NourazarDepartment of Mechanical Engineering, Amirkabir University of Technology, Tehran, IranH.ParsaDepartment of Mechanical Engineering, Amirkabir University of Technology, Tehran, Iran0000-0002-3468-8419A.SanjariDepartment of Mechanical Engineering, Amirkabir University of Technology, Tehran, IranJournal Article20161017In this paper, a comparison among the hybrid of Fourier Transform and Adomian<br />Decomposition Method (FTADM) and Homotopy Perturbation Method (HPM) is investigated.<br />The linear and non-linear Newell-Whitehead-Segel (NWS) equations are solved and the results are<br />compared with the exact solution. The comparison reveals that for the same number of components<br />of recursive sequences, the error of FTADM is much smaller than that of HPM. For the non-linear<br />NWS equation, the accuracy of FTADM is more pronounced than HPM. Moreover, it is shown that<br />as time increases, the results of FTADM, for the linear NWS equation, converges to zero. And for the<br />non-linear NWS equation, the results of FTADM converges to 1 with only six recursive components.<br />This is in agreement with the basic physical concept of NWS diffusion equation which is in turn in<br />agreement with the exact solution.Amirkabir University of TechnologyAUT Journal of Modeling and Simulation2588-295349220171201A Survey of Dynamic Replication Strategies for Improving Response Time in Data Grid Environment23926487410.22060/miscj.2016.874ENN.MansouriComputer Science Department, Shahid Bahonar University of Kerman, Kerman, IranM. M.JavidiComputer Science Department, Shahid Bahonar University of Kerman, Kerman, IranJournal Article20160808Large-scale data management is a critical problem in a distributed system such as cloud,<br />P2P system, World Wide Web (WWW), and Data Grid. One of the effective solutions is data replication<br />technique, which efficiently reduces the cost of communication and improves the data reliability and<br />response time. Various replication methods can be proposed depending on when, where, and how<br />replicas are generated and removed. In this paper, different replication algorithms are investigated to<br />determine which attributes are assumed in a given algorithm and which are declined. We provide a tabular<br />representation of important factors to facilitate the future comparison of data replication algorithms. This<br />paper also presents some interesting discussions about future works in data replication by proposing<br />some open research challenges.