Most of SCARA (Selective Compliance Articulated Robot Arm) direct drive robots today are equipped with a circular feedback system. The Resolved Motion Rate Control (RMRC) method increases the accuracy and compensates the lack of movement transmission system in accurate pick and place actions. In this study, a pick-and-place SCARA robot is developed by using a developed robot manipulator arm and controlling with its designed control systems. To make the end-effector of the SCARA robot arm following desired positions with specified joint velocities, the inverse kinematics technique, known as the RMRC generates motion trajectories automatically. In this research, the kinematics method has been applied with the Jacobian pseudo-inverse or Jacobian singularity-robust inverse to generate and record the pick-and-place motion of the SCARA robot. These records are then compared with the records after using RMRC methods. Several system features like the variation of samples during 50 seconds for the first and second robot joint, and mean deviation for the detailed analysis by the controller after using RMRC motion control algorithm demonstrates the preference of RMRC method in SCARA direct drive robots. تفاصيل المقالة

Today, large-scale vehicles are scattered in different parts of the city and therefore need to be controlled by programmed systems. Applications of these systems include traffic control, urban planning, driverless vehicles, parking lot management by announcing the arrival of a vehicle, detecting stolen or offending vehicles, and so on. Due to challenges such as the multiplicity of objects in the image, weather conditions, different colors and designs of the type of vehicles and very diverse images from different angles of a vehicle in the section identifying the type of vehicles in the photo, Films, moving images, etc. have led to a variety of research, and in this article we will examine some of the techniques. تفاصيل المقالة

Today, In Communication world, optical access networks play a fundamental role to secure and offer a wide band width to customers. Therefore, this use of communication ground of optic fiber, because of little diameter of optic cable rather than copper cable and undeniable capabilities of optic networks, is a new discussion of communication world of our country. In this regard, the way of optimum utilization of optic transition systems to residence location of customers with the minimum cost and the maximum capacity is the most important discussion of this matter that use of fiber to common house (FTTH) is an appropriate case for discussion, and with decrease of common access distance to fiber to the intended location, it makes facilities and advantages available for customers. The aim of this paper is explaining the parameters of an optic communication system to be able to determine and select the optimum communication system according to peripheral conditions, technical work range, and calculation of amounts of systemic parameters are determined in case with aim of access to desirable OSNR and increase of capacity of optic communication channels. تفاصيل المقالة

Many complex natural and social structures can be considered as networks. Internet sites, social networks, organizational communications, family connections, electronic mails, phone calls, and financial transactions are just a few examples of these networks. Nowadays, network analysis is one of the most popular and widely used research branches in the world. One of the most commonly used topics in network analysis is the identification of organizations in the network. In this research, we present the detection of communities in static social networks using the genetic algorithm and its improvement with the label propagation algorithm known as Genetic Algorithm- Label Propagation. The genetic algorithm explores the search space well and converges to the best answer. This algorithm is scalable and our results show that our proposed algorithm performs faster and better than other algorithms. تفاصيل المقالة

Corrsion is one of the most important problems which underground gas pipelines is facing it . Cathodic protection systems are dynamic systems that use electrical current to control corrosion. According to the existing standards there are different methods for evaluating level of cathodic protection and coverings underground metal pipes. One of the most practical methods is the close interval potential survey (CIPS).The efficiency of this method is very dependent on the quality of measuring parameter during the inspection. minimising all the error source , either during the inspection or when interpreting the data is vital. In this research CIPS method is analyzed and by optimizing synchronization of the Interrupter devices to decrease the errors during the CIPS test, in evaluating of cothodic protection level and covering the gas transmission underground metal pipes provides a significant improvement. تفاصيل المقالة

Today, global information societies are increasingly producing a mass of information, which makes it difficult to access relevant and useful information at the moment. In the meantime, there are many services and products that need to be filtered and presented based on the priorities of users. Recommender systems emerged as a tool to deal with the mass of data to respond to the existing need. These systems collect user information or information that helps users to provide a list of items explicitly or implicitly to suggest to users. With the flourishing of electronic commerce, the use of recommender systems in various aspects of online business has revolutionized electronic commerce تفاصيل المقالة

Nowadays, in modern and developing countries, it is very difficult to live without continuous and reliable electric energy. After realizing the high importance of energy resources and power generation in power plants, its transmission and distribution in a safe, sustainable and high-quality manner became very important. In the past, most of the electrical energy was carried out at the low voltage level through aerial networks with copper wires, but in recent years due to problems such as the greater importance of accessibility, the importance of improving power quality, theft of copper wires due to the increasing price of copper, electricity theft, etc., the implementation of aerial wire networks is prohibited except in special cases in distribution companies, and the use of aerial bundled cables has been replaced instead. In this article, first by introducing the merits and demerits of the implementation of aerial bundled cables, economic study (profit and loss) and also the return period of the capital in a system have been investigated and at the end its efficiency or inefficiency for distribution companies has been studied. تفاصيل المقالة

مولتی روتور یک پرنده بدون سرنشین با شش درجه آزادی می باشد.شکل اصلی این پرنده شبیه صلیب می باشد که با داشتن شش موتور BLDC قابلیت انجام حرکات ومانورهای پیچیده است. درحال حاضر کنترل این دسته ازپرنده هابه وسیله خلبان زمینی که بصورت کنترل دستی می باشد ویا ازطریق سیستم GPS انجام می شود. روش فازی تطبیقی غیر مستقیم کنترلری است برای کنترل دو حالت پیچش و چرخش در سیستم پروازی که با گرفتن ورودی خروجی مورد نظر را تایین می کند مزیت این روش اینست که در صورت وجود نویز خود را به روز میکند و خود را باسیستم همگام سازی میکند در نتیجه پایداری ایجاد می کند .در این مقاله ابتدا ربات پرنده مولتی روتور به صورت دینامیکی مدلسازی می شود و سپس ساختار کنترل فازی تطبیقی با کمک شناساگر فازی برای خلبان خودکار ربات پرنده مولتی روتور مدل می شود.در نتیجه بهسازی و پایداری عملیات کنترل و ناوبری در خلبان خودکار ربات پرنده مولتی روتور با کمک فازی تطبیقی قابل به دست آوردن می‌باشد. تفاصيل المقالة

Analyzing accidents in order to identify their causes is one of the most important stages of accidents. With the help of descriptive-analytical analysis, this research deals with the evaluation, analysis and analysis of recurring incidents in the electricity distribution company of Chaharmahal and Bakhtiari province using Tribod-Beta and AHP methods. Considering the most important factor of human error, the Tribod-Beta method is one of the best methods in the analysis of incidents in electricity distribution companies. It has been drawn, to know the causes and problems related to the change, we will review the correction to prevent the occurrence of similar incidents. Considering the importance of the issue and confirming the non-interference of personal taste in the analysis of accidents, we weight the results using the AHP method. According to the obtained results, it can be said that non-observance of safety principles with 50% frequency and with the highest standard weight (0.5 and 0.1958) is one of the most risky causes of accidents in four frequent accidents. تفاصيل المقالة