Research and Fabrication Experiences

2009-2012

  • Design and Implementation of a Wireless Sensor Network for monitoring corrosion in cities gas pipeline and refineries. This work was done under research contract No 110017 between University of Guilan and Guilan Province Gas Company. I was co-administrative in this project and designed and made electronic circuits.

2008-2010

  • Design and Fabrication of two Unmanned Airship with image processing ability.(My MSc Project)

2005-2006

  • Design and made of a Simultaneous 8 Channel ICP Compatible Accelerometer Data Logger for Civil Department of University of Guilan.

2003-2004

  • Developing User Interface Program for DAQ Card in High Voltage Laboratory of  University of Tehran By Delphi and C++Builder Programming Development Tools
  • Design and Made Some Mechanical Parts of Goniophotometer in Light Lab of University of Tehran

For more information please refer to one of pages below:

 

Gas Pipe-line Corrosion Monitoring by WSN

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  • Design and Implementation of a Wireless Sensor Network for monitoring corrosion in cities gas pipeline and refineries. This work was done under research contract No 110017 between University of Guilan and Guilan Province Gas Company. I was co-administrative in this project and designed and made electronic circuits.Key Specification of project are listed below:
  • Using WSN for measuring pipe to soil voltage
  • Using AVR Xmega ultra low power MCU
  • firmware developed in BASCOM
  • Solar cell for energy
  • Developing five version based on various RF tranciever module
  • User friendly Program developed in Delphi IDE

8-Channel ICP Compatible Accelerometer and Data Logger

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This device was made for civil enginiring department of university of guilan under supervision of Dr Fallah in 2005. Summary of specifications are listed below.

for more information click Here.

 

  • Compatible with all industry standard ICP accelerometer
  • Ability to measure and record all channel simultaneously
  • Compelet software based FIR filter for reducing all kind of noise from main acceleration signal
  • Hardware Op-Amp gain Selection for measuring small to big acceleration range
  •  Desing and make based on AD1674 ADC chip and AVR microcontroller
 
Design and Fabrication of two Unmanned Airship with image processing
 
ability.(My Msc Project)
 

In recent years, mobile robots use for many purposes. One of the most important type of mobile robots are flying robots. These robots in various types include fixed wing, rotary wing, and airship have been used for Video surveillance, Traffic condition monitoring, Environmental variable monitoring, etc. There is need for intelligence for these type of robots based on their missions.

For flying platform, Airships duo to their safe fly and low payload to cost and time ratio are commonly used for research projects. The goal of this study is design fabrication and control of an aerial robot based on airship flying platform. The robotic airship must carry various avionics instruments include sensors and processor to implement some control algorithms. Based on this goal two airship has been designed and fabricated, the small one can use for indoor use and laboratory, and the big one is for real environment.

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 Based on the mission of these airships, avionics systems include wireless data and video link, inertial sensor and electronic compass, camera and computer, base station for send and receive data and commands and other  instruments have been designed and implemented for each of airships.

One of the most important methods for increase aerial robot intelligent is using image processing for guidance and control. In this study, based on real time image processing techniques, a path planner and trajectory tracker has been designed.  This system can extract command based on airship camera images, and send true command to actuators for road following. Fuzzy rules have been used for image processing, direction extraction and controller. Dou to highly non linearity of airship dynamic model, this type of controller has been used. 3 DOF and 6 DOF dynamic modeling is used for checking system response to various inputs and  design fuzzy rule base.

  

 Keywords:  flying robot, robotic airship, image processing, machine vision control, dynamic model, fuzzy logic

To download my thesis you can click on link below. Any use of this Thesis must be refrenced to Author.

Design, Fabrication and Control of an Aerial Robot with Terrain Tracking  Ability Using Fuzzy Based Image Processing