R. Dehghani

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In this paper, we study motion control of a 5-link planar biped robot with torso without ankle and a special design such that the center of mass (COM) of the lower body is located at the hip. Using optimization of mechanical work and considering periodic and stability conditions with no slipping and no bouncing at heel, gait planning is determined as(More)
A considerable increase in the penetration of distributed generation (DG) to the distribution networks leads to a higher possibility of malfunction of present protection schemes of these systems. One of the major problems caused by higher levels of DG penetration is the reduction of the relay reach or relay access. This problem relatively relieves using(More)
This paper presents a new digital sigma-delta modulator with 16-bit input and a single bit stream output to control a dual modulus divider of a fractional-N frequency synthesizer. The design consists of two stages. The first stage is a second order error feedback Sigma-Delta Modulator that reduces the effective number of the input from 16 to 3 bits and(More)
This paper presents a novel multimodal CMOS based Lab-on-Chip system for life science applications. This system consists of an array of sensors using integrated capacitive and thermal techniques. Herein we put forward the proposed circuitries, demonstrate simulation results and discuss the advantages of the proposed system for cellular monitoring purposes.(More)
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