Hamed Jalaly Bidgoly

• Doctor of Engineering - Machine Intelligence and Robotics
• Assistant professor at Isfahan University of Technology

This paper presents the coverage environment by multi agents using reinforcement learning with Q-learning and Sarsa algorithms. Two environments are explored to study cooperative coverage path planning with these algorithms. The goal is to achieve coverage in the environment by having agents collaborate to reduce energy consumption. Initially, an o...

EEG-based authentication has gained much interest in recent years. However, despite its growing appeal, there are still various challenges to their practical use, such as lack of universality, lack of privacy-preserving, and lack of ease of use. In this paper, we have tried to provide a model for EEG-based authentication by focusing on these three...

The living cell can be described as a thermodynamic system whose structure and behavior arise from the thermodynamic processes and reactions within the cell and between the cell and environment. The origin and growth of cancer is also a thermodynamic process during which several thermodynamic variables change: cell volume, temperature, and entropy....

EEG is the recording of electrical activities of the brain, usually along the scalp surface, which are the results of synaptic activations of the brain’s neurons. In recent years, it has been shown that EEG is an appropriate signal for the biometric authentication and has important features such as resistance to spoofing attacks and impossibility t...

Compliant elements, installed in parallel with actuators, potentially contribute to the energy efficiency of legged robots. Nevertheless, finding the most appropriate compliance profile, especially over a reasonable range of locomotion speeds, is still an open topic. This paper contributes to the literature on three grounds. First, it proposes opti...

LPWAN IoT networks (such as Sigfox, LoRaWAN and NB-IoT) become more applicable every day in the industry. Despite their unique advantages, these technologies have many limitations, including low computing power and transmission rate, and very limited payload size. These limitations cause many challenges in the cryptography such as chaining ciphers...

Waterflooding optimization in closed-loop management of the oil reservoirs is always considered as a challenging issue due to the complicated and unpredicted dynamics of the process. The main goal in waterflooding is to adjust the manipulated variables such that the total oil production or a defined objective function, which has a strong correlatio...

In this paper, we answer two interleaved questions. The first one is, having a redundant serial manipulator with a given cyclic task, how can we benefit simultaneously from both natural dynamics modification (NDM) and kinematic redundancy resolution to reduce the actuators’ torque? Here, the NDM is done by devising parallel nonlinear monoarticular...

This paper introduces a distributed variable impedance actuator that provides independent control of the actuator's angular position and its impedance. The idea for the actuator was inspired by the morphological structure of muscles and tendons. The system to be presented can be used as both a variable impedance actuator as well as a passive piecew...

In rapid quadruped animals, the flexibility of spine is obviously observable while running. In this paper, we introduce a 3D passive dynamic quadruped robot, Fanari, that is capable to gallop down a slope without any external energy. We study the effect of spine flexibility on improvement of stability, adaptability and achievement of rapid leg loco...

Effect of flexibility in the spine of a quadruped robot on its energy efficiency and stability is studied. The approach is based on learning parameters of cyclic position command to the actuators. The learning system employs a reinforcement learning method to find the parameters that result in stable running while the velocity-energy ratio is minim...

This paper presents a general integrated procedure of fabricating a Hybrid Electric Motorcycle (HEM). Firstly, a simple model designed and simulated using ADVISOR2002 and the proposed model is exported to MATLAB/SIMULINK. Secondly, the controller schematic and its optimized control strategy are described. In addition, the ratings of the components...