Shahin Darvishpoor

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• Ph.D
• Ph.D Student at University of British Columbia

This paper presents a novel concept of a co-axial bi-rotor UAV which is controlled by moving its center of gravity. After deriving a 6DOF nonlinear model using the Euler-Newton method, we introduce a simplified 3DOF model for planar motion. Due to the limited available torque in pitch and roll channels, a linear quadratic regulator controller is de...

Unmanned Aerial Systems (UASs) have a variety of applications in our daily life that have attracted the attention of many researchers around the world. There are a variety of innovations in the flight mechanisms that UASs are applying for flight. There is also a significant interest in the development of new types of drones that can fly autonomousl...

This paper reviews a majority of the nature-inspired algorithms, including heuristic and meta-heuristic bio-inspired and non-bio-inspired algorithms, focusing on their source of inspiration and studying their potential applications in drones. About 350 algorithms have been studied, and a comprehensive classification is introduced based on the sourc...

This paper examines developments in urban air mobility (UAM), the configurations and flight mechanisms of different aerial vehicles. Despite the interest generated around UAM, there seems to be a gap in the literature concerning a systematic comparative analysis of different configurations, especially regarding their appropriateness for given appli...

In this paper, the performance of Model-Free Adaptive Control (MFAC) has been investigated on a novel and specific moving-mass controlled (MMC) flying robot system. The novel one-degree-of-freedom (1 DOF) MMC flying robot test bed presented in this paper has highly nonlinear and slow dynamics with a variable center of gravity (CoG) and moment of in...

This paper studies the developments of urban air mobility by a focus on the configurations and flight mechanisms of the different vehicles in this field. This study contains twelve different common configurations in urban air mobility and reviews their advantages and disadvantages in order to provide a road map or prediction of the future of urban...

In this paper, an Orbit Control algorithm is implemented to correct satellite’s position for Low Earth Orbit (LEO) satellites using Artificial Neural Networks, Model-based Predictive Control, and Linear Quadratic Regulator . as a Self Tuning Regulator structure, an Artificial Neural Networks is used to learn the model of the satellite and compute s...

This paper presents the design and implementation of Model-Based Predictive Controller (MPC) for a novel Bi-Rotor Moving Mass Controlled (MMC) Unmanned Aerial Vehicle (UAV). Due to the strictly constrained control inputs in this type of UAV, it is necessary to take into account the constrained controller design and un-constrained control methods ar...

In this paper, an Orbit Control algorithm is implemented for Low Earth Orbit (LEO) satellites using Artificial Neural Networks (ANN), Model-based Predictive Control (MPC), and Linear Quadratic Regulator (LQR). as a Self Tuning Regulator structure, an ANN is used to learn the model of the satellite with external disturbances, after extracting a line...

This paper presents the design and implementation of a Model-Based Predictive Controller (MPC) for a novel Bi-Rotor Moving Mass Controlled (MMC) Unmanned Aerial Vehicle (UAV). Due to the strictly constrained control inputs in this type of UAV, it is necessary to take into account the constrained controller design and un-constrained control methods...

This research presents a novel configuration of a bi-rotor unmanned aerial vehicles based on moving mass control, after deriving the nonlinear 6DoF mathematical model of the UAV, the nonlinear model is verified using 6DoF simulation. As the second innovation of the thesis, a novel constrained and stable neural feedback controller is introduced and...

در این مقاله به مرور ساختار‌های مختلف مورد استفاده در پرنده‌های بدون سرنشین برای پرواز پرداخته شده است، ابتدا بر اساس فعالیت‌های انجام شده از قبل، پرنده‌های بدون سرنشین به چهاردسته اصلی افق‌برخاست، عمودبرخاست، ترکیبی و زیست پایه تقسیم بندی شده اند، سپس به مرور انواع پرنده‌های ساخته شده ذیل این دسته بندی‌ها پرداخته شده است، در این مقاله تمرکز بر روی...

This paper reviews the different flight mechanisms of UAVs. First of all, we divided UAVs into four main categories; Horizontal Takeoff and Landing(HTOL), Vertical Takeoff and Landing(VTOL), Hybrid and Bio-Based. Then each category is divided into some sub-categories in order to have a better review. in this article the focus is on the flight mecha...

در این مقاله به کمک شبکه‌های عصبی مصنوعی و کنترل پیش بین مبتنی بر مدل و رگولاتور خطی مرتبه دوم به طراحی کنترلری برای اصلاح مدار و موقعیت ماهواره مدار پایین پرداخته ایم، در این روش از شبکه‌های عصبی مصنوعی برای یادگیری رفتار سیستم در مواجهه با اغتشاشات استفاده شده است و به کمک مدل عصبی مصنوعی به دست آمده، پس از تخمین برخط مدل خطی سیستم در هر لحظه، کن...

In this paper, we would try to deploy a fully machine learning based controller for a simulated quadrotor. the designed system is a complete control and guidance, unsupervised online learning system for takeoff,landing and hover flight.

In this paper, we would review the feasibility of providing a platform for creating web-based UAVs, that includes both software and hardware solutions for creating UAVs with ability of connecting each other as well as a ground station, using a web internet connection. After providing a conceptual design of a such platform, we created a Quadrotor ba...