Iranian Society of Mechanical EngineeringIranian Journal of Mechanical Engineering Transactions of the ISME1605-972726220250901Integrating Adaptive Sliding Mode Control and Deep Learning for Autonomous Vision-driven Fruit Sorting robot63472329110.30506/jmee.2025.2037549.1353ENHassanSayyaadiProfessor, Department of Mechanical Engineering, Sharif University of Technology, Tehran, Iran0000-0001-5855-8881SaraAdeliM.Sc., Student, Department of Mechanical Engineering, Sharif University of Technology, Tehran, IranJournal Article20240804<em><span style="font-size: 12.0pt; font-family: 'Times New Roman','serif'; mso-ascii-theme-font: major-bidi; mso-fareast-font-family: Batang; mso-hansi-theme-font: major-bidi; mso-bidi-theme-font: major-bidi; mso-ansi-language: EN-US; mso-fareast-language: EN-US; mso-bidi-language: FA;">This article presents a novel application of deep learning in automated fruit-sorting robotics, improving real-time object recognition and handling. By integrating advanced neural networks, the robot achieves higher accuracy in identifying various fruits, addressing fruit variability and enhancing sorting precision. This innovation, combining deep learning and visual servoing, represents a significant advancement in automated fruit-sorting technology, with promising benefits for agricultural processes. The project aims to control a fruit-sorting robot using image processing data, merging sliding mode control and NN-based (neural network-based) techniques for automation. Utilizing the latest YOLO (You Only Look Once) model, the system classifies and positions fruits rapidly and accurately, making it suitable for real-time applications. After identifying fruit types and positions, a controller is designed for the pick-and-place process. Sliding mode control manages uncertainties and guides manipulator movements precisely, while a neural network controls joint angles for smooth and accurate fruit manipulation. Comparative tests on a simulated robot revealed that the NN-based controller excels in accuracy and speed, adapting to different fruit configurations effectively. The sliding mode controller, though robust and stable, is sensitive to uncertainties, affecting sorting precision. The hybrid system, integrating both controllers, enhances adaptability by combining the NN-based approach's precision with the stability of sliding mode control, optimizing fruit-sorting performance across diverse scenarios. Results emphasize selecting the appropriate controller to balance precision and speed based on specific application needs.</span></em>https://jmee.isme.ir/article_723291_12be0eda80e601768559cef7fd12aa59.pdfIranian Society of Mechanical EngineeringIranian Journal of Mechanical Engineering Transactions of the ISME1605-972726220250901Computation of SIF for Several Moving Cracks in an Orthotropic Layer Bonded to a Functionally Graded Piezoelectric Coating355671888010.30506/jmee.2024.2041811.1362ENMohammadHassaniPhD Student, Department of Mechanical Engineering, Do.C., Islamic Azad University, Dorud, IranMojtabaMahmoudi MonfaredAssociate Professor, Department of Mechanical Engineering, Has.C., Islamic Azad University, Hashtgerd, IranJournal Article20240923<em><span style="font-size: 12.0pt; font-family: 'Times New Roman','serif'; mso-ascii-theme-font: major-bidi; mso-fareast-font-family: Batang; mso-hansi-theme-font: major-bidi; mso-bidi-theme-font: major-bidi; mso-ansi-language: EN-US; mso-fareast-language: EN-US; mso-bidi-language: FA;">In this paper, the dynamic stress intensity factors (DSIFs) in an orthotropic strip coated by a functionally graded piezoelectric (FGP) containi8ng several moving cracks has been studied. The distributed dislocation method (DDM) is extended to construct integral equations for the several cracks. At first, the stress fields in an orthotropic strip coated by FGP containing a single dislocation are calculated. Then, by use of distributed dislocation density on the faces of cracks, systems of singular integral equations with Cauchy type singularity are obtained. Finally, the integral equations are solved with an appropriate numerical method to specify the dislocation density and then DSIFs at the crack tips. The primary objective of this paper is to investigate the effects types of loading, the position of cracks relative to each other, crack speed and nonhomogeneity parameter on the DSIFs.</span></em>https://jmee.isme.ir/article_718880_4f4c5c283480f8fdc1b3aff9f3a67693.pdfIranian Society of Mechanical EngineeringIranian Journal of Mechanical Engineering Transactions of the ISME1605-972726220250901Experimental Investigation of Injection Pattern Effect on Tensile Strength of PLA Material in FDM Processes517171934910.30506/jmee.2024.2037896.1354ENFaridGholipourM.Sc., Manufacturing Group, Faculty of Mechanic, Tabriz University, Tabriz, IranMohammad RezaShabgardProfessor, Manufacturing Group, Faculty of Mechanic, Tabriz University, Tabriz, IranMohammadBaraheniAssistant Professor, Manufacturing Group, Faculty of Mechanic, Arak University of Technology, Arak, IranJournal Article20240808<em><span style="font-size: 12.0pt; font-family: 'Times New Roman','serif'; mso-ascii-theme-font: major-bidi; mso-fareast-font-family: Batang; mso-hansi-theme-font: major-bidi; mso-bidi-theme-font: major-bidi; mso-ansi-language: EN-US; mso-fareast-language: EN-US; mso-bidi-language: FA;">Fused deposition modeling (FDM) is the most popular, simplest, and least expensive method of additive manufacturing and 3D printing. This technique, based on extruding molten thermoplastic filament, is favored across industries for rapid prototyping and creating complex geometries without molds or extra equipment. A key challenge in FDM is the significant impact of printing parameters on the mechanical and physical properties of the final product. This research aims to examine how basic printing parameters, specifically using a 0.4 mm nozzle diameter in two injection mold patterns (linear and concentric), affect tensile strength. Results showed that altering the injection pattern changes tensile strength, ranging from 28.1 MPa to 27.8 MPa at 190℃. The linear pattern achieved the highest tensile strength, while the concentric pattern had the lowest. Additionally, scanning electron microscope images of the fracture surfaces revealed that all samples had micro holes at the layer interfaces, a characteristic inherent to the FDM process.</span></em>https://jmee.isme.ir/article_719349_c5c585028128c9f9017ea8547b7c07b4.pdfIranian Society of Mechanical EngineeringIranian Journal of Mechanical Engineering Transactions of the ISME1605-972726220250901A Modeling Framework for Rigid Legs Passive Dynamic Biped Walkers in MSC ADAMS729271990310.30506/jmee.2025.2040212.1361ENRoozbehGhanadi AzarM.Sc., Faculty of Mechanical and Energy Engineering, Shahid Beheshti University, Tehran, Iran0009-0007-8521-9034KouroshMoeiniB.Sc., Faculty of Mechanical and Energy Engineering, Shahid Beheshti University, Tehran, IranMohammad RezaHaghjooAssistant Professor, Faculty of Mechanical and Energy Engineering, Shahid Beheshti University, Tehran, IranMostafaTaghi ZadehAssociate Professor, Faculty of Mechanical and Energy Engineering, Shahid Beheshti University, Tehran, IranJournal Article20240902<em><span style="font-size: 12.0pt; line-height: 97%; font-family: 'Times New Roman','serif'; mso-fareast-font-family: 'Times New Roman'; color: black; mso-themecolor: text1; mso-bidi-language: FA;">Passive dynamic walkers have gained widespread interest for their ability to mimic human-like movements. However, modeling and simulating these walkers in mathematical software can be challenging due to their complex dynamic equations of motions. This paper presents a framework for multibody modeling and simulating passive dynamic biped walkers with rigid legs in MSC ADAMS. This approach significantly simplifies the modeling process by avoiding the complexity of deriving mathematical equations of motion. The framework involves creating a general base model of the biped walker (such as a compass-like design), followed by dynamic analysis in MSC ADAMS. The model developed in MSC ADAMS is carefully adapted through a suggested parameter adjustment procedure to ensure that the core functionalities of a purely mathematical model are preserved. The findings indicate that a slightly higher initial angular velocity of the stance leg is required in MSC ADAMS compared to the mathematical model to achieve stable periodic motion and account for stance foot slippage. This research enables more realistic simulations of passive biped robots in MSC ADAMS, reducing reliance on purely theoretical models.</span></em>https://jmee.isme.ir/article_719903_a3d74441270fe1f80ff055e89d7863b2.pdfIranian Society of Mechanical EngineeringIranian Journal of Mechanical Engineering Transactions of the ISME1605-972726220250901Coordinated Landing Control of Multiple Vehicles using Rough Neural Network and Sliding Mode Methods9311071992910.30506/jmee.2025.2038103.1355ENSabaNiksereshtPh.D. Candidate, Faculty of Aerospace Engineering, K.N. Toosi University of Technology, Tehran, IranMahdiJafari-NadoushanAssistant Professor, Faculty of Aerospace Engineering, K.N. Toosi University of Technology, Tehran, IranJournal Article20240810<em><span style="font-size: 12.0pt; line-height: 107%; font-family: 'Times New Roman','serif'; mso-ascii-theme-font: major-bidi; mso-fareast-font-family: Batang; mso-hansi-theme-font: major-bidi; mso-bidi-theme-font: major-bidi; mso-font-kerning: 0pt; mso-ligatures: none; mso-ansi-language: EN-US; mso-fareast-language: EN-US; mso-bidi-language: FA;">This paper investigates and compares the coordinated landing of multiple vehicles using the Rough Mimetic Neural Controller (R-MNC) and Sliding Mode Controller. Coordinated landing scenarios, critical for advanced aerospace operations, require robust control strategies to handle nonlinear dynamics and ensure safe, precise landings. In the simulations, nonlinear dynamic equations of the agents are used, and control signals are allocated among system actuators based on inputs such as gamma angle, angle of attack, and altitude rate. The NSGA-II optimization algorithm tunes controller parameters to enhance performance and reduce control effort. Results demonstrate that both controllers effectively stabilize the vehicle and achieve desired outcomes, but R-MNC shows superior adaptability in dynamic environments, particularly under varying conditions. This study examines the trade-offs and complementary advantages of both methods, offering insights for designing reliable coordinated landing strategies in complex aerospace missions</span><span style="font-size: 12.0pt; line-height: 107%; font-family: 'Times New Roman','serif'; mso-fareast-font-family: 'Times New Roman'; color: black; mso-font-kerning: 0pt; mso-ligatures: none; mso-ansi-language: EN-US; mso-fareast-language: EN-US; mso-bidi-language: FA;">.</span></em>https://jmee.isme.ir/article_719929_f6800abeb2e0f54b09dc6e61eefe2c64.pdfIranian Society of Mechanical EngineeringIranian Journal of Mechanical Engineering Transactions of the ISME1605-972726220250901Analytical Solution for Buckling Analysis of FGM Axisymmetric Cylindrical Shell under Axial Load using Shear Deformation Theory and Perturbation Technique11113472598510.30506/jmee.2025.2058190.1373ENMohammad RezaAbbasiPhD Student, Faculty of Mechanical Engineering, Shahrood University of Technology, Shahrood, Iran0009-0005-7899-0686MehdiGhannadProfessor, Faculty of Mechanical Engineering, Shahrood University of Technology, Shahrood, Iran0000-0002-0702-5935FaridMahboubi NasrekaniLecture in Mechanical Engineering, School of Engineering, Ulster University, Belfast, UK Correspondence0000-0002-2970-439XJournal Article20250419<em><span style="font-size: 12.0pt; line-height: 107%; font-family: 'Times New Roman','serif'; mso-ascii-theme-font: major-bidi; mso-fareast-font-family: Batang; mso-hansi-theme-font: major-bidi; mso-bidi-theme-font: major-bidi; mso-ligatures: none; mso-ansi-language: EN-US; mso-fareast-language: EN-US; mso-bidi-language: FA;">This paper provides an analytical approach to determining the buckling load of an axisymmetric cylindrical shell made of functionally graded material (FGM) using utilizing the first-order shear deformation theory (FSDT) and von Karman relations. Nonlinear equilibrium equations are derived using the virtual work principle and solved with the perturbation technique. The stability equations are then obtained using the adjacent criterion method, resulting in a system of coupled linear differential equations with variable coefficients, which are solved analytically for the buckling load. A parametric study examines how various geometric and material properties influence the results. It is found that transitioning from homogeneous materials to FGMs increases the buckling load by 4–11%, depending on the shell dimensions. Additionally, finite element method (FEM) results are used to validate the analytical findings and are compared with existing literature.</span></em>https://jmee.isme.ir/article_725985_d010edc86f5c7442e1004202c7116cf8.pdfIranian Society of Mechanical EngineeringIranian Journal of Mechanical Engineering Transactions of the ISME1605-972726220250901Numerical Analysis of Composite Beams with Piezoelectric Actuators13514872813610.30506/jmee.2025.2051009.1366ENRameanaliMahdavinejadProfessor, Department of Mechanical Engineering, University of Tehran, Tehran, IranTaranehSheidaeiB.Sc. Student, Department of Mechanical Engineering, University of Tehran, Tehran, IranArianAriakiaB.Sc. Student, Department of Mechanical Engineering, University of Tehran, Tehran, IranJournal Article20250118<em><span style="font-size: 12.0pt; line-height: 97%; font-family: 'Times New Roman','serif'; mso-ascii-theme-font: major-bidi; mso-fareast-font-family: Batang; mso-hansi-theme-font: major-bidi; mso-bidi-theme-font: major-bidi;">This study presents a detailed numerical analysis of composite beams enhanced with piezoelectric actuators, focusing on their mechanical performance under varying design parameters. Finite Element Analysis (FEA) using Abaqus software was employed to investigate the influence of fiber orientation angles (0° to 90°) and the number of layers (2 to 6) on the stress-strain behavior and bending resistance of the beams. The results demonstrate that optimal fiber orientation and appropriate layer configurations significantly enhance mechanical performance, with notable improvements in maximum stress capacity and strain energy absorption. The findings validate the potential of smart composite systems in advanced precision engineering applications and provide critical insights for optimizing their structural performance through parametric design adjustments.</span></em><br><em><span style="font-size: 12.0pt; line-height: 97%; font-family: 'Times New Roman','serif'; mso-ascii-theme-font: major-bidi; mso-fareast-font-family: Batang; mso-hansi-theme-font: major-bidi; mso-bidi-theme-font: major-bidi;">This study also offers a comparative analysis with Classical Laminate Theory to identify deviations resulting from shear deformation and coupling effects. These results hold promise for applications in aerospace, robotics, and energy systems, where adaptability and structural resilience are essential.</span></em>https://jmee.isme.ir/article_728136_6fa8635bb9d61dbead76e0430f61b9ca.pdf