- Engineering Institute of Technology :Engineering Institute of Technology

Dr Ali Marzoughi is a professional engineer with a PhD in robotics and automatic control from the University of New South Wales.
He joined the oil and gas industry after finishing his undergraduate as an instrumentation engineer and after a few years, he was promoted to project manager of electrical and instrumentation in several EPC projects.

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Arithmetic mean-based decision-making algorithm for obstacle avoidance and multiple intruder detection

January 21, 2021 2:54 pm

This paper demonstrates a decentralized strategy of an arithmetic mean-based navigation algorithm for a group of mobile robots. The aim is to have them navigate through an unknown environment surrounded by obstacles to detect and follow multiple invading intruders. The suggested navigation strategy ensures that the mobile robots safely manoeuvre...Read More

Autonomous Navigation of a Team of Unmanned Surface Vehicles for Intercepting Intruders on a Region Boundary

January 4, 2021 2:33 pm

We study problems of intercepting single and multiple invasive intruders on a boundary of a planar region by employing a team of autonomous unmanned surface vehicles. First, the problem of intercepting a single intruder has been studied and then the proposed strategy has been applied to intercepting multiple intruders on...Read More

Switching Navigation for a Fleet of Mobile Robots in Multi-Obstacle Regions

January 26, 2019 3:18 pm

This paper presents a collision-free navigation control algorithm for a fleet of mobile robots to traverse an unknown obstacle-ridden environment. The proposed leader-follower-based navigation rule guarantees that the robots maintain the minimum-allowed distance from the obstacles while in motion. In this algorithm, the leader plans the safest path based on...Read More

Decentralised Navigation Control of a Multi-Robot Team to Minimising Energy Consumption in an Unknown Obstacle-Ridden Area

October 7, 2018 10:13 am

This study presents a decentralised navigation algorithm for a team of mobile robots to traverse an unknown obstacle-ridden environment to detect and trap a target located in the region. The proposed navigational strategy guarantees that the robots maintain the minimum distance allowed to the obstacles while avoiding them to trap...Read More

Collision Free Navigation of a Multi-Robot Team for Intruder Interception

September 7, 2018 3:24 pm

In this report, we propose a decentralised motion control algorithm for the mobile robots to intercept an intruder entering (k-intercepting) or escaping (e-intercepting) a protected region. In continuation, we propose a decentralized navigation strategy (dynamic-intercepting) for a multi-robot team known as predators to intercept the intruders or in the other...Read More

Distributed control of a robotic network for protection of a region from intruders

March 26, 2018 10:49 am

This paper addresses a problem of intruder interception on the boundary of a protected region through the use of a network of mobile robots. A necessary and sufficient condition for the existence of a solution of this problem is obtained. We propose a decentralized motion control algorithm for the mobile...Read More

Navigating a mobile robot to avoid moving obstacles using virtual source/sink force field

March 26, 2018 10:30 am

This paper proposes a novel navigation strategy for a unicycle mobile robot in a cluttered area with moving obstacles based on the virtual field force algorithm. We consider each obstacle as a virtual source and each obstacle free area between every two obstacles as a virtual sink, which exert repulsive...Read More

A decentralized position estimation switching algorithm to avoid a convex obstacle

September 11, 2017 10:25 am

We proposed a decentralized formation control method and a path planning for a mobile robotic network to avoid an obstacle in an environment without the possibility of collision between the teammates. We applied the leader-follower pattern where the leader estimates the safest path to maintain the minimum allowable distance with...Read More

Maximizing the probability of intrusion detection by a fleet of mobile robots using an intelligent game theoretic approach

September 11, 2017 10:21 am

This paper presents an intelligent game based decision-making algorithm (IGD) for a fleet of mobile robots to maximize the probability of detection in a limited area. The agents have the minimum communication or even no communication result from a jamming attack by a given hostile. Thus, we proved that the...Read More

Optimized proportional integral derivative (PID) controller for the exhaust temperature control of a gas turbine system using particle swarm optimization

January 16, 2012 10:57 am

In this paper, the particle swarm optimization (PSO) technique is used in optimising the proportional integral derivative (PID) controller parameters for the exhaust temperature control of a gas turbine system. The performance of the PID controller whose parameters are tuned based on the PSO method (PSO-PID) is compared with the...Read More

PERFORMANCE IMPROVEMENT OF A SINGLE SHAFT GAS TURBINE SYSTEM TEMPERATURE CONTROL USING PARTICLE SWARM OPTIMIZATION

March 27, 2011 11:56 am

Gas turbine has become increasingly popular in different areas of industry due to their lower greenhouse emission and higher efficiency compared to other types of engine such as diesel engines, especially when connected in a combined cycle setup. The control of gas turbine system, particularly its exhaust temperature control, is...Read More

A Decision Model for Estimating the Effort of Software Projects using Bayesian Theory

October 25, 2010 1:25 pm

Usability of the e-government portal is a crucial factor that Function Point Analysis (FPA) is most used technique for estimating the size of a computerized business information system which was developed by Allan Albrecht. Various studies proposed new methods to extent FPA algorithm; mainly they tried to make it more...Read More