IAES International Journal of Robotics and Automation (IJRA)
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A discrete-time terminal sliding mode controller design for an autonomous underwater vehicle
Get PDFAutonomous underwater vehicle (AUV) are underwater robotic devices intended to explore hostiles territories in underwater domain. AUVs research gaining popularity among underwater research community because of its extensive applications and challenges to overcome unpredictable ocean behavior. The aim of this paper is to design discrete time terminal sliding mode control (DTSMC) reaching law-based employed to NPS AUV II purposely to improve the dynamic response of the closed loop system. This is accomplished by introducing a nonlinear component to sliding surface design in which the system state accelerated, and chattering effect is suppressed. The nonlinear component consist of fractional power is to ensure steeper slope of the sliding surface in the vicinity of the equilibrium point which lead to quicker convergence speed. Thus, the chattering effect in the control action suppressed as the convergence of the system state accelerated. The stability of the control system is proven by using Sarpturk analysis and the performance of the DTSMC is demonstrated through simulation study. The performance of DTSMC is benchmarked with DSMC and PID controlle
Automation of the design of the cross-section of the manipulator arms profile
Get PDFThe design of the arms of industrial robots and manipulators is a demanding process both in ter ms of expertise and in terms of the time required. For these reasons, algorithms have been created, with the help of which it is possible to design cross - sections of individual arms of robots and manipulators not only from the point of view of maximum allo wed deflection but also from the point of view of minimizing cross - sectional dimensions or minimizing the weight of arms. These algorithms were subsequently used in the development of the software tool RobotArmDesign, with the help of which it is possible to simplify and shorten the arm design process significantly. This tool also has a connection to the SolidWorks CAD system and its simulation tools through its API interface, making it possible to refine robot arms designs while maintaining significantly s horter design times than would be the case with commonly used procedures. This tool's capabilities were demonstrated in the design of a robot arm with an angular structure and five degrees of freedom
Low-cost SARS-CoV-2 vaccine homogenization system for Pfizer-BioNTech covid-19 vials
Get PDFThe current SARS-CoV-2 pandemic has been affecting all sectors worldwide, and efforts have been targeting the enhancement of people’s health and labour conditions of collaborators belonging to healthcare institutions. The recent vaccines emerging against covid-19 are seen as a solution to address the problem that has already killed up to two million people. The preparation of the Pfizer-BioNTech covid-19 vaccine requires a specific manipulation before its administration. A correct homogenization with saline solution is needed and, therefore, a manual process with a predefined protocol should be accomplished. This action can endanger the operators’ ergonomics due to the repetitive movement of the process. This paper proposes a low-cost prototype incorporating an arduino based embedded system actuating a servomotor to perform an autonomous vials’ homogenization allowing to redirect these healthcare workers to other tasks. Moreover, a contactless start order process was implemented to avoid contact with the operator and, consequently, the contamination. The prototype was successfully tested and recognised, and is being applied during the preparation of the covid-19 vaccines at the hospital pharmacy of Centro Hospitalar de Vila Nova de Gaia/Espinho, E.P.E., Portugal. It can be easily replicated since the source files to assemble it are provided by the authors
Technical study of the effect of laser engraving using uArm swift pro robot
Get PDFLaser engraving is the most non - traditional and efficient working method in the machining of materials of different geometry as compared to conventional methods. The main objective of this study is to determine the impact of uArm swift pro robot operated laser engraving process on a wooden pitch board piece. However, the robot was connected with uArm Studio 1.1.22 software to perform laser engraving operation. For this purpose the effect of process parameters like spot diameter and depth of penetration were investigated with different working length of the robot end effector, measured from wooden pitch board base. Experimental observation method was used to investigate the formation of deep and light engraving pattern on the pitch board surface by measuring penetration depth and spot diameter in suitable condition. The result obtained from the experiment and statistical parameters showed a new dimension to find a suitable working length of the robot assisted laser nozzle where the laser penetration effect was clearly perceptible for the wooden material
Parallel P-PD controller to achieve vibration and position control of a flexible beam
Get PDFRobotic arms are considered as a cantilever beam fixed at one end and due to the length-to-weight ratio, it has a significant vibration-induced that needs to be controlled to achieve accurate position, speed control and to increase its efficiency. In this project, a discretized Timoshenko beam model is used to discuss the dynamics of the system. Further, to implement the control on the hardware an experimental setup is fabricated to observe the open-loop and closed-loop responses of the beam made of low-density polyethylene. An accelerometer as a feedback sensor is attached at one end of the flexible beam while another end is fixed at the moving cart having DC motor as an actuator. Simulink is used as the programming tool to perform all of the experimentation. Proportional-integral-derivative (PID) tuning is performed. Following that open-loop responses of the deflection of the beam parallel to the motion are observed with different input waveforms. By applying a proportional control scheme, another experiment is performed to demonstrate the disturbance rejection with an accelerometer as a feedback sensor, while ignoring position control. Finally, a PD and P based parallel control scheme is proposed to obtain simultaneously both position control and vibration reduction
Adjustment mechanism with sliding mode for adaptive PD controller applied to unmanned fixed-wing MAV altitude
Get PDFThis work presents an adjustment mechanism with the sliding modes technique to de- sign a proportional derivative (PD) controller with adaptive gains. The objective and contribution are to design a robust adjustment mechanism in the presence of unknown and not modeled perturbations in the system; this perturbation can be considered wind gusts. The robust adjustment mechanism is designed with the MIT rule and the gra- dient method with the sliding mode theory. The adaptive PD obtained is applied to regulate unmanned fixed-wing miniature aerial vehicle (MAV’s) altitude
Missing data handling for machine learning models
Get PDFThis paper discusses a novel algorithm for solving a missing data problem in the machine learning pre-processing stage. A model built to help lenders evaluate home loans based on numerous factors by learning from available user data, is adopted in this paper as an example. If one of the factors is missing for a person in the dataset, the currently used methods delete the whole entry therefore reducing the size of the dataset and affecting the machine learning model accuracy. The novel algorithm aims to avoid losing entries for missing factors by breaking the dataset into multiple subsets, building a different machine learning model for each subset, then combining the models into one machine learning model. In this manner, the model makes use of all available data and only neglects the missing values. Overall, the new algorithm improved the prediction accuracy by 5% from 93% accuracy to 98% in the home loan example
Realtime autonomous navigation in V-Rep based static and dynamic environment using EKF-SLAM
Get PDFLocalization in an autonomous mobile robot allows it to operate autonomously in an unknown and unpredictable environment with the ability to determine its position and heading. Simultaneous localization and mapping (SLAM) are introduced to solve the problem where no prior in formation about the environment is available either static or dynamic to achieve standard map-based localization. The primary focus of this research is autonomous mobile robot navigation using the extended Kalman filter ( EKF )-SLAM environment modeling tech nique which provides higher accuracy and reliability in mobile robot localization and mapping result s . In this paper , EKF-SLAM performance is verified by simulations performed in a static and dynamic environment designed in V-REP i.e. , 3D Robot simulation environment. In this work SLAM problem of two-wheeled differential drive robot i.e. , Pioneer 3-DX in indoor static and dynamic environment integrated with Laser range finder i.e. , H okuyo URG-04LX-UG01, LIDAR , and Ultrasonic sensors is solved. EKF-SLAM scripts are developed using MATLAB that is linked to V-REP via r emote API f eature to evaluate EKF-SLAM performance. The reached results confirm the EKF-SLAM is a reliable approach for r eal-time autonomous navigation for mobile robots in comparison to other techniques
Efficient commercial classification of agricultural products using convolutional neural networks
Get PDFAgricultural products, as essential commodities, are among the most sought - for items in superstores. Barcode is usually utilized to classify and regulate the price of products such as ornamental flowers in such stores. However, the use of barcodes on some fragile agricultural products such as ornamental flowers can be damaged and lessen their life length. Moreover, it is time - consuming and costly and may lead to the pro duction of massive waste and damage to the environment and the admittance of chemical materials into food products that can affect human health. Consequently, we aimed to design a classifier robot to recognize ornamental flowers based on the related produc t image at different times and surrounding conditions. Besides, it can increase the speed and accuracy of distinguishing and classifying the products, lower the pricing time, and increase the lifetime due to the absence of the need for movement and changin g the position of the products. According to the datasheets provided by the robot that is stored in its database, we provide the possibility of identifying and introducing the product in different colors and shapes. Also, due to the preparation of a standa rd and small database tailored to the needs of the robot, the robot will be trained in a short time (less than five minutes) without the need for an Internet connection or a large hard drive for storage the data. On the other hand, by dividing each input p hoto into ten different sections, the system can, without the need for a detection system, simultaneously in several different images, decorative flowers in different conditions, angles and environments, even with other objects such as vases, detects very fast with a high accuracy of 97%
New time delay estimation-based virtual decomposition control for n-DoF robot manipulator
Get PDFOne of the most efficient approaches to control a multiple degree-of-freedom robot manipulator is the virtual decomposition control (VDC). However, the use of the re- gressor technique in the conventionnal VDC to estimate the unknown and uncertaities parameters present some limitations. In this paper, a new control strategy of n-DoF robot manipulator, refering to reorganizing the equation of the VDC using the time delay estimation (TDE) have been investigated. In the proposed controller, the VDC equations are rearranged using the TDE for unknown dynamic estimations. Hence, the decoupling dynamic model for the manipulator is established. The stability of the overall system is proved based on Lyapunov theory. The effectiveness of the proposed controller is proved via case study performed on 7-DoF robot manipulator and com- pared to the conventionnal Regressor-based VDC according to some evalution criteria. The results carry out the validity and efficiency of the proposed time delay estimation- based virtual decomposition controller (TD-VDC) approach