IAES International Journal of Robotics and Automation (IJRA)
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Analytical design of the fractional order controller and robustness verification
Get PDFThis paper proposes a fractional order controller (FOC) for the level control problem of the coupled tank system, using the desired time domain specifications. The coupled tank system is used in the chemical industries for the storage and mixing of liquids. The FOC is designed analytically using the direct synthesis method. In the direct synthesis method, the Bode's ideal loop transfer function is chosen as the desired transfer function. Bode's loop transfer function has the advantages like robustness to system gain variations, constant phase and very high gain margin. Performance of the proposed controller is compared with the state of the art literature. Simulation results showed that the proposed controller has the least peak overshoot. The robust performance of the proposed controller is also the best. Robust stability of the system with the proposed controller is verified, and the system is found to be robustly stable
Wireless stepper motor control and optimization based on robust control theory
Get PDFStepper motors are broadly utilized in actual systems, which are marked by non-linear parameters such as internal, external noises and uncertainties from wireless network. As well, a suitable controller is required when the problem is to track the target signal. In this paper, robust controller based on model reference are investigated to wireless control and optimize position and time in stepper motors. The core impression to build a robust controller is to use a model reference control system. Furthermore, simulations are implemented to control stepper motor position and time in two cases: first, when the wireless network without any delay and packet dropout. Second, uncertain equations when the wireless network with time delays and packet dropout. Simulation results demonstrate that proposed controller has achieved and enhanced the performance in tracking and robustness
Design of energy-efficient multiplier based on 3:2 compressor
Get PDFA multiplier circuit is one of the most important functional blocks of many nano-electronic, control and automation applications. In this work, an energy-efficient multiplier is reported based on a 3:2 compressor. The multiplier has been designed in three different parts. In the first part, a partial product (PP) generator is used. In the second part, the partial products are reduced which is termed as PPP (partial product processing). Whereas in the third step final addition is performed. PPs are produced by using AND gates. The PPP is designed in two-phase. In the first phase, the Wallace tree logarithm has been used to reduce the PPs. Whereas, in the second phase the PPs are reduced by using energy-efficient half adder and 3:2 compressor. At last, in the third step, by using a carry-save adder final addition has been computed. The performance analysis of the designed multiplier is evaluated and compared with other multiplier circuits. The multiplier shows performance improvements by 20.55%-46% for the power supply variation from 1.2 V to 0.6 V. All the simulations and analyses have been carried out by using the Synopsys EDA tool
The taxi function
Get PDFThis paper investigates the lane keeping control and the lateral control of autonomous ground vehicles, robots or the like considering the road agency formation unit (RAFU) functions. A strategy based knowing the real position of several points of the trajec- tory is proposed to achieve the lateral control purpose and maintain the lane keeping errors within the prescribed performance boundaries. The RAFU functions are applied to achieve these goals. The stability of these functions, their applicability to approach any arbitrary trajectory and the easy control of the possible error made on the approx- imation are useful advantages in practice
Adaptive language processing unit for Malaysian sign language synthesizer
Get PDFLanguage processing unit (LPU) is a system built to process text-based data to comply with the rules of the sign language grammar. This system was developed as an important part of the sign language synthesizer system. Sign language (SL) uses different grammatical rules from the spoken/verbal language, which only involves the important words that hearing/impaired speech people can understand. Therefore, it needs word classification by LPU to determine grammatically processed sentences for the sign language synthesizer. However, the existing language processing unit in SL synthesizers suffers time lagging and complexity problems, resulting in high processing time. The two features, i.e., the computational time and success rate, become trade-offs which means the processing time becomes longer to achieve a higher success rate. This paper proposes an adaptive LPU that allows processing the words from spoken words to Malaysian SL grammatical rule that results in relatively fast processing time and a good success r ate. It involves n-grams, natural language processing (NLP) , and hidden Markov models (HMM)/Bayesian networks as the classifier to process the text-based input. As a result, the proposed LPU system has successfully provided an efficient (fast) processing time and a good success rate compared to LPU with other edit distances (mahalanobis, Levenshtein, and soundex). The system has been tested on 130 text-input sentences with several words ranging from 3 to 10 words. Results showed that the proposed LPU could achieve around 1.497ms processing time with an average success rate of 84.23% for a maximum of ten-word sentences
Detection of duplicate and non-face images in the eRecruitment applications using machine learning techniques
Get PDFThe objective of this work is to develop methodologies to detect, and report the noncompliant images with respect to indian space research organisation (ISRO) recruitment requirements. The recruitment software hosted at U. R. rao satellite centre (URSC) is responsible for handling recruitment activities of ISRO. Large number of online applications are received for each post advertised. In many cases, it is observed that the candidates are uploading either wrong or non-compliant images of the required documents. By non-compliant images, we mean images which do not have faces or there is not enough clarity in the faces present in the images uploaded. In this work, we attempt to address two specific problems namely: 1) To recognise image uploaded to recruitment portal contains a human face or not. This is addressed using a face detection algorithm. 2) To check whether images uploaded by two or more applications are same or not. This is achieved by using machine learning (ML) algorithms to generate similarity score between two images, and then identify the duplicate images. Screening of valid applications becomes very challenging as the verification of such images using a manual process is very time consuming and requires large human efforts. Hence, we propose novel ML techniques to determine duplicate and non-face images in the applications received by the recruitment portal
Forward kinematic analysis of Dobot using closed-loop method
Get PDFDobot is a hybrid robot that combines features from parallel and serial robots. Because of this characteristic, the robot excels for is reliability, allowing its implementation in diverse applications. Therefore, researchers have studied its kinematics to improve its capabilities. However, to the extent of our knowledge, no analysis has been reported taking into consideration the closed-loop configuration of Dobot. Thus, this article presents the complete analytical solution for the forward kinematics of Dobot, considering each link. The results are expected to be utilized in the development of a dynamical model that contemplates the dynamics of each element of the robot
Designing and testing of a smart firefighting device system (LAHEEB)
Get PDFThe motivation behind this project is that firefighter's death. Many firefighters are struggling to perform their duty which causes much death while on a mission and the circumstances related to each incident. Firefighters are our heroes and our sense of security in times of trouble. They put themselves on dangerous situations to protect us. At present, the world is moving toward the use of technologies software and hardware. This paper proposed a smart firefighting device system (LAHEEB) which designed to detect the source of fire, extinguish it, and increase the knowledge about fire behavior from incident area. This device can extinguish different types of fire A, B, C, D, F/K, electric and metal fire without spreading in the shortest time. This device will reduce the risk of injury for firefighters and possible victims and decrease the monetary losses which increase considerably as fire duration increases. LAHEEB device is consists of two parts. The first part is called the mid-cap which presented the body of the device that has most of the components such as sensors, relays, battery, servo motor, liquid tank, push-button, and Arduino. The second part is called the bottom-cap which presented the moving part of the device that has the significant components of LAHEEB such as servo motor, sprayer, and thermal camera. It also makes use of liquid-tank and spray mechanism for extinguishing the fire. The spraying nozzle is mounted on a servo motor to cover maximum area. Liquid-extinguisher is pumped from the main tank to the nose with the help of a pump. The whole system is programmed using an Arduino DUE board which forms the brain of the system
Control system design of duct cleaning robot capable of overcoming L and T-shaped ducts
Get PDFThis study introduces the control method of duct cleaning robot that enables real-time position tracking and self-driving over L-shaped and T-shaped duct sections. The developed robot has three legs and is designed to flexibly respond to duct sizes. The position of the robot inside the duct is identified using the UWB communication module and the location estimation algorithm. Although UWB communication has relatively large distance error within the metal, the positional error was reduced by introducing appropriate filters to estimate the robot position accurately. TCP/IP communication allows commands to be sent between the PC and the robot and to receive live images of the camera attached to the robot. Using Haar-like and classifiers, the robot can recognize the type of duct that is difficult to overcome, such as L-shaped and T-shaped duct, and it moves successfully inside the duct according to the corresponding moving algorithms
Steam turbine controllers design based on soft-computing techniques
Get PDFSteam turbine is viewed as a standout among hotspots for control age in the most recent decades, its elements examination end up being dynamically more basic. For this investigation, the model chose is of turbine speed control framework. The purpose behind this is that model is regularly experienced in refineries in a type of steam turbine that utilization hydraulic governor to control the speed of the turbine. To suit plan prerequisites, a mathematical model for the turbine was determined in light of transfer function and state space definition. There are two sorts of controllers for steam turbines which are traditional and modern controllers. Internal mode control with proportional integral derivative (IMC-PID) and linear quadratic controller (LQR) are classical type. Fuzzy logic controller (FLC) and intelligent optimization techniques like, ant colony algorithm (ACOA) and genetic algorithm (GA) are modern type. The proposed work centers on classical verses modern controllers. Results got demonstrate that embracing such a controller (GA) improves the design requirements and transient stability. The system control was actualized in simulation utilizing MATLAB/Simulink