IAES International Journal of Robotics and Automation (IJRA)
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The quadrotor dynamic modeling and study of meta-heuristic algorithms performance on optimization of PID controller index to control angles and tracking the route
Get PDFIn the last decade, because of the unique specification of vertical fliers, scientists and researchers had a special focus on them. The particular abilities of these fliers can be mentioned such as: high maneuver ability, low expenses, decrease in radar identifier and low threat for the human life. They also have no limitation in dimension. Moreover, because of some applications like photography, topography, news coverage, study of power lines and aerology analysis, they can be notable for using. These fliers also are significantly important because of monitoring in urban regions, agricultural harvest and spray poison, illegal imports, exports administration and fire distinction in order to control the fire. Besides, seek and rescue missing people and also natural disasters can be pre-determined which causes stimulus investigators to act and put different topics in front of them. One of these fields is using meta-heuristic algorithms with the capability of using in control systems. The PID controller as a classic model has some limitations, but by optimization of special index through meta-heuristic algorithms, it has shown acceptable results. In this study, first, the history of vertical fliers and quadrotor are investigated. Then, after a review of overused methods, the quadrotor control has been done. Afterward, the cinematic and dynamic of quadrotor is presented. Next by designing of PID controller, PID index optimization by nature inspired algorithm, particle swarm optimization (PSO), genetic algorithms (GA), and firefly algorithms (FA) have been studied. Dynamic system, controller and mentioned optimization methods of PID controller index have also been implemented in MATLAB software. Also, with due attention to the comparison criteria the PID-PSO controller has shown the best performance. Next, by applying challenging routes, the stability of controller in the simulation is evaluated. Then, making quadrotor is done in practice along with introducing the used implementation of PID-PSO controller results on the real robot, and its stability is evaluated practically
Discrete time reaching law based variable structure control for fast reaching with reduced chattering
Get PDFIn this paper, a variable structure control law is proposed for discrete time sliding mode control so as to reduce both reaching time and quasi sliding mode band reduction. This new law is composed of two different sliding variable dynamics; one to achieve fast reaching and the other to counter its effect on widening the quasi sliding mode band. This is accomplished by introducing a boundary layer around the sliding surface about which the transformation of the sliding variable dynamics takes place. This provides the flexibility to choose the initial dynamics in such a way as to speed up the reaching phase and then at the boundary transform this dynamics to one that reduces the quasi sliding mode band. Thus, the law effectively coalesces the advantageous traits of hitherto proposed reaching laws that succeed in either the reduction of reaching phase or the elimination of quasi sliding mode band. The effectiveness of the proposed reaching law is validated through simulations
Particle swarm optimization algorithms with selective differential evolution for AUV path planning
Get PDFParticle swarm optimization (PSO)-based algorithms are suitable for path planning of the Autonomous Underwater Vehicle (AUV) due to their high computational efficiency. However, such algorithms may produce sub-optimal paths or require higher computational load to produce an optimal path. This paper proposed a new approach that improves the ability of PSO-based algorithms to search for the optimal path while maintaining a low computational requirement. By hybridizing with differential evolution (DE), the proposed algorithms carry out the DE operator selectively to improve the search ability. The algorithms were applied in an offline AUV path planner to generate a near-optimal path that safely guides the AUV through an environment with a priori known obstacles and time-invariant non-uniform currents. The algorithm performances were benchmarked against other algorithms in an offline path planner because if the proposed algorithms can provide better computational efficiency to demonstrate the minimum capability of a path planner, then they will outperform the tested algorithms in a realistic scenario. Through Monte Carlo simulations and Kruskal-Wallis test, SDEAPSO (selective DE-hybridized PSO with adaptive factor) and SDEQPSO (selective DE-hybridized Quantum-behaved PSO) were found to be capable of generating feasible AUV path with higher efficiency than other algorithms tested, as indicated by their lower computational requirement and excellent path quality
Tracking for inspection in energy transmission power lines using unmanned aerial vehicles: a systematic review of current and specific literature
Get PDFPower transmission lines are of great importance for the operation of all sectors of society, such as commerce, industry and public agencies. To ensure reliability and availability of power supply, regular and occasional inspections are conducted, mostly using patrol with binoculars, helicopters or truck cranes. Research is being developed using unmanned aerial vehicle (UAV) to make this activity autonomous, faster, safer, and less costly. The present work aims to analyze research related to the autonomous control of the UAV along the transmission lines through a systematic review of the literature (SRL), apply a viable solution and to verify the possible lacuna in this state of the art. Improvements in safety, computational process and energy efficiency with low-cost were identified. The results presented can help the research community to perform the working this state of art, from the suggestions of autonomous tracking of transmission lines
Minimization of real power loss by enhanced teaching learning based optimization algorithm
Get PDFThis paper presents an Enhanced Teaching-Learning-Based Optimization (ETLBO) algorithm for solving reactive power flow problem. Teaching-learning process is an iterative process where in the continuous interaction takes place for the transfer of knowledge. Movements of trial solutions will investigate the internally final stages. Up gradation of the algorithm has been done through by adding weight in the learner values. Projected ETLBO algorithm has been tested in standard IEEE 57,118 bus systems and power loss has been reduced efficiently
A simulated risk assessment of human-robot interaction in the domestic environment
Get PDFIn human-robot interaction, the use of collaborative robots or cobots in many industries is of major importance to researchers in human-robot interaction (HRI). The interaction between human robot carries several challenges, the greatest being the risk of human injury. In addition to reducing the proximity between robots and humans, increased difficulty of human-robot encounters raises the likelihood of accidents only. This paper proposes a virtual collaborative robot in the simulated non-industrial workspace. The safety during human-robot interaction using simulation software was investigated by measuring the risks for planning and control. A reactive robot controller was formulated to minimize the risk during human-robot interaction. A Gazebo software is used in this article, written in Python language, to replicate complex environments that a robot can face. This paper also investigated the robot’s speed. It can be reduced before a collision with a human about to happen, and it minimized the risk of the collision or reduced the damage of the risk. After the successful simulation, this can be applied to the real robot in a practical domestic environment
Air cloud algorithm for diminution of active power loss
Get PDFIn this work, air cloud (AC) algorithm is used to solve the optimal reactive power problem. Clouds shape in numerous ways. Convective clouds are created when moist air is warmed and expand into floating. Air raises haulage water vapour and within it expands and gets cooled as it goes. As the temperature and pressure of the air diminish, its saturation point – the equilibrium level of evaporation and condensation – is reduced. Every x is one cloud droplet, and qualitative characteristic of one cloud is explained by the three digital character (Ex, En, He), droplets number n, where Ex (Expected value), En (Entropy) and He (Hyper entropy) of one cloud determine centre position of cloud, cover range of cloud and thickness of cloud equally. Projected AC algorithm has been tested in standard IEEE 14, 57, 300 bus systems and simulations results show the better performance of the proposed algorithm in reducing the real power loss
Emotional model for a multi-robot system with emergent behavior
Get PDFThis article describes an emotional model for a general-purpose robot operating in a multi-robot system with emergent behavior. The model considers four basic emotions: anger, rejection, sadness and joy, plus a neutral emotional state, which affect the behavior of the robot, both individually and collectively. The emotional state of each robot in the system is constructed through the conjunction of a series of factors related to their individual and collective actions, which are: safety, load, acting and interaction, which serve as input to an emotional process that results in an index of satisfaction of the robot that establishes the emotional state in which it is in a certain moment. The emotional state of a robot influences its interactions with the other robots and with the environment, that is, it determines its emergent behavior in the system. This paper presents the design of this model, and establishes some considerations for its implementation
Dynamics of trunk type robot with spherical piezoelectric actuators
Get PDFTrunk type robots (TTRs) are exclusive. These robots can provide a high level of maneuverability and have a potential in medicine or high risk zones. TTRs are determined as a long serial linkage of similar segments. They are usually connected using tendons or small actuators. A spherical actuator is the most appreciable option. The motion of real spherical actuator (RSA) can be easily obtained applying an inverse piezoelectric effect. It has three independent spinning axes. These axes are perpendicular to each other despite the history of excitation. Kinematics and dynamics of RSA almost have no basics regardless of mentioned features. This situation can be explained according to common disadvantages of other SAs: sophisticated structure and complex control. The structures and abilities of TTRs are reviewed in the first section of this article. At the beginning of the fourth section the kinematics of piezoelectric TTR with two different RSAs is introduced. Its results of inverse dynamics using Euler-Lagrange equations are presented at the end of the fourth section. Similar results are derived using an analytical-potential method in the fifth section. It is quite accurate and effective option to determine inverse dynamics of the TTR employing an analytical-potential method
Development of a real-time framework for farm monitoring using drone technology
Get PDFThis work developed a cost-effective framework for agriculturists to regularly monitor their crops against intruding rodents and other security concerns using modern drone technology through configuration and deployment of an autonomous UAV which also functions as a remotely piloted vehicle. This was done by configuring a quadcopter capable of causing a disturbance when a rodent is observed through an inbuilt alarm system whose sound is amplified to be loud enough to cause the animals to leave the farm area. A framework for real-time image and live video transmission from the farm to a designated remote base station was developed. This was achieved through programming codes that configured the drone to operate an intelligent alarm and object tracking systems which enables a live feed from the UAV using Arduino IDE and Mission Planner for autonomous flight control. The requisite algorithms were developed using the framework of tracking, learning and detection (TLD) in the OpenCV software. The drone movement is equally controlled remotely over a Wi-Fi network using an ESP8266 Wi-Fi module for redirection and controlling of the drone movement to monitor specific locations