IAES International Journal of Robotics and Automation (IJRA)
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Design Sliding Mode Controller of with Parallel Fuzzy Inference System Compensator to Control of Robot Manipulator
Get PDFSliding mode controller (SMC) is a significant nonlinear controller under condition of partly uncertain dynamic parameters of system. This controller is used to control of highly nonlinear systems especially for robot manipulators, because this controller is a robust and stable. Conversely, pure sliding mode controller is used in many applications; it has two important drawbacks namely; chattering phenomenon, and nonlinear equivalent dynamic formulation in uncertain dynamic parameter. The nonlinear equivalent dynamic formulation problem and chattering phenomenon in uncertain system can be solved by using artificial intelligence theorem. However fuzzy logic controller is used to control complicated nonlinear dynamic systems, but it cannot guarantee stability and robustness. In this research parallel fuzzy logic theory is used to compensate the system dynamic uncertainty
Depth Level Control System using Peripheral Interface Controller for Underwater Vehicle
Get PDFThis research explained on a design and development of an Automatic Depth Control System for underwater vehicle. Definition of underwater vehicle is a robotic sub-sea that is a part of the emerging field of autonomous and unmanned vehicles. This project shows the implementation’s development of an Automatic Depth Control System on a test prototyping vehicle especially involved small-scale and low cost sub-sea robots. The Automatic Depth Control System assembled with mechanical system and module of electronic system for development of a controller
Multi-robot system using low-cost infrared sensors
Get PDFThis paper presents a proposed set of the novel technique, methods, and algorithm for simultaneous path planning, area exploration, area retrieval, obstacle avoidance, object detection, and object retrieval autonomously by a multi-robot system. The proposed methods and algorithms are built considering the use of low cost infrared sensors with the ultimate function of efficiently exploring the given unknown area and simultaneously identifying desired objects by analyzing the physical characteristics of several of the objects that come across during exploration. In this paper, we have explained the scenario by building a coordinative multi-robot system consisting of two autonomously operated robots equipped with low-cost and low-range infrared sensors to perform the assigned task by analyzing some of the sudden changes in their environment. Along with identifying and retrieving the desired object, the proposed methodology also provide an inclusive analysis of the area being explored. The novelties presented in the paper may significantly provide a cost-effective solution to the problem of area exploration and finding a known object in an unknown environment by demonstrating an innovative approach of using the infrared sensors instead of high cost long range sensors and cameras. Additionally, the methodology provides a speedy and uncomplicated method of traversing a complicated arena while performing all the necessary and inter-related tasks of avoiding the obstacles, analyzing the area as well as objects, and reconstructing the area using all these information collected and interpreted for an unknown environment. The methods and algorithms proposed are simulated over a complex arena to depict the operations and manually tested over a physical environment which provided 78% correct results with respect to various complex parameters set randomly
From CAD to Robot: Undergraduate Capstone Design in Engineering Technology
Get PDFA novel senior project in designing and implementing a wheeled platform-based experimental mobile robot is discussed. This mobile robot design project was used as a platform to learn sensor interfacing, microcontroller programming, motor control, and electronic circuit design and troubleshooting. A specially designed proto board was used so that students could experiment with various types of sensors and supporting electronic circuitry. The modules implemented in this project are, servo motor control, infrared (IR)-based obstacle detection and avoidance, temperature sensing, and IR wireless communication. An 8-bit Peripheral Interface Controller (PIC) microcontroller, operating at 20MHz, was used as a programmable controller to monitor external environment through sensors and make appropriate decisions. PIC microcontroller was programmed using PICBasic PRO, a BASIC like high-level language. The implementation was divided into separate experiments, through which the students progressively completed the mobile robot. This progressive experimentation helped students develop their knowledge of interfacing, microcontroller programming, electronic control, circuit design, and troubleshooting in an incremental manner. The robot design experiments, sensor interfacing, electronic control, supporting circuitry, problems faced and troubleshooting during implementation are discussed in the paper
Modeling and Simulation of Wave Gait of a Hexapod Walking Robot: A CAD/CAE Approach
Get PDFIn the present paper, an attempt has been made to carry out dynamic analysis of a hexapod robot using the concept of multibody dynamics. A CAD (Computer Aided Design) model of a realistic hexapod robot has been made for dynamic simulation of its locomotion using ADAMS (Automatic Dynamic Analysis of Mechanical Systems) multibody dynamics solver. The kinematic model of each leg of three degrees of freedom has been designed using CATIA (Computer Aided Three Dimensional Interactive Application) and SimDesigner package in order to develop an overall kinematic model of the robot, when it follows a straight path. Joint Torque variation as well as the variation of the aggregate center of mass of the robot was analyzed for the wave tetrapod gait. The simulation results provide the basis for developing the control algorithm as well as an intelligent decision making for the robot while in motion
Modeling and Control of 5DOF Robot Arm Using Fuzzy Logic Supervisory Control
Get PDFModeling and control of 5 degree of freedom (DOF) robot arm is the subject of this article. The modeling problem is necessary before applying control techniques to guarantee the execution of any task according to a desired input with minimum error. Deriving both forward and inverse kinematics is an important step in robot modeling based on the Denavit Hartenberg (DH) representation. Proportional integral derivative (PID) controller is used as a reference benchmark to compare its results with fuzzy logic controller (FLC) and fuzzy supervisory controller (FSC) results. FLC is applied as a second controller because of the nonlinearity in the robot manipulators. We compare the result of the PID controller and FLC results in terms of time response specifications. FSC is a hybrid between the previous two controllers. The FSC is used for tuning PID gains since PID alone performs not satisfactory in nonlinear systems. Hence, comparison of tuning of PID parameters is utilized using classical method and FSC method. Based on simulation results, FLC gives better results than classical PID controller in terms of time response and FSC is better than classical methods such as Ziegler-Nichols (ZN) in tuning PID parameters in terms of time response
Smart Telerobotic Surveillance System via Internet with Reduced Time Delay
Get PDFThis work provides an imperial solution to the problems faced by man while enduring hazardous tasks like handling and disposal of nuclear wastes, monitoring nuclear power plants, mining operations etc .which have to be aborted if expertise group running it is unavailable or on a run. This paper presents a distributed platform that allows the special group of user to control a gadget (possibly a robot) through internet as a medium. An advanced version of this technology is capable of transmitting graphic images and other surrounding information as required, via internet back to the user to facilitate the effective monitoring of the existent situation using appropriate software tools. The project uses the SRV-1 Mobile Surveillance Robot which is a fully integrated system standard designed and other related technology for surveillance purposes. It is driven via web browser using JAVA based control applications with live video feeds. Specialised user group will be given separate account from where they can control and monitor the system even when they are not present at the site. End user will be connected to the gadget (robot) through a central server which acts as a single channel for both sending and receiving information. But the subject of remote control over the internet has some possible anomalies namely network freezing, delay between host and recipient, congested network and many others. This system enables asynchronous object passing so that network bandwidth is used effectively and such parameters as the network condition and server states have less effect on the system. To resolve this issue, a fuzzy logic controller is used to control the robot’s motion along a predefined path with the necessary manipulation of the normal course. The robot was first modelled in Matlab Simulink and the fuzzy logic rules were optimized for the best results possible. In accordance with the fuzzy rules developed the fuzzy interference system generates the output map for operating IR ranger sensor data. This system was developed to actuate as an auxiliary intelligence in the teleoperation system developed for the mobile robot, and the Grid Scanning algorithm was induced to enhance accuracy to cope up with the unexpected delays from the internet data communication. The logic in the internet based controlling of robotics can be expanded to a very large field, like speed control, trajectory control, obstacle avoidance and so on
Intelligent Mobile Olfaction of Swarm Robots
Get PDFThis work presents intelligent mobile olfaction design and experimental results of intelligent swarm robots to detection a gas/odour source in an indoor environment by using multi agent based on hybrid algorithm. We examine the problem for deciding when, how and where the gas/odour sensor should be activated. Simple form of cooperation between Interval Type-2 Fuzzy Logic and Particle Swarm Optimization (IT2FL-PSO) algorithm is implemented in the olfaction strategies. The real experiments performed on smaller five mobile robots equipped with dynamic gas/odour sensor TGS2600 and three infra-red sensors. The results show that single robot-based olfaction system with 5 behaviors capable for searching source of a simulated chemical leak in unknown environment and flooking behavior can be done by 3 robots to find the source of gas/odour
Occupancy Grid Mapping Based on DSmT for Dynamic Environment Perception
Get PDFOccupancy grid mapping is an important approach for intelligent vehicle environment perception. In this paper, an occupancy grid mapping approach in Dezert-Smarandache theory (DSmT) framework for the purpose of dynamic environment perception is proposed. To avoid the transformation of the local map from polar to Catersian coordinate, a different inverse sensor model in Cartesian coordinate for laser scanner was proposed. Two different combination rules in DSmT framework, Dempster’s rule of combination and PCR2, are implemented independently for global map update and mobile object detection. The performance of the two combination rules were compared by ways of simulation and experiment. According to the comparisons we find that both of the combination rules are capable of detecting mobile objects. And the former effectively filtered out the noise and make the detection robust, but the latter didn’t, suggesting that the former is more suitable for occupancy grid mapping. Static and mobile objects are extracted from the occupancy grid map using digital image processing technology
Design and Implementation of Video Shot Detection on Field Programmable Gate Arrays
Get PDFVideo has become an interactive medium of communication in everyday life. The sheer volume of video makes it extremely difficult to browse through and find the required data. Hence extraction of key frames from the video which represents the abstract of the entire video becomes necessary. The aim of the video shot detection is to find the position of the shot boundaries, so that key frames can be selected from each shot for subsequent processing such as video summarization, indexing etc. For most of the surveillance applications like video summery, face recognition etc., the hardware (real time) implementation of these algorithms becomes necessary. Here in this paper we present the architecture for simultaneous accessing of consecutive frames, which are then used for the implementation of various Video Shot Detection algorithms. We also present the real time implementation of three video shot detection algorithms using the above mentioned architecture on FPGA (Field Programmable Gate Arrays)