TULTECH Journals
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235 research outputs found
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Predictive Control Model to Simulate Humanoid Gait
No full textThis article reveals a new approach to model a humanoid gait consist of 5 and 7 links and studying the influence of feet on the overall gait dynamics. Estimated trajectories of limbs have been planned systematically based on equation of motion and their following interpretation for the human movements from their joints and muscles. The human motion is controlled by the central nervous system (CNS) based on model predictive control (MPC). In our projected representations, MPC controller analyses the essential moments at the joints, and these ideal moments are applied to the muscles. furthermore, MPC controller acts the role of the spinal cord in the humanoid CNS. The outcomes of simulation are compared with several examples of real humanoid gait, gained from motion captured systems. According to comparison, the possibility of additional use of the model for individual identification and acknowledgement of gait eccentricities are predictable
Fuzzy Logic Control for a Ball and Beam System
No full textThis paper presents the design of a PID controller and two different fuzzy logic controllers of Mamdani and Sugeno to control the non-linear model of a ball rolling on a beam using Matlab and Malab Simulink. Results from simulations are analyzed to provide comprehensive understandings on the ability use of different controllers. The paper also investigates the performance ability of these controllers for tracking on different references such as step, sinusoidal and square waves. Finally, advantages and disadvantages of each control strategies are concluded
Application of Artificial Intelligence in Smart Kitchen
No full textThis study discusses, how smart home automation system is designed and employed in kitchen appliances such as refrigerators, stoves and microwave which are used for daily life. Although smart systems support physically disabled but also is a great service for people with busy schedules, hectic life styles and even students. It has done with the aid of wireless networks, smart phones and internet. Android application would provide the user-friendly interface which will control kitchen equipment with various sensors and barcodes. Here Arduino Uno module is utilized to perform the same tasks. It collects and processes the signals and sends them wirelessly to raspberry PI module, using a zig bee unit. The raspberry PI runs an Open HAB server which the appliances are controlled with smartphones. Experimental results and computed solutions from MATLAB are sent back to autonomous mobile robots for their executions and interactions in real-time
Implementation of Integrated Wireless Network and MATLAB System to Control Autonomous Mobile Robot
No full textIn this article a wireless network using Xbee modules is designed and applied for autonomous mobile robot combined with GUI (Graphical User Interface) in MATLAB. The GUI panel and control structure in MATLAB allows to monitor and control all remote robots online by operator. Results and calculated solutions from MATLAB are directed back to autonomous mobile robot for Its performances and communications in the real time. This paper discovers a secure wireless network and low-cost with powerful data processes supportive to remote micro-controllers on autonomous mobile robot
Overview of Tunnel Boring Machines and Testing Devices for Drag Bits
No full textThe given article is written for the general overview of tunnel boring and testing devices for drag bits. This is about the working principles of TBM, also it describes the materials, which are used in cutting tool and the developments related to wearing out of cutting instrument. They are defined, and their pros and cons also mentioned. Author hopes, the information which introduced in given article will be useful for engineer in this field