MODELLING AND CONTROL OF MULTI-FINGERED ROBOT HAND USING INTELLIGENT TECHNIQUES

Research and development of robust multi-fingered robot hand (MFRH) have been going on for more than three decades. Yet few can be found in an industrial application. The difficulties stem from many factors, one of which is that the lack of general and effective control techniques for the manipulation of robot hand. In this research, a MFRH with five fingers has been proposed with intelligent control algorithms. Initially, mathematical modeling for the proposed MFRH has been derived to find the Forward Kinematic, Inverse Kinematic, Jacobian, Dynamics and the plant model. Thereafter, simulation of the MFRH using PID controller, Fuzzy Logic Controller, Fuzzy-PID controller and PID-PSO controller has been carried out to gauge the system performance based parameters such rise time, settling time and percent overshoot

Cost-effective Scheduling of Load and Microgrid in Wastewater Treatment Plant

ABSTRACT COST-EFFECTIVE SCHEDULING OF LOAD AND MICROGRID IN WASTEWATER TREATMENT PLANT By Wentao Zou The University of Wisconsin-Milwaukee,2018 Under the Supervision of Dr. Lingfeng Wang As a big consumer of energy, water and wastewater treatment used about 75000 to 100000 GWh electricity, which accounts for nearly 3% of U.S. annual energy [1]. Not only being energy-intensive, wastewater treatment plant (WWTP) also consumes a lot of electricity during peak hours, which makes WWTP a good candidate of DR (demand response). The main purpose of demand response is to improve the stability of the electric grid and reduce the use of electricity during peak period to lower the total system costs. Two kinds of strategies can be utilized to reduce electrical loads during peak periods, which are load shifting and load shedding. Load shedding strategy is to reduce the total electrical load during demand response event and load shifting is to reschedule the time of some electrical load to partial-peak or off-peak hours. In this work, both of them are used to reach a better financial benefit. The process and energy consumption of WWTP have been analyzed. It is found that the aeration in secondary treatment and pumps for wastewater pumping and sludge pumping are two main processes which consume the majority of total electric power. Based on shifting loads of aerations and pumps, a load shifting model is formulated to shift load from on-peak hours to off-peak hours. Several constraints have been taken into consideration such the storage capacity, maximum holding time of wastewater when it stays in storage tanks, maximum treatment capacity of WWTP, etc. This model can effectively reduce the annual electricity cost while the quality of effluent and the reliability of WWTP are not compromised. In the case study analysis, 22% cost reduction is achieved by using the load shifting model. A software tool has also been developed to help users calculate the amount of cost they can save when the load shifting model is applied. The software tool is user friendly and easy to use. The influent data and electricity price data need to be loaded by users, and some kinds of parameters need to be typed in depending on different situations. For instance, the size of the WWTP and the capacity of storage tank need to be loaded. In addition to demand response, WWTP can save more money with the help of a microgrid. A microgrid is a smaller version of traditional power grid which can provide backup power to WWTP so that the power generated by a microgrid can be used during on-peak hours or sold back to the main grid if possible. A microgrid can also increase the reliability of WWTP. As a discrete energy system with distributed energy sources, a microgrid can operate in parallel with or independently from the main power grid. This feature of the microgrid makes sure WWTP can still receive reliable energy when no electricity can be provided by the main grid. A microgrid model is developed. A battery bank is also involved in the formulation. Constraints including microgrid capacity, charge and discharge efficiency of battery bank, and battery capacity have been considered. The method used to solve this formulation is particle swarm optimization (PSO). A detailed description of the problem-solving process has been displayed step by step. The case study shows the microgrid model can increase the cost reduction further to 29% of total energy expense based on the load shifting model

A Comprehensive Review of Bio-Inspired Optimization Algorithms Including Applications in Microelectronics and Nanophotonics

The application of artificial intelligence in everyday life is becoming all-pervasive and unavoidable. Within that vast field, a special place belongs to biomimetic/bio-inspired algorithms for multiparameter optimization, which find their use in a large number of areas. Novel methods and advances are being published at an accelerated pace. Because of that, in spite of the fact that there are a lot of surveys and reviews in the field, they quickly become dated. Thus, it is of importance to keep pace with the current developments. In this review, we first consider a possible classification of bio-inspired multiparameter optimization methods because papers dedicated to that area are relatively scarce and often contradictory. We proceed by describing in some detail some more prominent approaches, as well as those most recently published. Finally, we consider the use of biomimetic algorithms in two related wide fields, namely microelectronics (including circuit design optimization) and nanophotonics (including inverse design of structures such as photonic crystals, nanoplasmonic configurations and metamaterials). We attempted to keep this broad survey self-contained so it can be of use not only to scholars in the related fields, but also to all those interested in the latest developments in this attractive area

HyperCell: A Bio-inspired Design Framework for Real-time Interactive Architectures

This pioneering research focuses on Biomimetic Interactive Architecture using “Computation”, “Embodiment”, and “Biology” to generate an intimate embodied convergence to propose a novel rule-based design framework for creating organic architectures composed of swarm-based intelligent components. Furthermore, the research boldly claims that Interactive Architecture should emerge as the next truly Organic Architecture. As the world and society are dynamically changing, especially in this digital era, the research dares to challenge the Utilitas, Firmitas, and Venustas of the traditional architectural Weltanschauung, and rejects them by adopting the novel notion that architecture should be dynamic, fluid, and interactive. This project reflects a trajectory from the 1960’s with the advent of the avant-garde architectural design group, Archigram, and its numerous intriguing and pioneering visionary projects. Archigram’s non-standard, mobile, and interactive projects profoundly influenced a new generation of architects to explore the connection between technology and their architectural projects. This research continues this trend of exploring novel design thinking and the framework of Interactive Architecture by discovering the interrelationship amongst three major topics: “Computation”, “Embodiment”, and “Biology”. The project aims to elucidate pioneering research combining these three topics in one discourse: “Bio-inspired digital architectural design”. These three major topics will be introduced in this Summary.   “Computation”, is any type of calculation that includes both arithmetical and nonarithmetical steps and follows a well-defined model understood and described as, for example, an algorithm. But, in this research, refers to the use of data storage, parametric design application, and physical computing for developing informed architectural designs. “Form” has always been the most critical focus in architectural design, and this focus has also been a major driver behind the application computational design in Architecture. Nonetheless, this research will interpret the term “Form” in architecture as a continual “information processor” rather than the result of information processing. In other words, “Form” should not be perceived only as an expressive appearance based computational outcome but rather as a real-time process of information processing, akin to organic “Formation”. Architecture embodying kinetic ability for adjusting or changing its shape with the ability to process the surroundings and feedback in accordance with its free will with an inherent interactive intelligent movement of a living body. Additionally, it is also crucial to address the question of whether computational technologies are being properly harnessed, if they are only used for form-generating purposes in architecture design, or should this be replaced with real-time information communication and control systems to produce interactive architectures, with embodied computation abilities?   “Embodiment” in the context of this research is embedded in Umberto Eco’s vision on Semiotics, theories underlying media studies in Marshall McLuhan’s “Body Extension” (McLuhan, 1964), the contemporary philosophical thought of “Body Without Organs” (Gilles Deleuze and Félix Guattari, 1983), the computational Logic of ‘Swarm Behavior’ and the philosophical notion of “Monadology” proposed by Gottfried Leibniz (Leibniz, 1714). Embodied computation and design are predominant today within the wearable computing and smart living domains, which combine Virtual and Real worlds. Technical progress and prowess in VR development also contribute to advancing 3D smart architectural design and display solutions. The proposed ‘Organic body-like architectural spaces’ emphasize upon the realization of a body-like interactive space. Developing Interactive Architecture will imply eliciting the collective intelligence prevalent in nature and the virtual world of Big Data. Interactive Architecture shall thus embody integrated Information exchange protocols and decision-making systems in order to possess organic body-like qualities.   “Biology”, in this research explores biomimetic principles intended to create purposedriven kinetic and organic architecture. This involves a detailed study/critique of organic architecture, generating organic shapes, performance optimization based digital fabrication techniques and kinetic systems. A holistic bio-inspired architecture embodies multiple performance criteria akin to natural systems, which integrate structural, infrastructure performances throughout the growth of an organic body. Such a natural morphogenesis process of architectural design explores what Janine M. Benyus described as “learning the natural process”. Profoundly influenced by the processes behind morphogenesis, the research further explores Evolutionary Development Biology (Evo-Devo) explaining how embryological regulation strongly affect the resulting formations. Evo-Devo in interactive architecture implies the development of architecture based on three fundamental principles: “Simple to Complex”, “Geometric Information Distribution”, and “On/Off Switch and Trigger.” The research seeks to create a relatively intelligent architectural body, and the tactile interactive spatial environment by applying the extracted knowledge from the study of the aforementioned principles of Evo-Devo in the following fashion: A. Extract a Self-Similar Componential System based approach from the “Simple to Complex” principle of Evo-Devo B. Extract the idea of “Collective Intelligence” from “Geometric information Distribution” principle of Evo-Devo C. Extract the principle of “Assembly Regulation” from “On/Off switch and trigger” principle of Evo-Devo The “HyperCell” research, through an elaborate investigation on the three aforementioned topics, develops a design framework for developing real-time adaptive spatial systems. HyperCell does this, by developing a system of transformable cubic elements which can self-organize, adapt and interact in real-time. These Hypercells shall comprise an organic space which can adjust itself in relation to our human bodies. The furniture system is literally reified and embodied to develop an intra-active space that proactively provokes human movement. The space thus acquires an emotive dimension and can become your pet, partner, or even friend, and might also involve multiple usabilities of the same space. The research and its progression were also had actively connected with a 5-year collaborative European Culture project: “MetaBody”. The research thus involves exploration of Interactive Architecture from the following perspectives: architectural design, digital architectural history trajectory, computational technology, philosophical discourse related to the embodiment, media and digital culture, current VR and body-related technology, and Evolutionary Developmental Biology. “HyperCell” will encourage young architects to pursue interdisciplinary design initiatives via the fusion of computational design, embodiment, and biology for developing bio-inspired organic architectures

HyperCell: A Bio-inspired Design Framework for Real-time Interactive Architectures

This pioneering research focuses on Biomimetic Interactive Architecture using “Computationâ€, “Embodimentâ€, and “Biology†to generate an intimate embodied convergence to propose a novel rule-based design framework for creating organic architectures composed of swarm-based intelligent components. Furthermore, the research boldly claims that Interactive Architecture should emerge as the next truly Organic Architecture. As the world and society are dynamically changing, especially in this digital era, the research dares to challenge the Utilitas, Firmitas, and Venustas of the traditional architectural Weltanschauung, and rejects them by adopting the novel notion that architecture should be dynamic, fluid, and interactive. This project reflects a trajectory from the 1960’s with the advent of the avant-garde architectural design group, Archigram, and its numerous intriguing and pioneering visionary projects. Archigram’s non-standard, mobile, and interactive projects profoundly influenced a new generation of architects to explore the connection between technology and their architectural projects. This research continues this trend of exploring novel design thinking and the framework of Interactive Architecture by discovering the interrelationship amongst three major topics: “Computationâ€, “Embodimentâ€, and “Biologyâ€. The project aims to elucidate pioneering research combining these three topics in one discourse: “Bio-inspired digital architectural designâ€. These three major topics will be introduced in this Summary. “Computationâ€, is any type of calculation that includes both arithmetical and nonarithmetical steps and follows a well-defined model understood and described as, for example, an algorithm. But, in this research, refers to the use of data storage, parametric design application, and physical computing for developing informed architectural designs. “Form†has always been the most critical focus in architectural design, and this focus has also been a major driver behind the application computational design in Architecture. Nonetheless, this research will interpret the term “Form†in architecture as a continual “information processor†rather than the result of information processing. In other words, “Form†should not be perceived only as an expressive appearance based computational outcome but rather as a real-time process of information processing, akin to organic “Formationâ€. Architecture embodying kinetic ability for adjusting or changing its shape with the ability to process the surroundings and feedback in accordance with its free will with an inherent interactive intelligent movement of a living body. Additionally, it is also crucial to address the question of whether computational technologies are being properly harnessed, if they are only used for form-generating purposes in architecture design, or should this be replaced with real-time information communication and control systems to produce interactive architectures, with embodied computation abilities? “Embodiment†in the context of this research is embedded in Umberto Eco’s vision on Semiotics, theories underlying media studies in Marshall McLuhan’s “Body Extension†(McLuhan, 1964), the contemporary philosophical thought of “Body Without Organs†(Gilles Deleuze and Félix Guattari, 1983), the computational Logic of ‘Swarm Behavior’ and the philosophical notion of “Monadology†proposed by Gottfried Leibniz (Leibniz, 1714). Embodied computation and design are predominant today within the wearable computing and smart living domains, which combine Virtual and Real worlds. Technical progress and prowess in VR development also contribute to advancing 3D smart architectural design and display solutions. The proposed ‘Organic body-like architectural spaces’ emphasize upon the realization of a body-like interactive space. Developing Interactive Architecture will imply eliciting the collective intelligence prevalent in nature and the virtual world of Big Data. Interactive Architecture shall thus embody integrated Information exchange protocols and decision-making systems in order to possess organic body-like qualities. “Biologyâ€, in this research explores biomimetic principles intended to create purposedriven kinetic and organic architecture. This involves a detailed study/critique of organic architecture, generating organic shapes, performance optimization based digital fabrication techniques and kinetic systems. A holistic bio-inspired architecture embodies multiple performance criteria akin to natural systems, which integrate structural, infrastructure performances throughout the growth of an organic body. Such a natural morphogenesis process of architectural design explores what Janine M. Benyus described as “learning the natural processâ€. Profoundly influenced by the processes behind morphogenesis, the research further explores Evolutionary Development Biology (Evo-Devo) explaining how embryological regulation strongly affect the resulting formations. Evo-Devo in interactive architecture implies the development of architecture based on three fundamental principles: “Simple to Complexâ€, “Geometric Information Distributionâ€, and “On/Off Switch and Trigger.†The research seeks to create a relatively intelligent architectural body, and the tactile interactive spatial environment by applying the extracted knowledge from the study of the aforementioned principles of Evo-Devo in the following fashion: A. Extract a Self-Similar Componential Systembased approach from the “Simple to Complex†principle of Evo-Devo B. Extract the idea of “Collective Intelligence†from “Geometric information Distribution†principle of Evo-Devo C. Extract the principle of “Assembly Regulation†from “On/Off switch and trigger†principle of Evo-Devo The “HyperCell†research, through an elaborate investigation on the three aforementioned topics, develops a design framework for developing real-time adaptive spatial systems. HyperCell does this, by developing a system of transformable cubic elements which can self-organize, adapt and interact in real-time. These Hypercells shall comprise an organic space which can adjust itself in relation to our human bodies. The furniture system is literally reified and embodied to develop an intra-active space that proactively provokes human movement. The space thus acquires an emotive dimension and can become your pet, partner, or even friend, and might also involve multiple usabilities of the same space. The research and its progression were also had actively connected with a 5-year collaborative European Culture project: “MetaBodyâ€. The research thus involves exploration of Interactive Architecture from the following perspectives: architectural design, digital architectural history trajectory, computational technology, philosophical discourse related to the embodiment, media and digital culture, current VR and body-related technology, and Evolutionary Developmental Biology. “HyperCell†will encourage young architects to pursue interdisciplinary design initiatives via the fusion of computational design, embodiment, and biology for developing bio-inspired organic architectures

MODELLING AND CONTROL OF MULTI-FINGERED ROBOT HAND USING INTELLIGENT TECHNIQUES

Research and development of robust multi-fingered robot hand (MFRH) have been going on for more than three decades. Yet few can be found in an industrial application. The difficulties stem from many factors, one of which is that the lack of general and effective control techniques for the manipulation of robot hand. In this research, a MFRH with five fingers has been proposed with intelligent control algorithms. Initially, mathematical modeling for the proposed MFRH has been derived to find the Forward Kinematic, Inverse Kinematic, Jacobian, Dynamics and the plant model. Thereafter, simulation of the MFRH using PID controller, Fuzzy Logic Controller, Fuzzy-PID controller and PID-PSO controller has been carried out to gauge the system performance based parameters such rise time, settling time and percent overshoot

Applied Metaheuristic Computing

For decades, Applied Metaheuristic Computing (AMC) has been a prevailing optimization technique for tackling perplexing engineering and business problems, such as scheduling, routing, ordering, bin packing, assignment, facility layout planning, among others. This is partly because the classic exact methods are constrained with prior assumptions, and partly due to the heuristics being problem-dependent and lacking generalization. AMC, on the contrary, guides the course of low-level heuristics to search beyond the local optimality, which impairs the capability of traditional computation methods. This topic series has collected quality papers proposing cutting-edge methodology and innovative applications which drive the advances of AMC

Energy Harvesting and Energy Storage Systems

This book discuss the recent developments in energy harvesting and energy storage systems. Sustainable development systems are based on three pillars: economic development, environmental stewardship, and social equity. One of the guiding principles for finding the balance between these pillars is to limit the use of non-renewable energy sources

WebAL Comes of Age: A review of the first 21 years of Artificial Life on the Web

We present a survey of the first 21 years of web-based artificial life (WebAL) research and applications, broadly construed to include the many different ways in which artificial life and web technologies might intersect. Our survey covers the period from 1994—when the first WebAL work appeared—up to the present day, together with a brief discussion of relevant precursors. We examine recent projects, from 2010–2015, in greater detail in order to highlight the current state of the art. We follow the survey with a discussion of common themes and methodologies that can be observed in recent work and identify a number of likely directions for future work in this exciting area