ANFIS multi-tasking algorithm implementation scheme for ball-on-plate system stabilization

This paper presents the design and realization of a ball-on-plate system using a 3-degree-of-freedom parallel robot controlled by an adaptive neuro-fuzzy in-ference system. The ball-on-plate system is nonlinear, multivariable, with an under-actuated feature. Initially, the parallel robot is designed using SolidWorks and mechanized using a computer numerical control machine. Followed by the presentation of the ball-on-plate system mathematical model and the simplified model obtained. Afterwards, the inverse kinematics are performed to derive the appropriate angle for each servomotor. Eventually, the controller is designed and implemented in a double loop feedback scheme. A comparison between the proposed controller and a conventional proportional–integral–derivative controller in terms of time response, overshoot, and steady-state error is carried out. Furthermore, a comparison between sequential and asynchronous parallel processing is conducted for two different scenarios. The first scenario is when moving the ball to the origin while the second is for disturbance rejection. Simulation and experimental results show that the adaptive neuro-fuzzy inference system implemented using asynchronous parallel processing improves the real-time system stability by considerably decreasing oscillations as well as enhancing the ball movement smoothness with a small stead-state error

Advanced Applications of Rapid Prototyping Technology in Modern Engineering

Rapid prototyping (RP) technology has been widely known and appreciated due to its flexible and customized manufacturing capabilities. The widely studied RP techniques include stereolithography apparatus (SLA), selective laser sintering (SLS), three-dimensional printing (3DP), fused deposition modeling (FDM), 3D plotting, solid ground curing (SGC), multiphase jet solidification (MJS), laminated object manufacturing (LOM). Different techniques are associated with different materials and/or processing principles and thus are devoted to specific applications. RP technology has no longer been only for prototype building rather has been extended for real industrial manufacturing solutions. Today, the RP technology has contributed to almost all engineering areas that include mechanical, materials, industrial, aerospace, electrical and most recently biomedical engineering. This book aims to present the advanced development of RP technologies in various engineering areas as the solutions to the real world engineering problems

Dual PD Control Regulation with Nonlinear Compensation for a Ball and Plate System

The normal proportional derivative (PD) control is modified to a new dual form for the regulation of a ball and plate system. First, to analyze this controller, a novel complete nonlinear model of the ball and plate system is obtained. Second, an asymptotic stable dual PD control with a nonlinear compensation is developed. Finally, the experimental results of ball and plate system are provided to verify the effectiveness of the proposed methodology

Vision Sensors and Edge Detection

Vision Sensors and Edge Detection book reflects a selection of recent developments within the area of vision sensors and edge detection. There are two sections in this book. The first section presents vision sensors with applications to panoramic vision sensors, wireless vision sensors, and automated vision sensor inspection, and the second one shows image processing techniques, such as, image measurements, image transformations, filtering, and parallel computing

Advanced Knowledge Application in Practice

The integration and interdependency of the world economy leads towards the creation of a global market that offers more opportunities, but is also more complex and competitive than ever before. Therefore widespread research activity is necessary if one is to remain successful on the market. This book is the result of research and development activities from a number of researchers worldwide, covering concrete fields of research

ReSCon '09, Research Student Conference: Book of Abstracts

The second SED Research Student Conference (ReSCon2009) was hosted over three days, 22-24 June 2009, in the Lecture Centre at Brunel University. The conference consisted of technical presentations, a poster session and social events. The abstracts and presentations were the result of ongoing research by postgraduate research students from the School of Engineering and Design at Brunel University. The conference is held annually, and ReSCon plays a key role in contributing to research and innovations within the School

Optimal sensor placement in structural health monitoring (SHM) with a field application on a RC bridge

Structural health monitoring (SHM) is a research field that targets detecting and locating damage in structures. The main objective of SHM is to detect damage at its onset and inform authorities about the type, nature and location of the damage in the structure. Successful SHM requires deploying optimal sensor networks. We present a probabilistic approach to identify optimal location of sensors based on a priori knowledge on damage locations while considering the need for redundancy in sensor networks. The optimal number of sensors is identified using a multi-objective optimization approach incorporating information entropy and cost of the sensor network. As the size of the structure grows, the advantage of the optimal sensor network in damage detection becomes obvious. We also present an innovative field application of SHM using Field Programmable Gate Array (FPGA) and wireless communication technologies. The new SHM system was installed to monitor a reinforced concrete (RC) bridge on interstate I-40 in Tucumcari, New Mexico. The new monitoring system is powered with renewable solar energy. The integration of FPGA and photovoltaic technologies make it possible to remotely monitor infrastructure with limited access to power. Using calibrated finite element (FE) model of the bridge with real data collected from the sensors installed on the bridge, we establish fuzzy sets describing different damage states of the bridge. Unknown states of the bridge performance are then identified using degree of similarity between these fuzzy sets. The proposed SHM system will reduce human intervention significantly and can save millions of dollars currently spent on prescheduled inspection by enabling performance based monitoring