Two-Wheeled LEGO EV3 Robot Stabilisation Control Using Fuzzy Logic Based PSO Algorithm

This paper presents a control system design to stabilise a two-wheeled Lego EV3 robot. This robot is developed based on the inverted pendulum. The mathematical modelling is derived based on this robot and using Euler Lagrange equation and represented in Simulink block diagram. The fuzzy logic controller is used to stabilise this robot with Particle Swarm Optimization algorithm for optimum performance of the system. The result of the fuzzy logic controller without optimisation is compared with the fuzzy logic controller with optimisation. Using the Simulink block diagram, the result of optimum tilt angle and control input signal are presented. The results show that the fuzzy logic controller with optimisation is able to improve the performance of the solution when compared to the fuzzy logic controller without optimisation

Lifting and stabilizing of two-wheeled wheelchair system using interval type-2 fuzzy logic control based spiral dynamic algorithm

The current study emphasizes on improving an interval type-2 fuzzy logic control (IT2FLC) system through the use of spiral dynamics algorithm (SDA) optimization in stabilizing a transformational two-wheeled wheelchair. The main contribution of this research is to reduce vibrations while performing the lifting and stabilization of a wheelchair from its standard four-wheeled to two-wheeled transformation. IT2FLC based SDA was used to enhance the system’s stability performance by obtaining the optimized value for input and output controller gains and IT2FLC parameters for IT2FLC. System modeling was done through development within the SimWise 4D software environment, which was then integrated with MATLAB/SIMULINK for control purposes. The proposed algorithm has demonstrated improved tilt angle performance with reduced noise and lower torque when various disturbances were applied, as compared to a system solely controlled by IT2FLC without any optimization. Moreover, the proposed algorithm has also comprehensively outperformed previous controllers in terms of system’s stability, further demonstrated its superiority as a system controller within transformational wheelchairs

Interval type-2 fuzzy logic control optimize by spiral dynamic algorithm for two-wheeled wheelchair

The reconfiguration of the two-wheeled wheelchair system with movable payload has been investigated within the current study towards permitting multi-task operations; through enhanced maneuverability on a flat surface under the circumstances of disturbance rejections during forward and backward motions, as well as motions on the inclined surface for uphill and downhill motions; while having height extensions of the wheelchair’s seat. The research study embarks on three objectives includes developing Interval Type-2 Fuzzy Logic Control (IT2FLC) as the control system, design a Spiral Dynamic Algorithm (SDA) for IT2FLC in stabilizing the designed double-link twowheeled wheelchair system, and optimize the input-output gains and control parameters. The two-wheeled system gives lots of benefits to the user such as less space needed to turn the wheelchair, able to move in the narrow spaces, having eye-to-eye contact with normal people, and can reach stuff on the higher shelve. However, the stability of the twowheeled system will produce high fluctuations due to the uncertainties while stabilizing the system in the upright position. Indirectly, it also caused the long travelled distance and high magnitude of tilt angle and torque. Thus, IT2FLC has been proposed as the compatible control strategy for disturbance rejections to overcome uncertainties for enhanced system stability in the upright position. Basically, IT2FLC uses a Type-2 Fuzzy Set (T2FS) and its membership function (MFs) composed of the lower MFs, upper MFs, and footprint of uncertainty (FOU). This is the reason that IT2FLC possessing the ability to handle cases of nonlinearities and uncertainties that occur in the system. Therefore, any disturbances that give at the back of the seat can be eliminated using the proposed controller, IT2FLC. Additionally, SDA implemented within the control strategy to acquire optimal values of the IT2FLC input-output control gains and parameters of its MFs further accommodated extensive fluctuations of the two-wheeled system; thus, ensuring a safe and comfortable experience among users via shorter traveled distance and lower magnitude of torques following disruptions. The two-wheeled wheelchair is designed using SimWise 4D software to subduing shortcomings of a linearized mathematical model where lengthy equation with various assumptions is required to represent the proposed system; without forgoing its nonlinearity and complexity. Moreover, a 70kg payload was also included to embody an average user, in simulating vertical extensions of the system from 0.11m to 0.25m. The completed model is then integrated with Matlab/Simulink for control design and performance evaluation through visualized simulations. The research has been compared to the previous controllers, Fuzzy Logic Control Type-1 (FLCT1), in gauging improvements and performance superiority. The significance of SDA-IT2FLC as the stability controller within the investigated system has been confirmed through current findings, which outperformed that of its predecessors (IT2FLC and FLCT1). Such results are supported through a significant reduction in traveled distance, tilt, and control torques, following a recorded 5.6% and 33.3% improvements on the stability of the system, to the performance of heuristically-tuned IT2FLC; as well as a 60% and 94% improvements in angular positions on the system, as compared to the FLCT1. Moreover, a 95.4% reduction in torques has been recorded for SDA-IT2FLC, as compared to that of FLCT1. Ultimately, SDAIT2FLC has demonstrated promising outcomes over its predecessors on maintaining the system’s stability in an upright position in terms of faster convergence and a significant reduction in traveled distance, tilt and control torques, proving itself as the robust controller for a double-link two-wheeled wheelchair with movable payload system

Rehabilitation Engineering

Population ageing has major consequences and implications in all areas of our daily life as well as other important aspects, such as economic growth, savings, investment and consumption, labour markets, pensions, property and care from one generation to another. Additionally, health and related care, family composition and life-style, housing and migration are also affected. Given the rapid increase in the aging of the population and the further increase that is expected in the coming years, an important problem that has to be faced is the corresponding increase in chronic illness, disabilities, and loss of functional independence endemic to the elderly (WHO 2008). For this reason, novel methods of rehabilitation and care management are urgently needed. This book covers many rehabilitation support systems and robots developed for upper limbs, lower limbs as well as visually impaired condition. Other than upper limbs, the lower limb research works are also discussed like motorized foot rest for electric powered wheelchair and standing assistance device

Climbing and Walking Robots

With the advancement of technology, new exciting approaches enable us to render mobile robotic systems more versatile, robust and cost-efficient. Some researchers combine climbing and walking techniques with a modular approach, a reconfigurable approach, or a swarm approach to realize novel prototypes as flexible mobile robotic platforms featuring all necessary locomotion capabilities. The purpose of this book is to provide an overview of the latest wide-range achievements in climbing and walking robotic technology to researchers, scientists, and engineers throughout the world. Different aspects including control simulation, locomotion realization, methodology, and system integration are presented from the scientific and from the technical point of view. This book consists of two main parts, one dealing with walking robots, the second with climbing robots. The content is also grouped by theoretical research and applicative realization. Every chapter offers a considerable amount of interesting and useful information

The Impact of Occupational Safety on Logistics and Automation in Industrial Plants

Research on workplace health and safety analyses the integration of work practices with safety, health and wealth of people at work. The aim of occupational safety is to realize a safe and health work environment, eliminating or reducing the risks for workers' safety and health. The objective of this thesis is the study, integration, development and application of innovative approaches and models for decision-making support in the context of occupational safety in industrial plants and logistics. Such methodologies are expected to lead practitioners and decision-makers, in particular safety professionals and companies, in the management of occupational safety. In particular, this research focuses on the integration and application of ergonomics principles to reduce biomechanical overload of manual work, and methodologies and solutions to improve safety of confined space work in industrial plants. The study of biomechanical overload due to manual handling of loads and awkward postures is the object of several researches and publications addressing the ergonomic risk assessment and the ergonomic approach to remove or reduce the risk of manual handling injuries and disorders. Furthermore, when awkward postures are assumed in high-risk workplaces as confined spaces, the overall risk of work is extremely high. Confined space work is a high-risk activity, posing a significant hazard for both workers and rescuers involved in the emergency response. The leading cause of accidents and fatalities in confined spaces is atmospheric condition (Sahli & Armstrong 1992, Harris et al. 2005, Flynn & Susi, 2010, Meeker, Susi & Flynn 2010, Ye 2011, Bellamy 2015). Further common causes are fire, explosion, ignition of flammable contaminants, spontaneous combustion and contact with temperature extremes. Besides, work activities in confined spaces (e.g., welding and maintenance tasks) frequently require awkward and static postures, at high temperatures. This thesis stresses the importance of implementing health and safety interventions at workplace. These interventions have impact not only on enterprise level but also on individual and social levels. Furthermore, protection of human life is a matter of human rights and human life has an invaluable value. In this thesis, the role of occupational safety and safety strategy as means for the improvement of workers and companies’ performances clearly emerges. Two parallel research fields on occupational safety are investigated: ergonomics and confined spaces. Selected data are introduced related to occupational accidents and diseases due to biomechanical overload and work in confined spaces. The literature survey on controls for risk elimination and reduction shows that technology for safety is available. Nevertheless, injuries and accidents still occur, i.e. safety is frequently considered an expensive investment and a compliance obligation. Specifically, administrative and engineering controls for risk elimination and reduction are introduced for each research field. Administrative controls include work procedures and mathematical models for the design of safe work processes. Such control methods reduce the workers' exposure to occupational risk factors. The ergonomic analysis of manual handling activities drives the modelling by multi-objective optimisation problems in the design of administrative controls for the ergonomic risk reduction in different industries. Administrative controls for risks in confined spaces include work procedures, a multi-criteria decision tool and the analysis of the requirements of Internet of Things (IOT) technologies for reducing the risk of confined space work. The introduction of automation to replace manual work and engineering controls for confined space work are analysed for the risk elimination. Results show that the integration of ergonomics and safety principles in the industrial processes plays a leading role in the successful implementation of the overall strategy. Technologies for safe confined space work and technical solutions assisting workers during manual material handling tasks have been the focus of the Solutions Database Project, funded by the Azienda Unità Sanitaria Locale of Bologna (AUSL), Italy. The study of such technological and technical solutions lead to the development of the Solutions Database, a free access database available online for researchers and practitioners (http://safetyengineering.din.unibo.it/en/banca-delle-soluzioni). The thesis ends with the recommendation that companies should integrate workplace health and safety principles to human resource management and work organisation. The management of health and safety issues should be considered to be crucial for workplace development, as a lever to increase performance and productivity. Finally, this research aims to support and reinforce the evolution of the concept of safety in industry, from ex post required obligation, to ex ante optimisation strategy