Synchronous Mobile Robots Formation Control

Synchronous mobile robots formation control is one of the most challenging and interesting fields in robotics. The mobile robots communicate with each other through wireless communication to perform similar movement. This study analyzed two mobile robots that can perform synchronous movement along a shaped path. A square shape is set as a path for the mobile robot movements. The front robot being the leading robot transmits the instruction of its movement to the robot behind it, acting as the following robot through a wireless communication. The instruction sent by the leading robot is received by the following robot through a program embedded in the leading robot microcontroller which then drives the following robot to move and imitates the movement of the leading. The algorithm for the movement is tested on the hardware and the results of the experiment are included to verify the effectiveness of the proposed method

Analysis Of Handover Planning In Wideband Code Division Multiple Access (W–CDMA)

This study analysed the most suitable handover type for Wideband Code Division Multiple Access (W-CDMA) system by using simulation software. Forsk Atoll, Earth Explorer and Global Mapper 15 were used to do the simulations, local area (Bukit Beruang, 2.240°N102.279°E to Bukit Baru, 2.222°N102.275°E) was selected based on the its varies altitudes, high density, high traffic, etc. The simulation result showed that by implementing soft handover in W-CDMA system, the users will experience no drop call during handover from one cell to another cell. The Received Signal Strength Indicator (RSSI) range value between -80 to -100 dBm in all selected area which considered as good signal strength range. There’s no blank spot. Physical measurement in the field (selected area), like drive test, particularly in the handover areas, borders of every cells is required to verify the simulation results, the data from physical measurement in the field must be considered and key in inside the simulation software, so that, the revised or new results will have a high validity

Investigation of temperature gradient between ambient air and soil to power up wireless sensor network device using a thermoelectric generator

This paper proposes a study of an energy harvesting system for powering wireless sensor network (WSN) devices. The thermal energy harvesting system used is based on the thermal energy source between ambient air at the soil surface with five depth levels. Measurement was taken for 46 days in a garden area located in Melaka, Malaysia. A feasibility study of soil temperature measurement to obtain a temperature gradient can be used for harvesting by using thermoelectric generators (TEG) modules. Then, the efficiency of TEG with several different configurations based on temperature gradient data has been tested in the laboratory. The results revealed that the depth of soil 6 cm between sensors 1 and 3 will gave the best representation of level average temperature different around 1 ℃. Based on the temperature gradient data, the combination of three TEG SP1848 in a series connection with DC-DC step-up circuit DC1664 will produce an optimum voltage output of about 3 V. This output voltage is enough to operate low power IoT device derived from thermal energy

Efficient Object Isolation In Complex Environment Using Manipulation Primitive On A Vision Based Mobile 6DOF Robotic Arm

This paper explores the idea of manipulation aided- perception in the context of isolating an object of interest from other small objects of varying degree of clusterization in order to obtain high quality training images.The robot utilizes a novel algorithm to plot out the position for each noise objects and its destined position as well as its trajectory and then utilizes manipulation primitives (pushing motion) to move said object along the planned trajectory.The method was demonstrated using Vrep simulation software which simulated a Kuka YouBot fitted with a camera on the gripper.We evaluated our approach by simulating the robot manipulators in an experiment which successfully isolate the object of interest from noise objects with at a rate of 77.46% at an average of 0.56 manipulations per object compared to others at 1.76 manipulations subsequently speeding up the time taken for manipulation from 12.58 minutes to 2.6 minutes however suffers from a tradeoff in terms of accuracy when comparing the similar works to our proposed method

Object Isolation With Minimal Impact Towards The Object Of Interest In A Complex Environment Using Manipulation Primitives

It is common in the field of robotic manipulation to specifically target and precisely move, displace or manipulate the targeted object of interest. This however may not always be the best possible course of action as there are situations where it is not possible to manipulate the object of interest or is not in a condition to be manipulated. This research paper explores and subsequently proposes 3 object isolation technique for the purpose of isolating a targeted object of interest from the environment incontras to the standard utilization of object singulation technique. The goal was to develop an algorithm than can successfully isolate the object of interest from the environment via removing the environment without/with minimal impact towards the object of interest. Results from the experiment indicated that the proposed algorithms can successfully isolate the object of interest with minimal impact towards the object of interest scoring an average of 0.85cm/actuation for MSMAPPS, 0.75cm/actuation for MSMAPOS and finally 0.27cm/actuation for BSMAPOS. These results indicates a relatively small displacement per actuation at 4.35% displacement per actuation, 3.75% displacement per actuation, and 1.35% displacement per actuation relative to the workspace respectivel

Design and Construction of Liquid Level Measurement System

Industrial tank system play important role in industrial application such as in food processing, pharmaceutical industry, chemical industry, water purification system and many more. Today we can see a lot of varieties in different level measurement technologies on the market like ultrasonic level sensor, capacitance level sensor, microwave sensor, and others. One of the frequent used industrial tank systems is couple tank system. The main interest of the use PID is to ensure the supply of liquid is at constant rate. This paper will discuss on the system based on microcontroller unit design to measure and control liquid level accurately to improve the efficiency of motor pumping unit. To developed this system, ATMEGA32 starter kit board is use to control pumping unit (motor), continuous fluid level sensor to measure the liquid level with LED display circuit, and temperature sensor is used to measure the current temperature of liquid inside tank. The system software is written in C language, interrupt routines are used to record and deal with the time data to count the liquid level accurately. This system supposedly can measure the water level up to 25cm and work at 5V supply voltage range

Monitoring Grid Frequency

The grid frequency of a 50 Hz system varies from 49.8 Hz to 50.2 Hz. Every 0.01 Hz of change in grid frequency correspond to approximately 6% to 8% of power supply dropped in the grid (S. Pourmousavi et al. 2009). Hence high resolution of measurement device is a must to monitor the grid frequency. Most frequency measurement devices such as oscilloscope usually caters high frequency measurement range. Even though some oscilloscope able to measure low frequency signal, its accuracy and resolution is not up to the challenge of measuring grid frequency. Phasor Measurement Unit (PMU) uses by most power system company is not economical to be used by small scale power generation company or for research purpose. In this paper, a simple zero crossing method will be employ to measure the grid frequency with a resolution of 0.003 Hz using Arduino Uno controller. The test and validation of the frequency data took place in Europe specifically at University of Applied Science Rosenheim

Investigation of single cart gantry crane system performance using scheduling algorithm

This paper investigates the implementation of two types of scheduling algorithm to obtain the best performances of the Single Cart Gantry Crane System (GCS). In this research, Deadline Monotonic Priority Assignment (DMPA) and Earliest Deadline First (EDF) scheduling algorithm are chosen to be implemented. The main ideas of this approach is to find the schedule that more compatible and provide more stable result for the system. The Cart performances will be analyzed in term of Settling Time (Ts) and Overshoot (OS). In this study, a simple PID controller that acts as a basic control structure is used. The application of TRUETIME kernel block also is implemented to be executed in a MATLAB environment. It has been demonstrated that implementation of these two algorithms will help this system to be more stabilized according to appropriate execution time

DEVELOPMENT OF LOW COST PORTABLE ANTI-THEFT DEVICE (PATD)

This paper discussed about the development of low cost Portable Anti-Theft Device (PATD) that able to reduce the issue in snatch-theft, property lost due to leaving it behind, misplace and to monitor the children movement in public area. This device consists of two parts that are the transmitter and receiver controlling circuit which communicate by RFID technology application. It also equipped with a high volume triggering alarm system that activates when the range between the transmitter and the receiver circuits reach a specific distance. It is hope that with this PATD can reduced the issues of theft and snatching crime as well as preventing from loss, injuries and missing