Multi-Hole Waveguide Directional Couplers

Contact Autho

Exposing to EMF

Exposing to EMF Contact Autho

Electromagnetic Solutions for the Agricultural Problems

Contac

Dexterity of underactuated six degrees of freedom three dimensional redundant manipulators

We quantify the dexterity of underactuated robot manipulators equipped with active and passive joints. We discuss the harnessing of redundant degrees of freedom in a robotic manipulator in order to keep it in service. We assume that the passive joints are locked at an arbitrary known position. There are three important dexterity measures: workspace volume, reachability, and manipulability. We discuss the workspace volume of a six degrees of freedom, three dimensional, redundant manipulator with an arbitrarily located passive joint. References X. Xin, J.-H. She, T. Yamasaki and Y. Liu, Swing-up control based on virtual composite links for n-link underactuated robot with passive first joint, Automatica, 45(9):1986–1994, 2009. doi:10.1016/j.automatica.2009.04.023 M. Bergerman and Y. Xu, Dexterity of underactuated manipulators, ICAR, 719–724, 1997. doi:10.1109/ICAR.1997.620261 S, Yahya, M. Moghavvemi and H. A. F. Mohamed, Singularity Avoidance of a Six Degrees of Freedom Three Dimensional Redundant Planar Manipulator, Comput. Math. Appl., 64(5):856–868, 2012. doi:10.1016/j.camwa.2011.12.073 S. Yahya, M. Moghavvemi and H. A. F. Almurib, Joint Torque Reduction of a Three Dimensional Redundant Planar Manipulator, Sensors, 12(6):6869–6892, 2012. doi:10.3390/s120606869 A. K. Pradeep, P. J. Yoder, R. Mukundan, R. J. Schilling, Crippled motion in robots, IEEE T. Aero. Elec. Sys., 24(1):2–13, 1988. doi:10.1109/7.1030 R. G. Roberts, Quantifying the local fault tolerance of a kinematically redundant manipulator, Amer. Contr. Conf., 3:1889–1893, 1995. doi:10.1109/ACC.1995.531215 R. G. Roberts and A. A. Maciejewski. A local measure of fault tolerance for kinematically redundant manipulators, IEEE Int. Conf. Robot., 12(4):543–552, 1996. doi:10.1109/70.508437 S. Yahya, M. Moghavvemi and H. A. F. Mohamed. Geometrical approach of planar hyper-redundant manipulators: Inverse kinematics, path planning and workspace, Simul. Model. Pract. Th., 19(1):406–422, 2011. doi:10.1016/j.simpat.2010.08.001 H. A. F. Mohamed, S. Yahya, M. Moghavvemi and S. S. Yang. A New Inverse Kinematics Method for Three Dimensional Redundant Manipulators, ICCAS-SICE, 1557–1562, 2009. http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=5335259&refinements%3D4274859776%26sortType%3Dasc_p_Sequence%26filter%3DAND%28p_IS_Number%3A5332438%2

Publication list

<p>List of more than 200 articles</p&gt

Effective utilization of excess energy in standalone hybrid renewable energy systems for improving comfort ability and reducing cost of energy: A review and analysis

One of the features that characterize renewable energy sources is their variability and intermittency. Intermittency covers both the predictable and unpredictable variations of their power outputs and uncertainty in the power availability. To overcome the drawback of intermittency, special design considerations should be taken into account. These additional design considerations increases the overall cost of the renewable energy systems. Adding storage system and/or backup source to the renewable sources is one of the measures used to guarantee the continuity of power supply to the loads, and therefore improve the reliability of the renewable energy systems. The operation of renewable energy systems results in the creation of surplus energy, which is the energy generated by renewable energy systems, but is not consumed by the loads in standalone power systems. Effective utilization of this excess energy has the potential to decrease the cost of energy (COE) production by these hybrid renewable energy systems. In this paper, a review of the literature will be carried out in order to provide further insight into the approaches suggested in the literature on how to deal with the utilization of excess energy. Furthermore, various possible configurations of hybrid systems will be analyzed in detail for the effective utilization of the excess energy produced by hybrid systems. This is done in order to evaluate the effectiveness of utilization of excess energy by various means, especially for improving the living space comfort ability and decreasing the COE. Case studies will be carried out to demonstrate the proposed configurations for the effective utilization of the excess energy, and the results will be presented

Investigation on the Phalange Contact Force for a 2 finger Pulley-Tendon Driven Robotic Hand

The loss of a limb gives an enormous social, psychological and economic impact to the amputee. Replacement of an absent limb with an artificial limb, which may restore some functionality, is very expensive and a very complex process. Today, such technologies exist but it comes at a very high cost with unsatisfactory tracking ability. The anatomy of the human hand and its actuators were investigated to determine the effect of actuator force, object radius and joint spring stiffness on the contact force of the finger phalanges. It is found that, actuator force is directly proportional to the contact forces of the phalanges, object radius reduces the contact force as radius increases and spring stiffness will reduce the contact force of the phalanges. Spring stiffness if designed correctly, tends to average out the contact force of the phalanges, resulting in a more stable grasp. To take this project further, more optimization options need to be explored to output a more accurate result and apply the same method to add more fingers, ultimately resembling a human hand

Active Bio-sensor System, Compatible with Arm Muscle Movement or Blinking Signals in BCI Application

This paper addresses a bionic active sensor system for the BCI application. Proposed system involves analog and digital parts. Two types of accurate sensors are used to pickup the blinking and muscle movement signals. A precision micro-power instrumentation amplifier with the adjustable gain, a sixth order low pass active filter with cutoff frequency 0.1 Hz, and a sixth order band pas filter with the bandwidth of 2-6 Hz are constructed to provide the clean blinking and arm muscle movement signals. TMS320C25 DSP processor is used for independent and unique command signals which are prepared for BCI application by a power amplifier and driver

Characterization of PV panel and global optimization of its model parameters using genetic algorithm

This paper details an improved modeling technique for a photovoltaic (PV) module; utilizing the optimization ability of a genetic algorithm, with different parameters of the PV module being computed via this approach. The accurate modeling of any PV module is incumbent upon the values of these parameters, as it is imperative in the context of any further studies concerning different PV applications. Simulation, optimization and the design of the hybrid systems that include PV are examples of these applications. The global optimization of the parameters and the applicability for the entire range of the solar radiation and a wide range of temperatures are achievable via this approach. The Manufacturer's Data Sheet information is used as a basis for the purpose of parameter optimization, with an average absolute error fitness function formulated; and a numerical iterative method used to solve the voltage-current relation of the PV module. The results of single-diode and two-diode models are evaluated in order to ascertain which of them are more accurate. Other cases are also analyzed in this paper for the purpose of comparison. The Matlab-Simulink environment is used to simulate the operation of the PV module, depending on the extracted parameters. The results of the simulation are compared with the Data Sheet information, which is obtained via experimentation in order to validate the reliability of the approach. Three types of PV modules, using different technologies, are tested for the purpose of this validation, and the results confirm the accuracy and reliability of the approach developed in this study. The effectiveness of the model developed by this approach to predict the performance of the PV system under partial shading conditions was also validated