Moving Control of Quadruped Hopping Robot Using Adaptive CPG Networks

This paper describes the moving control using the adaptive Central Pattern Generators (CPGs) including motor dynamic models for our developed quadruped hopping robot. The CPGs of each leg is interconnected with each other and by setting their coupling parameters can act as the flexible oscillators of each leg and adjust the hopping height of each leg to require stable hopping motion. The formation of the CPG networks are suitable not only to generate the continuous jumping motion but also can generate the moving motion in twodimensional, respectively. We also propose the reference height control system which including the maximum hopping height detector and Proportional Integral (PI)controller to achieve the reference jumping height. By using the proposed method, the hopping height of each leg can be control independently in order to make the posture of robot’s body incline ahead and move forward. We create MATLAB/Simulink model to conduct various types of experiments and confirmed the effectiveness of our proposed CPG model including the reference height control system to generate the stable moving performance while jumping continuously

Design and Development of MY 2nd EYE for Visually Impaired Person

This paper discussed on design and development of electronic device by using warning system for visually impaired person usage which is called ‘MY 2 nd EYE’. This electronic device is designed to support and help the visually impaired person around this world to have their own confident in order to travel from one place to another place. This project is about developing of warning system by using a vibration motor as a warning device via microcontroller that received input from distance measurement sensor when detecting obstacle. The vibration motor is a best solution to warn the blind person because it uses touch sense of human when the system is run. In this system, there are four pieces of vibration motor are mounted to the gloves at different locations. Each location will have its own function that show different direction such as front, left, right and down. In this project, the effectiveness of the system gives command the direction of obstacle existence is very important and have been confirmed through simulation and experiment

Two-Dimensional Moving Control of Quadruped Hopping Robot Using Adaptive CPG Networks.

In this paper, we discuss on the generation of moving control for our developed quadruped hopping robot while jumping continuously. We approached the method which we used the reference height control system to conduct the differences of reference height for each leg of quadruped hopping robot. By using the approach method, the posture of quadruped hopping robot will incline ahead to the direction which it wants to move. On the other hand, we evaluate the effectiveness of Central Pattern Generator (CPG) network to keep the stability of quadruped hopping robot and avoiding it from tumble ahead. We used MATLAB/Simulink model to generate the moving control in various type of motion. As the result, we confirmed the effectiveness of approach method to generate moving control of quadruped hopping robot while making continuous jumping, respectively

Exploratory Study on Navigation System for Visually Impaired Person

Direction is arguably the most pressing concern for visually impaired person. Nevertheless, we lack a convenient navigation system to guide a visually impaired person using point to point direction to reach desired destination independently while walking on tactile paving. Accessibility of this navigation system must be convenient and simple for visually impaired people. In order to provide an efficient and user friendly assistive tool, it is proposed to design and develop a navigation system using Radio Frequency Identification (RFID) to guide the visually impaired walking on tactile paving. Path planning algorithm will be implemented in this project to give the shortest path and direction as a navigation guide for visually impaired people. This project will directly contribute to society by making available a convenient navigation system for visually impaired people for a better lifestyle

Performance Study of Developed SMART EYE for Visually Impaired Person.

Direction is arguably the most pressing concern for visually impaired person. Nevertheless, we lack a convenient navigation system to guide a visually impaired person using point to point direction to reach desired destination independently while walking on tactile paving. Accessibility of this navigation system must be convenient and simple for visually impaired people. In order to provide an efficient and user friendly assistive tool, it is proposed to design and develop a navigation system using Radio Frequency Identification (RFID) to guide the visually impaired walking on tactile paving. Path planning algorithm will be implemented in this project to give the shortest path and direction as a navigation guide for visually impaired people. This project will directly contribute to society by making available a convenient navigation system for visually impaired people for a better lifestyle

Control of Maximum Power Point Tracking for Stand-Alone Photovoltaic System Using Voltage Comparison Technique

This paper proposed the other method to control of maximum power point tracker for stand- alone photovoltaic system using closed-loop voltage mode control algorithm. Approach: The PV module was modeled based on the parameters obtained from a commercial PV data sheet while voltage mode control was modeled using simulink block model. A DC-DC boost converter was chosen to regulate the DC voltage from the PV module. The voltage mode control maximum power point tracking model was simulated under a constant and a variable change of solar irradiance and temperature. The perturb and observe maximum power point tracker model was developed and compared with this proposed method in order to validate the performance of output results. Results: Results showed that the voltage mode control maximum power point tracking model yields the similar performance as produced by the photovoltaic system controlled by perturb and observe maximum power point tracking algorithm simulation in terms of the voltage, current and power generated under the changing irradiant and temperature condition. Conclusion/Recommendations: The voltage mode control technique is possible to be implemented which yields the similar performance as the results from conventional MPPT method

Effectiveness of Central Pattern Generator Model on Developed One Legged Hopping Robot

The paper presents the validity of using Central Pattern Generator (CPG) model to develop one leg hopping robot which hops higher and rhythmically. Infrared Ranging (IR) sensor is mounted on a platform to measure the distance of hopping performance. The distances of IR sensor from the platform to the floor in both static and vertical jumping motion are measured. MATLAB & Simulink model including CPG model is designed to evaluate the performance of IR sensor by converting the measurement data from IR sensor from voltage to distance by using function blocks. The result shows that the one leg hopping robot with CPG model is able to achieve maximum hopping height at 4cm

Potential of on-the-go gamma-ray spectrometry for estimation and management of soil potassium site specifically

High resolution data on plant available potassium (Ka) is crucial to optimize variable rate potassium fertilizer recommendations, and subsequently improve crop growth and yield. A gamma-ray passive spectrometry sensor was evaluated for on-the-go mapping and management of the spatial distribution of Ka over a 8.4 ha field at Huldenberg, Belgium. During the on-the-go measurement, a 5 s sampling interval was used while driving at 3 km/h speed along 10 m parallel transects. Two calibration models to predict Ka across the field were developed and compared: (1) a simple third order polynomial function (3DPF) was established between the sensor reading of the naturally occurring radioactive isotope of potassium (K-40) and laboratory measured Ka and (2) a partial least squares regression (PLSR) model linking gamma-ray spectra and laboratory measured Ka. Although a relatively small number of samples (45 samples) were used for the development of the PLSR calibration model, the cross-validation analysis resulted in a very good performance with a coefficient of determination (R2) of 0.85, a residual prediction deviation (RPD) of 2.67, a root mean square error of cross-validation (RMSECV) of 2.29 (mg/100 g) and a ratio of performance to interquartile distance (RPIQ) of 2.61. This was a much better result that that obtained with the 3DPF model (R2 = 0.69). The spatial distribution of Ka developed based on 3DPF and PLSR methods showed great similarity with the corresponding map developed using the data from the laboratory analysis. The calculated variable rate fertilizer recommendation based on gamma-ray data showed marginal differences in the amount of K2O fertilizer applied, compared to the uniform rate fertilization based on the conventional laboratory chemical soil analyses. The on-the-go measurement of Ka using gamma-ray spectrometry shows high potential, although the technology needs to be evaluated in a larger number of fields

Brake Motion Control for Quadruped Hopping Robot by Using Reference Height Control System

In this paper, the generation of brake motion control for our developed quadruped hopping robot while moving on two dimensional spaces by jumping continuously is discussed. The braking motion method which is approached is by applying the reference height control system to create the differences of front leg and back leg while making moving performance and correct the body posture which has inclined to make the quadruped hopping robot jump vertically while braking performances. On the other hand, this approached method can be used as the collision-avoidance behavior for the quadruped hopping robot. The MATLAB/Simulink model is used in order to conduct the pattern generation of quadruped hopping robot. As the result, effectiveness of approach method is confirmed to generate brake motion control of quadruped hopping robot while making continuous jumping vertically. Copyright © 2013 Praise Worthy Prize S.r.l. - All rights reserve