Design, fabrication and modelling of four-wheeled mobile robot platform with two differential and two caster wheels

This paper presents a design and modeling of wheeled mobile robot (MWR) when navigating autonomously in environment such as road and factory. It needs a good and robust design and control for wheeled mobile robot to move from one to another points with smooth moving and small tracking errors. This paper is focused on mechanical design and modeling of wheeled mobile robot. Autodesk inventor software is used to draw the design of the WMR because this software is simple to make any design and a wheeled mobile robot structure is designed with a center of gravity to be located below the axle wheels level. The wheeled mobile robot is driven using two differential drive and two castor wheels to balance robot while it is moving in the environment. Two kinds of coordinate systems are used to describe the movement of the robot in the environment; namely are Local and global coordinate system; where local is related to the heading angle and the deferential wheel shaft, however the global describes the motion in x, y and z directions. The kinematic model is derived for the four wheeled mobile robot using angular velocities equations for the left and right wheels with estimation the heading angle of the robot

Motion Artifacts Correction from Single-Channel EEG and fNIRS Signals using Novel Wavelet Packet Decomposition in Combination with Canonical Correlation Analysis

The electroencephalogram (EEG) and functional near-infrared spectroscopy (fNIRS) signals, highly non-stationary in nature, greatly suffers from motion artifacts while recorded using wearable sensors. This paper proposes two robust methods: i) Wavelet packet decomposition (WPD), and ii) WPD in combination with canonical correlation analysis (WPD-CCA), for motion artifact correction from single-channel EEG and fNIRS signals. The efficacy of these proposed techniques is tested using a benchmark dataset and the performance of the proposed methods is measured using two well-established performance matrices: i) Difference in the signal to noise ratio ({\Delta}SNR) and ii) Percentage reduction in motion artifacts ({\eta}). The proposed WPD-based single-stage motion artifacts correction technique produces the highest average {\Delta}SNR (29.44 dB) when db2 wavelet packet is incorporated whereas the greatest average {\eta} (53.48%) is obtained using db1 wavelet packet for all the available 23 EEG recordings. Our proposed two-stage motion artifacts correction technique i.e. the WPD-CCA method utilizing db1 wavelet packet has shown the best denoising performance producing an average {\Delta}SNR and {\eta} values of 30.76 dB and 59.51%, respectively for all the EEG recordings. On the other hand, the two-stage motion artifacts removal technique i.e. WPD-CCA has produced the best average {\Delta}SNR (16.55 dB, utilizing db1 wavelet packet) and largest average {\eta} (41.40%, using fk8 wavelet packet). The highest average {\Delta}SNR and {\eta} using single-stage artifacts removal techniques (WPD) are found as 16.11 dB and 26.40%, respectively for all the fNIRS signals using fk4 wavelet packet. In both EEG and fNIRS modalities, the percentage reduction in motion artifacts increases by 11.28% and 56.82%, respectively when two-stage WPD-CCA techniques are employed.Comment: 25 pages, 10 figures and 2 table

Modeling and design of two link robotic manipulator for grading and sorting of rotationally symmetric products

This paper present a design and modeling for a two link robotic manipulator for grading and sorting system. The mechanical design calculation of the robotic manipulator is accomplished firstly to estimate the torques and positions of manipulator that are required to move a certain payloads from one to another position, which is resulted by choosing of the right electrical motors. The mechanical design drawings for this manipulator system are fully done using Autodesk Inventor Software which concerns the real joint of the robotic manipulator. The dynamic equation of the robotic manipulator system is derived using the Lagrange equation which is then represented in the state space method to make simple for utilization in Simulation and real-time systems

Design a Low Voltage Energy Harvesting SoC System for Ultra-Low-Power Bio- medical Application

Abstract: This Paper presents a designing of low voltage energy harvesting SoC system based on Ultra-Low-Power Bio-medical applications. A novel technique (i.e., Genetic Algorithm) has chosen for designing the ultra-low-power circuit with a low voltage energy. This platform harvests ambient vibration energy as its power source, and is capable of self starting, and self-powered operation without the need of a battery. The proposed method consumes very little power, and is especially suitable for the environments, where ambient harvested power is very low. System modeling and analysis of the method will be developed using HSPICE software. The ultimate goal of this research work is to design a low voltage smart electronics circuit of SoC system. To implement our SoC design, the Analog/Digital software from Mentor Graphics will be considered. Experimental results will be presented at our next possible journal publication in future accordingly

A review on control of robotic manipulator for performing grading and sorting of rotational symmetric products

This paper presents a literature review on the common control systems that have been used for robotic manipulators with a very higher concern on PID and active force control (AFC).The control of manipulator is divided into two main systems, namely are linear and non-linear control systems. A nonlinear system is used to overcome un-modeled dynamics, variable payload, fiction and disturbance torque, variation, and noise. PID controller has enhanced the performance of the manipulator in certain cases such as reducing system vibration and maintaining the tracking errors of the manipulator. On the other hand, AFC is a robust and much viable controller in comparison with others ordinary strategies in controlling dynamical systems such as robotic manipulato

Review on real-time control schemes for wheeled mobile robot

The purpose of this paper is to review real-time control motion algorithms for wheeled mobile robot (WMR) when navigating in environment such as road. Its need a good controller to avoid collision with any disturbance and maintain a track error with zero level. The controllers is used with and other aiding sensors to measure the WMR’s velocities, posture, and interference to estimate the needed torque of mobile robot due to wheel rotating. Four main categories for wheeled mobile robot control that have been found in literature which are namely: Kinematic based controller, Dynamic based controllers, artificial intelligence based control system, and Active Force control. A MATLAB/Simulink software is the main software to simulate and implement control system. The real-time toolbox in MATLAB/SIMULINK are used to receive/send data from sensors/to actuator with existing of real path disturbances

The influence of Kerr field and Doppler broadening on magneto optical and image state rotation

We examine the magneto-optical and image state rotation (MOR) of left and right circularly plane-polarized light pulse through a double Λ-type four-level configuration of Rubidium atom via Kerr field and Doppler broadening in the presence of the static magnetic field. The medium’s behavior is different for both orthogonal components of the probe beam, causing linear dichroism or circular birefringence. Enhanced and lossless MOR is obtained by applying the control field through a closed-loop birefringent system. We observe a magnified angle of rotation of probe field in Doppler broadened medium. It is shown that due to the Kerr nonlinearity, the rotation angle of the probe beam is generated and modified through cold and Doppler broadened medium. Moreover, almost complete polarization rotation is observed for a particular set of parameters. The MOR can be effectively utilized in designing new TM/TE polarization modes, optical communication, polarization spectroscopy, lider with backscattering depolarization, precision measurements, and magnetometry