Vertical motion control of a one legged hopping robot

Hopping movement is a desirable locomotion for a mobile robot to adapt on unknown surface and overcome the obstacles avoidance problem. The hopping locomotion is one of locomotion produced by legged robot. The legged type robot has difficult mechanism and complexity in control system. The hopping robot is designed to avoid the obstacles vertically. So, if the hopping robot takes too long time to reach the desired height, it will produced damages to the hopping robot physical. Therefore, the research on develop control strategies of one legged hopping robot is useful so that the developed control strategies can be used and extended to the multi-legged system. Central Pattern Generator (CPG) is a neural network that capable to generate continuous and rhythmic pattern. Since the hopping movement is a continuous and rhythmic jumping movement, it is synthesized that CPG neural network capable to generate hopping movement. Thus, the objectives of this research is to model the one legged hopping robot experimentally, to design a classic controller and integrate with CPG to compensate the steady-state error at each different height, and to optimize the parameters values of Central Pattern Generator (CPG) for the optimum rise time and steady-state error. A hopping peak height detector algorithm is designed to determine hopping peak height as feedback loop. The PI-CPG neural network parameters are optimized for each reference hopping height via simulation. The performance of optimized PI-CPG neural network is evaluated and compared with optimized PI and PID controller. The result shows that the optimized PI-CPG neural network controller produced better response which is 21.36 %, 24.20 %, and 44.13 % average rise time faster than PI-CPG, optimized PI, and optimized PID controller respectively. Moreover, the optimized PI-CPG controller more accurate in term of 4.91 % steady-state error compared to PI-CPG controller; 8.69 %, optimized PI controller; 6.03 %, and optimized PID controller 12.52 % average steady-state error for each reference hopping height. As a conclusion, the hopping height produced by the optimized PI-CPG neural network is more accurate and precise

Hopping peak height algorithm for a one legged robot hopping height control

This paper presents the hopping peak height algorithm in controlling the hopping height of a one legged hopping robot. The hopping mechanism produces continuous and rhythmic pattern. The continuous and rhythmic pattern behaviors produce oscillation feedback to the closed loop system and continuously produce oscillation error to the controller. Therefore, hopping peak height algorithm is designed and embedded into the closed loop control system feedback to determine the hopping peak of each produced hopping as a feedback. The existence of the hopping peak height algorithm assists the PI-CPG controller to converge the hopping height error approximately to zero

Orthopedic Calf Cast Using Antioxidative FS3200PA Nylon 3D Printing: Design And Optimization

Current cast designs such as heavy plaster cast come up with many disadvantages to patient like discomfort and itchy skin. Most of the hospitals in Malaysia are still using traditional custom made cast which is made by paris and mold that cannot be recycled. The objectives of this project were to design custom fit orthopedic cast and to optimize the weight of cast that used material of FS3200PA Nylon powder that has generally good anti-oxidative properties and not harmful to health. Computer Aided Design (CAD) software and Finite Element Analysis (FEA) computer software were used to design and optimize the shape and geometry of calf cast. T-Scan LV system is used for scanning process. The load applied for simulation are 981 N, 784.8 N, and 588.6 and the thickness varies between 1 mm, 2 mm and 3 mm. Safety factor of 1.0 ≤ s. f ≤ 3.0 is considered in selecting the acceptable combination. Fabrication of the cast had been made by used the Farsoon SS 402P laser sintering system. Through optimization and analysis, three combinations of the models are proven to be a safe-to-use model

Evaluation Study An Automatic Capture Of Glucose Level By Using Glucose Sensor For Collecting Vital Sign Data

Nowadays, a lot of medical equipment has been integrated with the electronic device to make medical equipment more users friendly. In this project, a device using a glucose sensor to automatically capture the biological data is developed to help the doctor to follow up the patient health information. The traditional medical equipment is to take the reading such as blood pressure, blood glucose level, temperature, and etc. manually. Normally the traditional method will have many errors occur while taking the reading like parallax error or human error. Other than that, the traditional method also consumes a lot of time when taking biological data. In this project, an innovative device is designed and developed to take the biological data in automatic way to replace the manual traditional method of taking the glucose tests. The integrated device is expected to be designed to collect the blood glucose data from the designed blood glucose measuring mechanism, that is attached on a medical checkup chair and consequently integrate them into the personal medical database that can be transmitted through a USB device to a server. The traditional method consumes too much time from collecting sample until recording data into computer and human error may occurs during data recording. Hence, time consuming is lessening and faster action can be done by nurse and medical doctor while observing the patient current health information in order to provide the most suitable treatment for the patient from time to time

A Verification Of Periodogram Technique For Harmonic Source Diagnostic Analytic By Using Logistic Regression

A harmonic source diagnostic analytic is vital to identify the root causes and type of harmonic source in power system. This paper introduces a verification of periodogram technique to diagnose harmonic sources by using logistic regression classifier. A periodogram gives a correct and accurate classification of harmonic signals. Signature recognition pattern is used to distinguish the harmonic sources accurately by obtaining the distribution of harmonic and interharmonic components and the harmonic contribution changes. This is achieved by using the significant signature recognition of harmonic producing load obtained from the harmonic contribution changes. To verify the performance of the propose method, a logistic regression classifier will analyse the result and give the accuracy and positive rate percentage of the propose method. The adequacy of the proposed methodology is tested and verified on distribution system for several rectifier and inverter-based loads

Design and Development of Search and Rescue Robot

Search and rescue robot is developed mainly to move through rubbles and debris. When a natural disaster such as an earthquake struck causing the building to collapsed, this robot can be used to search for victims and transfer to safe place. Search and rescue robot is equipped with a robotic arm to perform the evacuation process. With this robotic arm, robot can easily grab the victim in collapsed building and bring to safe place. Generally, there is a lot of robot like this used for rescue operation in collapsed building. But non of them is control by using mobile devices. So this paper is purposely designed to develop a prototype of robotic vehicle using mobile devices as controller by using Bluetooth transmission. The distance can vary from 10 meter to 100 meter depending on the type of Bluetooth module used. This robot is powered by Arduino Uno R3 board using 9V AA battery for power supply. In order to control this robot using mobile devices, an application was designed by using MIT Inventor to create an application interface between robot and mobile devices. While for the robotic arm will be design by using Autocad software. In addition, robotic arm will also use four servos to move

Application of Binary Firefly Algorithm (BFA) in tuning PID parameters for couple tank system

This paper presents the application of the Binary Firefly Algorithm (BFA) in tuning PID parameters for a coupled tank system. The agent position in the BFA represents the potential combination the PID parameters. This agent position is modelled using a string of 32 binary bits where each eight bits represents the value o

Development of Portable Air Conditioning System Using Peltier and Seebeck Effect

The society bustle factor in this day and age, most people want to find equipment that is often used in everyday life in a small and light weight design. The purpose of this project is to develop portable air conditioning system without using any gas. The system used thermoelectric heat pump as main device for producing cool air known as Peltier Effect. The generating system theoretically can recycle the heat loss to produce additional electricity for other usage. The efficacy of this system tested using two types of experimental using Peltier and Seebeck Effect. Both experimental are conducted using 3 specific volumes; 1) 1000cm3; 2) 4000cm3; and 3) 9000cm3. As a result, temperature for heating and cooling systems achieve around 16 – 40 degree Celcius (oC) while the voltage generated around 12V in 30 minutes

Performance Analysis Of Acceleration Sensor For Movement Detection In Vehicle Security System

The vehicle security system is a critical part of an entire car system in order to prevent unauthorized access into the car. As the statistic has shown that the number of cases of the private car being stolen is increasing and the recovery rate is decreasing sharply, it shows that the car security system failed to perform to prevent unauthorized access. Most of the vehicle security system simply consists of a few door-open detection switches, siren, and remote control to protect the car, which appears to be weak against experienced car theft. Therefore, the project is carried out to develop a vehicle security system that can measure the dynamic acceleration inside the vehicle using the ADXL345 accelerometer and locate the coordinate of the vehicle by using U-Blox Neo-6M GPS receiver. In order to evaluate the performance of the proposed vehicle security system, the experiment to determine the most suitable position among the four places inside a car to place the device was conducted. Then, the performance analysis of the GPS receiver for accurate tracking also was done. The results showed that the most suitable position to place the device is inside the center of the car dashboard and the GPS receiver has a mean cold start-up time of 5 minutes 47 seconds and hot start-up time of 11.72 seconds, with a standard deviation of 0.000003706° in latitude and 0.000002762° in longitude for position tracking