A novel dual surface type-2 fuzzy logic controller for a micro robot

Over the last few years there has been an increasing interest in the area of type-2 fuzzy logic sets and systems in academic and industrial circles. Within robotic research the majority of type-2 fuzzy logic investigations has been centred on large autonomous mobile robots, where resource availability (memory and computing power) is not an issue. These large robots usually have a variation of a Unix operating system on board. This allows the implementation of complex fuzzy logic systems to control the motors. Specifically the implementation of interval and geometric type-2 fuzzy logic controllers is of interest as they are shown to outperform type-1 fuzzy logic controllers in uncertain environments. However when it comes to using micro robots it is not practical to use type-1 and type-2 fuzzy logic controllers, due to the lack of memory and the processor time needed to calculate a control output value. The choice of motor controller is usually either fixed pre-set values, a variable scaled value or a PID controller to generate wheel velocities. In this research novel ways of implementing type-1 and interval type-2 fuzzy logic controllers on micro robots with limited resources are investigated. The solution thatis being proposed is the use of pre-calculated 3D surfaces generated by an off-line Fuzzy Logic System covering the expected ranges of the input and output variables. The surfaces are then loaded into the memory of the micro robots and can be accessed by the motor controller. The aim of the research is to test if there is an advantage of using type-2 fuzzy logic controllers implemented as surfaces over type-1 and PID controllers on a micro robot with limited resources. Control surfaces were generated for both type-1 and average interval type-2 fuzzy logic controllers. Each control surface was then accessed using bilinear interpolation to provide the crisp output value that was used to control the motor. Previously when this method has been used a single surface was employed to hold the information. This thesis presents the novel approach of the dual surface type-2 fuzzy logic controller on micro robots. The lower and upper values that are averaged for the classic interval type-2 controller are generated as surfaces and installed on the micro robots. The advantage is that nuances and features of both the lower and upper surfaces are available to be exploited, rather than being lost due to the averaging process. Having conducted the experiments it is concluded that the best approach to controlling micro robots is to use fuzzy logic controllers over the classical PID controllers where ever possible. When fuzzy controllers are used then type-2 fuzzy controllers (dual or single surface) should be used over type-1 fuzzy controllers when applied as surfaces on micro robots. When a type-2 fuzzy controller is used then the novel dual surface type-2 fuzzy logic controller should be used over the classic average surface. The novel dual surface controller offers a dynamic, weighted, adaptive and superior response over all the other fuzzy controllers examined

The study of surface processes under electrochemical control in the presence of inertial cavitation

In some circumstances, the erosive effects of inertial (transient) cavitation have been usefully employed in the acceleration of chemical processes that are dependent on surface reactions. However, in other situations the erosion of materials can be detrimental. For example, problematic erosion/corrosion phenomena have been well documented. It will be demonstrated here that the employment of inertial cavitation can be beneficial to the study of surface processes and indeed has a number of advantages. These include rapid erosion and the removal of small quantities of the surface. To highlight these effects, high-temporal resolution of the re-oxidation transients produced from a passivated microelectrode placed within a cavitation cloud will be reported. These will be compared to the multi bubble sonoluminescence (MBSL) output of the cell

A novel dual surface type-2 fuzzy logic controller for a micro robot

Over the last few years there has been an increasing interest in the area of type-2 fuzzy logic sets and systems in academic and industrial circles. Within robotic research the majority of type-2 fuzzy logic investigations has been centred on large autonomous mobile robots, where resource availability (memory and computing power) is not an issue. These large robots usually have a variation of a Unix operating system on board. This allows the implementation of complex fuzzy logic systems to control the motors. Specifically the implementation of interval and geometric type-2 fuzzy logic controllers is of interest as they are shown to outperform type-1 fuzzy logic controllers in uncertain environments. However when it comes to using micro robots it is not practical to use type-1 and type-2 fuzzy logic controllers, due to the lack of memory and the processor time needed to calculate a control output value. The choice of motor controller is usually either fixed pre-set values, a variable scaled value or a PID controller to generate wheel velocities. In this research novel ways of implementing type-1 and interval type-2 fuzzy logic controllers on micro robots with limited resources are investigated. The solution thatis being proposed is the use of pre-calculated 3D surfaces generated by an off-line Fuzzy Logic System covering the expected ranges of the input and output variables. The surfaces are then loaded into the memory of the micro robots and can be accessed by the motor controller. The aim of the research is to test if there is an advantage of using type-2 fuzzy logic controllers implemented as surfaces over type-1 and PID controllers on a micro robot with limited resources. Control surfaces were generated for both type-1 and average interval type-2 fuzzy logic controllers. Each control surface was then accessed using bilinear interpolation to provide the crisp output value that was used to control the motor. Previously when this method has been used a single surface was employed to hold the information. This thesis presents the novel approach of the dual surface type-2 fuzzy logic controller on micro robots. The lower and upper values that are averaged for the classic interval type-2 controller are generated as surfaces and installed on the micro robots. The advantage is that nuances and features of both the lower and upper surfaces are available to be exploited, rather than being lost due to the averaging process. Having conducted the experiments it is concluded that the best approach to controlling micro robots is to use fuzzy logic controllers over the classical PID controllers where ever possible. When fuzzy controllers are used then type-2 fuzzy controllers (dual or single surface) should be used over type-1 fuzzy controllers when applied as surfaces on micro robots. When a type-2 fuzzy controller is used then the novel dual surface type-2 fuzzy logic controller should be used over the classic average surface. The novel dual surface controller offers a dynamic, weighted, adaptive and superior response over all the other fuzzy controllers examined.EThOS - Electronic Theses Online ServiceGBUnited Kingdo

A Dynamic MSM With Agent Elements for Spatial Demographic Forecasting

Individual-based models such as microsimulation models (MSMs) provide an alternative to macroscopic models in social simulation and modeling. In contrast to the traditional models where individual characteristics are often blurred or even disregarded, MSM provides the realistic disaggregated information that is often vital for modern policy problems. MSM has been extensively applied and well tested in social modeling. However, it has been criticized for being less strong in modeling interactions between individuals and individual behaviors. MSM also struggles where realistic micro data are not available. Agent-based models (ABMs) can model the demographic process through interactions between the agents and with the environment that they live in. The combination of MSM and ABM provides a new approach to enhance complex social modeling. In our study, we attempt to provide better groundwork to facilitate policy and decision making for the U.K. population through a hybrid model that combines the strength of the two complementary techniques

Introducing SCADE Model–Based Development into a Safety-Critical System Environment

International audienceWith the publishing of ED-12C and ED-218, an opportunity has been created in which Model-Based Development is better defined for a Safety Critical System Environment. This positioning paper describes the approach and methodology applied to move from a conventional development, to a Model-Based Development. The major issue of how to integrate the two development methodologies is discussed

Data in support of the Southampton doctoral thesis 'Quantifying the approach and retreat of objects from a solid interface using electrochemical technique'

Data used in the creation of figures in the thesis: Quantifying the approach and retreat of objects from a solid interface using electrochemical techniques.</span

Electrochemical measurement of switchable hydrogen bonding in an anthraquinone-based anion receptor

The electrochemistry of a novel anion receptor is presented. The receptor 1,3-diphenylcarboxamidoanthraquinone (AAR) in the absence of an appropriate anion behaves as an anthraquinone system in the presence of a strong hydrogen bond donor. In this case, the electrochemical evidence supports the suggestion that the hydrogen bonding with the anthraquinone occurs at least partially through intra- or intermolecular interactions. It is suggested that these interactions stabilise both the semiquinone and dianion species resulting from reduction of AAR. However, in the presence of a suitable competitive anion (specifically F?), the hydrogen-bond donor groups bind to the anion rather than the quinone oxygen atoms. This removes the hydrogen bonding interaction to the redox-active quinone centre and hence alters the electrochemistry significantly. In the presence of F?, two one-electron quasireversible electrochemical processes are observed

From Observations to Prediction of Movement (Dagstuhl Seminar 17282)

This report documents the program and the outcomes of Dagstuhl Seminar 17282 "From Observations to Prediction of Movement". This seminar brought together researchers from Animal Behaviour, GIS, Computational Geometry, Data Science and other fields to exchange insights from these diverse fields. Presentations focused both on outstanding practical questions, as well as on fundamental mathematical and computational tools