Position control for intelligent pneumatic actuator using generalized minimum variance control

Pneumatic actuators are finding increasing acceptance these days due to their low cost, ease of maintenance and moderately high power to weight ratio. A position model for IPA has been proposed by using system identification techniques resulted in a transfer function model. Generalized minimum variance control (GMVC) is one of the commonly control algorithms that used in the pneumatic actuators area. The performance of an algorithm is obtained by combining a generalized minimum variance control with a recursive estimator for the controller parameters. In this project, an indirect self-tuning generalized minimum variance control is used to assure the system output response can track any changes in the reference set point. This project aims to design generalized minimum variance controller to control the position of the IPA. The controller will be designed using MATLAB/SIMULINK based on the proposed models. The simulations results will be compared with the other types of controller (fuzzy logic controller) simulation results in order to see the performance of the GMVC

Mobile Robot Navigation System Vision Based Through Indoor Corridors

Nowadays, industry has been moving toward fourth industry revolution, but surveillance industry is still using human in patrol. This will put this industry in risk due to human nature instincts. By using a mobile robot with assist of vision sensor to patrol can bring this industry to a new level. However, the indoor corridor navigation will become a big challenge to this method. The objective of this project is to develop a navigation system using vision sensor and navigate the mobile robot in indoor corridor environment. To perform this operation, a control system though the WLAN communication develop to guide the movement of mobile robot. Besides that, corridor following system with vision sensor that using Sobel edge detection method and Hough transform to getting the vanish point is needed to help the robot to safely travel in the corridor. Both systems can be using MATLAB to be execute and link with the mobile robot through WLAN connection. This system can be analysis the corridor condition base on different feature and can decide to drive the mobile car in the direction that given. The image capture by mobile robot can be stream to MATLAB in real time and receive a feedback in short time

A Review On SVC Control For Power System Stability With And Without Auxiliary Controller

Since the beginning of the last century, power system stability has been recognized as a vital problem in securing system operation. Power system instability has caused many major blackouts. This paper reviewed the previous technical works consisting of various methods of optimization in controlling power system stability. The techniques presented were compared to optimize the control variables for optimization of power system stability. Power system stability enhancement has been investigated widely in literature using different ways. This paper is focusing on SVC performance for enhancing power system stability either through SVC controlled itself or SVC controlled externally by other controllers. Static VAR compensators (SVCs) are used primarily in power system for voltage control as either an end in itself or a means of achieving other objectives, such as system stabilization. The analysis on performance of the previous work such as advantages and findings of a robust method approach in each technique was included in this paper

Optimum Utilization Of Energy Consumption In Arm Robot

This paper introduced on how to minimize the energy and performance of arm robot. The objective is to design the optima; performance of the arm robot movement in performing certain tasks. There are three process involved in minimize the energy which are hardware assembly selection, Denavit Haternberg (D-H) parameters and optimization process of robot movements. A 3 degree of freedom ROB0036 robot arm is use as hardware selection. Then determine the Denavit Haternberg (D-H) parameters for robot through theoretical, simulation and practical forward and inverse kinematics. The optimization process involved how to control parameters know as position angle and the speed of motor of three main axes of arm robot. The performance is measured respect to the two movement, which are reference and optimized. The energy efficiency analysis is performs to reduce this energy consumed. The simulation resulted show that the minimum motor’s movement of joint, the less time taken to achieve of to complete the pick and place task. Directly, it results on less energy used and increase the robot arm performance

Fuzzy Controlled SVC For Power System Damping

This paper presents the ability of the fuzzy logic-based stabilizer used to generate the supplementary voltage control signal of the SVC to improve the damping of the inter-area mode oscillation in the power system. The base system is symmetrical, consisting of two identical areas connected by a relatively weak tie line. The SVC is chosen to be installed at the tie line midpoint. The active power of the local line will be used as an input signal for the stabilizer. The additional signal is calculated using fuzzy membership function to determine the quantity of reactive power supplied absorbed by SVC. The system oscillation is indicated by a 3-phase-to-ground short circuit occurring at 0.2s of the simulation and subsequently clearing after 100ms. Simulation with the sample power system shows that when subjected to a disturbance, fuzzy logic-based SVC stabilizer provides good damping in inter-area mode oscillation for the system. The effectiveness of the stabilizer applied with and without PSS will also be investigated

Develop And Implementation Of Pc Based Controller For Humanoid Robot Using Digital Potentiometer

This paper introduced to develop and implementation of PC based controller for humanoid robot using digital potentiometer. The main objective in this paper is to develop and implement the joystick controller by using a digital potentiometer circuit board that be able to control the humanoid robot movement. The Arduino board and digital potentiometer will be integrate by connecting both pins in between wiper, W pin and ground, GND to the DB9 pins of remote control platform, which is TX and RX pins respectively. Humanoid robot as known as TOMY i-SOBOT is use as a preferred model due to wide usage in many applications. A digital potentiometer will be transmitted the voltage and current value depend on the digital level through serial communication to give the instruction for humanoid robot movement. The humanoid movement based on Guided User Interface (GUI) where the user give a commands by pressing the button on the GUI such as turn left, right, forward, and reverse. The results show that the humanoid movement able to control based on the voltage and current in a digital potentiometers value

Vision Based Obstacle Avoidance For Mobile Robot Using Optical Flow Process

The paper is discuss on develop and implement a vision based obstacle avoidance for mobile robot using optical flow process. There are four stages in this project which are image pre-processing, optical flow process, filtering, object stance measuring and obstacle avoidance. The optical flow process are an image resizing, set parameters, convert color to grayscale, Horn-Schunk method and change grayscale image to binary number. Next process is a filtering done by smoothing filter then image center will be defined. The maximum distance object from a camera has been set as 20 cm. Therefore, the decisions of the robot to move whether left or right are based on the direction of optical flow. This avoidance algorithm allows the mobile robot to avoid the obstacles which are in different shape either square or rectangular. A friendly graphical user interface (GUI) had been used to monitor the activity of mobile robot during run the systems

Vision Based For Classification Of MIG Butt Welding Joint Defect Using Occurrence Matrices And Gray Absolute Histogram

This paper will introduced a new approach of vision which is enable to overcome the problems in the vision inspection systems. This system uses 2D gray pixels coocurrence matrix and gray absolute histogram of edge amplitude as the input features extract from the MIG butt welding joints. Images of the welding surfaces are captured using one CCD camera that is mounted on the top which is parallel with the work benches. The images are segmented and the 2D gray value coocurrence matrix consists of energy, correlation, homogeneity and contract, and absolute histogram of the characteristic feature in these images will be calculated. The same process will be applied in zooming image factor by 0.5 to calculated the next characteristic feature values. Finally both feature value is used as the input value in GMM and MLP classifier to classify the welds defect into three categories which are good weld, excess weld and insufficient weld. Results are taken from the 18 MIG butt welding joints samples were tested in overall accuracy recognition rate for MLP is 94.4 % while for GMM is 83.3%. In terms of total computation time, the overall time for MLP is 1.96 m/s and GMM is 1.175 m/s

Optimization Of Energy Consumption In KUKA KR 16 Articulated Robot Manipulator

A study for optimal energy consumption in KUKA KR 16 articulated robot for pick-and-place task was introduce in this paper. In order to achieve the optimal energy consumption, an improve trajectory planning is required. Essentially, trajectory planning encompasses path planning in addition to planning how to move based on velocity, time and kinematics. Trajectory planning gives a path from a starting to a goal point by avoiding collisions in a 2D or 3D space. Therefore, this paper is focus on analyze the PTP motion and Linear motion in order to determine which is the best motion that can improve the trajectory planning. The optimal energy consumption to minimizing the movement based on three main axes where it used a big motors used to drive the axes. This method is much simpler in terms of development process and did not require any additional hardware to be install to the robot’s system. KUKA KR 16 is use to study optimal energy consumption and analyze PTP and Linear motion. The energy performance is measures with respect to two categories of movements known as Default and Optimal movement which do the same task repetitively within specific time. The result show that PTP motion consumed 6% more energy than Linear motion but completed 773 cycles within one hour whereas Linear motion only completed 492 cycles. Energy performance between Default and Optimal movement shows that Optimal movement recorded 21.8% less energy usage when compared to Default movement although the total cycles completed for both movement almost the same

Limited genetic diversity and high differentiation among the remnant adder ( Viperaberus ) populations in the Swiss and French Jura Mountains

Although the adder (Viperaberus) has a large distribution area, this species is particularly threatened in Western Europe due to high habitat fragmentation and human persecution. We developed 13 new microsatellite markers in order to evaluate population structure and genetic diversity in the Swiss and French Jura Mountains, where the species is limited to only a few scattered populations. We found that V.berus exhibits a considerable genetic differentiation among populations (global FST=0.269), even if these are not geographically isolated. Moreover, the genetic diversity within populations in the Jura Mountains and in the less perturbed Swiss Alps is significantly lower than in other French populations, possibly due to post-glacial recolonisation processes. Finally, in order to minimize losses of genetic diversities within isolated populations, suggestions for the conservation of this species in fragmented habitats are propose