REAL TIME FUZZY CONTROLLER FOR QUADROTOR STABILITY CONTROL

In this report, we develop an intelligent adaptive neuro-fuzzy controller by using adaptive neuro fuzzy inference system (ANFIS) techniques. We begin by starting with a standard proportional-derivative (PD) controller and use the PD controller data to train the ANFIS system to develop a fuzzy controller. We then propose and validate a method to implement this control strategy on commercial off-the-shelf (COTS) hardware. An analysis is made into the choice of filters for attitude estimation. These choices are limited by the complexity of the filter and the computing ability and memory constraints of the micro-controller. Simplified Kalman filters are found to be good at estimation of attitude given the above constraints. Using model based design techniques, the models are implemented on an embedded system. This enables the deployment of fuzzy controllers on enthusiast-grade controllers. We evaluate the feasibility of the proposed control strategy in a model-in-the-loop simulation. We then propose a rapid prototyping strategy, allowing us to deploy these control algorithms on a system consisting of a combination of an ARM-based microcontroller and two Arduino-based controllers. We then use a combination of the code generation capabilities within MATLAB/Simulink in combination with multiple open-source projects in order to deploy code to an ARM CortexM4 based controller board. We also evaluate this strategy on an ARM-A8 based board, and a much less powerful Arduino based flight controller. We conclude by proving the feasibility of fuzzy controllers on Commercial-off the shelf (COTS) hardware, we also point out the limitations in the current hardware and make suggestions for hardware that we think would be better suited for memory heavy controllers

Development of thermo-regulating fabric using phase change material (PCM)

This research study concentrates on use of phase change material (PCM) in textiles which can produce thermo-regulating characteristics to control body temperature useful for various daily wear and technical textiles. The latent heat which is released or absorbed during the process of phase change is studied and discussed in this research. The PCMs are encapsulated into tiny microcapsules to protect from washing out or abrasion. These microcapsules are bounded onto the fabric surface by using a binder. The microcapsules and their effectiveness are tested by using SEM, Optical Microscope, DSC and Comfort tester. The testing is further extended to the physical and chemical property testing to ensure the performance properties of the textile fabric. The research concludes that Polyethylene Glycol is a good phase change material which can be applied to fabric by using a Polyurethane vehicle to produce ultimate bodywear

In Situ ATR-FTIR Investigation of Photodegradation of 3,4-Dihydroxybenzoic Acid on TiO2

The catalytic photo-oxidation of 3,4-dihydroxybenzoic acid on TiO2 has been studied by in situ ATR-FTIR in flowing water and in flowing wet air/nitrogen gas. In flowing water it was difficult to observe photodegradation intermediates despite photocatalytic action during UV illumination. In the flowing wet air/nitrogen system carboxylic acids and carbonates were observed. It was shown that water plays an important role in the formation of oxidation active species. Oxygen shows a prominent role for carboxylic acid degradation, but the photogenerated hole plays the important role for the 3,4-dihydroxybenzoic acid ring cleavage

Real time fuzzy controller for quadrotor stability control

© 2014 IEEE. In this paper, we develop an intelligent neuro-fuzzy controller by using adaptive neuro fuzzy inference system (ANFIS) techniques. We begin by starting with a standard proportional-derivative (PD) controller and use the PD controller data to train the ANFIS system to develop a fuzzy controller. We then propose and validate a method to implement this control strategy on commercial off-the-shelf (COTS) hardware. Using model based design techniques, the models are implemented on an embedded system. This enables the deployment of fuzzy controllers on enthusiast-grade controllers. We evaluate the feasibility of the proposed control strategy in a model-in-the-loop simulation. We then propose a rapid prototyping strategy, allowing us to deploy these control algorithms on a system consisting of a combination of an ARM-based microcontroller and two Arduino-based controllers

Promoting Psychosocial Life of Persons with Epilepsy

Epilepsy is a long-standing, disabling illness, which has various psychosocial implications for people who suffer from it. This article reviews literature on the psychosocial aspects of epilepsy. The psychosocial aspects reviewed are with specific reference to certain factors like: family, children, marriage, employment and quality of life. The article also presents a brief review on the psychosocial interventions and suggests further interventions to help persons suffering from epilepsy