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The touch panel used for this experiment is the WEINTECH MT6071iE. The six-axis robotic arm was controlled by an AT90CAN128, manufactured by the ATMEL Company. A DGServo servomotor was used to drive the robots joints, which consisted of four servomotors with 12 kg torque, two 1.8 kg servomotors with reduction gear, and some precision aluminum alloy components. Driven by the servomotors, the robotic...
This study focuses on the design of a wearable inertial navigation device that is based on a MEMS chip and a Bluetooth wireless transmitting module and that uses the object-controlling technology of the Unity game engine to write a game script for a treasure hunt in an ancient Chinese virtual reality world. The wearable device proposed in this paper utilizes an ATmega168 chip as the main controller,...
In this study, an ultrasound sensor that was put on a smart wheeled mobile robot (SWMR) was used to detect parking space environment, simulate drivers' parking strategy, and complete roadside parking and reverse parking. In order to achieve automatic parking, the functions of the system included searching for suitable parking space, detecting adjacent obstacles, planning the parking path, producing...
A design method for the Cerebella Model Articulation Controller (CMAC) with theories of the grey and the fuzzy systems is proposed in this paper. The concept of sliding mode control is also used to determine the weighting values of CMAC. It can be easily realized in the requirement of real-time control cases. However, the overall performance of control system depends on the trained CMAC; usually,...
This paper presents a novel extension controller based on a scheme for sliding mode control. The control strategy of the proposed controller is classified in two parts. One is the equivalent control of sliding mode control, which can be directly obtained from the knowing nominal system. The other is the well-known robust control, which is used to compensate for the system uncertainty and external...
A new neural network structure known as the fuzzy differentiable Cerebellar Model Articulation Controller (FD_CMAC) was presented in this study. The FD_CMAC mentioned in this study involved embedding the differentiable functions (such as Gaussian function) into the hypercube of the receptive field space, thereby forming non-fixed values and differentiable blocks. In addition, in the network structure,...
This paper proposes a Takagi-Sugeno-Kang (TSK) fuzzy controller design using scaling gain adaptation. The proposed adaptation law for the TSK fuzzy controller resulting from the direct adaptive approach is used to appropriately determine the control signal of the controller. In this study, we first organize the TSK fuzzy controller without any specific experience information about the controlled system...
In this work, ultrasonic sensors are adopted to implement a real-time obstacle avoidance system for wheeled robots, so that the robot can continually detect surroundings, avoid obstacles, and move toward the target area. Secondly, six ultrasound sensors installed on the wheeled robot were utilized to detect large obstacles and to obtain distance information between the robot and the obstacle. The...
This paper proposes the design and implementation of a field-programmable gate array (FPGA)-based drive system for a rotor flux oriented vector-controlled induction motor drive. The system is realized by using FPGA (XC2V250) from Xilinx and its related hardware circuit. A vector oriented control structure using integer arithmetic has been developed for the voltage control of induction motors. The...
In this paper, we first develop a procedure for constructing Takagi-Sugeno fuzzy systems from input-output pairs to identify nonlinear dynamic systems. The fuzzy system can approximate any nonlinear continuous function to any arbitrary accuracy that is substantiated by the Stone Weierstrass theorem. A learning-based algorithm is proposed in this paper for the identification of T-S (Takagi-Sugeno)...
The work develops transformation from regular pencil to standard pencil for a class of continuous singular systems with state and output time delays. It proposes a state feedback control to remove the impulsive modes from the system response. Finally, it presents a new technique for decomposing the time-delay singular system to an equivalent low-order regular system with a direct transmission term...
This work presents an adaptive fuzzy cerebellar model articulation controller (AFCMAC) for solving the tracking control problem for an omni-directional mobile robot. First, fuzzy logic and CMAC are combined, coupled with a triangular basis function that is embedded in the hypercube receptive-field space to yield non-constant differentiable basis functions, which simplify the complex structure and...
The purpose of this paper is to adopt CMOS image sensors to build a real-time obstacle avoidance system for wheeled mobile robots, so that the robot can continually detect surroundings, avoid obstacles, and move toward the target area. In this study, CMOS image sensor was used to detect small obstacles and obtain information concerning the environment in front of the robot. In order to avoid obstacles,...
This paper presents the structure of model reference adaptive control based on fuzzy basis function. Initially, the techniques of fuzzy basis function are introduced to approach uncertain (or unknown) nonlinear systems. In addition, a heuristic adaptive algorithm, which is robust feature under the Lyapunov stability criterion is developed so that the output of the plant tracks a reference model output...
This paper presents a metaheuristic artificial immune system (AIS) algorithm for mobile robot navigation in a structured environment with obstacles. The generated collision-free path is optimal in the sense of the shortest distance by defining the performance index. The initial feasible path generated from the AIS planner is then smoothed using the cubic B-spline technique, in order to construct a...
This paper presents an intelligent motion controller for four-wheeled omnidirectional mobile robots with four independent driving wheels equally spaced at 90 degrees from one another by using artificial immune system (AIS) algorithm. Simulation results are conducted to show the effectiveness of the proposed AIS-based intelligent motion controller for four-wheeled omnidirectional mobile robots.
This paper presents an intelligent fuzzy motion controller for three-wheeled omnidirectional mobile robots to achieve trajectory tracking and stabilization. The controller parameters of motion controller are on-line tuned using the fuzzy theory. These optimized parameters are employed in the intelligent motion controller to obtain optimal performance for three-wheeled omnidirectional mobile robots...
In this paper, we employ the two-dimensional spatial coding scheme to improve system performance in time-spreading wavelength-hopping optical CDMA system. The signature sequence in our proposed system utilizes symmetric code (i.e. single-pulse-per-row) and its shifted version. Based on the zero autocorrelation sidelobes property, we propose a two-dimensional parallel detection scheme using trellis...
A novel single-phase full-bridge soft switching rectifier (FBSSR) using a new resonance unit is proposed in this paper. All main switches in the proposed soft switching rectifier operate at zero-voltage-switching (ZVS) turn-on and turn-off. Moreover, the auxiliary switches operate at zero-current-switching (ZCS) turn-on and turn-off. Major benefits of this novel rectifier are found in efficiency improvement,...
In this paper, a modified multivariable adaptive fuzzy cerebellar model articulation controller (CMAC) scheme is proposed to solve the tracking problem for a class of nonlinear systems. A FCMAC (fuzzy CMAC) module is used to approximate a nonlinear multivariable (multi-input multi-output (MIMO)) system involving uncertainty to create the desired ideal control inputs. Suitable control and adaptive...
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