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This research proposes a study of Nonlinear Feedback Linearization-Based PI controller for a continuous pH process system. We control the pH by filling in a reactor tank with wastewater and sodium hydroxide (NaOH) 1.25% by-weight. The system then keeps track of the pH to the desired values. However, since the system is inherently nonlinear and highly sensitive to uncertainty disturbances, it is not...
An underwater robot is widely used in many industries. The posture control of the robot is important since it makes a robot able to move in hard environment with stability and achieve precise motion following the desired trajectories. The designed underwater robot consists of 8 custom made thrusters in order control all robot state variables and make the motion achieve 6 Degrees-Of-Freedom. Robot...
Ball-riding robot is fascinated to humans because of its characteristic. Euler-Lagrange is used to describe the robot dynamics. By including the actuating motor dynamics into the robot equation, robot precise dynamics model can be obtained. The real robot is implemented by using acrylic and aluminum. Robot is controlled by using ARM-Cortex M3 embedded controller. Inertia moment unit information is...
Autonomous underwater vehicle (AUV) is being widely researched in order to achieve superior performance when working in hazardous environments. This research focuses on an implementation of a visual odometry estimation algorithm into the RaspberryPi 2. Robot Operating System (ROS) is deployed to the RaspberryPi 2 in order to handle messages between processes. Visual Odometry Estimation can be done...
Rice sprout transplanter is widely used in agricultural countries especially in South East Asia area because it reduces human error and increases productivity. Rice seeds are placed in a seeding tray for 1–2 days and transplanted into the rice field by a transplanter. Parachute Rice Sprout Transplantation is a new method for the rice transplantation which increases rice sprout growing rate and decreases...
In this research, a new robot, double-level ball-riding robot, is introduced. The robot consists of an upper ball-riding subsystem and a lower ball-riding subsystem. The robot’s dynamics model can be considered separately in two identical planes. Euler–Lagrange equation of motion is applied in order to obtain the dynamics model. Motors are included in the robot’s model. The model is then linearized...
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