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Robotics as a subject has always been an attractive course for students due to current overwhelming present of robots in various human activities, and desire to learn the magic behind the machine operation. However, delivering the fundamental concepts in robotic (especially for serial robot manipulator) such as kinematics, dynamics, coordinate transformation and trajectory planning is neither easy...
The rapid-prototyping and deployment of flight control algorithm on a real-time embedded target has been one of the major challenges in an unmanned helicopter system development. In this paper, a MATLAB-Simulink based embedded target programming approach is presented to address this challenge. The motivation for this approach is that, since most of the computational tasks in the unmanned helicopter...
The need for a high fidelity model for design, analysis and implementation of an unmanned helicopter system (UHS) in various emerging civil applications cannot be underestimated. However, going by a first principle approach based on physical laws governing the dynamics of the system, this task is noted to be highly challenging due to the complex nonlinear characteristics of the helicopter system....
The problem of determining simultaneously the model order and coefficient of an Autoregressive Moving Average (ARMA) model is examined in this paper. An Evolutionary Algorithm (EA) comprising two-level Differential Evolution (DE) optimization scheme is proposed. The first level searches for the appropriate model order while the second level computes the optimal/sub-optimal corresponding parameters...
This paper presents an evolutionary optimization based LQR controller design for an inverted pendulum system. The objective is to address the challenges of appropriate design parameters selection in LQR controller while providing optimal performance compromise between the system control objectives with respect to pendulum angle and position response. Hence, a Multiobjective differential evolution...
This paper presents the development of intelligent control technique for yam storage system based on fuzzy logic controller (FLC). The expert control of yam storage system is formulated in the form of fuzzy rules. The inputs to the controller are the outside and inside temperature, wind speed and presences of rain. The output is the window opening angle. Simulations were performed for different typical...
Friction has been shown to be one of the major contributing factors for problem associated with accuracy in motion control systems. Apart from making the system response slow, it causes steady state error or limit cycles near the reference position for the motion control system. In order to alleviate these problems, various control methods have been introduced and proposed for compensating the friction...
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