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The Underactuated Lightweight Tensegrity Robotic Assistive Spine (ULTRA Spine) project is an ongoing effort to develop a flexible, actuated backbone for quadruped robots. In this work, model-predictive control is used to track a trajectory in the robot's state space, in simulation. This is the first work that tracks an arbitrary trajectory, in closed-loop, in the state space of a spine-like tensegrity...
Cluster based routing technique is most popular routing technique in Wireless Sensor Networks (WSNs). Due to varying need of WSN applications efficient energy utilization in routing protocols is still a potential area of research. In this research work we introduced a new energy efficient cluster based routing technique. In this technique we tried to overcome the problem of coverage hole and energy...
Pico hydro is a green energy that consumes a small streams to generate electricity without depends on any sources of non-renewable energy. This green scheme offer a cheap, efficient, reliable and cost effective of alternative energy and hence, there is no need to worries about the fuel source, capital cost, pollution and life expectancy. Even though the power generated is less than 5kW, but the benefit...
This paper presents structures of 8-bit Cyclic Redundancy Check (CRC). The CRC structures are implemented using Linear Feedback Shift Registers (LFSRs) along with Exclusive-OR logic gates. In these structures bank of External Exclusive-ORs (EEORs) are used. To equip the LFSR with primitive characteristic polynomial an algorithmic based search procedure is developed to provide the error detection and...
This paper presents a comparative assessment of Pole Placement and Linear Quadratic Regulator to control a balancing of two wheels mobile robot. Disturbance is applied to to test the balancing of the robot. The mathematical model of this robot which is highly nonlinear is derived. The final model is then represented in state space form using MATLAB/Simulink application. Simulation on MATLAB application...
For many students, mathematical word problem-solving is one of the most demanding tasks in mathematics. It involves both higher and lower order thinking skills. The higher order activities in word problem-solving are the main causes of cognitive overload among students. This paper describes a cognitive tool developed for mathematical word problem-solving called MINDA which is designed to reduce the...
This paper presents investigations into the development of hybrid control schemes for sway suppression and rotational angle tracking of a rotary crane system. A lab-scaled rotary crane is considered and the dynamic model of the system is derived using the Euler-lagrange formulation. To study the effectiveness of the controllers, initially a collocated proportional-derivative (PD) controller is developed...
This paper describes the use of angular position control approaches for a flexible robot manipulator with disturbance effect in the dynamic system. A nominal characteristic trajectory following (NCTF) controller is used to actively control the vibration of flexible structures. The controller design, which is comprised of a nominal characteristic trajectory (NCT) and PI compensator, is free from exact...
This paper describes the use of angular position control approaches for a flexible robot manipulator with disturbance effect in the dynamic system. A nominal characteristic trajectory following (NCTF) controller is used to actively control the vibration of flexible structures. The controller design, which is comprised of a nominal characteristic trajectory (NCT) and PI compensator, is free from exact...
This paper presents investigations into the implementation of input shaping schemes for anti-sway control of a gantry crane system. A lab-scale gantry crane is considered in the experimental work. An unshaped bang-bang input voltage is used to determine the characteristic parameters of the system for design and evaluation of the input shaping schemes. The input shaping schemes with different derivatives...
This paper presents investigations into the development of hybrid control schemes for trajectory tracking and anti-swaying control of a double-pendulum-type overhead crane (DPTOC) system. A nonlinear DPTOC system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. To study the effectiveness of the controllers, initially nominal characteristics following...
This paper presents investigations into the implementation of input shaping techniques in hybrid control schemes of a rotary crane system. A lab-scaled rotary crane is considered and the dynamic model of the system is derived using Euler-Lagrange formulation. To study the effectiveness of the controllers, initially a collocated proportional-derivative (PD) control is developed for horizontal angle...
This paper presents investigations of sway feedback control approaches for a rotary crane system with disturbance effect in the dynamic system. Linear Quadratic Regulator (LQR) controller and Proportional-Derivative (PD)-type Fuzzy Logic controller are the techniques used in this investigation to actively control the sway of rotary crane system. A lab-scale rotary crane system is considered and the...
As Cognitive Radio Network (CRN) emerges as an extremely promising next generation wireless technology that can ease the apparent spectrum scarcity and support novel wireless applications; they will become bigger targets for hackers. Moreover, they will also be exposed to diverse security threats especially at the physical layer (PHY) spectrum sensing module. Hence, security consideration is central...
This paper presents the use of backstepping controller in order to construct an active suspension for a quarter car model with observer design. The implementation of backstepping controller is presented in non-linear quarter car model for active suspension system. The movement of the rotational motion of arm has been taking into consideration for this system which has been neglected by the linear...
This paper explores the usage of repulsive particle swarm optimization (RPSO) to perform non-linear auto-regressive with exogenous input (NARMAX) system identification of direct current (DC) motor. The NARMAX model was constructed using a recurrent artificial neural network (ANN) model by Rahim and Taib and Yassin et al. The comparison result was made between RPSO method and inertia weight-based PSO...
The impact of UWB interference on GSM 900 was studied in view of Federal Communication Commission (FCC) regulations. The maximum UWB transmitter power levels that would cause 1dB performance degradation on GSM 900 receivers were determined. UWB densities were computed for different GSM cluster size and the results showed that there is no harmful interference for GSM 900 system.
Currently, the advancement in Ultra-Wide Band (UWB) technology has caught the attention of many researchers to explore it given that its ability to support higher data rate with low transmission power. In spite of this, its capability to share the frequency spectrum with current narrowband and wideband radio services raises interference concerns for radio services. This study concerned with the effect...
Chatter is one of the unwanted noises generated during wiper operation. It is a low frequency and self-excited vibration that is often generated before and after the wiper reverses direction. This leads to poor visibility and an annoying sound to the driver and passengers. This paper intends to propose a control technique that is capable of reducing chatter noise and vibration in the automotive windshield...
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