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This paper presents a real induction vehicle motor speed estimation technique, based on the fuzzy logic inference system knowledge for electric vehicle safety based on differential electronics as essential element for two wheeled electric vehicle driving which utilize the two back separately induction motors for motion. The aim object of the fuzzy logic controller is to give more and more safety for...
The purpose of this paper is to present for modeling and simulation a hydraulic servo system (HSS). This work describes the design and implementation of a control system for the operation of a hydraulic mini press machine. First, the system develops mathematical models for obtaining the system responses. While, the closed loop system is based on linearized model of feedback regulator of PD controller...
In this paper we describe the application of a Simple ACO (S-ACO) as a method of optimization for membership functions' parameters of a fuzzy logic controller (FLC) in order to find the optimal intelligent controller for an Autonomous Wheeled Mobile Robot. Simulation results show that ACO outperforms a GA in the optimization of FLCs for an autonomous mobile robot.
This paper presents a proposal for structuring real-time programs in a way that improves their reliability. Basically, it consists of five constructs that have been designed after the model of classical "structured programming", together with a generalized way of dealing with resources. After some considerations about reliability these constructs are presented and explained. Then, a test...
This paper presents an adaptive control method based on fuzzy neural network for Autonomous Underwater Vehicle (AUV). The Fuzzy Neural Network (FNN) could build the inverse model of AUV through on-line learning algorithm, which is free of fuzzy neural network structure knowledge and prior fuzzy inference rules. The adaptive controller for AUV based on FNN is proposed, and then the stability of the...
The shifted up one period of cosine function with field under it normalized to 1 is proposed to be use as the un conventional model of probability density function (PDF). It could also approximate Normal probability distribution in the range š 2.5 standard deviation with accuracy of about š0.02, which is fully acceptable in the evaluation of measurement uncertainty. In this paper the properties of...
The mobile manipulator has the potential to become an efficient industrial robot due to its mobility and dexterity. Moreover, it has expanded the operational area of the mobile manipulator due to its ability to work in a limited space. However, adaptability to unknown environments has still not been developed to date. Therefore, adaptation of the mobile manipulator for unknown environments especially...
Localization is a fundamental problem of autonomous mobile robots. Localization is the determination of the position and orientation of a robot. Most localization systems are made up of several sensors and a map of the environment. Sophisticated localization systems can solve both the global location problem and the kid-napped robot problem. Global localization is the process of placing the robot...
A programmable controller suited for automation applications of highest safety criticality is presented. Its features are input conditioning by low-resolution analogue-to-digital converters, inference by look-up in rule set tables, strictly periodic and jitter-free operation, high speed and simplicity of design. A fail-safe supervisor immediately initiates an emergency shut-down in case of a malfunction...
This paper describes a modular neural network (MNN) with fuzzy integration for the problem of signature recognition. Currently, biometric identification has gained a great deal of research interest within the pattern recognition community. For instance, many attempts have been made in order to automate the process of identifying a person’s handwritten signature; however this problem has proven to...
The pointwise completeness and pointwise degeneracy of standard and positive linear discrete-time and continuous- time systems with state-feedbacks are addressed. It is shown that: 1) the pointwise completeness and pointwise degeneracy of continuous-time standard systems are invariant under the state and output feedbacks, 2) for standard and positive discrete-time and positive continuous- time systems...
This paper examines the spike-timing-dependent plasticity (STDP) at the synapses of the medial entorhinal cortex (EC) and the dentate gyrus (DG) in the hippocampus. The medial and lateral ECs respectively convey spatial and non-spatial information to the hippocampus, and the DG of the hippocampus integrates or binds them. There is a recurrent neuronal network between the EC and the hippocampus called...
In this paper, we proposed an emotional expression system as a brain-inspired system. The emotional expression was achieved by an Emotional expression Model of the Amygdala (EMA), which was an engineering model inspired by an emotional learning in the brain. EMA can realize both recognition of sensory inputs and a classical conditioning of emotional inputs. Furthermore, a specific hardware of EMA...
In this paper, we propose a new method for building an environmental map in a self-organizing manner using visual information from a mobile robot. This method is based on a Higher Rank of Self-Organizing Map (SOM ), in which Kohonen’s SOM is extended to create a map of data distributions (set of manifolds). It is expected that the “SOM” is capable of creating an environmental map in a self-organizing...
Robots and robotics technologies are expected as new tools for inspection and manipulation. The dynamics of robot always are changed by environment and robot of state in mission. Therefore, an adaptation system, which is able to switch controller due to environment and robot of state, is needed. Meanwhile, animals are able to go through several environments and adapt several own states. The adaptation...
Antagonistic mechanisms attract attentions as joint actuators of linkage mechanisms, which control output torque, joint stiffness and position simultaneously. As the actuators or components of antagonistic driven joints, special devices with nonlinear elasticity property such as pneumatic actuators, nonlinear springs are often utilized to satisfy the requirements of antagonistic mechanisms. However,...
We propose a practical simple local navigation system inspired by the sequence learning mechanism of the entorhino-hippocampal system. The proposed system memorizes a route as sequences of landmarks in the same way humans do. The proposed local navigation system includes a local route memory unit, landmark extraction unit, and learning-type matching unit. In the local route memory unit, the concept...
After short introduction transfer coefficients of the unloaded four arms bridge of arbitrary variable arm resistances, supplied by current or voltage source, are given in Table 1. Their error propagation formulas are find and two rationalized forms of accuracy measures, i.e. related to the initial bridge sensitivities and of double component form as sum of zero error and increment error of the bridge...
A coordinate measuring machine (CMM) as an automation technology is playing the key role in the modern industry to improve the measurement accuracy. Accurate probing that is computer controlled is the current trend for the next generation of coordinate metrology. However, the CMM probing system is limited by its dynamic root errors that may markedly affect its response characteristics. In this paper,...
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