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This study deals with a guide robot for blind people. User inputs (i.e., commands for movements) are obtained from blind people through a joystick, which has two potentiometers. Some noise unintentionally caused by the user is included in this input. To reject the unwanted signal, the robot has to recognize the intention of the user even with these noises. In order to make the robot follow the intention,...
In this paper an innovative model architecture is proposed based on the fusion of a multi auto-adjusted TSK fuzzy logic classifier and a signal convolver classifier to model physical actions and behaviours without any giving prior knowledge of the modeled activities. Three different hypotheses are being tried to investigate such as the classification accuracy of 3D time series activity data, the discrimination...
This paper is directed towards developing two new fuzzy logic-based representations for systems modelling and optimization using the notion of the normalized fuzzy matrices. The first is the arithmetic type based on dual cell representation, expressed by replacing each parameter with a pair of parentheses, the first is the actual value and the second is corresponding fuzzy level, (value, fuzzy level)...
This paper is focused on designing of fuzzy based gains tuning of proportional-derivative (FTPD) controller for joints positions control of the Asian Institute of Technology's leg exoskeleton-I (ALEX-I). The main objective of this research is to obtain the desired gait motion of the whole system. The gait data from simulation is used as the input (set point) of ALEX-I, this data is simulated based...
This paper describes the control architecture for lower limbs rehabilitation robot system and its implementation. The system has exoskeleton structure with 10 DOF (degrees of freedom) and is pneumatically actuated. The control strategy has been specifically designed in order to ensure a proper position control guiding patient's legs along a fixed reference gait pattern. For this purposes Fuzzy controller...
To improve the operability of a power-assist omnidirectional wheelchair driven by attendant, an improved neuro-fuzzy control system and an innovative human-interface using a touch panel was developed. The neuro-fuzzy controller was modified to improve the operability of diagonal motions. Moreover, the touch panel provides easy input and feedback information of the operation to adapt to the individual...
A collision-avoidance planning method in multi-robot system based on genetic algorithm optimized by fuzzy logic control is designed, which include a simplified three-tier structure: avoid robot, avoid static obstacles and moving to the goal. These actions reason independently, and take information from different sensors as inputs; all the outputs are next anticipant movement of robot. Then, it synthesizes...
This research is an attempt to design and develop behaviors for a group of robots to handle an object. A new approach to develop an object pushing system with a large group of mobile robots is introduced. The behaviors are devised in such a way that the robots would easily develop a swarm formation around the object and push it toward the desired goal. A rotating orbit of robots around the object...
Manipulators mounted on unmanned submarines are inherently kinematically redundant. Such systems, which are normally controlled by operators from within a vessel on the sea, can follow a desired path both by moving its manipulator or the submarine itself. Due to this redundancy one might control the system such that it tracks the desired path and fulfil some secondary tasks at the same time. Due to...
Many investigations have been done on low velocity and frequency applications of MR devices. The main purpose of this paper was to analyze the behaviour of the long-stroke MR damper under impact load and establish its dynamic model. Their relationships between some important designed parameters have been investigated in detail. According to the simulation result, a novel large-scale single-ended MR...
Fuzzy neural network controller for underwater vehicles has many parameters difficult to tune manually. To reduce the numerous work and subjective uncertainty in manual adjustments, a novel immune particle swarm optimization (IPSO) algorithm based on immune theory and nonlinear decreasing inertia weight (NDIW) strategy was proposed. Owing to the restraint factor and NDIW strategy, IPSO algorithm can...
To enhance the controller performance for the master-slave manipulator system which using a position feedback framework, in this paper, a hybrid adaptive Neuro-Fuzzy Model Reference is proposed. By feeding back the slave's position, the movement at the master may appear ldquosluggishrdquo especially during no-contact operation. The Neuro-Fuzzy control is applied to in position-position and position-position/force...
In this paper, a novel hybrid fuzzy proportional-integral-derivative (PID) controller based on learning automata for optimal tracking of robot systems including motor dynamics is presented. Learning automata is used at the supervisory level for adjustment of the parameters of hybrid Fuzzy-PID controller during the system operation. The proposed method has better convergence rate in comparison with...
This paper reports the development of simulation software and control logic for the lateral position control of a moving web in roll-to-roll (R2R) systems. A mathematical model is described first to explain the lateral dynamics of a moving web. Based on the model, simulation software named LACOSIM is designed and implemented to simulate the lateral dynamics and also to control the lateral position...
In this research, an adaptive cruise control system is developed and implemented on an AIT intelligent vehicle. To develop the adaptive cruise control system, the original throttle system and braking system of the vehicle have to be modified. The original throttle valve which is controlled by a cable from the accelerator pedal is modified to the drive-by-wire system by using a dc motor with a position...
Theoretical analysis and implementation of autonomous staircase detection and stair climbing algorithms on a novel rescue mobile robot are presented in this paper. The main goals are to find the staircase during navigation and to implement a fast, safe and smooth autonomous stair climbing algorithm. Silver is used here as the experimental platform. This tracked mobile robot is a tele-operative rescue...
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