Abstract: The research on two-wheeled inverted pendulum (TWIP) mobile robots or commonly known as balancing robots have gained momentum over the last decade in a number of robotic laboratories around the world. This paper describes the hardware design of such a robot. The objective of the design is to develop a TWIP mobile robot as well as MATLAB interfacing configuration to be used as flexible platform comprises of embedded unstable linear plant intended for research and teaching purposes. Issues such as selection of actuators and sensors, signal processing units, MATLAB Real Time Workshop coding, modeling and control scheme will be addressed and discussed. The system is then tested using a wellknown state feedback controller to verify its functionality.
Abstract: Properties of cement pastes with fine-ground ceramics
used as an alternative binder replacing Portland cement up to 20% of
its mass are investigated. At first, the particle size distribution of
cement and fine-ground ceramics is measured using laser analyser.
Then, the material properties are studied in the early hardening
period up to 28 days. The hydration process of studied materials is
monitored by electrical conductivity measurement using TDR
sensors. The changes of materials- structures within the hardening are
observed using pore size distribution measurement. The compressive
strength measurements are done as well. Experimental results show
that the replacement of Portland cement by fine-ground ceramics in
the amount of up to 20% by mass is acceptable solution from the
mechanical point of view. One can also assume similar physical
properties of designed materials to the reference material with only
Portland cement as binder.
Abstract: Using of natural lighting has come into prominence in
constructed buildings, especially in last ten years, under scope of
energy efficiency. Natural lighting methods are one of the methods
that aim to take advantage of day light in maximum level and
decrease using of artificial lighting. Increasing of day light amount in
buildings by using suitable methods will give optimum result in
terms of comfort and energy saving when the daylight-artificial light
integration is ensured with a suitable control system. Using of natural
light in places that require lighting will ensure energy saving in great
extent. With this study, it is aimed to save energy used for purpose of
lighting. Under this scope, lighting of a scanning laboratory of a
hospital was realized by using a lighting automation containing
natural and artificial lighting. In natural lighting, light pipes were
used and in artificial lighting, dimmable power LED modules were
used. Necessity of lighting was followed with motion sensors. The
lighting automation containing natural and artificial light was ensured
with fuzzy logic control. At the scanning laboratory where this
application was realized, energy saving in lighting was obtained.
Abstract: This article presents a simple way to perform programmed voice commands for the interface with commercial Digital and Analogue Input/Output PCI cards, used in Robotics and Automation applications. Robots and Automation equipment can "listen" to voice commands and perform several different tasks, approaching to the human behavior, and improving the human- machine interfaces for the Automation Industry. Since most PCI Digital and Analogue Input/Output cards are sold with several DLLs included (for use with different programming languages), it is possible to add speech recognition capability, using a standard speech recognition engine, compatible with the programming languages used. It was created in this work a Visual Basic 6 (the world's most popular language) application, that listens to several voice commands, and is capable to communicate directly with several standard 128 Digital I/O PCI Cards, used to control complete Automation Systems, with up to (number of boards used) x 128 Sensors and/or Actuators.
Abstract: Capacitive electrocardiogram (ECG) measurement is an attractive approach for long-term health monitoring. However, there is little literature available on its implementation, especially for multichannel system in standard ECG leads. This paper begins from the design criteria for capacitive ECG measurement and presents a multichannel limb-lead capacitive ECG system with conductive fabric tapes pasted on a double layer PCB as the capacitive sensors. The proposed prototype system incorporates a capacitive driven-body (CDB) circuit to reduce the common-mode power-line interference (PLI). The presented prototype system has been verified to be stable by theoretic analysis and practical long-term experiments. The signal quality is competitive to that acquired by commercial ECG machines. The feasible size and distance of capacitive sensor have also been evaluated by a series of tests. From the test results, it is suggested to be greater than 60 cm2 in sensor size and be smaller than 1.5 mm in distance for capacitive ECG measurement.
Abstract: this paper gives a novel approach towards real-time speed estimation of multiple traffic vehicles using fuzzy logic and image processing techniques with proper arrangement of camera parameters. The described algorithm consists of several important steps. First, the background is estimated by computing median over time window of specific frames. Second, the foreground is extracted using fuzzy similarity approach (FSA) between estimated background pixels and the current frame pixels containing foreground and background. Third, the traffic lanes are divided into two parts for both direction vehicles for parallel processing. Finally, the speeds of vehicles are estimated by Maximum a Posterior Probability (MAP) estimator. True ground speed is determined by utilizing infrared sensors for three different vehicles and the results are compared to the proposed algorithm with an accuracy of ± 0.74 kmph.
Abstract: In this paper, the influencing parameters of a novel
purely mechanical wireless in-mould injection moulding sensor
were investigated. The sensor is capable of detecting the melt
front at predefined locations inside the mould. The sensor comprises
a movable pin which acts as the sensor element generating
structure-borne sound triggered by the passing melt front. Due to
the sensor design, melt pressure is the driving force. For pressure
level measurement during pin movement a pressure transducer
located at the same position as the movable pin. By deriving
a mathematical model for the mechanical movement, dominant
process parameters could be investigated towards their impact
on the melt front detection characteristic. It was found that the
sensor is not affected by the investigated parameters enabling it
for reliable melt front detection. In addition, it could be proved
that the novel sensor is in comparable range to conventional melt
front detection sensors.
Abstract: In this paper, a new method of information fusion – DSmT (Dezert and Smarandache Theory) is introduced to apply to managing and dealing with the uncertain information from robot map building. Here we build grid map form sonar sensors and laser range finder (LRF). The uncertainty mainly comes from sonar sensors and LRF. Aiming to the uncertainty in static environment, we propose Classic DSm (DSmC) model for sonar sensors and laser range finder, and construct the general basic belief assignment function (gbbaf) respectively. Generally speaking, the evidence sources are unreliable in physical system, so we must consider the discounting theory before we apply DSmT. At last, Pioneer II mobile robot serves as a simulation experimental platform. We build 3D grid map of belief layout, then mainly compare the effect of building map using DSmT and DST. Through this simulation experiment, it proves that DSmT is very successful and valid, especially in dealing with highly conflicting information. In short, this study not only finds a new method for building map under static environment, but also supplies with a theory foundation for us to further apply Hybrid DSmT (DSmH) to dynamic unknown environment and multi-robots- building map together.
Abstract: Public awareness towards green energy are on the rise and this can be prove by many product being manufactured or prerequired to be made as energy saving devices mainly to save consumer from spending more on utility billing. These schemes are popular nowadays and many homemade appliances are turned into energy saving gadget which attracts the attention of consumers. Knowing the public demands and pattern towards purchasing home appliances thus the idea of “energy saving suction hood (ESSH)" is proposed. The ESSH can be used in many places that require smoke ventilation or even to reduce the room temperature as many conventional suction hoods (CSH) do, but this device works automatically by the usage of sensors that detects the smoke/temperature and automatically spins the exhaust fan. As it turns, the mechanical rotation rotates the AC generator which is coupled together with the fan and then charges the battery. The innovation of this product is, it does not rely on the utility supply as it is also hook up with a solar panel which also charges the battery, Secondly, it generates energy as the exhaust fan mechanically rotates. Thirdly, an energy loop back feature is introduced to this system which will supply for the ventilator fan. Another major innovation is towards interfacing this device with an in house production of generator. This generator is produced by proper design on stator as well as rotor to reduce the losses. A comparison is made between the ESSH and the CSH and result shows that the ESSH saves 172.8kWh/year of utility supply which is used by CSH. This amount of energy can save RM 3.14 from monthly utility bill and a total of RM 37.67 per year. In fact this product can generate 175 Watt of power from generator(75W) and solar panel(100W) that can be used either to supply other household appliances and/or to loop back to supply the fans motor. The innovation of this system is essential for future production of other equipment by using the loopback power method and turning most equipment into a standalone system.
Abstract: The computer modeling is carried out for parameter of
sensitivity of optoelectronic chemical and biosensors, using
phenomena of surface plasmon resonance (SPR). The physical model
of SPR-sensor-s is described with (or without) of modifications of
sensitive gold film surface by a dielectric layer. The variants of
increasing of sensitivity for SPR-biosensors, constructed on the
principle gold – dielectric – biomolecular layer are considered. Two
methods of mathematical treatment of SPR-curve are compared –
traditional, with estimation of sensor-s response as shift of the SPRcurve
minimum and proposed, for system with dielectric layer, using
calculating of the derivative in the point of SPR-curve half-width.
Abstract: This paper presents design features of a rescue robot, named CEO Mission II. Its body is designed to be the track wheel type with double front flippers for climbing over the collapse and the rough terrain. With 125 cm. long, 5-joint mechanical arm installed on the robot body, it is deployed not only for surveillance from the top view but also easier and faster access to the victims to get their vital signs. Two cameras and sensors for searching vital signs are set up at the tip of the multi-joint mechanical arm. The third camera is at the back of the robot for driving control. Hardware and software of the system, which controls and monitors the rescue robot, are explained. The control system is used for controlling the robot locomotion, the 5-joint mechanical arm, and for turning on/off devices. The monitoring system gathers all information from 7 distance sensors, IR temperature sensors, 3 CCD cameras, voice sensor, robot wheels encoders, yawn/pitch/roll angle sensors, laser range finder and 8 spare A/D inputs. All sensors and controlling data are communicated with a remote control station via IEEE 802.11b Wi-Fi. The audio and video data are compressed and sent via another IEEE 802.11g Wi-Fi transmitter for getting real-time response. At remote control station site, the robot locomotion and the mechanical arm are controlled by joystick. Moreover, the user-friendly GUI control program is developed based on the clicking and dragging method to easily control the movement of the arm. Robot traveling map is plotted from computing the information of wheel encoders and the yawn/pitch data. 2D Obstacle map is plotted from data of the laser range finder. The concept and design of this robot can be adapted to suit many other applications. As the Best Technique awardee from Thailand Rescue Robot Championship 2006, all testing results are satisfied.
Abstract: This paper proposes a novel system for monitoring the
health of underground pipelines. Some of these pipelines transport
dangerous contents and any damage incurred might have catastrophic
consequences. However, most of these damage are unintentional and
usually a result of surrounding construction activities. In order to
prevent these potential damages, monitoring systems are
indispensable. This paper focuses on acoustically recognizing road
cutters since they prelude most construction activities in modern
cities. Acoustic recognition can be easily achieved by installing a
distributed computing sensor network along the pipelines and using
smart sensors to “listen" for potential threat; if there is a real threat,
raise some form of alarm. For efficient pipeline monitoring, a novel
monitoring approach is proposed. Principal Component Analysis
(PCA) was studied and applied. Eigenvalues were regarded as the
special signature that could characterize a sound sample, and were
thus used for the feature vector for sound recognition. The denoising
ability of PCA could make it robust to noise interference. One class
SVM was used for classifier. On-site experiment results show that the
proposed PCA and SVM based acoustic recognition system will be
very effective with a low tendency for raising false alarms.
Abstract: Flight management system (FMS) is a specialized
computer system that automates a wide variety of in-flight tasks,
reducing the workload on the flight crew to the point that modern
aircraft no longer carry flight engineers or navigators. The primary
function of FMS is to perform the in-flight management of the flight
plan using various sensors (such as GPS and INS often backed up by
radio navigation) to determine the aircraft's position. From the
cockpit FMS is normally controlled through a Control Display Unit
(CDU) which incorporates a small screen and keyboard or touch
screen. This paper investigates the performance of GPS/ INS
integration techniques in which the data fusion process is done using
Kalman filtering. This will include the importance of sensors
calibration as well as the alignment of the strap down inertial
navigation system. The limitations of the inertial navigation systems
are investigated in order to understand why INS sometimes is
integrated with other navigation aids and not just operating in standalone
mode. Finally, both the loosely coupled and tightly coupled
configurations are analyzed for several types of situations and
operational conditions.
Abstract: In this paper the development of a heat exchanger as a
pilot plant for educational purpose is discussed and the use of neural
network for controlling the process is being presented. The aim of the
study is to highlight the need of a specific Pseudo Random Binary
Sequence (PRBS) to excite a process under control. As the neural
network is a data driven technique, the method for data generation
plays an important role. In light of this a careful experimentation
procedure for data generation was crucial task. Heat exchange is a
complex process, which has a capacity and a time lag as process
elements. The proposed system is a typical pipe-in- pipe type heat
exchanger. The complexity of the system demands careful selection,
proper installation and commissioning. The temperature, flow, and
pressure sensors play a vital role in the control performance. The
final control element used is a pneumatically operated control valve.
While carrying out the experimentation on heat exchanger a welldrafted
procedure is followed giving utmost attention towards safety
of the system. The results obtained are encouraging and revealing
the fact that if the process details are known completely as far as
process parameters are concerned and utilities are well stabilized then
feedback systems are suitable, whereas neural network control
paradigm is useful for the processes with nonlinearity and less
knowledge about process. The implementation of NN control
reinforces the concepts of process control and NN control paradigm.
The result also underlined the importance of excitation signal
typically for that process. Data acquisition, processing, and
presentation in a typical format are the most important parameters
while validating the results.
Abstract: Wheeled Mobile Robots (WMRs) are built with their
Wheels- drive machine, Motors. Depend on their desire design of
WMR, Technicians made used of DC Motors for motion control. In
this paper, the author would like to analyze how to choose DC motor
to be balance with their applications of especially for WMR.
Specification of DC Motor that can be used with desire WMR is to
be determined by using MATLAB Simulink model. Therefore, this
paper is mainly focus on software application of MATLAB and
Control Technology. As the driving system of DC motor, a
Peripheral Interface Controller (PIC) based control system is
designed including the assembly software technology and H-bridge
control circuit. This Driving system is used to drive two DC gear
motors which are used to control the motion of WMR. In this
analyzing process, the author mainly focus the drive system on
driving two DC gear motors that will control with Differential Drive
technique to the Wheeled Mobile Robot . For the design analysis of
Motor Driving System, PIC16F84A is used and five inputs of sensors
detected data are tested with five ON/OFF switches. The outputs of
PIC are the commands to drive two DC gear motors, inputs of Hbridge
circuit .In this paper, Control techniques of PIC
microcontroller and H-bridge circuit, Mechanism assignments of
WMR are combined and analyzed by mainly focusing with the
“Modeling and Simulink of DC Motor using MATLAB".
Abstract: This paper describes studies carried out to investigate
the viability of using wireless cameras as a tool in monitoring
changes in air quality. A camera is used to monitor the change in
colour of a chemically responsive polymer within view of the camera
as it is exposed to varying chemical species concentration levels. The
camera captures this image and the colour change is analyzed by
averaging the RGB values present. This novel chemical sensing
approach is compared with an established chemical sensing method
using the same chemically responsive polymer coated onto LEDs. In
this way, the concentration levels of acetic acid in the air can be
tracked using both approaches. These approaches to chemical plume
tracking have many applications for air quality monitoring.
Abstract: ZnO heteronanostructured nanowires arrays have
been fabricated by low temperature solution method. Various
heterostructures were synthesized including CdS/ZnO,
CdSe/CdS/ZnO nanowires and Co3O4/ZnO, ZnO/SiC
nanowires. These multifunctional heterostructure nanowires
showed important applications in photocatalysts, sensors,
wettability control and solar energy conversion.
Abstract: Access control is a critical security service in Wire- less
Sensor Networks (WSNs). To prevent malicious nodes from joining
the sensor network, access control is required. On one hand, WSN
must be able to authorize and grant users the right to access to the
network. On the other hand, WSN must organize data collected by
sensors in such a way that an unauthorized entity (the adversary)
cannot make arbitrary queries. This restricts the network access only
to eligible users and sensor nodes, while queries from outsiders will
not be answered or forwarded by nodes. In this paper we presentee
different access control schemes so as to ?nd out their objectives,
provision, communication complexity, limits, etc. Using the node
density parameter, we also provide a comparison of these proposed
access control algorithms based on the network topology which can
be flat or hierarchical.
Abstract: This research contribution is drafted to present the
orbit design, orbit propagator and geomagnetic field estimator for the
nanosatellites specifically for the upcoming CUBESAT, ICUBE-1 of
the Institute of Space Technology (IST), Islamabad, Pakistan. The
ICUBE mission is designed for the low earth orbit at the approximate
height of 700KM. The presented research endeavor designs the
Keplarian elements for ICUBE-1 orbit while incorporating the
mission requirements and propagates the orbit using J2 perturbations,
The attitude determination system of the ICUBE-1 consists of
attitude determination sensors like magnetometer and sun sensor. The
Geomagnetic field estimator is developed according to the model of
International Geomagnetic Reference Field (IGRF) for comparing the
magnetic field measurements by the magnetometer for attitude
determination. The output of the propagator namely the Keplarians
position and velocity vectors and the magnetic field vectors are
compared and verified with the same scenario generated in the
Satellite Tool Kit (STK).
Abstract: Recently there has been a growing interest in the field
of bio-mimetic robots that resemble the behaviors of an insect or an
aquatic animal, among many others. One of various bio-mimetic robot
applications is to explore pipelines, spotting any troubled areas or
malfunctions and reporting its data. Moreover, the robot is able to
prepare for and react to any abnormal routes in the pipeline. Special
types of mobile robots are necessary for the pipeline monitoring tasks.
In order to move effectively along a pipeline, the robot-s movement
will resemble that of insects or crawling animals. When situated in
massive pipelines with complex routes, the robot places fixed sensors
in several important spots in order to complete its monitoring. This
monitoring task is to prevent a major system failure by preemptively
recognizing any minor or partial malfunctions. Areas uncovered by
fixed sensors are usually impossible to provide real-time observation
and examination, and thus are dependent on periodical offline
monitoring. This paper proposes a monitoring system that is able to
monitor the entire area of pipelines–with and without fixed
sensors–by using the bio-mimetic robot.