Vol 2, No 2, 2014 by International Journal of Applied Electronics in Physics and Robotics [IJAEPR]
Gait generation for humanoids and humanoid walking has been subject of many researches in robotic... more Gait generation for humanoids and humanoid walking has been subject of many researches in robotics. This paper focuses on mathematical simulation of biped robots and investigating walking stability regarding zero moment point (ZMP) criteria; it also proposes a simple algorithm for humanoid walking with more links such as arms and forearms using proper parameters. Raising the number of links, the number of effective parameter instability grows rapidly and leads to be complicated and time consuming equations. In order to tackle the issue, a new method, step by step ZMP calculating is used. It can be seen that robot walking pattern with the swinging arm and forearm is like a human walking patterns. Besides, it is understood that a robot with arms has more stability in comparison with the robot without arms. Moreover, it is concluded that robot with forearms has more stability in comparison with the robot with arms.
Robotic revolution made the position monitoring systems become more and more demanding in the ind... more Robotic revolution made the position monitoring systems become more and more demanding in the industry. Knowing the position of an object will help for the better navigation as well as control of systems. This review is about the current position monitoring systems with an overlook of their applications in helping Alzheimer's patients. Here we have included the indoor and outdoor methods and the comparison between the common methods used in position monitoring systems. A list of various methods used for the position monitoring has been included in the conclusion section based on their accuracy and cost.
Vol 2, No 1, 2014 by International Journal of Applied Electronics in Physics and Robotics [IJAEPR]
The paper aims at incorporating intelligent modelling paradigm-the Takagi-Sugeno(TS) model and a ... more The paper aims at incorporating intelligent modelling paradigm-the Takagi-Sugeno(TS) model and a conventional pole placement control methods in achieving stability for a single area power system network. Four different operating points describing four different local linear state models are used in obtaining the TS fuzzy model, state estimation based on Ackermann's principle was used to determine the state feedback matrix for the four selected operating points, the system in open loop and in closed loop is simulated at varying parameter conditions. Results indicating effectiveness of the developed controller over other reported control method are generated.
Thick film CO2 sensors were fabricated using La2O3/SnO2 loaded with Pt and in the unloaded form. ... more Thick film CO2 sensors were fabricated using La2O3/SnO2 loaded with Pt and in the unloaded form. The nano-crystalline powders of SnO2-La2O3-Pt synthesized by high speed ball milling method were screen-printed on alumina substrates. The resistance of fabricated sensors were measured against different CO2 concentration in the working temperature of 225 C. The composition that gives an acceptable resistivity for CO2 was in the 3wt.% ratio of Pt.
This paper aimed at designing and evaluating the performance of a circuit that can be used in an ... more This paper aimed at designing and evaluating the performance of a circuit that can be used in an egg incubator, capable of controlling and monitoring of the required temperature automatically within the range of 32 to 39 C in a chamber using nonlinear sensor with possible linearization. Monitoring of temperature can be done using different types of sensors such as infrared sensors, thermal cameras, or any other alternative temperature measurement technique. This paper considers the use of thermistor due to its ruggedness and high level of sensitivity. Thermistor is a semiconductor device which senses the temperature in the chamber and the action of its output is send to a comparator which serves as a switching device in the circuit with the help of fast action of relay. The development of embryos in an incubator is highly sensitive to the environmental temperatures, studies shows that temperature manipulations around 38 C can be appropriate for hatching. The circuit consists of different stages: Power stage, stabilizing and amplifying stage, sensing and comparing stage, switching stage and loading stage respectively. All the stages work simultaneously to control the temperature in the chamber within the hatching period of 21 days with periodic turning of eggs manually. The performance evaluation and its output response show a favorable outcome as compared to standard hatching period.
Vol 1, No 2, 2013 by International Journal of Applied Electronics in Physics and Robotics [IJAEPR]
Robot speed up in analysing and acquiring data is one of the major tasks in all robots' design. A... more Robot speed up in analysing and acquiring data is one of the major tasks in all robots' design. Among all types of robot, plume tracker by their critical task to save human life and securities activity, have an important role. However, the interment shape and movement nature of odour itself bring lots of limitations like moment speed number of sensing element, etc. for these robot types. In this letter, we are proposing the expanding job to boost up processing speed and also over come their limitation by acquiring a number of sensors for our robot platform, Mokhtar. The primary result shows the upturn in robot speed and also success in this aim.
The research focused to address growing complexity in technological domain of robotics. It provid... more The research focused to address growing complexity in technological domain of robotics. It provides a methodology to develop conceptual guidance frameworks based on Theory of Inventive Problem Solving (TRIZ) knowledge-base. The developed guidance framework will support thinking process of engineers at conceptual design stage of solution design. The innovative principles and most probable future directions provided by derived guidance framework will help engineers to seek breakthrough solutions more systematically. Such thinking support will result in better solutions and reduced complexity of solution hunting process.
Complex fuzzy sets have been developed recently and extends truth values to unit circle in comple... more Complex fuzzy sets have been developed recently and extends truth values to unit circle in complex plane. Complex fuzzy logic then developed by employing complex fuzzy sets. In this paper, a novel adaptive complex neuro fuzzy inference system based on complex fuzzy logic is proposed for function approximation. The underlying procedure of this network and its learning rule are described. Afterwards, the performance of this system is evaluated by two functions consisting of Sine wave and Sinc function.
The quantum cascade lasers are such unipolarity lasers that have the emissivity from mid infrared... more The quantum cascade lasers are such unipolarity lasers that have the emissivity from mid infrared to far infrared range. In this paper the dynamic effects of quantum cascade lasers (QCL) GaAs/AlGaAs characteristics in the mid-infrared range of λ=9μm is investigated by solving the numerical equations. Calculating of the spontaneous emission rate changes, its effects on the number of carriers, the number of photons, and the output power are the objectives of the presented study. Finally, the output power changes, by increasing the number of stages in the quantum cascade laser, have been studied. The obtained results showed that, the increase of spontaneous emission rate parameter causes delay in the laser output. In addition, there is a direct relationship between the number of stages and the output power.
These days motion detection in surveillance technology has a trend to deploy to security sectors ... more These days motion detection in surveillance technology has a trend to deploy to security sectors using radar motion detector, wireless sensors, Micro-Electro-Mechanical Systems (MEMS) Inertial Sensors etc in Unix system. This research focuses on motion detection using combination of optical flow and thresholding methods on Linux platform. Salient configurations, inevitable installation packages and libraries are discussed elaborately. Moreover, script with pseudo code for connecting with remote networking service application has been implemented. Results show a good and convenient security system suitably for home and offices.
Vol 1, No 1, 2013 by International Journal of Applied Electronics in Physics and Robotics [IJAEPR]
The process efficiency of electrolytic hydrogen production is enhanced regarding the transient re... more The process efficiency of electrolytic hydrogen production is enhanced regarding the transient response of a water electrolysis cell at the time of voltage application and disconnection. When such cells are connected to a power source, a momentary current surge passes through the cell charging the electrical double layer. In addition, the electrolysis process does not stop immediately after the cell is disconnected from its power source. An experimental electrolysis cell was constantly subjected to these phenomena under high frequency pulsating voltage conditions. Results show that the process efficiency is higher when the power is applied in the form of high frequency short pulses. Applied pulse width and frequency were as short as 25 nanoseconds and up to over 7 MHz respectively.
Stress analysis method was used to establish a theoretical model to find the energy release rate ... more Stress analysis method was used to establish a theoretical model to find the energy release rate for initiation of an interfacial crack and progressive debonding with friction at debonded interface. For this propose, using stress equilibrium equations, boundary and continuity conditions and minimum complementary energy principle, we defined an expression for energy release rate, G, for a single fibre embedded in a concentric cylindrical matrix, to explore the fibre/matrix interfacial fracture properties. We determine the critical crack length by interfacial debonding criterion. Also, Numerical calculation results for fibre-reinforced composite, SiC/LAS, were compared with experimental data witch obtained by other methods.
Robot position monitoring and navigation with ease of use and implementation is a challenge for r... more Robot position monitoring and navigation with ease of use and implementation is a challenge for researchers. The Path and Position Monitoring system (PPMS) is designed for the robot Platform Mokhtar. The path followed by the robot during experimentation, is acquired and displayed graphically using PPMS. The System provides a log of the location (x, y), movement velocity, number of steps for each movement, along with the date and time as a text file. The data can be used to obtain the velocity and movement trajectory of robot for further study. The PPMS can be used for navigation or any other application in robotic studies. The paper presents the design and development of the system and its use in path monitoring of an autonomous wind tracking robot. Various experiments carried out and the results obtained are discussed.
This article reports on the investigation into the relationship between the number of rules for a... more This article reports on the investigation into the relationship between the number of rules for a triangular membership functions and quality of control of induction motor. To achieve this aim, a fuzzy logic controller was designed using the Fuzzy logic toolbox in MATLAB SIMULINK with 3, 5 and 7 rule based triangular membership functions respectively. A 50 HP, 460 V, 3-phase induction motor was used as the plant for the speed control. The FLC was incorporated into the SIMULINK model of MATLAB toolbox and simulation was carried out, response curves at the rated speed of 120 and 140 rad/sec at no-load were observed together with the stator currents curves respectively. The quality of the controller is defined by the performance indicators in the form of peak overshoot and settling time of the Fuzzy logic controller.
Early fault detection of the induction machine is necessary in order to guarantee its stable and ... more Early fault detection of the induction machine is necessary in order to guarantee its stable and high performance. To evaluate the motor's health and detect existence of any failure in it, any motor parameter is first measured using condition monitoring techniques. The raw signal acquired is then interpret applying signal processing and data analysis procedures. Wavelet analysis of the motor current has been considered as an effective fault detection method. However, there are different types of the wavelet function that can be used for signal decomposition. This paper intends to investigate the ability of different types of wavelet functions for early broken rotor bar detection. Different harmonic components introduced by this fault such as maximum wavelet coefficient, left and right gradients of the maximum coefficient, were extracted and used as a characteristic signature for fault detection. The results indicate that the reliability of the fault detection depends on the type of wavelet function applied for decomposition of the signal.
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Vol 2, No 2, 2014 by International Journal of Applied Electronics in Physics and Robotics [IJAEPR]
Vol 2, No 1, 2014 by International Journal of Applied Electronics in Physics and Robotics [IJAEPR]
Vol 1, No 2, 2013 by International Journal of Applied Electronics in Physics and Robotics [IJAEPR]
Vol 1, No 1, 2013 by International Journal of Applied Electronics in Physics and Robotics [IJAEPR]