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Fuzzy Logic controller Design and Implementation for Delayed and Nonlinear Time Variant Batch Distillation Column

Fuzzy Logic Controller Design and Implementation for Delayed...

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international conference on Instrumentation, Communications, Information Technology, and Biomedical Engineering (ICICI-BME)

作者： Indra Dwisaputra Pranoto Hidaya R. Arief Syaichu R. Egi M. I. Hidayat Dimitri Mahayana Anton Sapto Handoko Politeknik Manufaktur Negeri Bangka Sungailiat Indonesia School of Electrical Engineering and Informatics Bandung Institut of Technology Bandung Indonesia Research Unit for Mineral Technology Indonesian Institute of Sciences Bandar lampung Indonesia

Distillation column is a non-linear time variant system with delay time. It is very difficult to model due to the difficulty in obtaining parameters in real time during the distillation process. Fuzzy Logic control (FLC) method is suitable for solving the above problem. the advantages of fuzzy controllers based on fuzzy logic systems are intuitive designs which reflect the behavior of human operators and the fact that controlled process models are not required. Design and implementation of FLC in the batch column distillation have been done. FLC is particularly designed to overcome those problems using 2 inputs (error and time) and 1 output reflux ratio. PID controller is also designed as a comparison. the implementation used 3 liters of low concentration ethanol (30 % ). the setpoint is set up in 80% concentrate. the results show that FLC is able to keep product concentration steady up to 1 hour 6 minutes 40 seconds with maximum overshoot of 1.9%.

关键词： Distillation equipment Delays Ethanol Mathematical model Fuzzy logic Liquids Boilers

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Research on glass processing under manufacturing cutting machine fault prediction in cloud manufacturing

Research on glass processing under manufacturing cutting mac...

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2017 5th international conference on Mechatronics,Materials,Chemistry and Computer Engineering(ICMMCCE 2017)

作者： Hongxia Cai Zhuangyu Wei Minshan Ren School of Mechatronic Engineering and Automation Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai University Graduate Institute of Mechatronic Engineering and Automation Shanghai University

the prediction of equipment malfunction is crucial to guarantee its safe operation and improve its management efficiency. Combining with the character of cloud manufacturing, this paper makes the malfunction prediction of the cutting machine come true, which is based on the improved Apriori algorithm. First, with the malfunction analysis of the cutting machine, we can set up the comparison table of malfunction features and that of parameter, integrate different manufacturer and data of different equipment into virtual cloud pool and store them in HDFS form. then, we can explore the association rules of the machine malfunction data when we use Hadoop parallelisation to improve Apriori algorithm and add the temporal concepts. So that we can predict the trend of cutting machine malfunction and support the subsequent health management.

关键词： Cutting machine Fault prediction Cloud manufacturing Aproiri Association rules Data mining

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An Analysis of Automated Guided Vehicle Standards to Inform the Development of Mobile Orchard Robots

An Analysis of Automated Guided Vehicle Standards to Inform ...

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5th IFAC conference on Sensing, control and automation Technologies for Agriculture (AGRIcontrol)

作者： Bell, Jamie MacDonald, Bruce A. Ahn, Ho Seok Scarfe, Alistair J. Univ Auckland Auckland New Zealand Robot Plus Ltd Lauranga New Zealand

this paper aims to leverage knowledge and experience, gained from the well-established Automated Guided Vehicle (AGV) industry, to highlight key hazards and solutions that may be considered in the risk assessment and risk reduction of large autonomous mobile service robots in orchards. there are notable differences between orchard environments and the warehouses or factories, where AGVs operate, including the presence of uncontrolled growth, exposure to the weather as well as the slope, softness, cluttered and undulating nature of terrain in orchards. However, there are also many similarities in the technologies used, the basic navigation tasks that have to be performed and the nature of the hazards that arise. this paper discusses these similarities and differences in relation to key parts of AGV standards, EN 1525:1997 and ANSI/ITSDF B56.5-2012. (C) 2016, IFAC (international Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Orchard robotics Autonomous Mobile Robots Agriculture Automated Guided Vehicles Standards

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Vision-Based UAV Navigation in Orchards

Vision-Based UAV Navigation in Orchards

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5th IFAC conference on Sensing, control and automation Technologies for Agriculture (AGRIcontrol)

作者： Stefas, Nikolaus Bayram, Haluk Isler, Volkau Univ Minnesota Minneapolis MN 55455 USA

Unmanned Aerial Vehicles (UAV) are becoming increasingly common in agricultural applications. Currently, they are primarily used to fly over fields in open space. Navigation inside orchard-like environments remains challenging. We study the problem of orchard navigation with cameras on an aerial vehicle. We study both the controller and the vision component. For the vision component, we provide two methods for detecting orchard rows with frontal facing cameras. In the monocular case, we present a pipeline to extract the geometry of tree rows when there is a well defined path structure. In the binocular case, we present a depth-based navigation algorithm to extract the rows. For the controller component, we design a controller that uses both frontal and downward facing cameras and provides reliable performance even on the presence of strong wind disturbances. (C) 2016, IFAC (international Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Vision-based navigation Unmanned Aerial Vehicles Agricultural robotics

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Precision Forestry: Trees Counting in Urban Areas Using Visible Imagery based on an Unmanned Aerial Vehicle

Precision Forestry: Trees Counting in Urban Areas Using Visi...

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5th IFAC conference on Sensing, control and automation Technologies for Agriculture (AGRIcontrol)

作者： Hassaan, Omair Nasir, Ahmad Kamal Roth, Hubert Khan, M. Fakhir Lahore Univ Management Sci Lahore Pakistan Univ Siegen Dept Elektrotech & Informat Fak 4 Lehrstuhl Regelungs & Steuerungstech RST D-57068 Siegen Germany

this research work describes an approach to count trees in an urban environment. Furthermore it addresses the problems involved in detection of trees in aerial imagery. this work can be used to solve the problem of forest degradation and deforestation. Right now forest man labor isn't efficient enough to detect or prevent this problem. A multi-rotor UAV equipped with high resolution RGB camera was used to acquire aerial images and to count number of trees in surveyed area. Various issues involved in the robust implementation of proposed algorithm are discussed. the result of successful implementation of the proposed algorithm on multiple scenarios are also presented and we show that our naive approach is able to achieve approximate to 0.72 accuracy within reasonable amount of time. (C) 2016, IFAC (international Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Precision Forestry robotics Vision UAV

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controlling a remotely located Robot using Hand Gestures in real time: A DSP implementation 5

Controlling a remotely located Robot using Hand Gestures in ...

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5th international conference on Wireless Networks and Embedded Systems (WECON)

作者： Raheja, Jagdish Lal Rajsekhar, Gadula Arun Chaudhary, Ankit Cent Elect Engn Res Inst CSIR Machine Vis Lab Digital Syst Grp Pilani 333031 Rajasthan India

ISBN: (纸本)9781509008933

Telepresence is a necessity for this time as we can't reach everywhere and also it's useful in saving human life at dangerous places. A robot, which could be controlled from a distant location, can solve these problems. this could be via communication waves or networking methods. Also controlling should be real time and so smooth that it can actuate on every minor signal in an effective way. Robot control through hand gesture in real time has been an investigative area among researchers. this paper discusses a method controlling a robot over the network from a distant location. the robot is controlled by hand gestures which were captured by camera live. A DSP board TMS320DM642EVM was used to implement image pre-processing and fastening the system. PCA was used for gesture classification and robot actuation would happen according to predefined procedures. Classification information was sent over the network in the experiment. this method is robust and could be used to control any kind of robot over distance.

关键词： Robot control Hand Gestures Vision robotics Ethernet Telerobotics PCA

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Adaptive Visual Servo control of Robotic Harvesting Systems

Adaptive Visual Servo Control of Robotic Harvesting Systems

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5th IFAC conference on Sensing, control and automation Technologies for Agriculture (AGRIcontrol)

作者： Mehta, S. S. Burks, T. F. Univ Florida Dept Ind & Syst Engn Shalimar FL 32579 USA Univ Florida Dept Agr & Biol Engn Gainesville FL 32611 USA

Harvesting efficiency is a critical factor in determining whether robotic harvesting can be economically superior to hand picking. One practical challenge in robotic harvesting is to grasp a moving fruit, where unsuccessful pick cycles may result in lower harvesting efficiency. the fruit motion can be due to exogenous disturbances such as wind gust, canopy unloading, and particularly, fruit detachment forces. In this paper, an adaptive visual servo control law is presented to estimate and subsequently compensate the unknown time varying fruit motion. the fruit motion in the image plane and along the optical axis is modeled as a second-order spring-mass system. the unknown parameters of fruit motion are identified using an adaptive parameter update law, and a robust feedback term is included in the control law to account for modeling uncertainties. Lyapunov-based stability analysis guarantees uniformly ultimately bounded regulation of the robot to the fruit position. Sin mlation results are provided to verify the feasibility of the developed controller. (C) 2016, IFAC (international Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Vision-based control robotic harvesting agricultural robotics frilit motion

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the Use of Two Fingers to control Virtual Keyboards with Leap Motion Sensor

The Use of Two Fingers to Control Virtual Keyboards with Lea...

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international conference on Instrumentation, Communications, Information Technology, and Biomedical Engineering (ICICI-BME)

作者： Muhammad Ilhamdi Rusydi Rudy Fernandez Tati Erlina Ulfia Syukrina Andrivo Rusydi Agung Wahyu Setiawan Minoru Sasaki Department of Electrical Engineering Universitas Andalas Padang Indonesia Department of Computer Engineering Universitas Andalas Padang Indonesia Department of Physics National University of Singapore Singapore School of Electrical and Informatics Institut Teknologi Bandung Bandung Indonesia Department of Intelligent Control System Engineering Gifu University Gifu Japan

this research proposes two virtual keyboard designs and two control methods of virtual keyboards. the Keyboard I layout is a 45;10 matrix with QWERTY array keypad and the Keyboard II layout is a 75;6 matrix wi... 详细信息

this research proposes two virtual keyboard designs and two control methods of virtual keyboards. the Keyboard I layout is a 4×10 matrix with QWERTY array keypad and the Keyboard II layout is a 7×6 matrix with alphabet array keypad. Both methods use thumb and index finger only to operate the keyboards. these two fingers can execute five commands: right searching, down searching, selecting character, clearing monitor, and activating the buzzer. the directions of fingers are detected by a Leap Motion sensor. the Algorithm I has two-finger gestures and 4 variables of time. the first gesture is the pointing down index finger with three functions which depends on the time variable: right searching, down searching and clearing monitor. the thumb finger pointing to the inside palm is the second gesture for selecting and activating the buzzer. the algorithm II has one additional gesture, but it has only 3 variables of time. the extra gesture is a slightly left movement of the index finger. this movement is for the down searching. the time variable is only used to clear the monitor and activate the buzzer in the 2nd algorithm. the results showed that algorithm II can reduce the time consumed to type a single character in both keyboard types. the Algorithm I spent approximately 6.7 seconds/character. this number was reduced by Algorithm II into only 5 seconds/character. the Algorithm I had a less finger gesture, but too much time variables confused the user in operating the system. Both algorithms and virtual keyboard designs had successfully been implemented in this research. those who can just use at least the index finger and thumb would enable them to chat with others by using this application.

关键词： thumb Keyboards Indexes Monitoring Biomedical monitoring Bluetooth

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Scanning techniques with low bandwidth radar for robotic mapping and localization 12th

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12th international conference on informatics in control, automation and robotics, ICINCO 2015

作者： Fritsche, Paul Wagner, Bernardo RTS Leibniz Universität Hannover Appelstr. 9A Hannover30167 Germany

ISBN: (纸本)9783319318967

this article presents two methods for setting up a scanning unit with low bandwidth radar sensors with a wide opening angle of the main beam and evaluates their suitability for robotic mapping. Both approaches, namely the lateration and the ASR technique, base upon a rotary joint and provide a two-dimensional scan. the relevant theory behind both methods and considerations on erroneous influences is described in the first part of this paper. the focus of the second part is laying on application in occupancy grid and feature mapping, which will be presented through experiments. © Springer international Publishing Switzerland 2016.

关键词： robotics

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Classifying Agricultural Terrain for Machinery Traversability Purposes

Classifying Agricultural Terrain for Machinery Traversabilit...

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5th IFAC conference on Sensing, control and automation Technologies for Agriculture (AGRIcontrol)

作者： Yandun, Francisco J. Gregorio, Eduard Zuniga, Marcos Escola, Alexandre Rosell-Polo, Joan R. Auat Cheein, Fernando A. Univ Tecn Federico Santa Maria Elect Engn Dept Valparaiso Chile Univ Lleida Agrotecn Ctr Dept Agr & Forrest Engn Res Grp AgroIct & Precis Agr Lieida Spain

the detection of the type of soil surface where a robotic vehicle is navigating on is an important issue for performing several agricultural tasks. Satisfactory results in activities such as seeding, plowing, fertilizing, among others depend on a correct identification of the vehicle environment, specially its contact interface with the ground. In the this work, the implementation of a supervised image texture classifier to recognize five different classes of typical agricultural soil surfaces is presented and analysed. the sensing device is the Microsoft Kinect for Windows V2, which allows to acquire RGB, IR and depth data. Only IR and depth data were used for the processing, since color information becomes unreliable under different illumination conditions. Two data acquisition modes allowed to validate and to apply the system in real operation conditions. the accuracy of the classifier was assessed under different configuration parameters, obtaining up to 93 percent of success rate, in ideal conditions. Real field conditions were simulated by placing the sensor over a moving wagon, obtaining up to 86 percent of success rate, showing in this way the usability of a low cost sensor such as the Kinect V2 for agricultural robotics. (C) 2016, IFAC (international Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Agricultural robotics terrain classification terramechanics modelling pattern recognition

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