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Metaheuristics Algorithm for Tuning of PID Controller of mobile robot system

Computers, Materials & Continua 2022年第8期72卷 3481-3492页

作者： Harsh Goud Prakash Chandra Sharma Kashif Nisar Muhammad Reazul Haque Ag.Asri Ag.Ibrahim Narendra Singh Yadav Pankaj Swarnkar Manoj Gupta Laxmi Chand Indian Institute of Information Technology NagpurIndia School of Computing&Information Technology Manipal UniversityJaipurRajasthanIndia Faculty of Computing and Informatics University Malaysia SabahJalan UMSKota Kinabalu88400SabahMalaysia Faculty of Computing&Informatics Multimedia UniversityPersiaran MultimediaCyberjaya63100SelangorMalaysia Maulana Azad National Institute of Technology BhopalIndia Department of Electronics and Communication Engineering JECRC UniversityJaipurRajasthanIndia Department of Computer Science and Engineering Hanyang UniversitySeongdong-guSeoul04763Korea

robots in the medical industry are becoming more common in daily life because of various advantages such as quick response,less human interference,high dependability,improved hygiene,and reduced aging *** is why,in recent years,robotic aid has emerged as a blossoming solution to many challenges in the medical *** this manuscript,meta-heuristics(MH)algorithms,specifically the Firefly Algorithm(FF)and Genetic Algorithm(GA),are applied to tune PID controller constraints such as Proportional gain Kp Integral gain Ki and Derivative gain *** controller is used to control mobile robot system(MRS)at the required set *** FF arrangements are made based on various pre-analysis.A detailed simulation study indicates that the proposed PID controller tuned with Firefly Algorithm(FF-PID)for MRSis beneficial and suitable to achieve desired closed-loop system *** FF is touted as providing an easy,reliable,and efficient tuning technique for PID *** most suitable ideal performance is accomplished with FF-PID,according to the display in the time ***,the observed response is compared to those received by applying GA and conventional off-line tuning *** comparison of all tuning methods exhibits supremacy of FF-PID tuning of the given nonlinear mobile robot system than GA-PID tuning and conventional controller.

关键词： Metaheuristic algorithm genetic algorithm PID controller mobile robot system firefly algorithm

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A direction-aimed radiation detector and strength estimation method based on mobile robot system 9

A direction-aimed radiation detector and strength estimation...

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9th International Symposium on Sensors, Mechatronics, and Automation system, ISSMAS 2023

作者： Gao, Wenrui Cui, Huimin Yin, Kuiying Liu, Chuan Huang, Zhaoyou Nanjing Research Institute of Electronics Technology Nanjing210039 China Beijing Research Institute of Telemetry Beijing100076 China

ISBN: (纸本)9781510672802

To address the problems of inaccurate dose rate and long-period measurement, this paper presents a nuclear radiation detector with the function of directional determination, as well as the corresponding Bayesian-based strength estimation method. Firstly, a vehicle-mounted radiation detector with large measurement range is designed, together with the steering mechanism and size-differentiated shielding shell, completing the ultra-wide measurement range of 0.15μGy/h∼500Gy/h and the precise directional aiming functions. Enlightened by the characteristics of conjugated Gamma distribution, the radiation strength estimation method is established in an iterative manner. By comparing and analyzing the convergence properties and prediction efficiency under different shape parameters γ and scale parameters β, the selection criteria for initial model parameters is clarified. Finally, the proposed nuclear detector and estimation method are applied in the actual radiation source searching task, verifying the real-time, effectiveness, and accuracy of the overall radiation source detection system. The experimental results show that, the measurement method based on conjugated distribution theory can significantly reduce the number of estimated iterations to less than 15 steps, and improve the accuracy of the directional aiming function, ensuring the ability of on-line exploitation and exploration for the mobile system. © 2024 SPIE.

关键词： Gamma conjugate prior mobile robot system radiation source search radiation strength measurement real-time strength measurement

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Workspace Analysis of a mobile robot system for the Ship Section Painting 1

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14th International Conference on Intelligent robotics and Applications (ICIRA)

作者： Zhang, Shan Qie, Jinbo Shao, Zhufeng Sun, Zheng Zaozhuang Univ Zaozhuang 277160 Peoples R China Shanghai Ship Technol Res Inst Shanghai 200032 Peoples R China Tsinghua Univ State Key Lab Tribol Beijing 100084 Peoples R China Tsinghua Univ Inst Mfg Engn Beijing 100084 Peoples R China Tsinghua Univ Beijing Key Lab Precis Ultraprecis Mfg Equipments Beijing 100084 Peoples R China

ISBN: (数字)9783030891343

ISBN: (纸本)9783030891343;9783030891336

In order to implement the painting of large unstructured surface in the ship section, the mobile robot system consisting of an automatic guided vehicle (AGV), a scissors elevator, and a 6R industrial painting robot is proposed. To ensure the terminal accuracy and reduce the requirements on cooperative control, the intermittent operation mode will be adopted with the station planning. In order to facilitate the station planning, this paper carried out the analysis of the regular manipulating workspace for the system. Firstly, the reachable workspace is established with the homogeneous transformation matrix and the kinematic analysis. The singularity and accuracy is analyzed considering the distribution of the condition number. Based the projection, the interference is analyzed between the robot and other parts. Finally, boundaries of the regular workspace are formulated for the mobile robot system, which provides a solid foundation for the station planning and efficient painting.

关键词： mobile robot system Kinematics Interference Manipulating workspace

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HYBRID NEURAL-NETWORK CONTROL OF mobile robot system VIA ANTI-CONTROL OF CHAOS

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MECHATRONIC systemS AND CONTROL 2020年第4期48卷 239-248页

作者： Yaghoubi, Zahra Zarabadipour, Hassan Imam Khomeini Int Univ Dept Elect Engn Qazvin Iran

In this paper, a new method for controlling a mobile robot system is proposed. Utilizing chaotic features, this paper presents a new method to synchronize a mechanical system with a chaotic system. To optimize the energy consumption and reduce the costs in this method, a hybrid neural-network (NN) controller is designed using anti-control of chaos. The objective of this paper is to introduce a method in which a mobile robot system is being controlled through chaotification via NNs as its identifier and controller. First, the feedback-linearization controller is used to trace the desired path, and then in parallel with this classic learning controller, the NN is used. Finally, this NN is replaced and trained on-line using the backpropagation algorithm with sample data collected from feedback-linearization controller. In this study, anti-control of chaos means that the tracking error, instead of assuming to approach zero, is synchronized with small ratio of chaotic gyroscope system amplitude. To show how the feedback linearization and NN are applied, the trajectory tracking in the presence of noise is examined and the performance of the proposed method is estimated through simulation and cost function calculation.

关键词： Neural-network controller anti-control of chaos mobile robot system feedback-linearization controller

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mobile business process construction principles on the mobile robot system platform 15

Mobile business process construction principles on the mobil...

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15th International Conference on Control, Automation and systems (ICCAS)

作者： Uskenbayeva, R. K. Kurmangaliyeva, B. K. Int IT Univ Dept CSSE Alma Ata Kazakhstan

ISBN: (纸本)9788993215090

Currently the concept of a new generation of business processes is forming under the influence of scientific and technological progress and socio-economic consciousness. Implementation of this concept implies giving the business process, such new functions or features: a) autonomy, b) dynamic, c) the constructed, etc. that were no able in the business processes exploited today. The paper deals with one of the ways of building mobile business process with a high quality on the basis of a mobile robot system.

关键词： Business process mobile business process mobile robot system

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An Alternating Stepping Climbing Machine Based on TRIZ Theory Optimization 21

An Alternating Stepping Climbing Machine Based on TRIZ Theor...

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21st IEEE International Conference on Mechatronics and Automation (IEEE ICMA)

作者： Lv, Zhifeng Duan, Yubing Zhang, Yaowen Xu, Hanyi Guo, Fengyuan Zhu, Zhongjia Wang, Yahui Northeastern Univ Coll Mech Engn & Automat Wenhua Rd Shenyang Liaoning Peoples R China

ISBN: (纸本)9798350388084;9798350388077

The unmanned handling vehicle (AGV) has a wide range of applications in both civil and industrial fields, and can replace manual labor to complete the handling work. In the thesis, we use TRIZ theory to optimize the existing stepping climbing mechanism, design a high efficiency and high stability of the climbing machine, the front of the climbing machine for the double-centered crank rocker mechanism, the use of alternate stepping to complete the climbing movement, improve the efficiency of climbing, the back of a crank slider mechanism to achieve the function of auxiliary pressure to climb the stairs, and with the electric actuator to regulate the position of the center of gravity, to ensure the stability of climbing the stairs. The center of gravity is adjusted with an electric actuator to ensure the stability of climbing. We have carried out theoretical calculations, simulation verification and physical verification to confirm the feasibility of the stair climber.

关键词： mobile robot system Intelligent Mechatronics and Application TRIZ theory

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Structure Design and Main Algorithms of mobile robot system ROBOCAD

Structure Design and Main Algorithms of Mobile Robot System ...

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12th International Conference on the Experience of Designing and Application of CAD systems in Microelectronics (CADSM)

作者： Teslyuk, Taras Denysyuk, Pavlo Matviichuk, Kateryna Duda, Marta Voronyak, Ruslan Lviv Polytech Natl Univ CAD Dept S Bandery St 12 Lvov Ukraine Lviv Polytech Natl Univ Applied Linguistics Dept Lvov Ukraine

In this paper structure design and main algorithms of mobile robot system ROBOCAD are given. The proposed solution is used as a base for other projects construction.

ISBN: (纸本)9781467364614

In this paper structure design and main algorithms of mobile robot system ROBOCAD are given. The proposed solution is used as a base for other projects construction.

关键词： mobile robot system structure design RoboCAD Android Arduino

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Technical Support For mobile robot system RoboCAD

Technical Support For Mobile Robot System RoboCAD

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12th International Conference on the Experience of Designing and Application of CAD systems in Microelectronics (CADSM)

作者： Denysyuk, Pavlo Matviichuk, Kateryna Duda, Marta Teslyuk, Taras Kobyliuk, Yaroslav Lviv Polytech Natl Univ CAD Dept S Bandery St 12 Lvov Ukraine Lviv Polytech Natl Univ Applied Linguistics Dept Lvov Ukraine

In this the paper design and description of technical support for the robotic system RoboCAD are given. Due to its universatility this system can serve as a basis for other projects constructions.

ISBN: (纸本)9781467364614

In this the paper design and description of technical support for the robotic system RoboCAD are given. Due to its universatility this system can serve as a basis for other projects constructions.

关键词： mobile robot system TECHNICAL SUPPORT ROBOCAD

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Technical Support For mobile robot system RoboCAD

Technical Support For Mobile Robot System RoboCAD

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International Conference on the Experience of Designing and Application of CAD systems in Microelectronics

作者： Pavlo Denysyuk Kateryna Matviichuk Marta Duda Taras Teslyuk Yaroslav Kobyliuk CAD Department Lviv Polytechnic National University Applied Linguistics Department Lviv Polytechnic National University

In this the paper design and description of technical support for the robotic system RoboCAD are given. Due to its universatility this system can serve as a basis for other projects constructions.

ISBN: (纸本)9781467364614

In this the paper design and description of technical support for the robotic system RoboCAD are given. Due to its universatility this system can serve as a basis for other projects constructions.

关键词： mobile robot system TECHNICAL SUPPORT ROBOCAD

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Differential Gaming approach with safety parameter for mobile robot to circumvent a Dynamic Obstacle 6

Differential Gaming approach with safety parameter for Mobil...

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6th Conference on Advances in Control and Optimization of Dynamical systems (ACODS)

作者： Deshpande, Shripad Walamhe, Rahee Symbiosis Int Symbiosis Inst Technol Pune 412115 Maharashtra India

In a mobile robot system (MRS) where multitude of autonomous non-holonomic mobile robots move in afield with individual target goals, each robot is seen by another as a dynamic obstacle. In this research work, a differential game (DG) based approach is presented for two mobile robots to dodge each other in an optimal circumvention path. The conventional DG algorithm brings the robots in close encounter since it is completely driven by hard optimality considerations. In real World, the robot may be required to keep safe distance from the other robot for Various operational and environmental reasons. To allow for this the algorithm is modified by addition of a Safety Parameter (SP) which is adjusted to allow for customisation of the circumvention maneuver. Matlab simulation is done using two robots and results obtained with different scenarios are analysed. The results show that DG+SP algorithm delivers better results in terms of avoiding too close encounters of the robots while still giving an optimal circumvention route. (C) 2020, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Differential Game mobile robot system Potential Field Method Path Optimisation

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