In this research, particle swann optimisation (PSO) and genetic algorithm (GA) are used to model a single-link flexible manipulator. Investigations focus on characterizing the system from input torque to hub-angle, hu...
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ISBN:
(纸本)9814291269
In this research, particle swann optimisation (PSO) and genetic algorithm (GA) are used to model a single-link flexible manipulator. Investigations focus on characterizing the system from input torque to hub-angle, hub-velocity and end-point acceleration. A simulation environment characterizing the system behaviour in vertical motion is used as a platfonn to test and verifY the PSO and GA based transfer function models. The environment is based on finite difference discretisation of the goveming dynamic equation of motion of the system. The system is treated as a single-input multioutput system, and the input/output data collected is used with PSO and GA to develop models of the system based on autoregressive moving average model structure and one-step-ahead prediction. Comparative assessment of the results is presented and discussed in the time and frequency domains.
This paper presents mathematical modelling of a single-link flexible manipulator in vertical plane motion. This extends the previously developed mathematical model for motion in the horizontal plane, where the effects...
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ISBN:
(纸本)9814291269
This paper presents mathematical modelling of a single-link flexible manipulator in vertical plane motion. This extends the previously developed mathematical model for motion in the horizontal plane, where the effects of gravity, rotary inertia and shear deformation were ignored. The dynamic model of the system is obtained using the Lagrange equation. The finite difference method is used to transform this into a discrete formulation. The dynamic behaviour of the system in vertical motion is studied using the developed algorithm. Simulation results of the response of the manipulator are assessed in comparison to corresponding theoretical ones in the time and the frequency domains to verify the accuracy of the algorithm in characterizing the behaviour of the flexible manipulator system.
This paper describes an application in home automation based on wireless sensor network for monitoring of an electrical network in the consumption and quality of supply energy. The system allows scalability and flexib...
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Climbing a flight of stairs using a wheelchair is not as simple as balancing it on two wheels. Stairs climbing involves several phases, to ensure stability and safety in an auto-mode system. The subtle design of a sta...
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ISBN:
(纸本)9781849197106
Climbing a flight of stairs using a wheelchair is not as simple as balancing it on two wheels. Stairs climbing involves several phases, to ensure stability and safety in an auto-mode system. The subtle design of a stair climbing wheelchair system consists of three main actuators;a pair of motors, one for acting on each wheel and one for seat position. The operation of the system is based on the wheel rotation by lifting and bringing the other pair of wheels over one another on the staircases and vice versa. The challenge resides in an appropriate mechanical design and implementation of robust controller for the system to guarantee stability of the overall wheelchair while performing stair ascending and descending task automatically, with an assistant-free mode. A dwi-phase fuzzy logic control is introduced in this work and evaluated through intensive visual simulation to verify the proposed control approach.
This paper describes the effect of voluntary upper body movement in assisting the indoor rowing exercise for paraplegics. The indoor rowing exercise is introduced as a total body exercise for rehabilitation of functio...
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ISBN:
(纸本)9812835768
This paper describes the effect of voluntary upper body movement in assisting the indoor rowing exercise for paraplegics. The indoor rowing exercise is introduced as a total body exercise for rehabilitation of function of lower extremities through the application of functional electrical stimulation (FES). The model is developed using Visual Nastran Software. Three different damping levels of the flywheel are set up to provide different pulling forces during the pull phase of rowing manoeuvre. Fuzzy logic control is implemented to control the knee and elbow trajectory for each of the damper level settings. The generated level of electrical stimulations for activation of quadriceps and hamstrings muscles are recorded and analysed. In view of good results obtained, it is concluded that the voluntary upper body movement with proper rowing manoeuvre significantly contributes to assisting paraplegics' indoor rowing exercise.
The indoor rowing exercise is introduced as a total body exercise for rehabilitation of function of lower extremities of paraplegics through the application of functional electrical stimulation (FES). Fuzzy logic cont...
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ISBN:
(纸本)9812835768
The indoor rowing exercise is introduced as a total body exercise for rehabilitation of function of lower extremities of paraplegics through the application of functional electrical stimulation (FES). Fuzzy logic control (FIX) is implemented to control the knee and elbow trajectory for the purpose of smooth rowing manoeuvre. Conventional FIX methods rely on simple experiences and trial and error for parameters identification. In this work, the FIX is optimized using genetic algorithms (GAs), a stochastic global search method. GA implementation incorporates dynamic crossover and mutation probabilistic rates for faster convergence. The objective function of GA is to maintain smooth rowing manoeuvre. The performance of the proposed GA-tuned FLC is compared to a conventional manually tuned FLC. It is demonstrated that the developed controller offers encouragingly better performance.
In this paper genetic algorithm (GA) optimization of controller for a flexible manipulator is proposed. The dynamic model of the system is derived using the Lagrange equation and discretised using the finite differenc...
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ISBN:
(纸本)9812835768
In this paper genetic algorithm (GA) optimization of controller for a flexible manipulator is proposed. The dynamic model of the system is derived using the Lagrange equation and discretised using the finite difference (FD) method. GA optimization is used to tune parameters of proportional-integral- derivative (PID) controllers for the system. PID controllers are employed in the feedforward and feedback paths for control of rigid-body and flexible motion dynamics of the system. Simulation results of the response of the manipulator system with the developed controllers are presented and discussed.
This paper presents an investigation into the development of a noise cancellation system using genetic algorithms (GAs). A multi-input multi-output (MIMO) control structure and associated control algorithm are develop...
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ISBN:
(纸本)9781605603858
This paper presents an investigation into the development of a noise cancellation system using genetic algorithms (GAs). A multi-input multi-output (MIMO) control structure and associated control algorithm are developed on the basis of optimum cancellation of noise at a set of observation points. The algorithm is realised using GA and its performance assessed in the cancellation of noise in a free-field medium. The global search technique of GA is used to select the system component configuration for enhanced performance of an active noise control (ANC) system. In this investigation, randomly selected parameters are optimized for different, arbitrarily chosen locations for system components by applying the working mechanism of GA. The percentage of reinforcement that occurs in the medium is adopted as the objective function value. The MIMO GA-ANC algorithm is implemented and simulation results are presented to asses the performance of the system, with single frequency noise. The results are presented for analysis using a graphical user interface, to allow the user asses the system design in an interactive manner.
This paper presents the development of paraplegic joint model using Artificial Neural Network (ANN). A series of experiments using Functional Electrical Stimulation (FES) with different stimulation frequencies, pulse ...
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The use of simulators greatly facilitates the work of specialists. Their usage produces results that could prevent errors in real systems. Using a simulator for industrial plants would reduce the programming time of t...
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