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Adaptive Dual-Layer Sliding Mode control for Ball on Plate System Driven by Shape Memory Alloy Wire

Journal of The Institution of Engineers (India): Series B 2024年第4期105卷 989-997页

作者： Sundareswari, M. Banu Mozhi, G. Then Dhanalakshmi, K. Department of Instrumentation and Control Engineering National Institute of Technology Tamil Nadu Tiruchirappalli India

This paper describes a dual-layer adaptive sliding mode control for a ball-on-plate system propelled by shape memory alloy (SMA) wire actuators. Conventionally, hydraulic, pneumatic, and electric actuators are used to power ball-balancing systems. However, they are heavy and bulky and take up more space. SMA actuators offer a solution to these drawbacks due to their unique actuating properties. Naturally, two-dimensional ball-balancing systems exhibit nonlinearity, which is further intensified when integrated with an SMA actuator. Moreover, these systems are sensitive to external disturbances, and controlling such systems with uncertainty using conventional control strategies is difficult. These concerns motivated the design of the dual-layer sliding mode controller (SMC) for the SMA driven ball on plate system to mitigate the causes of nonlinearities. The design is then validated by experimentation using Simulink/MATLAB™. © The Institution of Engineers (India) 2024.

关键词： Robust control

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WAVELET BASED INDEPENDENT COMPONENT FEATURES FOR CLASSIFICATION OF LOWER-LIMB MOVEMENTS FROM SURFACE EMG SIGNALS

Biomedical Sciences Instrumentation

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Biomedical Sciences instrumentation 2024年第1期60卷 109-115页

作者： Madan, S. Arunganesh, K. Sivakumaran, N. Karthick, P.A. Department of Instrumentation and Control Engineering National Institute of Technology Tiruchirappalli Tamilnadu India Periyar Maniammai Institute of Science and Technology Thanjavur India

Surface electromyography is a non-invasive technique of measuring the electrical activities of contracting skeletal muscles. Recently, there are several attempts have been made to actively decode these signals for the applications such as myoelectric control, rehabilitation and sports mechanics. However, the decoding of the surface EMG signals remains a challenging task for the researchers because of its randomness associated with the signal generation mechanism. Further, the stochastic nature of these signals contributes to the non-stationary and multicomponent variations in the signals and this makes the analysis highly complex. In this work an attempt has been made to develop a non-stationary signal processing framework using wavelet transform (WT) and independent component analysis (ICA) for the recognizing standing and sitting tasks from surface EMG. For this purpose, the surface EMG signals of vastus medialis recorded from fourteen untrained subjects are considered for the analysis the signals are preprocessed and subjected to wavelet transform and ICA. In addition to this, the time and frequency domain measures namely, mean average value (MAV), root-mean-square (RMS), zerocrossing (ZC), mean frequency (MNF) and median frequency (MDF) also are used to develop the classification models based on support vector machine (SVM). The models are validated using five-fold cross validation. The results show that the time, frequency and time-frequency features show considerable variations in both the tasks. All extracted features exhibits significant difference in sitting and standing tasks. The proposed SVM based WT-ICA technique is found to achieve a classification accuracy of 92.31%. The performances of time and frequency domain metrics are found to lower than timefrequency approaches. It appears that the proposed technique is capable of handling the complex non-stationary EMG effectively. It could be used for controlling external devices such as prosthetic legs. © 20

关键词： Myoelectrically controlled prosthetics

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Bidirectional Position control of a Prismatic joint for Motorized Single Link Robotic Arm Using Adaptive Super- Twisting Sliding Mode control

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Journal of The Institution of Engineers (India): Series B 2023年第5期104卷 1035-1042页

作者： Then Mozhi, G. Banu Sundareswari, M. Dhanalakshmi, K. Department of Instrumentation and Control Engineering National Institute of Technology Tiruchirappalli Tiruchirappalli620015 India

Design of the dual layer adaptive super-twisting sliding mode control (ASTSMC) strategy for position control of a motorized single link flexible robotic arm is presented in this *** system comprises of a cantilever beam, the robotic arm whose horizontal sliding enables positioning at the required length. Prismatic joint at the fixed extremity of the flexure is positioned at the desired point (the set length) by a linear actuation system- the DC motor and the lead-screw. The parameters and hence the model of the DC motor is determined using the nonlinear least-square (NLS) parameter estimation method. The flexible manipulator is modeled using the lumped parameter model approach. The super twisting algorithm and adaptive law are designed in combination to control the position of the robotic arm;the performance of the adaptive SMC controller is compared with that of the classical PID controller and SMC. The simulated and experimental results show that positioning accuracy is ensured and the response time is improved by the ASTSMC controller. © 2023, The Institution of Engineers (India).

关键词： Robotic arms

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RECOGNITION OF LOWER LIMB MOVEMENTS FROM THE TIME DOMAIN FEATURES OF SURFACE EMG AND CATBOOST CLASSIFIER

Biomedical Sciences Instrumentation

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Biomedical Sciences instrumentation 2024年第1期60卷 116-121页

作者： Madan, S. Nishanth, K. Arunganesh, K. Sivakumaran, N. Karthick, P.A. Department of Instrumentation and Control Engineering National Institute of Technology Tiruchirappalli Tamilnadu India Department of Production Engineering National Institute of Technology Tiruchirappalli Tamilnadu India Periyar Maniammai Institute of Science and Technology Thanjavur India

People who have lost lower limbs due to accidents, trauma, or diseases often need aid in carrying out the daily life activities. Patients with transfemoral amputations use passive prosthetic limb. In the recent times, researchers have shown paramount interest in surface electromyography (sEMG) control enabled prosthestic knee for the better life. However, the extraction of prominent EMG biomarkers for the accurate detection of locomotion modes remains to be challenging. In this work, an attempt has been made to classify the wireless sEMG signals of lower limb muscles into level walking, stair ascent and descent, and ramp ascent and descent using prominent time domain features and CatBoost classification algorithm. The sEMG of six lower limb muscles namely, rectus femoris, biceps femoris, tibialis anterior, medial gastronomies, vastus lateralis, and semitendinosus are considered. Time domain features such as root mean square, integrated EMG, mean absolute value, waveform length, Willison amplitude, skewness, entropy, and zero crossing, and variance are extracted and used for training the CatBoost and support vector machine (SVM). The study revealed SVM and CatBoost algorithms effectively classify these movements, employing 10 fold cross-validations for accuracy and stability assessment. The results show that the features are distinct in all five locomotion modes significant of (p © 2024 IAE All rights reserved.

关键词： Support vector machines

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An ensemble transfer learning-based deep convolution neural network for the detection and classification of diseased cotton leaves and plants

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Multimedia Tools and Applications 2024年第36期83卷 83991-84024页

作者： Rai, Chitranjan Kumar Pahuja, Roop Department of Instrumentation and Control Engineering Dr. B R Ambedkar National Institute of Technology Punjab Jalandhar144008 India

Agriculture is important for the economy of any country, and India is considered to be an agricultural country. One of the primary goals of agriculture is to produce disease-free crops. Since ancient times, farmers and other planting specialists have had to contend with a variety of problems and current agricultural constraints, such as widespread cotton diseases. There is a great need for a rapid, efficient, economical, and reliable approach to diagnosing cotton infection in the agri-informatics area, as severe cotton disease may result in the loss of grain crops. This paper presents an advanced method that automates the detection and classification of diseased cotton leaves and plants through deep learning techniques applied to images. To address the challenge of supervised image classification, we employ a bagging ensemble technique consisting of five transfer learning models: InceptionV3, InceptionResNetV2, VGG16, MobileNet, and Xception. This ensemble approach was adopted to significantly improve the performance of each individual mode. The ETL-NET framework we introduced was thoroughly evaluated using two publicly accessible datasets. Specifically, it achieved an impressive accuracy rate of 99.48% and a sensitivity rate of 99% when applied to binary datasets. Additionally, on the multi-class dataset, the framework achieved an accuracy rate of 98.52% and a sensitivity rate of 99%. Our method outperformed the state-of-the-art techniques and displayed comparatively better results. Remarkably, our approach demonstrated even higher performance than widely used ensemble techniques, generally considered benchmarks in the field. © The Author(s), under exclusive licence to Springer Science+Business Media, LLC, part of Springer Nature 2024.

关键词： Convolution

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Enhancing System Performance with Gain-Scheduled Pid controllers in Biological Systems

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Journal of The Institution of Engineers (India): Series B 2024年 1-12页

作者： Vilas, Jadhav Asutkar, V.G. Instrumentation and Control Shri Guru Gobind Singh Institute of Engineering & Technology Nanded India

The research on Gain Scheduling P.I.D. controllers for L.P.V. (Linear Parameter Varying) Systems follows a three-step methodology. Firstly, an appropriate plant is chosen for designing the controller with gain-scheduled PD, and its transfer function is derived. The controller with gain-scheduled P.I.D. will next be implemented in the identified plant transfer function. Finally, the outcomes of applying the GS PID controller are contrasted with those of a conventional P.I.D. controller utilizing L.M.I. (Linear Matrix Inequality) Recurrent Gain Scheduling for comparison. The focus on L.P.V. systems acknowledges the variations in system parameters, allowing the controller to adapt to different operating conditions. The study aims to assess the performance improvement achieved by the GS PID controller compared to the conventional P.I.D. in handling parameter changes. Challenges in this context may include identifying an accurate plant transfer function, determining appropriate scheduling parameters, and addressing potential instability or overshooting issues associated with varying system dynamics. Using L.M.I. recurrent gain scheduling suggests a systematic approach to ensure stability and robustness, but challenges may arise in tuning the L.M.I. parameters effectively. The study contributes valuable insights into the effectiveness and challenges of gain-scheduled P.I.D. controllers for L.P.V. systems, providing a basis for further advancements in control strategies for systems with parameter variations. © The Institution of Engineers (India) 2024.

关键词： Three term control systems

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Dual Variational Generation Framework for Enhanced Cross-Modal Face Recognition 15

Dual Variational Generation Framework for Enhanced Cross-Mod...

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15th International Conference on Computing Communication and Networking Technologies, ICCCNT 2024

作者： Evany Anne, M. Brindha, M. Sivakumaran, N. National Institute of Technology Computer Science and Engineering Tiruchirappalli India National Institute of Technology Instrumentation and Control Engineering Tiruchirappalli India

ISBN: (纸本)9798350370249

One of the major challenges in face recognition is accurately identifying faces under varying lighting conditions, leading to a problem known as Heterogeneous Face Recognition (HFR). The objective is to integrate the capabilities of the modified Dual Variational Generator (DVG-Face) framework with traditional recognition methods, such as Local Binary Pattern Histogram (LBPH) and the HaarCascade framework, to provide a robust solution to the challenges of heterogeneous face recognition. This involves developing and implementing a model that successfully handles the complexity of HFR tasks utilizing synthetic images generated from Near-Infrared (NIR) and Visible (VIS) modalities. To guarantee identity consistency in the produced paired heterogeneous images, pairwise identity preserving loss is also used. The integration of Haar Cascades, the LBPH algorithm, and the DVG approach, along with person reidentification using the SSRL model, establishes a reliable framework for facial recognition in real-world security applications. © 2024 IEEE.

关键词： Face recognition

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Enhancement in Smart Operation of Greenhouse Environment Using Intelligent Biomimetic control Framework

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SN Computer Science 2024年第3期5卷 1-17页

作者： Revathi, S. Sivakumaran, N. Radhakrishnan, T.K. Department of Electrical and Electronics Engineering National Institute of Technology Puducherry India Department of Instrumentation and Control Engineering National Institute of Technology Tiruchirappalli India Department of Chemical Engineering National Institute of Technology Tiruchirappalli India

The greenhouse is a complex nonlinear system, which provides a suitable growing environment for plants. Realizing a comprehensive control for such systems is more challenging in the premise of the presence of model parameter uncertainties and variable time delay. This work presents, develops, and tests the methodology entrenched from the computational inspiration of the biologic immune concept. Mostly, in contention to the widely used classical approach of greenhouse control, an essential facet of the bioinspired algorithm is integrated that synergizes its strength. In this work, the study considers proportional integral and pseudo-derivative-feedback controllers and the artificial immune feature supplements it for the proposal of a new unifying control framework. The non-intelligent techniques are more classical, whereas intelligent techniques involving resistant feature is still relatively new to the control arena. The main distinguishing feature is the superficial resemblance to the conventional controller, but it is inherently more flexible and sophisticated and can exploit the power of heuristics. To deal with the system realistically and to ensure robustness, the Kharitonov theorem is used to synthesize the controller by elucidating the relationship between coefficient perturbations, set of test eight specially constructed vortex polynomials and its stability. Further, Hardware in Loop simulation is performed to verify the performance near physical operating conditions and the results validate the efficacy of the proposed controller frameworks with improvement in dynamic performance and robustness. © The Author(s), under exclusive licence to Springer Nature Singapore Pte Ltd 2024.

关键词： Artificial immune feedback Complex Kharitonov polynomial Greenhouse environment Hardware in loop simulation

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A Generalized Review Of Human-Computer Interaction Using Electromyogram Signals

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Recent Patents on engineering 2023年第4期17卷 16-25页

作者： Maity, Sourav Veer, Karan Department of Instrumentation and Control Engineering Dr. BR Ambedkar National Institute of Technology Punjab Jalandhar India

The primary use of human-computer interaction is in the smart home as well as in industry 4.0. Communication between computers and humans can be benefitted from a spontaneous interchange of emotions. The objective of the work is to provide an idea regarding the process of identifying various emotions using facial electromyography signals through the electrode placement method. Here, one contemplated the facial electromyography on masticatory function assessment and emotional articulation monitoring. Furthermore, we have also presented the measurement of facial electromyography including the selection of electrode, location of the electrode, and reduction of noise. Facial emotions have a significant effect on the cognitive process of the human brain such as doubt perception, ability to solve problems, learning capabilities, emotional interactions, and memory which is beneficial while interacting with patients suffering from depression and stress. Through the use of rehabilitation applications, patients are directed through their recovery process while becoming accustomed to their emotional state or wellbeing, which has the dual effect of boosting motivation and accelerating recovery. This review paper will motivate and inspire researchers and engineers for finding more suitable systems for various applications. © 2023 Bentham Science Publishers.

关键词： Electrodes

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Impulsive thrust strategy for orbital pursuit-evasion games based on impulse-like constraint

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Chinese Journal of Aeronautics 2025年第1期38卷 520-536页

作者： Hongbo WANG Yao ZHANG Hao LIU Kunpeng ZHANG School of Aerospace Engineering Beijing Institute of TechnologyBeijing 100081China National Key Laboratory of Space Intelligent Control Beijing Institute of Control EngineeringBeijing 100094China

This paper proposes a novel impulsive thrust strategy guided by optimal continuous thrust strategy to address two-player orbital pursuit-evasion game under impulsive thrust *** strategy seeks to enhance the interpretability of impulsive thrust strategy by integrating it within the framework of differential game in traditional continuous ***,this paper introduces an impulse-like constraint,with periodical changes in thrust amplitude,to characterize the impulsive thrust ***,the game with the impulse-like constraint is converted into the two-point boundary value problem,which is solved by the combined shooting and deep learning method proposed in this *** learning and numerical optimization are employed to obtain the guesses for unknown terminal adjoint variables and the game terminal ***,the accurate values are solved by the shooting method to yield the optimal continuous thrust strategy with the impulse-like ***,the shooting method is iteratively employed at each impulse decision moment to derive the impulsive thrust strategy guided by the optimal continuous thrust *** examples demonstrate the convergence of the combined shooting and deep learning method,even if the strongly nonlinear impulse-like constraint is *** effect of the impulsive thrust strategy guided by the optimal continuous thrust strategy is also discussed.

关键词： Orbital pursuit-evasion game Differential game Impulsive thrust Deep learning Shooting method

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