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In this article, a fuzzy-based solution of coordination between behaviors of trajectory planning and obstacle avoiding in a RRP-typed SCARA robot control is presented. The first idea of the proposed solution is to divide a robot’s complex behavior into simpler parallel behaviors. The second key idea is a fuzzy-based coordination between these behaviors to make…

A significant problem of routing protocols in the Flying Ad Hoc Networks (FANET) is a significant overhead cost due to the high mobility of networking nodes. The problem is caused by a need to send information messages about locations of unmanned aerial vehicles (UAVs). In order to reduce the amount of service information, the following…

This paper aims to simulate the current trajectory of the pandemic growth in the UAE; when it is likely to end and at what cost? It also examines the current and additional possible measures to contain the second wave of the pandemic. The method used is a simple Susceptible-Infected-Recovered (SIR) model called covid19_scenarios. The key…

With a model predictive control approach and to set the motion trajectory for an autonomous vehicle in situations where emergency braking cannot be performed, in this paper, we propose a solution to apply the law on road traffic into a set of constraints and thereby build an objective function to create motion trajectory for autonomous…

This paper investigates the trajectory tracking control (TTC) problem of a networked control system (NCS) against a replay-attack. The impact of data packet dropout and communication delay on the wireless network are taken into account. A new mathematical representation of the NCS under network issues (packet dropout, delay, and replay-attack) is proposed, the resulting closed-loop…

In recent years, development of aerial autonomous systems and cameras have allowed increasing enormously the number of aerial images, and their applications in many research areas. One of the most common applications is the mosaicking of images to improve the analysis by getting representations of larger areas with high spatial resolution. This paper describes a…

The technical and vocational institutions are the key feeders for skilled human capital in the robotic revolution economy. It is essential to engage the students by creating new, affordable robotics at a fraction of the cost. This study presents the design and simulation of a six-axis robot manipulator specifically made for education and training. The…

Robotic catching of thrown objects is one of the common robotic tasks, which is explored in a number of papers. This task includes subtask of tracking and forecasting the trajectory of the thrown object. Here we propose an algorithm for estimating future trajectory based on video signal from two cameras. Most of existing implementations use…

For mission-critical and time-sensitive navigation of autonomous vehicles, controller design must exhibit excellent tracking performance with respect to the speed of convergence to reference command and steady-state accuracy. In this article, a novel design integration of the neural network with the traditional control system is proposed to adaptively obtain optimized controller parameters resulting in improved…

The aim of the present work is to guarantee the trajectory tracking of a nonlinear biological process and compare two control approaches. The main objective of this work is to elaborate a fuzzy model and build a fuzzy controllers for a biological process by using the fuzzy Takagi-Sugeno. Two controllers are synthesized, the parallel distributed…

A robot development has spread widely for various purposes. It is difficult to create a control program for an autonomous mobile robot manually. Therefore, an automatic design of the control program for an autonomous mobile robot is proposed in this research. The autonomous mobile robot is created with LEGO MINDSTORMS EV3, and the control program…

This research presents a “Multi-camera for pilot’s cockpit measurement system”, which uses four multi-view images to eliminate the instrument and human body shielding and record the touched area. That could record the body reaction time (velocity and acceleration) and trajectory of the tested personnel. Real-time conversion of multi-view images corresponding to the 3D skeletal joint…

The paper presents two robust and efficient control algorithms based on (i) Optimal Control Allocation (OCA) and (ii) Nonlinear Model Predictive Control (NMPC). The robotics system consists of two rovers with mecanum wheels and mounted two 7-DOF arms carrying a common load. The overall system is an underdetermined one with non-holonomic constraints. The developed control…

In recent years, people-counting problems have increased in popularity, especially in crowded indoor spaces, e.g., public transport. In peak hours, trains move significant numbers of passengers, producing delays and inconveniences for their users. Therefore, analysing how people use public transport is essential to solving this problem. The current analysis estimates how many people are inside…

In this paper, one of the “problem zones” in mathematics concerned with the surface area of three-dimensional bodies is presented by computer and mathematical modeling with synergetic effects using intelligent system support. The problems of personal self-organization and technological stages of student’s research activity in the process of modern achievements in science adaptation in teaching…

A nonlinear adaptive robust controller is proposed in this paper for trajectory-tracking control problems of robot manipulators. On one hand, to effectively approximate the systematic dynamics, a simple time-delay estimator is first adopted. On the other hand, to minimize the control error, the controller is designed based on a sliding mode structure using the obtained…

This paper deals with a multi closed-loop adaptive neuro-fuzzy inference system (ANFIS) design for the under-actuated quadrotor systems. First, the training data set for the fuzzy inference system is obtained using a proportional integral derivative controller. Then, an initial ANFIS controller is designed, where the integral control action is preserved in the multi-closed-cloop ANFIS for…

Insect robots are always amazed by humans due to their ability to fly using a wing flapping mechanism. The butterfly robot was designed in this research based on aerodynamics and aeroelastic especially for designing a flapping mechanism due to its complexity. A butterfly wing structure was designed by considering aerodynamics forces based on assumptions. Aerodynamic…

Several drive mechanisms for different robots are at hand in current days. Bicycle steering, Ackerman steering, differential drive are some principal drive mechanisms that are being deployed in robots these days. The differential drive needs the wheel rotations to be updated very frequently. But it is most commonly deployed on the robots with two wheels…

In our era, human and machine must share the same workspace in various plants such as warehouse logistics, material transportation, manufacturing factory or assisted human. The collaboration is essential to maintain the safe operation and the complete mission. In this paper, a design of anti-vibration scheme using Spline generator for grounded vehicle platform in human-machine…

In this paper an offline motion-planning algorithm is presented for robotic manipulators. In this method to solve the path-planning task, the Transition-based Rapidly-exploring Random Tree (T-RRT) algorithm was applied, that requires a cost-function over the search space. The goal of this cost-function is to keep distance between the actual position and configurations that cause collisions.…

The integrating model becomes one of key trends in engineering design. The more the product has functional specifications, the more the industrial consumer apply in many fields. In this paper, a fusion design of architecture platform for autonomous system is demonstrated. It is greater due to combining the specifications of various types in commercial market…

While the Kalman filter, including its many variants, has been the staple of the tracking community, it also has been shown to have drawbacks, particularly when tracking through a maneuver. The most common issue is a lag in the position of the target track compared to the true target position as the target performs its…

This article is addressed to show the results of hybrid dynamical modeling in the form of PWA (piecewise-affine) and equivalent MLD (mixed-logical dynamical) model for multi-restricted areas avoidance of an autonomous system. It is a problem of determining the optimal moving trajectory from plant’s initial position to some desired position while avoiding some restricted areas…

Location-based service has been widely used in modern life. It brings a lot of convenience to our lives. Improving the accuracy of location prediction can provide better location- based service. We propose a location prediction method based on the variable-order Markov model with time feature and user’s spatio-temporal rule. First, the user’s trajectory data needs…