Magnetic Optimization Algorithm

Electronic manufacturing sector uses computer numerical controlled machines for drilling holes. Most of the computer numerical controlled machines used nearest neighbour algorithm to plan the route for the drill bit to travel. Based on this motivation, this paper proposes an approach which is based on the experimentation of Magnetic Optimization Algorithm. In this implementation, each magnetic agent or particle in Magnetic Optimization Algorithm represents a candidate solution of the problem. The magnitude of the magnetic force between these particles is inversely proportional to the distance calculated by the solution they represented. Particles with greater magnetic force will attract other particles with relatively smaller magnetic force, towards it. The process is repeated until the stopping condition meets and the solution with lowest distance is taken as the best-found solution. Result obtained from the case study shows that the proposed

This paper focuses on damping strategies that addressed the effect that high frequency harmonics content of cutting force have on positioning accuracy of the x-axis of an XY positioning table via controller and observer design approaches. Cutting force generated from direct contact between the workpiece and cutting tool becomes input disturbance to the drive system of the positioning table. The force high frequency components if left undamped would generate vibration to the system thus affecting the system positioning accuracy, surface finish quality as well as tool life. For this purpose, a cascade P/PI position controller, an Inverse Model Based Disturbance Observer (IMBDO) and a Disturbance Force Observer (DFO) were designed and numerically analysed. The cascade P/PI controller was designed using traditional loop shaping frequency domain method. IMBDO estimates the input disturbance and any unmodelled system dynamics while DFO performs direct estimation of the cutting force using...

The high demand in tracking performance is crucial in machine tools application. Therefore, the purpose of this paper is to design a Nonlinear PID (NPID) controller for improvement of tracking performance via cutting force. The method was then compared with another method which was conventional PID controller. The configuration included different cutting force disturbances of 1500rpm, 2500rpm and 3500rpm. The parameters were set to 0.4Hz and 0.7Hz frequency for every 10mm and 20mm of amplitude, respectively. The investigation was centred on a comparative study of these two techniques which focused on x-axis of Googol Tech XY ball screw drive system. Results between the designed controllers were validated based on two types of errors; the maximum tracking error and root mean square error. Results showed that the NPID controller recorded better tracking performance compared to PID controller with an error reduction of about 33%. In addition, the results proved that NPID controller is highly practical and suitable to be used for ball screw drive. The controller can be further improved with the implementation of observer such as disturbance observer to compensate the cutting forces.

This paper focuses on damping strategies that addressed the effect that high frequency harmonics content of cutting force have on positioning accuracy of the x-axis of an XY positioning table via controller and observer design approaches. Cutting force generated from direct contact between the workpiece and cutting tool becomes input disturbance to the drive system of the positioning table. The force high frequency components if left undamped would generate vibration to the system thus affecting the system positioning accuracy, surface finish quality as well as tool life. For this purpose, a cascade P/PI position controller, an Inverse Model Based Disturbance Observer (IMBDO) and a Disturbance Force Observer (DFO) were designed and numerically analysed. The cascade P/PI controller was designed using traditional loop shaping frequency domain method. IMBDO estimates the input disturbance and any unmodelled system dynamics while DFO performs direct estimation of the cutting force using...

In machining, cutting force generated is identified as input disturbance to the servo drive systems of the positioning table. In frequency domain, the cutting force magnitudes can be synthesized according to various harmonic components depending on the cutting tool spindle speed rotation. This paper focuses on compensation of high-frequency harmonic components of the cutting force using a state estimator named disturbance force observer (DFO) which explicitly estimates the input disturbance force. The force estimation error and tracking performances of the state estimator and the cascade P/PI positioning controller were analyzed experimentally on a single axis ball screw driven positioning table resembling a milling machine. The cascade P/PI controller was designed using traditional loop shaping frequency domain method while the force observer simultaneously estimated the input disturbance force based on the fundamental frequency dictated by the spindle rotational speeds. In experimental validations, a single, double, and triple harmonic-based force observers were designed at fundamental frequencies of 0.2 Hz, 0.5 Hz, and 0.8 Hz, and at amplitudes of 0.5 mm, 0.3 mm, and 0.2 mm, respectively. In time domain, the tracking performances of the system were analyzed and evaluated using root mean square of the position errors (RMSE) while in frequency domain, fast Fourier transform (FFT) analyses were performed on the tracking error signals. Results of the spectral analyses showed a 99.82% (single harmonic), 99.87% and 98.79% (two harmonics), and 99.83%, 97.13%, and 99.18% (three harmonics) reduction in respective force component magnitudes indicating close to successful estimation of the disturbance force observer. Meanwhile in time domain, numerical results of RMSE values showed reductions of 94.82%, 96.83%, and 94.01% for the three different input disturbance configurations while the experimental result showed reduction of 96.10%, 92.76%, and 92.44%, respectively. The work is to be expanded to include actual measured cutting forces as the input disturbance.

This paper focuses on damping strategies that addressed the effect that high frequency harmonics content of cutting force have on positioning accuracy of the x-axis of an XY positioning table via controller and observer design approaches. Cutting force generated from direct contact between the workpiece and cutting tool becomes input disturbance to the drive system of the positioning table. The force high frequency components if left undamped would generate vibration to the system thus affecting the system positioning accuracy, surface finish quality as well as tool life. For this purpose, a cascade P/PI position controller, an Inverse Model Based Disturbance Observer (IMBDO) and a Disturbance Force Observer (DFO) were designed and numerically analysed. The cascade P/PI controller was designed using traditional loop shaping frequency domain method. IMBDO estimates the input disturbance and any unmodelled system dynamics while DFO performs direct estimation of the cutting force using...

The high demand in tracking performance is crucial in machine tools application. Therefore, the purpose of this paper is to design a Nonlinear PID (NPID) controller for improvement of tracking performance via cutting force. The method was then compared with another method which was conventional PID controller. The configuration included different cutting force disturbances of 1500rpm, 2500rpm and 3500rpm. The parameters were set to 0.4Hz and 0.7Hz frequency for every 10mm and 20mm of amplitude, respectively. The investigation was centred on a comparative study of these two techniques which focused on x-axis of Googol Tech XY ball screw drive system. Results between the designed controllers were validated based on two types of errors; the maximum tracking error and root mean square error. Results showed that the NPID controller recorded better tracking performance compared to PID controller with an error reduction of about 33%. In addition, the results proved that NPID controller is highly practical and suitable to be used for ball screw drive. The controller can be further improved with the implementation of observer such as disturbance observer to compensate the cutting forces.

In machining, cutting force generated is identified as input disturbance to the servo drive systems of the positioning table. In frequency domain, the cutting force magnitudes can be synthesized according to various harmonic components depending on the cutting tool spindle speed rotation. This paper focuses on compensation of high-frequency harmonic components of the cutting force using a state estimator named disturbance force observer (DFO) which explicitly estimates the input disturbance force. The force estimation error and tracking performances of the state estimator and the cascade P/PI positioning controller were analyzed experimentally on a single axis ball screw driven positioning table resembling a milling machine. The cascade P/PI controller was designed using traditional loop shaping frequency domain method while the force observer simultaneously estimated the input disturbance force based on the fundamental frequency dictated by the spindle rotational speeds. In experimental validations, a single, double, and triple harmonic-based force observers were designed at fundamental frequencies of 0.2 Hz, 0.5 Hz, and 0.8 Hz, and at amplitudes of 0.5 mm, 0.3 mm, and 0.2 mm, respectively. In time domain, the tracking performances of the system were analyzed and evaluated using root mean square of the position errors (RMSE) while in frequency domain, fast Fourier transform (FFT) analyses were performed on the tracking error signals. Results of the spectral analyses showed a 99.82% (single harmonic), 99.87% and 98.79% (two harmonics), and 99.83%, 97.13%, and 99.18% (three harmonics) reduction in respective force component magnitudes indicating close to successful estimation of the disturbance force observer. Meanwhile in time domain, numerical results of RMSE values showed reductions of 94.82%, 96.83%, and 94.01% for the three different input disturbance configurations while the experimental result showed reduction of 96.10%, 92.76%, and 92.44%, respectively. The work is to be expanded to include actual measured cutting forces as the input disturbance.

This paper focuses on design of disturbance force observer for sustainable machining process in milling application. In milling process, cutting force acts directly on work surfaces thus producing external impact on the drives system of the positioning table. This effect must be compensated in order to preserve accuracy and quality of the final product, thus creating a sustainable machining process. Disturbance force observer (DFO) is a type of estimator that estimates precisely the disturbance force with prior knowledge of the cutting force harmonics frequencies. This paper presents both numerical and experimental results of DFO performed on an XYZ positioning milling table using measured cutting force. Four control configurations were considered; PID, cascade P/PI, PID with inverse model based disturbance observer, and PID with DFO. The FFT tracking error analysis showed that a near complete compensation of the disturbance force at identified harmonics frequencies was achieved.

An alternative advanced statistical analysis method known as the I-kaz 4D or I-kaz 4 channels which using the sensor fusion concept by applying four sensors to collect the vibration signals that excited by the impact hammer was introduced in this study. The study carried for copper (Cu). The specimens were in shape of circular, rectangular and square. The impact force were set with the range of different forces. The four piezofilm sensors been placed at specimen’s surface to observe and record the vibration signal after the impact. The obtained results been compared with the results obtained by I-kaz 4D method.

Electronic manufacturing sector uses computer numerical controlled machines for drilling holes. Most of the computer numerical controlled machines used nearest neighbour algorithm to plan the route for the drill bit to travel. Based on this motivation, this paper proposes an approach which is based on the experimentation of Magnetic Optimization Algorithm. In this implementation, each magnetic agent or particle in Magnetic Optimization Algorithm represents a candidate solution of the problem. The magnitude of the magnetic force between these particles is inversely proportional to the distance calculated by the solution they represented. Particles with greater magnetic force will attract other particles with relatively smaller magnetic force, towards it. The process is repeated until the stopping condition meets and the solution with lowest distance is taken as the best-found solution. Result obtained from the case study shows that the proposed

Electronic manufacturing sector uses computer numerical controlled machines for drilling holes. Most of the computer numerical controlled machines used nearest neighbour algorithm to plan the route for the drill bit to travel. Based on this motivation, this paper proposes an approach which is based on the experimentation of Magnetic Optimization Algorithm. In this implementation, each magnetic agent or particle in Magnetic Optimization Algorithm represents a candidate solution of the problem. The magnitude of the magnetic force between these particles is inversely proportional to the distance calculated by the solution they represented. Particles with greater magnetic force will attract other particles with relatively smaller magnetic force, towards it. The process is repeated until the stopping condition meets and the solution with lowest distance is taken as the best-found solution. Result obtained from the case study shows that the proposed

Electronic manufacturing sector uses computer numerical controlled machines for drilling holes. Most of the computer numerical controlled machines used nearest neighbour algorithm to plan the route for the drill bit to travel. Based on this motivation, this paper proposes an approach which is based on the experimentation of Magnetic Optimization Algorithm. In this implementation, each magnetic agent or particle in Magnetic Optimization Algorithm represents a candidate solution of the problem. The magnitude of the magnetic force between these particles is inversely proportional to the distance calculated by the solution they represented. Particles with greater magnetic force will attract other particles with relatively smaller magnetic force, towards it. The process is repeated until the stopping condition meets and the solution with lowest distance is taken as the best-found solution. Result obtained from the case study shows that the proposed

This paper depicts the development of real time motor drive system. The modeling of Direct Current (DC) motor is vital in this work and hence is discussed in brief. Experimental setup consists of DC motor, rotary encoder, interface card and personal computer is thoroughly configured to obtain useful data such as control signal, speed and position of the motor. User interface and control algorithm is developed using Microsoft Visual C#. Proportional-Integral (PI) algorithm is developed to perform cascaded control of the DC motor. The system equipped with fixed inner current loop control parameters while the outer speed and position loop is varied to obtain the most satisfied position and speed of such motor. Through comparison of demanded speed and position, literal analysis of real time speed and position is thoroughly discussed.

The recent trend of a prosthetic hand is gradually importance due to its capability to replace amputee's hand that is lost caused by various factors. However, precision control of prosthetic hand is challenging task especially dealing with its high precision response and functionality. Apart of comprehensive modelling, the controller is another essential part that playing a vital role in the enhancement of the prosthetic hand performance. In this paper, a Sliding Mode Control (SMC) has been designed and integrated with the prosthetic hand, which parameters have been obtained through try and error technique, followed by an optimization technique using Particle Swarm Optimization (PSO) algorithm. The finding shows that the SMC, which is optimized using PSO algorithm outperforms the conventional SMC and proportional-integral-derivative (PID) controllers. Therefore, it can be inferred that appropriate controller with proper tuning technique is essential to achieve high precision performance for a prosthetic hand.

This paper presents the development of an optimal proportional, integral and derivative (PID) controller for controlling camera gimbal on unmanned aerial systems (UAV). Three optimal controller improvements are obtained using the suggested particle swarm optimization (PSO) technique. The PSO algorithm is initially built and integrated with the PID controller to control the DC motor gimbal. Before comparing the performance of a DC motor with PSO-PID with a DC motor with Zeigler-Nichols controller, the impacts of iteration numbers are explored. Finally, bode analysis was conducted to validate the stability of the proposed PSO-PID controller. Simulation is conducted within the MATLAB environment to verify the system's performance in terms of settling time, steady-state error and overshoot. The simulation results show has a longer settling time (0.91656 sec) than the Ziegler-Nichols controller (0.14316 sec) but a shorter rising time (0.091686 sec) than the Ziegler-Nichols controller (0.00094 sec). Furthermore, the overshoot was lowered from 12.941% to 0.959% as a result. As a result, the suggested PSO-PID controller technique outperforms the Ziegler-Nichols controller in terms of overshoot and rise time. Further study will investigate the integration of other optimisation methodologies such as fuzzy logic for better performance.

This paper focuses on damping strategies that addressed the effect that high frequency harmonics content of cutting force have on positioning accuracy of the x-axis of an XY positioning table via controller and observer design approaches. Cutting force generated from direct contact between the workpiece and cutting tool becomes input disturbance to the drive system of the positioning table. The force high frequency components if left undamped would generate vibration to the system thus affecting the system positioning accuracy, surface finish quality as well as tool life. For this purpose, a cascade P/PI position controller, an Inverse Model Based Disturbance Observer (IMBDO) and a Disturbance Force Observer (DFO) were designed and numerically analysed. The cascade P/PI controller was designed using traditional loop shaping frequency domain method. IMBDO estimates the input disturbance and any unmodelled system dynamics while DFO performs direct estimation of the cutting force using...

The high demand in tracking performance is crucial in machine tools application. Therefore, the purpose of this paper is to design a Nonlinear PID (NPID) controller for improvement of tracking performance via cutting force. The method was then compared with another method which was conventional PID controller. The configuration included different cutting force disturbances of 1500rpm, 2500rpm and 3500rpm. The parameters were set to 0.4Hz and 0.7Hz frequency for every 10mm and 20mm of amplitude, respectively. The investigation was centred on a comparative study of these two techniques which focused on x-axis of Googol Tech XY ball screw drive system. Results between the designed controllers were validated based on two types of errors; the maximum tracking error and root mean square error. Results showed that the NPID controller recorded better tracking performance compared to PID controller with an error reduction of about 33%. In addition, the results proved that NPID controller is highly practical and suitable to be used for ball screw drive. The controller can be further improved with the implementation of observer such as disturbance observer to compensate the cutting forces.

The recent trend of a prosthetic hand is gradually importance due to its capability to replace amputee's hand that is lost caused by various factors. However, precision control of prosthetic hand is challenging task especially dealing with its high precision response and functionality. Apart of comprehensive modelling, the controller is another essential part that playing a vital role in the enhancement of the prosthetic hand performance. In this paper, a Sliding Mode Control (SMC) has been designed and integrated with the prosthetic hand, which parameters have been obtained through try and error technique, followed by an optimization technique using Particle Swarm Optimization (PSO) algorithm. The finding shows that the SMC, which is optimized using PSO algorithm outperforms the conventional SMC and proportional-integral-derivative (PID) controllers. Therefore, it can be inferred that appropriate controller with proper tuning technique is essential to achieve high precision performance for a prosthetic hand.

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Conventionally, the control of liquid slosh system is done based on modelbased techniques that challenging to implement practically because of the chaotic motion of fluid in the container. The aim of this article is to develop the tuning technique for model-free PID with derivative filter (PIDF) parameters for liquid slosh suppression system based on particle swarm optimization (PSO). PSO algorithm is responsible to find the optimal values for PIDF parameters based on fitness functions which are Sum Squared Error (SSE) and Sum Absolute Error (SAE) of the cart position and liquid slosh angle response. The modelling of liquid slosh in lateral movement is considered to justify the design of control scheme. The PSO tuning method is compared by heuristic tuning method in order to show the effectiveness of the proposed tuning approach. The performance evaluations of the proposed tuning method are based on the ability of the tank to follow the input in horizontal motion and liquid slosh level reduction in time domain. Based on the simulation results, the suggested tuning method is capable to reduce the liquid slosh level in the same time produces fast input tracking of the tank without precisely model the chaotic motion of the fluid.

Conventionally, the control of liquid slosh system is done based on model-based techniques that challenging to implement practically because of the chaotic motion of fluid in the container. The aim of this article is to develop the tuning technique for model-free PID with derivative filter (PIDF) parameters for liquid slosh suppression system based on particle swarm optimization (PSO). PSO algorithm is responsible to find the optimal values for PIDF parameters based on fitness functions which are Sum Squared Error (SSE) and Sum Absolute Error (SAE) of the cart position and liquid slosh angle response. The modelling of liquid slosh in lateral movement is considered to justify the design of control scheme. The PSO tuning method is compared by heuristic tuning method in order to show the effectiveness of the proposed tuning approach. The performance evaluations of the proposed tuning method are based on the ability of the tank to follow the input in horizontal motion and liquid slosh l...

The aims of this study are to investigate the effect of damage extent and damage location on natural frequencies of the BCC lattice bar. The bar samples were fabricated by using fused deposition modeling (FDM) additive manufacturing (AM) technique. The damage is represented by missing lattice unit cells within the structure. Findings show that natural frequency values decrease with the increase of damage extents. Meanwhile, the natural frequency values increase as the damage location became farther from the clamped edge. This research provides good information on the influence of damage existence to the natural frequency values of the lattice structure.

Controller that uses PID parameters requires a good tuning method in order to improve the control system performance. Tuning PID control method is divided into two namely the classical methods and the methods of artificial intelligence. Particle swarm optimization algorithm (PSO) is one of the artificial intelligence methods. Previously, researchers had integrated PSO algorithms in the PID parameter tuning process. This research aims to improve the PSO-PID tuning algorithms by integrating the tuning process with the Variable Weight Grey-Taguchi Design of Experiment (DOE) method. This is done by conducting the DOE on the two PSO optimizing parameters: the particle velocity limit and the weight distribution factor. Computer simulations and physical experiments were conducted by using the proposed PSO-PID with the Variable Weight Grey-Taguchi DOE and the classical Ziegler-Nichols methods. They are implemented on the hydraulic positioning system. Simulation results show that the proposed PSO-PID with the Variable Weight Grey-Taguchi DOE has reduced the rise time by 48.13% and settling time by 48.57% compared to the Ziegler-Nichols method. Furthermore, the physical experiment results also show that the proposed PSO-PID with the Variable Weight Grey-Taguchi DOE tuning method responds better than Ziegler-Nichols tuning. In conclusion, this research has improved the PSO-PID parameter by applying the PSO-PID algorithm together with the Variable Weight Grey-Taguchi DOE method as a tuning method in the hydraulic positioning system.

Currently, most companies that act on both domestic and global markets experience a growing international competition and recognize the importance to reduce manufacturing lead time. One of the industries that has to face this globalization challenges is the machining industry. In general, machining can be done manually or automatically, better known as Computer Numerical Control (CNC). It is reported that tool movement and tool switching time in machining process take most of the total time in a manufacturing process. Optimization of tool path operation can lead to significant reduction in non-productive machining time. This paper focuses on the development of Ant Colony Optimization (ACO) model by using Matlab® software. In searching for the optimize tool path for machining operation in incremental positioning axis movement is based on the Travelling Salesman Problem (TSP) principles. Results shows that with the increasing of the hole drilling operation and also its trail evaporation rate (ρ), will reduce the ACO accuracy. Overall, the objective of this study to produce the optimize tool path by ACO algorithm programming.

Travelling Salesman Problem is a mathematical problem that describes a salesman problem in finding the shortest distance to travel to all the cities given that each city is visited once only. Travelling Salesman Problem is nondeterministic and a polynomial time problem, which makes the conventional mathematical optimization techniques, irrelevant to solve the problem. This paper explores the use of one of swarm intelligence available, Firefly Algorithm in finding the optimal solution of the problem. Each firefly in Firefly Algorithm represents a candidate solution of the Travelling Salesman Problem. The candidate solution is modeled using a voting technique where each dimension of the firefly in search space represents a city that need to be visited by the salesman. The city with largest vote will be the initial city of the salesman, while the city with least vote, will be the second last city visited by the salesman before going back to the first city, he comes from. Each of this candidate solution has a distance that correlates with the fitness value of the firefly. A firefly will try to improve the solution its represents by moving closer to other fireflies with better fitness values, in the search space. This process is repeated until a stopping condition reached. The performance of the proposed approach is benchmark with a case study. I.

The optimization of surface integrity in drilling process using response surface method (RSM) is presented. This paper investigates the effects of drilling parameter such as spindle speed, feed rate and drill diameter on the surface roughness and surface texture of drilled hole by applying RSM. There are three factors (spindle speed, feed rate and drill diameter) under investigation, therefore, by applying RSM there will be 20 experimental observations. The minimum surface roughness measured for the hole was 1.06 m at combination of 2000 rpm spindle speed, 78 mm/min feed rate and 2.5 mm drill diameter. While the maximum surface roughness of 2.59 m was measured at the combination of 250 rpm spindle speed, 153 mm/min feed rate and 3.5 mm drill diameter. One factor plot analysis found that the most significant parameter was spindle speed followed by drill diameter and feed rate. Thus, surface roughness decreased when increasing the spindle speed, feed rate and drill diameter. There were interactions between all the parameter of spindle speed, feed rate and drill diameter in drilling process under investigation.

Nowadays, the demands in machine tools are in terms of precision positioning, low-cost tooling and robustness against variable disturbance forces. Disturbance forces in machine tools are in the form of friction and cutting forces. Disturbance forces that acting directly or indirectly towards the system would result to poor tracking performance. The goal of this research work is to assess the tracking performance of Cascade P/PI, NPID and the newly designed control strategy called Nonlinear Cascade Feedforward (NCasFF) controller. There are three different cutting force disturbances injected into the system namely at spindle speed of 1000 rpm, 2000 rpm and 3000 rpm. The tracking performance of the controller is analyzed and evaluated using Fast Fourier Transform (FFT) of the tracking error. Robustness of these controllers in compensating different cutting characteristics is compared based on reduction in the harmonics of FFT error. It is found that the NCasFF controller performs better than both NPID and Cascade P/PI controller. The average percentage error reduction between NCasFF controller and NPID controller is about 87 % whereas the average percentage error reduction between NCasFF and Cascade P/PI controller is about 44 % at spindle speed of 1000 rpm. The finalized design of the newly developed control strategy called NCasFF controller could be util ized for CNC machine application. The implementation of NCasFF controller in machine tools application will increase the quality of the end product and the productivity in the industry by saving the machining time. It is suggested that the range of spindle speed could be made wider to accommodate the needs for high speed machining and for the betterment of manufacturing sustainability.

An Electro-Hydraulic Actuator (EHA) system is usually utilized in production industry such as automotive industry which requires precision, high force and long operating hours. When dealing with the production of engineering parts that require precision, high force and long operating hours, a controller is usually required. It is observed from the literature, an appropriate tuning technique is essential in order to obtain optimal controller's performance. Therefore, a computational tuning technique, namely Priority-based Fitness Particle Swarm Optimization (PFPSO) is proposed to obtain the parameters of the Proportional-Integral-Derivative (PID) controller in this paper. The performance of the EHA system will be evaluated and compared based on the priority characters of the PFPSO tuning technique, which included settling time and overshoot percentage that affect the output results of the EHA system. As a result, it is observed that the priority based on settling time produced a better result, which enhances the steady-state performance of the EHA system that fulfills the requirement of the precision control. 1

A Computer Numerical Control (CNC) system for Printed Circuit Board (PCB) design using Proteus Design Suite has been presented. A schematic diagram and single-sided PCB layout of a high voltage circuit for Geiger-Muller (GM) tube is designed using Proteus software. Subsequently, the PCB layout of the circuit is converted into Gerber files that are decoded into G-code through Flat CAM software. The G-code is introduced to the CNC system consisting of a computer, a CNC controller and a CNC machine. The code is stored in the memory of the computer and is uploaded to the CNC controller byMach3 software. The controller operates the CNC machine to perform isolation routing, drilling and milling for PCB as per the instructed design. It is noticed that the CNC system associated with Proteus makes the PCB designing process automated and easier by reducing the process of printing as well as etching. This study reveals that the proposed system can eliminate human error to achieve better accuracy and higher productivity as compared to the conventional methods of PCB design.

This paper describes the potential of the fuzzy logic technique and cascade controller in improving the tracking performance of the XY Table Ball Screw Driven System. The proposed controller used in this research is Cascade Fuzzy P+PI. This proposed technique is compared to other techniques, namely PI and Fuzzy-PI controllers, for the purpose of proving the ability of both techniques in producing good results. The performances of the systems are analyzed to two cases, with and without disturbance. The disturbance case involves the form of cutting force with different spindle speeds which are 1000 rpm, 2000 rpm, and 3000 rpm. Besides, in order to examine robustness, the system is operated under different frequencies of 0.3 Hz, 0.5 Hz, and 0.7 Hz. The results show that the combination of Fuzzy Logic technique with Cascade Controller, which is known as Cascade Fuzzy P+PI, successfully, provide a good performance with an increase of 55% to 71% compared to other methods tested in this research.

The optimization of surface integrity in drilling process using response surface method (RSM) is presented. This paper investigates the effects of drilling parameter such as spindle speed, feed rate and drill diameter on the surface roughness and surface texture of drilled hole by applying RSM. There are three factors (spindle speed, feed rate and drill diameter) under investigation, therefore, by applying RSM there will be 20 experimental observations. The minimum surface roughness measured for the hole was 1.06 m at combination of 2000 rpm spindle speed, 78 mm/min feed rate and 2.5 mm drill diameter. While the maximum surface roughness of 2.59 m was measured at the combination of 250 rpm spindle speed, 153 mm/min feed rate and 3.5 mm drill diameter. One factor plot analysis found that the most significant parameter was spindle speed followed by drill diameter and feed rate. Thus, surface roughness decreased when increasing the spindle speed, feed rate and drill diameter. There were interactions between all the parameter of spindle speed, feed rate and drill diameter in drilling process under investigation.

– This paper objective to explore the role of experiential learning as one of the factor that facilitate the business plan in simulation. The business plan simulation has been developed using VBA function in Microsoft Excel to enhance student understanding in preparing business plan for technological entrepreneurship education. We have been run the simulation among 108 engineering students and the result is the experiential learning facilitate the most and play crucial role in enhancing their learning.

Uncompensated friction forces compromise the positioning and tracking accuracy of motion systems. A unique tracking error known as quadrant glitch is the result of complex nonlinear friction behavior at motion reversal or near-zero velocity. Linear-feedback control strategies such as PID, cascade P/PI, or state-feedback control have to be extended with model-and nonmodel-based friction-compensation strategies to acquire sufficiently high path and tracking accuracy. This paper analyzes and validates experimentally three different friction-compensation strategies for a linear motor-based xy feed drive of a high-speed milling machine: 1) friction-model-based feedforward; 2) an inverse-model-based disturbance observer; and 3) the combination of both techniques. The friction models considered are as follows: a simple static-friction model and the recently developed generalized Maxwell-slip (GMS) model. GMS frictionmodel-based feedforward combined with disturbance observer almost completely eliminates the radial tracking error and quadrant glitches.

Today, positioning systems in machine tools aim for high accuracy and robustness characteristics in order to accommodate against various disturbance forces. The objective of this paper is to evaluate the tracking performance of PID, Gain Scheduling and Cascade P/PI controller with the existence of disturbance forces in the form of cutting forces. Cutting force characteristics at different cutting parameters; such as spindle speed rotations is analysed using Fast Fourier Transform. The tracking performance of a classical cascade controller in presence of these cutting forces is compared to the PID controller and gain scheduling PID controller. Robustness of these controllers in compensating different cutting characteristics is compared based on reduction in the amplitudes of cutting force harmonics using Fast Fourier Transform. It is found that the cascade controller performs better than both PID controller and gain scheduling PID controller. The average percentage error reduction between cascade controller and Gain Scheduling controller is about 88% whereas the average percentage error reduction between cascade controller and Gain Scheduling controller is about 84% at spindle speed of 1000 rpm spindle speed rotation. The finalized design of cascade controller could be utilized further for machining application such as milling process. The implementation of cascade P/PI in machine tools applications will increase the quality of the end product and the productivity in industry by saving the machining time. It is suggested that the range of the spindle speed could be made wider to accommodate the needs for high speed machining.

System Identification of a system is the very first part in design control procedure of mechatronics system. There are several ways in which a system can be identified. An example of well known techniques are using time domain and frequency domain approach. This paper is focused on the fundamental aspect of system identification of mechatronics system in which it includes the step by step procedure on how to perform system identification. The system for this case is XY milling table ballscrew drive. Both parametric and nonparametric frequency domain approaches were implemented in the procedure. In addition, comparison of estimated model transfer function obtained via non-linear least square (NLLS) and Linear least square estimator algorithm were also being addressed. Result shows that the NLLS technique perform better than LLS technique for this case. The result was judged based on the requirement during model validation procedure such as through heuristic approach (graphical observation) of best fit model with respect to the frequency response function (FRF) of the system.

The implementation of Classical Cascade Controller for the purpose of controlling various type of engineering appliances has been vastly utilized by control engineer community. Cascade controller provides a simple structure of controller but yet functional and have the ability to satisfy the control design requirement. In general, the controller consists of two loops, namely velocity loop and position loop. This paper is focused on the fundamental aspect on how to analyzed the close loop behaviour for both velocity and position loop and to extract the mathematical formulation of the controller. The outcome from this paper which is in the form of mathematical formula is useful and very significant in order to validate the theoretical result with the simulation result. To be more precise, the result from this research work are in the form of transfer function for both velocity and position loop of the position output, position error, dynamic stiffness of the controller and the damping ratio of the system which is in this case the XY

The utilization of spectral analysis for the purpose of investigating machining parameters in frequency domain has been widely practiced by group of researchers in engineering field. In this case the machining parameters involved are the cutting force parameter. By adapting spectral analysis to the cutting forces data, the researcher will have the access to identify the specific cutting forces exerted to the surface of the workpiece at each particular frequency under a set of frequency content. This paper is paying attention on the essential aspect on how to analyze the cutting forces data appropriately. It is recommended that those data need to be transformed first from the original form of cutting force data in time domain into the form of cutting force data in frequency domain. The outcome from this paper is in the form of graphical representation of cutting force data in frequency domain. It is obtained by applying Fast Fourier Transform (FFT) technique. To be more clear-cut, the result from this research work shows that the cutting force is directly proportional to the depth of cut and inversely proportional to the spindle speed of the end mill machine. The cutting force data later on will be used as an input disturbance for XY table ball screw drive system during the simulation process in the Matlab simulink diagram.

Performance analysis in term of identifying the system's transient response, stability and system's dynamical behavior in control system design is undeniably a must process. There are several ways in which a system can be analyzed. An example of well known techniques are using time domain and frequency domain approach. This paper is focused on the fundamental aspect of analysis of classical feedback controller in frequency domain of XY milling table ballscrew drive system. The controller used for the system is the basic PID controller using Matlab SISOTOOL graphical user interface. For this case, the frequency response function (FRF) of the system is used instead of using estimated model of transfer function to represent the real system. Result in simulation shows that after proper tuning of the controller, the system has been successfully being controlled accordingly. In addition, the result also fulfill the set requirement of frequency domain analysis in terms of the required gain and phase margin, the required maximum peak sensitivity and complimentary sensitivity function and the required stability.

Friction is an undesired nonlinear phenomenon that reduces position and tracking accuracy in machine tools application. This paper focuses on development of control technique to compensate friction force at motion reversal of a drive system that generates quadrant glitch phenomenon thus improving tracking accuracy. Sliding Mode Control (SMC) is designed to compensate friction. The Generalized Maxwell-Slip (GMS) friction model is applied for numerical analysis. The performance of the controller is analysed based on the reduction in the quadrant glitches magnitude. The performance of the SMC controller is compared with the classical PID controller. Results show that SMC controller yields the smallest quadrant glitch magnitudes.

Inclusion of disturbances in the control system structure of XY table during simulation process is crucial in order to closely replicate the real system in the simulation structure. An example of the distinguished disturbances during cutting operation is cutting forces. It can affect the accuracy of actual position of x and y-axis movement during the cutting operation. Thus, it is important for control designer to include the cutting force disturbance before designing the controller for the XY table system. This paper is focused on the fundamental aspect on how to extract the useful cutting forces data from the raw cutting force data by showing the step by step procedure on how to implement the process. In addition, method on how to convert from the selected cutting forces disturbance data into the form of voltage so that the disturbances is possible to be injected into the system is also being touched and finally, the discussion on the relationship between machine spindle speed and the cutting force generated is also being addressed comprehensively.

Lately, numerous nature inspired optimization techniques has been applied to combinatorial optimization problems, such as Travelling Salesman Problem. In this paper, we study the implementation of one of the nature inspired optimization techniques called Magnetic Optimization Algorithm in Travelling Salesman Problem. In this implementation, each magnetic agent or particle in Magnetic Optimization Algorithm represents a candidate solution of the Travelling Salesman Problem. The strength of the magnetic force between these particles is inversely proportion to the distance calculated by the Traveling Salesman Problem's solution they represented. Particles with higher magnetic force will attract other particles with relatively lower magnetic force, towards it. The process repeated until satisfying a stopping condition, and the solution with lowest distance is considered as the bestfound solution. The performance of the proposed approach is benchmarked with a case study taken from a well-known test bank.