International Journal of Computing and Digital Systems, Jan 9, 2022
Robotic arm plays a great role in assisting the human hand in current life. This project involves... more Robotic arm plays a great role in assisting the human hand in current life. This project involves the design and implementation of two degrees of freedom (DOF's) assistant arm robot for aiding humans in the medical recovery for the upper left limb motion. The contribution in this work involves three parts: the first one, design special interfacing circuits based on (Arduino card) for controlling the designed arm motion, where the motion execution and record is done by designed reading and writing circuits, these circuits controlled by a designed MATLAB fuzzy proportional derivative (PD) controller, this control structure implemented by assisting of special Arduino Simulink library In MATLAB Simulink, where it will be used for control the signals transition, a new Simulink design proposed and investigated to interfacing the controller with the arm motors and encoders via the circuits. The second contribution is adding an assisting spring system to the arm first motor joint, where this addition rises the motion stability through the control phase by increasing the required torque in the arm first joint, especially after the human hand load is attached to the robot links, where its tested effectively without needing for replacing the motor with increased torque. The results illustrate the power of these circuits design and the error reduction occurred after supporting the system's spring. The Third contribution, An Internet of robotic thing (IoRT) model is designed, and then the robot arm is connected using our designed internet -based control system using IoT protocols for communication.
Iraqi journal of information and communication technology, May 14, 2018
This paper involves the design and implementation of cell phone detection mobile robot. This is a... more This paper involves the design and implementation of cell phone detection mobile robot. This is applicable in examination halls, private conferences and meeting rooms in which the use of cell phones is highly restricted. The robot is able to detect the presence of unauthorized communications by active phones and then distort them. The detection process is achieved by implementing an electrical circuit for sensing undesirable signals and using NodeMCU for interfacing the robot with a main computer unit. The main computer unit is used as a controlling platform in terms of mobile robot navigation as well as detection and jamming activating. This is accomplished by creating a graphical control panel programmed using a special HTML script. In this work, the cell phone detection mobile robot has been applied in an examination hall to simulate real educational environment. The robot has detected active calls by cell phones with a circle diameter of 1.2 meter and then jammed them directly. The whole area has been covered for detection and jamming by roaming the robot wirelessly via the remote main computer. Different voltage measurements for different detection distances have been recorded.
One Degree of Freedom Copter Design and Control using Smart and Simple PID Controller
2022 IEEE Integrated STEM Education Conference (ISEC), Mar 26, 2022
Intelligent Fuzzy PD Controllers Design for XY Table of Semiconductor Packaging Based on ALO
Computer numerical control (CNC) machines have resulted in releasing the industry in a fast way, ... more Computer numerical control (CNC) machines have resulted in releasing the industry in a fast way, especially in the last decades. One of those CNC structures is the two-dimension (XY) motion table of semiconductor packaging. The type of process that is done by these machines is quite precise in positioning stage. The (XY) table has a nonlinear model which is caused by both of the electrical parts and the motion friction parts, and that leads to making the positioning process inaccurate. This paper presents two intelligent fuzzy logic controllers (FLC) that are used in controlling the motion position of the (XY) table nonlinear model. The first controller is the fuzzy proportional derivative PD-like FLC and the second is feedback fuzzy PD-like FLC with forwarding gain. The Ant-Lion Optimizer (ALO) will use to obtain optimal controllers gains based on cost function which gives minimum control signal characteristics of a minimum settling time, rise-time and proper overshoot. Results show enhancement in the proposed controllers via control signal characteristics compared with the previous works in literature.
Electrohydraulic servo actuator mathematical model is one of the highly nonlinear hydraulic model... more Electrohydraulic servo actuator mathematical model is one of the highly nonlinear hydraulic models. Electrohydraulic servo actuators used by aerospace, industrial and robotics applications for which accurate and fast performance are required in the presence of large loads or external disturbances. A servo actuator is made of a hydraulic cylinder or rotary actuator that is closely connected to an electrohydraulic servo actuator. This work focuses on modeling and simulation of electrohydraulic servo actuator that used for position control of the flight surface in a military aircraft with presence of external forces. PI-like Fuzzy Logic position intelligent Controller (FLC) is designed and simulated to control the actuator desired position during a specified time with minimum steady state error, settling time and oscillations in position response. This controller is implemented by using MATLAB Simulink and it has a settling time of 0.168 (sec). By comparison with reference [3], which has settling time of 0.341 (sec), there is enhancement by using the proposed controller in settling time about 50.733%. In addition, there is a small fluctuation around the desired position because the controller of mentioned reference does not compensate the force effect and nonlinearities in the actuator model. Particle Swarm Optimization (PSO) and Artificial Bee Colony (ABC) algorithms are used for tuning the gains of the PI-like Fuzzy Logic position Controller to satisfy the minimization in position error at the presence of the external force. The results show that the performance of ABC is more efficient than of PSO algorithm, because the trials by PSO have minimal fitness of 0.0008, but by ABC the minimal fitness achieved is 0.00072.
Design and Implementation of a Wireless Robotic Human Hand Motion-Controlled Using Arduino
This work involves the design and implementation of a robotic hand controlled wirelessly to emula... more This work involves the design and implementation of a robotic hand controlled wirelessly to emulate human hand fingers motion. The design includes two circuits: transmitting and receiving. A glove and flex sensors are placed at the transmitting side while a robotic hand is sitting at the receiving side. Motion control signals are being exchanged wirelessly between the transmitting and receiving circuits via Bluetooth modules. Also, Arduino cards are implemented on both sides to control the servomotor of each robot finger. The robotic hand consists of five fingers designed using three-dimension 3D printer. Each finger has three degree of freedom (3-DOF) and it is controlled by one servomotor for actuating with angle of rotation from 0° to 180°. The forward and inverse kinematics for the index figure is derived mathematically for 3-DOF robot finger, and the third order polynomial trajectory motion is simulated to test the robot kinematics by using MATLAB Simulink. The physical tests show that the hand motion serves concisely for catching objects with a maximum distance range for connection of 37 meters. Also, the simulation results show exact inverse kinematic using the equations derived from the forward kinematic. This robotic hand can be applied in the areas where the intervention of humans may cause danger on their health due to chemical, biological and radiological nature.
International journal of online and biomedical engineering, Aug 16, 2023
In this paper, a low-cost smart system is designed and fabricated to monitor gas leakage in LPG-b... more In this paper, a low-cost smart system is designed and fabricated to monitor gas leakage in LPG-based cars. The implemented system consists of three gas sensors installed in the joints of the gas pipes, gas cylinders, and injectors for the purpose of gas leak monitoring. In addition, the LM 35 temperature sensor is situated over the gas cylinder to monitor its temperature. The implemented system can provide three types of alarm: the first type sends a text message to the car owner's phone and emits an audible alarm signal. The message reaches the service center also. The second type sends messages via Bluetooth to the user's phone or to the smart screen on the vehicle's dashboard, with an alert that the engine must be turned off (emergency case). The last warning sends an overheating alarm signal, utilizing a temperature sensor when the temperature of the gas cylinder exceeds 50°C to provide protection and prevent a possible explosion. In practice, it was found that gas sensors should be placed less than 5 cm from the monitored site, and the best performance at work was under 55°C. It was also found that the best performance of the GSM unit is under 55°C.
Physical disabilities such as full or partial loss of function in the shoulder, elbow or wrist is... more Physical disabilities such as full or partial loss of function in the shoulder, elbow or wrist is a common impairment in the elderly, and can also be a secondary effect due to strokes, trauma, sports injuries, and occupational injuries. Rehabilitation programs are the main method to promote functional recovery in these subjects. This work focuses on designing and nonlinear modeling of 3DOF nonwearable rehabilitation robot for rehabilitee the upper limbs in human body. The structure of this robot will eliminate singularity problem by depending on articulated configuration through adding shoulder offset to the robot base. The nonlinear modeling of a rehabilitation robot including kinematic and dynamic models is done for three degrees of freedom, with the effect of friction term in robot actuator. Three Intelligent Force-Position controllers, PD-like Fuzzy logic controllers are designed for position control and P controllers for force control, for moving the shoulder and elbow joints of the rehabilitation robot at desired trajectories. These controllers were tuned in order to make the robot end effecter tracking the desired medical trajectories in a specific time with minimum overshoot, minimum settling time and minimum steady state error. Each controller is tested by applying different trajectories with the application of external disturbances on the robot body. A comparison between the proposed intelligent controllers and conventional PD Force-Position controllers shows superior of the intelligent type of controller to make the end effecter follow the desired trajectory compared with the use of conventional controllers.
International Journal of Computing and Digital Systems, Oct 31, 2022
A great role played by the robots during the current pandemic. So far, they contributed a large e... more A great role played by the robots during the current pandemic. So far, they contributed a large effect on the medical sector. However, their valuable uses could be developed in many endeavors. Thus, this work involves the assembly of a six degree of freedom (DoF) robotic, DoF's arm, and multi motion control. Also, designed control algorithms with interfacing circuits are proposed for this robot motion where the implemented robot can replace human activity in the industry, by teaching the robot for the required specific process and re-execute it again with the same precision based on the power of the designed controllers. This controlling behavior is known as open-loop control; it's implemented by redesigning a joystick button as a manual controller, then implementing the wireless controller based on a specifically designed mobile application and a Bluetooth model. The re-repeating process can include some workspace obstacles. Therefore, the implemented robot will be equipped with environmental sensors, which can sense the object's presence via sensors or a vision system or it can analyze the object's color by sensors. Where the controlling idea via sensing environment is known as closed-loop control. The power of the designed controllers shows trajectory tracking accuracy of 95% and 97% in the open-loop control idea-based wire control by joystick, and by wireless application respectively, while the accuracy of the trajectory tracking by the closed-loop control system equipped with presence sensors and vision system is 100%.
Design and Implementation of a Wireless Robotic Human Hand Motion-Controlled Using Arduino
2018 International Conference on Advanced Science and Engineering (ICOASE)
This work involves the design and implementation of a robotic hand controlled wirelessly to emula... more This work involves the design and implementation of a robotic hand controlled wirelessly to emulate human hand fingers motion. The design includes two circuits: transmitting and receiving. A glove and flex sensors are placed at the transmitting side while a robotic hand is sitting at the receiving side. Motion control signals are being exchanged wirelessly between the transmitting and receiving circuits via Bluetooth modules. Also, Arduino cards are implemented on both sides to control the servomotor of each robot finger. The robotic hand consists of five fingers designed using three-dimension 3D printer. Each finger has three degree of freedom (3-DOF) and it is controlled by one servomotor for actuating with angle of rotation from 0° to 180°. The forward and inverse kinematics for the index figure is derived mathematically for 3-DOF robot finger, and the third order polynomial trajectory motion is simulated to test the robot kinematics by using MATLAB Simulink. The physical tests show that the hand motion serves concisely for catching objects with a maximum distance range for connection of 37 meters. Also, the simulation results show exact inverse kinematic using the equations derived from the forward kinematic. This robotic hand can be applied in the areas where the intervention of humans may cause danger on their health due to chemical, biological and radiological nature.
Highly-Error Enhanced Smartly-Algorithmic Structured Impedance Fuzzy Controllers for A SCARA Redundant Manipulator
Solid State Technology, Jun 30, 2020
Living in the COVID-19 era, the various advanced industrial automated production lines demand an ... more Living in the COVID-19 era, the various advanced industrial automated production lines demand an AI and Machine learning research in Robotic. Thus, an AI fuzzy-based control algorithms need to be developed. Consequently, a generalized Selective Compliance Assembly Robot Arm (5-Dof SCARA) dynamic model has been derived. This 5-Dof SCARA model is inherently nonlinear, hence, to be controlled by a smart nonlinear controller of fuzzy type at the highest error enhancement. The smart nonlinear fuzzy controllers have been developed in unified FLC type-1 and type-2 architectures. Firstly, an impedance controller deals with the end effectors forces and its position tracking error. Secondly, a position controller is FLC type-1 PD and FLC type-2 PID. The two controllers have been tested using half- elliptic and full-elliptic trajectory, then, compared to exist related works. Accordingly, the obtained results of the smart controllers have a maximum percentage PD of enhancements in comparison with previous works by the position responses. The FLC type-1 impedance controller has accomplished a 93.273% and 33.333% error enhancement for the position response of the X and Y axis respectively. Comparably, higher error enhancement has been obtained using the FLC type-2 PID impedance controller of a 95.574% and 38.887% with the same axes. Hence, the designed smart controllers have a potential future application in advanced and critical trends.
Design and Implementation of Rehabilitation Robot for Human Arm Movements
IRAQI JOURNAL OF COMPUTERS, COMMUNICATION, CONTROL & SYSTEMS ENGINEERING, 2015
International Journal of Computing and Digital Systems, 2022
Robotic arm plays a great role in assisting the human hand in current life. This project involves... more Robotic arm plays a great role in assisting the human hand in current life. This project involves the design and implementation of two degrees of freedom (DOF's) assistant arm robot for aiding humans in the medical recovery for the upper left limb motion. The contribution in this work involves three parts: the first one, design special interfacing circuits based on (Arduino card) for controlling the designed arm motion, where the motion execution and record is done by designed reading and writing circuits, these circuits controlled by a designed MATLAB fuzzy proportional derivative (PD) controller, this control structure implemented by assisting of special Arduino Simulink library In MATLAB Simulink, where it will be used for control the signals transition, a new Simulink design proposed and investigated to interfacing the controller with the arm motors and encoders via the circuits. The second contribution is adding an assisting spring system to the arm first motor joint, where this addition rises the motion stability through the control phase by increasing the required torque in the arm first joint, especially after the human hand load is attached to the robot links, where its tested effectively without needing for replacing the motor with increased torque. The results illustrate the power of these circuits design and the error reduction occurred after supporting the system's spring. The Third contribution, An Internet of robotic thing (IoRT) model is designed, and then the robot arm is connected using our designed internet -based control system using IoT protocols for communication.
Intelligent Fuzzy PD Controllers Design for XY Table of Semiconductor Packaging Based on ALO
2018 Third Scientific Conference of Electrical Engineering (SCEE), 2018
Computer numerical control (CNC) machines have resulted in releasing the industry in a fast way, ... more Computer numerical control (CNC) machines have resulted in releasing the industry in a fast way, especially in the last decades. One of those CNC structures is the two-dimension (XY) motion table of semiconductor packaging. The type of process that is done by these machines is quite precise in positioning stage. The (XY) table has a nonlinear model which is caused by both of the electrical parts and the motion friction parts, and that leads to making the positioning process inaccurate. This paper presents two intelligent fuzzy logic controllers (FLC) that are used in controlling the motion position of the (XY) table nonlinear model. The first controller is the fuzzy proportional derivative PD-like FLC and the second is feedback fuzzy PD-like FLC with forwarding gain. The Ant-Lion Optimizer (ALO) will use to obtain optimal controllers gains based on cost function which gives minimum control signal characteristics of a minimum settling time, rise-time and proper overshoot. Results show enhancement in the proposed controllers via control signal characteristics compared with the previous works in literature.
Force-Position Controller Design for 4 Dof's Rehabilitation Robot Arm Using Pso Algorithm
Human limbs disability such as full or partial loss of function of the upper limb is a common imp... more Human limbs disability such as full or partial loss of function of the upper limb is a common impairment in the elderly and due to strokes, sports injuries, and occupational injuries. The conventional rehabilitation approach is to assist patient to perform Activities of Daily Living (ADL) through a set of preprogrammed trajectories. Therapist performs the rehabilitation program to the patient. This work focuses on designing, simulating and implementing a 4 DoF's (3 active joints), nonwearable rehabilitation robot for arm movements. The nonlinear mathematical model of the robot includes kinematic and dynamic models for the 4 DoF's (3 active joints), is developed and simulated using MATLAB. The friction term of robot actuators with the external disturbances of the patient limb on the robot links are considered. Intelligent Force-Position controllers incorporated PD-like Fuzzy Logic position control are designed to track the required medical trajectories for the simulated and i...
Electrohydraulic servo actuator mathematical model is one of the highly nonlinear hydraulic model... more Electrohydraulic servo actuator mathematical model is one of the highly nonlinear hydraulic models. Electrohydraulic servo actuators used by aerospace, industrial and robotics applications for which accurate and fast performance are required in the presence of large loads or external disturbances. A servo actuator is made of a hydraulic cylinder or rotary actuator that is closely connected to an electrohydraulic servo actuator.This work focuses on modeling and simulation of electrohydraulic servo actuator that used for position control of the flight surface in a military aircraft with presence of external forces. PI-like Fuzzy Logic position intelligent Controller (FLC) is designed and simulated to control the actuator desired position during a specified time with minimum steady state error, settling time and oscillations in position response. This controller is implemented by using MATLAB Simulink and it has a settling time of 0.168 (sec). By comparison with reference [3], which ha...
International Journal of Advances in Telecommunications, Electrotechnics, Signals and Systems, 2018
One of the most debated issues nowadays is the quality of computer network service. The best inte... more One of the most debated issues nowadays is the quality of computer network service. The best internet service must provide a fast processing of the traffic. Each router has a queue of packets that provides a buffer space, where the packets wait for processing. Transmission Control Protocol (TCP) is a packets congestion control theory. Active Queue Management (AQM) is a mechanisms proposed to employ at gateways to improve the performance of TCP congestion control. AQM mechanisms aim to provide high link utilization with low loss rate and low queuing delay while reacting to load changes quickly. Random Early Detection (RED) is an extensively studied AQM algorithm that can detect congestion by dropping packets randomly with certain probability that serves as the function of the average queue size. In this work, hybrids Fuzzy Logic Controllers (FLC) are proposed to measure the router queue size directly by use them as a congestion controllers. A multiple hybrid fuzzy controllers are pro...
Periodica Polytechnica Electrical Engineering and Computer Science, 2020
Improving the dynamic performance of an automobile suspension system is considered as the main de... more Improving the dynamic performance of an automobile suspension system is considered as the main demand for comfortable and safe passenger travelling. From all previously proposed and implemented works, it is noticed that there are other factors that need to be considered to raising the car holding and stability in the road for improved passenger comfort when travelling. The minimization of car body displacement and oscillation time after exposure to road disturbances have been adopted in this work due to their contribution in raising the car holding and stability. The improvement in these features was maintained via a robust control methodology. The Fractional Order PID controller tuned by the Whales Optimization Algorithm (WOA) and Particle Swarm Optimization (PSO) algorithm is suggested in this work as a robust controller to reduce the effect of these demerits. In this paper, an active quarter car suspension nonlinear system is designed for the presented goals using a robust contro...
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