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Development of robotic hands of signbot, advanced Malaysian sign-language performing robot
Al-Khulaidi, Rami Ali,Akmeliawati, Rini,Azlan, Norsinnira Zainul,Bakr, Nuril Hana Abu,Fauzi, Norfatehah M. Techno-Press 2018 Advances in robotics research Vol.2 No.3
This paper presents the development of a 3D printed humanoid robotic hands of SignBot, which can perform Malaysian Sign Language (MSL). The study is considered as the first attempt to ease the means of communication between the general community and the hearing-impaired individuals in Malaysia. The signed motions performed by the developed robot in this work can be done by two hands. The designed system, unlike previously conducted work, includes a speech recognition system that can feasibly integrate with the controlling platform of the robot. Furthermore, the design of the system takes into account the grammar of the MSL which differs from that of Malay spoken language. This reduces the redundancy and makes the design more efficient and effective. The robot hands are built with detailed finger joints. Micro servo motors, controlled by Arduino Mega, are also loaded to actuate the relevant joints of selected alphabetical and numerical signs as well as phrases for emergency contexts from MSL. A database for the selected signs is developed wherein the sequential movements of the servo motor arrays are stored. The results showed that the system performed well as the selected signs can be understood by hearing-impaired individuals.
System Identification for an Autonomous Quadrotor using Extended and Unscented Kalman Filters
Norafizah Abas,Ari Legowo,Rini Akmeliawati 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
This paper presents aerodynamic parameters estimation techniques for an autonomous quadrotor through the implementation of Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF). EKF and UKF have known to be typical estimation techniques used to estimate the state vectors and parameters of nonlinear dynamical systems. In this paper, three main processes are highlighted; dynamic modeling of the quadrotor, the implementation of EKF and the implementation of UKF algorithms. The aim is to identify and estimate the needed parameters for an autonomous quadrotor. The obtained results demonstrate the performances of EKF and UKF based on the flight test applied to the quadrotor system.
Intelligent Robust Control Design of a Precise Positioning System
Safanah M. Raafat,Rini Akmeliawati 제어·로봇·시스템학회 2010 International Journal of Control, Automation, and Vol.8 No.5
This paper addresses an intelligent uncertainty function to improve the robust stability and performance of H∞ controlled system in terms of reduced conservatism. The system is identified, out-put performance and control signal requirements are controlled by proper selection of performance and control weighting functions. Adaptive Neuro Fuzzy Inference System (ANFIS) learns the uncertainty bounds of model uncertainty that results from unmodeled dynamics and parameter variations, then the developed uncertainty weighting function will be included in the synthesis of the H∞ controller. v-gap measure is utilized to validate the intelligent identified uncertainty bounds and measure the stability of the designed H∞ controlled system as well. Experimental results on a servo motion system reveal the advantages of combining intelligent uncertainty identification and robust control. Improved performance is achieved. The proposed approach also allows for iterative experiment design.
Chee Pin Tan,Kok Yew Ng,Zhihong Man,Rini Akmeliawati 제어·로봇·시스템학회 2010 International Journal of Control, Automation, and Vol.8 No.3
This paper presents a disturbance decoupled fault reconstruction (DDFR) scheme using two sliding mode observers in cascade. Measurable signals from the first observer are found to be the output of a fictitious system that is driven by the fault and disturbances. Then the signals are fed into a second observer which will reconstruct the fault. Sufficient conditions which guarantee DDFR are investigated and presented in terms of the original system matrices, and they are found to be less conservative than if only one single observer is used; therefore DDFR can be achieved for a wider class of systems using two sliding mode observers. A simulation example validates the claims made in this paper.