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Fuzzy Reinforcement Learning Based Trajectory-tracking Control of an Autonomous Mobile Robot
Muhammad Qomaruz Zaman,Hsiu-Ming Wu 제어로봇시스템학회 2022 제어로봇시스템학회 국제학술대회 논문집 Vol.2022 No.11
The aim of this study is to achieve trajectory-tracking of an Autonomous Mobile Robot (AMR). The proposed Fuzzy Reinforcement Learning Control (FRLC) takes fuzzified sliding surfaces consisting of tracking errors and local velocities as inputs and generates actuator voltages as outputs. The relationship between inputs and outputs is reasoned by using the trained knowledge of a reinforcement learning agent. Simulations are conducted to investigate the performance of the proposed FRLC. It is shown that the proposed FRLC has excellent control performance for trajectory-tracking without reasoning human designed.
Zaman, Muhammad,Kim, Guinyun,Kim, Kwangsoo,Naik, Haladhara,Lee, Young-Ouk,Cho, Young-Sik,Lee, Man Woo,Kang, Yeong-Rok De Gruyter 2017 RADIOCHIMICA ACTA Vol.105 No.8
<P>The cross sections of the Al-27(n,alpha)Na-24 and Al-27(n,p)Mg-27 reactions with the average neutron energies of 15.2, 26.4, and 37.2 MeV were measured using the activation and off-line gamma-ray spectrometric technique at the Korean Institute of Radiological and Medical Sciences (KIRAMS), Korea. Quasi-monoenergetic neutrons produced via the Be-9(p,n) reaction with the proton beam energies of 25, 35, and 45 MeV from the MC50 cyclotron of KIRAMS were used. The present measured values were compared with those from the evaluated nuclear data libraries ENDF/B-VII, TENDL-2015, TALYS 1.8, and from literature. In general, a close agreement with the literature data as well as the evaluated data was found.</P>
Fuzzy Target Reaching Control of a Differential Drive Mobile Robot Subject to Friction Torques
Muhammad Qomaruz Zaman,Hsiu-Ming Wu 제어로봇시스템학회 2020 제어로봇시스템학회 국제학술대회 논문집 Vol.2020 No.10
In this study, the aim is to control a differential drive mobile robot (DDMR) to reach a target position despite the presence of disturbances. The study established a comprehensive model of a DDMR including its kinematics, dynamics and actuator dynamics. Based on this comprehensive model, a fuzzy target reaching control (FTRC) is proposed to achieve the target-reaching. By means of the designed FTRC, the distance and orientation between a target and the DDMR are quickly converged. Finally, the simulations are conducted to validate the effectiveness of the proposed FTRC. The corresponding results show that the proposed control strategy possesses a high level of robustness.
Muhammad Noorullah,Amina Zuberi,Muhib Zaman,Waqar Younas,Sadam Hussain,Muhammad Kamran The Korean Society of Fisheries and Aquatic Scienc 2023 Fisheries and Aquatic Sciences Vol.26 No.12
Genetic diversity serves as the basis for selecting and genetically enhancing any culturable species in aquaculture. Here, two different strains of wild (River Ravi and River Kabul) and six captive-bred strains of Labeo rohita from various provinces were se- lected, and genetic diversity among them was evaluated using three different microsatellite markers, i.e., Lr-28, Lr-29, and Lr-37, and one mitochondrial CO1 (Cytochrome c oxidase subunit 1) gene. Different strains of L. rohita were collected, and part of their caudal fin was cut and preserved in ethanol for DNA extraction and determination of genetic diversity among them. Results in- dicated that selected markers were polymorphic with polymorphic information content (PIC) content values above 0.5 with the highest in Lr-28 followed by Lr-29 and then Lr-37. The observed heterozygosity (Ho) of all strains was higher (Avg: 0.731) but less than the expected heterozygosity (He). Moreover, TMs and WRs showed the highest He, while TKs showed the lowest, He. Over- all, inbreeding coefficient (FIS) values observed for all strains with selected markers were positive. The DNA barcoding with the CO1 gene revealed genetic variation among various strains, as demonstrated by the clades in the phylogenetic tree separating the strains into two distinct clusters that then divided into sub-clusters. In conclusion, TMs showed the highest heterozygosity as compared to other strains. Overall results provide the baseline data for the initiation of the genetic improvement program.
Muhammad Shahid,김광수,김귀년,Muhammad Zaman,Muhammad Nadeem,Haladhara Naik,Mansoureh Tatari,R. Guin,S. K. Das 한국물리학회 2015 THE JOURNAL OF THE KOREAN PHYSICAL SOCIETY Vol.67 No.8
The excitation functions of 93mMo and 91m,92m,95m,gNb produced from alpha-induced reactions on 93Nb were measured from their respective threshold to 39.5 MeV. The study was conducted using the alpha beam from the Variable Energy Cyclotron Centre (VECC), Kolkata, India, the stacked foil activation technique and the off-line gamma ray spectrometric technique. The integral yields for a thick target were also deduced from the measured cross-sections and the stopping power of niobium. The results were compared with earlier reported data as well as with the theoretical values obtained from the TENDL-2013 library based on the TALYS-1.6 code.
Muhammad Zaman Khan,Vijay Baheti,Munir Ashraf,Tanveer Hussain,Azam Ali,Amjed Javid,Abdur Rehman 한국섬유공학회 2018 Fibers and polymers Vol.19 No.8
In this research work, multifunctional cotton fabric comprising of UV protection, superhydrophobicity and antibacterial activity has been developed using facile pad-dry-cure method. In the first step, the concentration of repellent chemical has been optimized. Then, formulations containing nanoparticles of ZnO or TiO2 along with optimized concentration of repellent chemical and organic-inorganic binder have been applied to cotton fabric followed by the evaluation of functional properties. The surface morphology and elemental composition of treated fabric has been characterized through SEM and EDX, respectively. The treated samples have shown promising UV protection, superhydrophobicity and antibacterial properties durable upto 20 washing cycles.