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Studies on the control of inverted pendulum type systems have been widely reported. This is because this type of system is a typical complex nonlinear system and may be a good model to verify the performance of a proposed control system. In this paper, we propose the design of two fuzzy logic control systems for the control of a Segway mobile robot which is an inverted pendulum type system. We first introduce a dynamic model of the Segway mobile robot and then analyze the system. We then propose the design of the fuzzy logic control system, which shows good performance for the control of any nonlinear system. In this paper, we here design two fuzzy logic control systems for the position and balance control of the Segway mobile robot. We demonstrate their usefulness through simulation examples. We also note the possibility of simplifying the design process and reducing the computational complexity. This possibility is the result of the skew symmetric property of the fuzzy rule tables of the system.
A practical application of a fuzzy-neuro controller is described for an air-conditioning system. Air-handing units are being widely used for improving the performance of central air-conditioning systems. The fuzzy-neuro control system has two controlled variables, temperature and humidity and three control elements, cooling, heating, and humidification. In order to achieve high efficiency and economical contorl, especially in large offices and industrial buildings, two controllable parameters, temperature and humidity, must be adequately controlled by the three final controlling elements. In this paper a fuzzy-neuro control system is described for controlling air-conditioning systems efficiently and economically. Simulation results confirmed that the fuzzy neuro control system is effective for this multivariable system.
Main goal of web recommendation system is to study how user behavior on a website can be predicted by analyzing web log data which contain the visited web pages. Many researches of the web recommendation system have been studied. To construct web recommendation system, web mining is needed. Especially, web usage analysis of web mining is a tool for recommendation model. In this paper, we propose web recommendation system using grid based support vector machines for improvement of web recommendation system. To verify the performance of our system, we make experiments using the data set from our web server.
Multi-Agent Robotic System (MARS) is a system that independent autonomous robots in the restricted environments infer their status from pre-assigned conditions and operate their jobs through the cooperation with each other. In the MARS, a robot contains sensor part to percept the situation around themselves, communication part to exchange information, and actuator part to do given work. Especially, in order to cooperate with other robots, communicating with other robots is one of the essential elements. Because Bluetooth has many advantages such as low power consumption, small size module package, and various standard protocols, Bluetooth is rated as one of the efficient communicating technologies which can apply to small-sized robot system. In this paper, we will develop Bluetooth communicating system for autonomous robots. For the purpose, the communication system must have several features-separated module, flexible interface. We will discuss how to construct and what kind of procedure to develop the communicating system.
Insulation aging diagnosis system provides early warning in regard to electrical equipment defects. Early warning is very important in that it can avoid great losses resulting from unexpected shutdown of the production line. For solving this problem, many researchers proposed a method that diagnose power plant by using partial discharge. In this paper, we design the intelligent sensor to diagnose insulation degradation state that uses a Microprocessor and Al. Proposed sensor has MCU that is used to diagnose insulation degradation and communicate with main IDD system. And we use a fuzzy model to diagnose insulation degradation.
Latest advances in network sensor technology and state of the art of mobile robot, and artificial intelligence research can be employed to develop autonomous and distributed monitoring systems. In this study, as the preliminary step for developing a multi-purpose "Intelligent Space" platform to implement advanced technologies easily to realize smart services to human. We will give an explanation for the ISpace system architecture designed and implemented in this study and a short review of existing techniques, since there exist several recent thorough books and review paper on this paper. Instead we will focus on the main results with relevance to the DIND data fusion with CI of Intelligent Space. We will conclude by discussing some possible future extensions of ISpace. It is first dealt with the general principle of the navigation and guidance architecture, then the detailed functions tracking multiple objects, human detection and motion assessment, with the results from the simulations run.
Various inverted pendulum systems have been frequently used as a model for the performance test of the proposed control system. We first identify a rotary-type inverted pendulum system by the Euler-Lagrange method and then design a FLC (Fuzzy Logic Controller) fur the plant. FLC`s are one of useful control schemes fur plants having difficulties in deriving mathematical models or having performance limitations with conventional linear control schemes. Many FLC`s imitate the concept of conventional PD (Proportional-Derivative) or PI (Proportional-Integral) controller. That is, the error e and the change-of-error are used as antecedent variables and the control input u the change of control input Au is used as its consequent variable for FLC`s. In this paper we design a simple-structured FLC for the rotary inverted pendulum system. We also perform some computer simulations to examine the tracking performance of the closed-loop system.
With the development of techniques, robots are getting smaller, and the number of robots needed for application is greater and greater. How to coordinate large number of autonomous robots through local interactions has becoming an important research issue in robot community. Swarm Robot Systems (SRS) is a system that independent autonomous robots in the restricted environments infer their status from pre-assigned conditions and operate their jobs through the cooperation with each other. In the SRS, a robot contains sensor part to percept the situation around them, communication part to exchange information, and actuator part to do a work. Especially, in order to cooperate with other robots, communicating with other robots is one of the essential elements. Because Bluetooth has many advantages such as low power consumption, small size module package, and various standard protocols, it is rated as one of the efficient communicating technologies which can apply to small-sized robot system. In this paper, we will develop Bluetooth communicating system for autonomous robots. And we will discuss how to construct and what kind of procedure to develop the communicating system for group behavior of the SRS under intelligent space.
Hybrid wind Diesel stand-alone power systems are considered economically viable and effective to create balance between production and load demand in remote areas where the wind speed is considerable for electric generation, and also, electric energy is not easily available from the grid. In Wind diesel hybrid system, the wind energy system is the main constitute and diesel system forms the back up. This type of hybrid power system saves fuel cost, improves power capacity to meet the increasing demand and maintains the continuity of supply in the system. Problem we face in this system is that even after producing enough power through wind turbine system, considerable portion of this power needs to be dumped due to short term oversupply of power and to maintain the frequency within close tolerances. As a result remaining portion of total energy supplied comes from the diesel generator to overcome the temporal energy shortage. This scenario decreases the overall efficiency of hybrid power system. In this study, efficient Simulink modeling for wind-diesel hybrid system is proposed and some simulations study is carried out to verify the feasibility of the proposed scheme.
We propose an global color model based method for tracking motions of multiple human using a networked multiple-camera system in intelligent space as a human-robot coexistent system. An intelligent space is a space where many intelligent devices, such as computers and sensors(color CCD cameras for example), are distributed. Human beings can be a part of intelligent space as well. One of the main goals of intelligent space is to assist humans and to do different services for them. In order to be capable of doing that, intelligent space must be able to do different human related tasks. One of them is to identify and track multiple objects seamlessly. In the environment where many camera modules are distributed on network, it is important to identify object in order to track it, because different cameras may be needed as object moves throughout the space and intelligent space should determine the appropriate one. This paper describes appearance based unknown object tracking with the distributed vision system in intelligent space. First, we discuss how object color information is obtained and how the color appearance based model is constructed from this data. Then, we discuss the global color model based on the local color information. The process of learning within global model and the experimental results are also presented.