Pub Date : 2012-10-01DOI: 10.1109/ICRAI.2012.6413405
U. Farooq, M. Z. Khalid, T. Wahab, U. Shahbaz, J. Iqbal, H. Jafri
This paper is based on a design of actuated prosthetic hand, a five fingered dexterous hand characterized by low cost fabrication. Prosthetic hand has been designed by following a biomedical approach based on biological innovative design. All the four fingers and thumb can move independently which is the novelty of this design.
{"title":"Mechanical design of a tendon activated prosthetic hand","authors":"U. Farooq, M. Z. Khalid, T. Wahab, U. Shahbaz, J. Iqbal, H. Jafri","doi":"10.1109/ICRAI.2012.6413405","DOIUrl":"https://doi.org/10.1109/ICRAI.2012.6413405","url":null,"abstract":"This paper is based on a design of actuated prosthetic hand, a five fingered dexterous hand characterized by low cost fabrication. Prosthetic hand has been designed by following a biomedical approach based on biological innovative design. All the four fingers and thumb can move independently which is the novelty of this design.","PeriodicalId":105350,"journal":{"name":"2012 International Conference of Robotics and Artificial Intelligence","volume":"81 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127723627","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-10-01DOI: 10.1109/ICRAI.2012.6413420
M. Rehan, Z. Khan
This paper describes a robust formation control strategy for aerial refueling. Two types of control algorithms are designed and compared: first a conventional control system based on the Proportional Integral derivative (PID) controller is used for stability and control augmentation, and then a robust formation controller is designed to minimize the effect of disturbances and un-modeled dynamics. Both controllers are then compared for their performance under disturbance conditions.
{"title":"Robust formation control for aerial refueling","authors":"M. Rehan, Z. Khan","doi":"10.1109/ICRAI.2012.6413420","DOIUrl":"https://doi.org/10.1109/ICRAI.2012.6413420","url":null,"abstract":"This paper describes a robust formation control strategy for aerial refueling. Two types of control algorithms are designed and compared: first a conventional control system based on the Proportional Integral derivative (PID) controller is used for stability and control augmentation, and then a robust formation controller is designed to minimize the effect of disturbances and un-modeled dynamics. Both controllers are then compared for their performance under disturbance conditions.","PeriodicalId":105350,"journal":{"name":"2012 International Conference of Robotics and Artificial Intelligence","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121059300","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-10-01DOI: 10.1109/ICRAI.2012.6413407
A. Mahmood, A. Baig, Q. Ahsan
Inertial Navigation System (INS) is one of the most important component of a mobile robotic platform, be it ground or air based. It is used to localize the mobile robotic platform in the real world and identify its location in terms of latitudes and longitudes or other related coordinate systems. Highly accurate and precise INS is quite expensive and is therefore not suitable for more general purpose applications. It is, therefore, a standard approach in mobile robotics to use a low grade commercial INS coupled with another navigation device to provide a more accurate triangulation. Generally, INS and Global Positioning System (GPS) are integrated using Kalman Filters to provide accurate localization information about the mobile robots. Although, in certain scenarios, the mobile robot is not able to acquire a GPS fix for long durations of time especially when navigating in indoor environments or in areas with inadequate GPS satellite coverage. In such cases, an additional source of location fix is required. This paper describes an accurate and stable data fusion filter which integrates the position of a mobile robot from a Visual Navigation System (VNS) with the position from an INS to accurately localize the robot in absence of GPS data. This research proposes a seven error states model and uses it in Kalman Filter for data fusion. The filter is tuned and tested using dynamic and static data from INS and VNS. Simulation and experimentation results show that the seven error states model based Kalman Filter provides a good balance between accuracy, robustness and processing efficiency for a real time implementation. Experiments also show that in absence of GPS data only a couple of fixes from the VNS are sufficient to quickly correct the position of the mobile robotic platform and three fixes at different times are sufficient for velocity correction of INS.
{"title":"Real time localization of mobile robotic platform via fusion of Inertial and Visual Navigation System","authors":"A. Mahmood, A. Baig, Q. Ahsan","doi":"10.1109/ICRAI.2012.6413407","DOIUrl":"https://doi.org/10.1109/ICRAI.2012.6413407","url":null,"abstract":"Inertial Navigation System (INS) is one of the most important component of a mobile robotic platform, be it ground or air based. It is used to localize the mobile robotic platform in the real world and identify its location in terms of latitudes and longitudes or other related coordinate systems. Highly accurate and precise INS is quite expensive and is therefore not suitable for more general purpose applications. It is, therefore, a standard approach in mobile robotics to use a low grade commercial INS coupled with another navigation device to provide a more accurate triangulation. Generally, INS and Global Positioning System (GPS) are integrated using Kalman Filters to provide accurate localization information about the mobile robots. Although, in certain scenarios, the mobile robot is not able to acquire a GPS fix for long durations of time especially when navigating in indoor environments or in areas with inadequate GPS satellite coverage. In such cases, an additional source of location fix is required. This paper describes an accurate and stable data fusion filter which integrates the position of a mobile robot from a Visual Navigation System (VNS) with the position from an INS to accurately localize the robot in absence of GPS data. This research proposes a seven error states model and uses it in Kalman Filter for data fusion. The filter is tuned and tested using dynamic and static data from INS and VNS. Simulation and experimentation results show that the seven error states model based Kalman Filter provides a good balance between accuracy, robustness and processing efficiency for a real time implementation. Experiments also show that in absence of GPS data only a couple of fixes from the VNS are sufficient to quickly correct the position of the mobile robotic platform and three fixes at different times are sufficient for velocity correction of INS.","PeriodicalId":105350,"journal":{"name":"2012 International Conference of Robotics and Artificial Intelligence","volume":"89 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126221625","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-10-01DOI: 10.1109/ICRAI.2012.6413414
M. R. Bhutta, K. Hong, A. K. Pamosoaji
In this paper, a collision-free navigation method for multiple wheeled vehicles is investigated. For individual vehicle three navigation variables are transformed from the position and orientation of respective vehicle. These navigation variables are distance of the vehicle from the goal position, angle between the vehicle's orientation and the vehicle to goal (v-to-g) vector, and the angle between the goal orientation and vehicle to goal (v-to-g) vector. The path tracking control utilizes kinematic representation. Moreover, a switching algorithm is implemented to attack the problem of obstacle avoidance. As the center point of the vehicle is used to navigate the vehicle to the goal position, two more points are used for the obstacle avoidance. These points are on the left front, and right front of the vehicle. Depending upon the position of the obstacle with respect to these points, the closest point to the obstacle gets activated and control design takes the parameters according to that point. The main advantage of this approach is the obstacle avoidance by keeping the safe distance from the closest point of the vehicle to the obstacle. The effectiveness of the proposed control algorithm is demonstrated by simulations.
{"title":"Collision-free navigation of wheeled vehicles by gain switching","authors":"M. R. Bhutta, K. Hong, A. K. Pamosoaji","doi":"10.1109/ICRAI.2012.6413414","DOIUrl":"https://doi.org/10.1109/ICRAI.2012.6413414","url":null,"abstract":"In this paper, a collision-free navigation method for multiple wheeled vehicles is investigated. For individual vehicle three navigation variables are transformed from the position and orientation of respective vehicle. These navigation variables are distance of the vehicle from the goal position, angle between the vehicle's orientation and the vehicle to goal (v-to-g) vector, and the angle between the goal orientation and vehicle to goal (v-to-g) vector. The path tracking control utilizes kinematic representation. Moreover, a switching algorithm is implemented to attack the problem of obstacle avoidance. As the center point of the vehicle is used to navigate the vehicle to the goal position, two more points are used for the obstacle avoidance. These points are on the left front, and right front of the vehicle. Depending upon the position of the obstacle with respect to these points, the closest point to the obstacle gets activated and control design takes the parameters according to that point. The main advantage of this approach is the obstacle avoidance by keeping the safe distance from the closest point of the vehicle to the obstacle. The effectiveness of the proposed control algorithm is demonstrated by simulations.","PeriodicalId":105350,"journal":{"name":"2012 International Conference of Robotics and Artificial Intelligence","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128419323","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-10-01DOI: 10.1109/ICRAI.2012.6413418
M. J. Khan, M. R. Afzal, Noman Naseer, Z. Koreshi
Bio-Mechatronics is the field that deals with passive and active prosthetic limb design. The passive conventional prosthesis carries constant mechanical properties so that the motion of joints motion is not similar to that of humans while the active type prosthesis more realistically represents human motion. The latter is however, more expensive than passive prosthesis and consumes more energy. Semi-active type prosthesis is less expensive but its results are very much similar to that of active type prosthesis and it is a better solution to control the human gait artificially. This research is based on the design of a prosthetic leg that can simulate a pattern similar to that of a normal person's gait. The research is divided into two parts: calculation of kinematics and design of control system. The forward and inverse kinematics is computed to analyze the position, orientation and workspace for the leg. Series damping actuator is used to control the swing phase of the leg and P-Controller is designed to control the swing and joint force on knee. This paper shows that a semi active prosthetic limb can emulate a real limb and in order to control a prosthetic leg Series Damping Actuator (SDA) can be used as a means to adapt the pattern of normal human gait and the walking pattern can be controlled accordingly.
{"title":"Control system design for a prosthetic leg using series damping actuator","authors":"M. J. Khan, M. R. Afzal, Noman Naseer, Z. Koreshi","doi":"10.1109/ICRAI.2012.6413418","DOIUrl":"https://doi.org/10.1109/ICRAI.2012.6413418","url":null,"abstract":"Bio-Mechatronics is the field that deals with passive and active prosthetic limb design. The passive conventional prosthesis carries constant mechanical properties so that the motion of joints motion is not similar to that of humans while the active type prosthesis more realistically represents human motion. The latter is however, more expensive than passive prosthesis and consumes more energy. Semi-active type prosthesis is less expensive but its results are very much similar to that of active type prosthesis and it is a better solution to control the human gait artificially. This research is based on the design of a prosthetic leg that can simulate a pattern similar to that of a normal person's gait. The research is divided into two parts: calculation of kinematics and design of control system. The forward and inverse kinematics is computed to analyze the position, orientation and workspace for the leg. Series damping actuator is used to control the swing phase of the leg and P-Controller is designed to control the swing and joint force on knee. This paper shows that a semi active prosthetic limb can emulate a real limb and in order to control a prosthetic leg Series Damping Actuator (SDA) can be used as a means to adapt the pattern of normal human gait and the walking pattern can be controlled accordingly.","PeriodicalId":105350,"journal":{"name":"2012 International Conference of Robotics and Artificial Intelligence","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130067270","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-10-01DOI: 10.1109/ICRAI.2012.6413409
M. Ahsan, K. Abbas, A. Zahid, A. Farooq, S. Mashhood Murtaza
In this paper we discuss the design and development of highly cost effective, semi-autonomous reconnaissance Unmanned Aerial Vehicle (UAV) for safe flights in close environments, with real time video feedback. The design and development is based on the modifications/up gradations, (predicated on the results of several small experiments), of a very low cost, small sized - toy helicopter, and a simple non-linear control system designed for the intelligent UAV features. The developed UAV helicopter has been successfully test-flown at higher altitudes, with heavier payload, for longer period as compared to similar helicopters developed at much higher costs.
{"title":"Modification of a toy helicopter into a highly cost effective, semi-autonomous, reconnaissance unmanned aerial vehicle","authors":"M. Ahsan, K. Abbas, A. Zahid, A. Farooq, S. Mashhood Murtaza","doi":"10.1109/ICRAI.2012.6413409","DOIUrl":"https://doi.org/10.1109/ICRAI.2012.6413409","url":null,"abstract":"In this paper we discuss the design and development of highly cost effective, semi-autonomous reconnaissance Unmanned Aerial Vehicle (UAV) for safe flights in close environments, with real time video feedback. The design and development is based on the modifications/up gradations, (predicated on the results of several small experiments), of a very low cost, small sized - toy helicopter, and a simple non-linear control system designed for the intelligent UAV features. The developed UAV helicopter has been successfully test-flown at higher altitudes, with heavier payload, for longer period as compared to similar helicopters developed at much higher costs.","PeriodicalId":105350,"journal":{"name":"2012 International Conference of Robotics and Artificial Intelligence","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128924766","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-10-01DOI: 10.1109/ICRAI.2012.6413421
S. Arif, J. Iqbal, S. Munawar
Cruise control is an efficient and effective automotive system being used in numerous vehicles around the world. In this work, an intelligent cruise control system is designed and simulated. This embedded motion control system is based on Fuzzy logic control for closed loop speed control of DC motor which can be a part of any hybrid vehicle drive system. This Modified Fuzzy Logic Controller (MFLC) has less computational cost as compared to conventional Fuzzy Logic Controller so that an ordinary 8-bit/16-bit low cost Microcontroller can be used as its hardware platform. Analysis is done on the efficiency of intelligent control system over conventional control technique. Simulation results shows that intelligent systems can better reduce fuel economy, design and maintenance cost and processing time of microprocessor, so that, this intelligent cruise control can be easily incorporated in any type of vehicle requiring efficient, fast and low cost speed control.
{"title":"Design of embedded motion control system based on Modified Fuzzy Logic Controller for intelligent cruise controlled Vehicles","authors":"S. Arif, J. Iqbal, S. Munawar","doi":"10.1109/ICRAI.2012.6413421","DOIUrl":"https://doi.org/10.1109/ICRAI.2012.6413421","url":null,"abstract":"Cruise control is an efficient and effective automotive system being used in numerous vehicles around the world. In this work, an intelligent cruise control system is designed and simulated. This embedded motion control system is based on Fuzzy logic control for closed loop speed control of DC motor which can be a part of any hybrid vehicle drive system. This Modified Fuzzy Logic Controller (MFLC) has less computational cost as compared to conventional Fuzzy Logic Controller so that an ordinary 8-bit/16-bit low cost Microcontroller can be used as its hardware platform. Analysis is done on the efficiency of intelligent control system over conventional control technique. Simulation results shows that intelligent systems can better reduce fuel economy, design and maintenance cost and processing time of microprocessor, so that, this intelligent cruise control can be easily incorporated in any type of vehicle requiring efficient, fast and low cost speed control.","PeriodicalId":105350,"journal":{"name":"2012 International Conference of Robotics and Artificial Intelligence","volume":"85 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130708032","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-10-01DOI: 10.1109/ICRAI.2012.6413384
K. Hafeez, S. Khan
Lightning has been one of the major problems for insulation design of power systems and it is still one of the main causes of forced outages in transmission and distribution lines. It is necessary to protect the power apparatus from over volts in electric system caused by lightning over voltages. Artificial intelligence (AI) techniques, such as expert system (ES), fuzzy logic (FL), and artificial neural network (ANN), and genetic algorithm (GA), techniques can solve complex engineering problems which are difficult to solve by traditional methods. This research focuses on (AI) technique i.e. fuzzy logic on mapping the lightning strike area around 500 k-v Grid station based on; level of strike (high, medium, low) and category of lightning (positive cloud-to-ground, negative cloud-to-ground, flash).Predefined areas around 500k-v Sheikh muhammadi Grid station Peshawar is chosen as a case study. This research will be helpful in risk management and lightning protection analysis by determining the area and characterizing the lightning strikes around the Grid station.
{"title":"Risk management analysis with the help of lightning strike mapping around 500 k-v grid station using artificial intelligence technique","authors":"K. Hafeez, S. Khan","doi":"10.1109/ICRAI.2012.6413384","DOIUrl":"https://doi.org/10.1109/ICRAI.2012.6413384","url":null,"abstract":"Lightning has been one of the major problems for insulation design of power systems and it is still one of the main causes of forced outages in transmission and distribution lines. It is necessary to protect the power apparatus from over volts in electric system caused by lightning over voltages. Artificial intelligence (AI) techniques, such as expert system (ES), fuzzy logic (FL), and artificial neural network (ANN), and genetic algorithm (GA), techniques can solve complex engineering problems which are difficult to solve by traditional methods. This research focuses on (AI) technique i.e. fuzzy logic on mapping the lightning strike area around 500 k-v Grid station based on; level of strike (high, medium, low) and category of lightning (positive cloud-to-ground, negative cloud-to-ground, flash).Predefined areas around 500k-v Sheikh muhammadi Grid station Peshawar is chosen as a case study. This research will be helpful in risk management and lightning protection analysis by determining the area and characterizing the lightning strikes around the Grid station.","PeriodicalId":105350,"journal":{"name":"2012 International Conference of Robotics and Artificial Intelligence","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125817951","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-10-01DOI: 10.1109/ICRAI.2012.6413382
T. Mahmood, K. Rohail
Over the past couple of decades, Pakistan has witnessed a remarkable increase in the number of terrorist events across its major provinces. These events are not random, and to date, there exists no concrete analysis which can help us in identifying important patterns in the occurrences of these events, and provide valuable assistance to counterterrorism authorities. Our work presents the first effort in this direction. We obtain a reliable database of terrorist events and implement cluster analysis with the CLOPE algorithm. We analyze clusters related to two combinations, i.e., “Terrorism Event - Terrorism Target”, and “Terrorism Event - Terrorism Method”. We annually analyze the number and content of the clusters, effectively from 2001 to 2012 and separately for each of the four major Pakistani provinces. Our work is divided in two papers. In this paper, we present some results related to the analysis of Event - Target combinations, which reveals an increase in the frequency of these combinations from 2006 onwards, particularly for the Khyber Pakhtunkhaa province. In the companion paper, we present our remaining Event-Target analyses along with the complete Event-Method analysis.
{"title":"Analyzing terrorist incidents to support counter-terrorism - Events and methods","authors":"T. Mahmood, K. Rohail","doi":"10.1109/ICRAI.2012.6413382","DOIUrl":"https://doi.org/10.1109/ICRAI.2012.6413382","url":null,"abstract":"Over the past couple of decades, Pakistan has witnessed a remarkable increase in the number of terrorist events across its major provinces. These events are not random, and to date, there exists no concrete analysis which can help us in identifying important patterns in the occurrences of these events, and provide valuable assistance to counterterrorism authorities. Our work presents the first effort in this direction. We obtain a reliable database of terrorist events and implement cluster analysis with the CLOPE algorithm. We analyze clusters related to two combinations, i.e., “Terrorism Event - Terrorism Target”, and “Terrorism Event - Terrorism Method”. We annually analyze the number and content of the clusters, effectively from 2001 to 2012 and separately for each of the four major Pakistani provinces. Our work is divided in two papers. In this paper, we present some results related to the analysis of Event - Target combinations, which reveals an increase in the frequency of these combinations from 2006 onwards, particularly for the Khyber Pakhtunkhaa province. In the companion paper, we present our remaining Event-Target analyses along with the complete Event-Method analysis.","PeriodicalId":105350,"journal":{"name":"2012 International Conference of Robotics and Artificial Intelligence","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121935266","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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