Pub Date : 2013-11-01DOI: 10.1109/ICCSCE.2013.6720009
N. M. Khair, S. Yaacob, M. Hariharan, S. Basah
Developing tools for identifying emotional states in human action is seen more challenging area of research and has attracted many researchers recently. In this paper, a new feature extraction method was proposed in identifying emotional states in human knocking. Four discrete categories of emotion such as angry, happy, neutral and sad were analyzed through human knocking and were carried out by employing Discrete Wavelet Transform (DWT) as a feature extraction method. Three different wavelet families with orders (db1, db4, Sym2, Sym5, Coif1 and Coif4) are utilized to investigate their performance in recognizing human emotional movement. Six statistical features such as mean, maximum, minimum, standard deviation, skewness and kurtosis were derived from approximation and detail coefficients at five levels of decomposition. Two different classifiers known as k-Nearest Neighbor (KNN) and Fuzzy k-Nearest Neighborhood (FkNN) was used to classify emotional movement. The experimental results demonstrate that the proposed method gives very promising classification accuracies.
{"title":"Discrete wavelet transform in recognition human emotional movement through knocking","authors":"N. M. Khair, S. Yaacob, M. Hariharan, S. Basah","doi":"10.1109/ICCSCE.2013.6720009","DOIUrl":"https://doi.org/10.1109/ICCSCE.2013.6720009","url":null,"abstract":"Developing tools for identifying emotional states in human action is seen more challenging area of research and has attracted many researchers recently. In this paper, a new feature extraction method was proposed in identifying emotional states in human knocking. Four discrete categories of emotion such as angry, happy, neutral and sad were analyzed through human knocking and were carried out by employing Discrete Wavelet Transform (DWT) as a feature extraction method. Three different wavelet families with orders (db1, db4, Sym2, Sym5, Coif1 and Coif4) are utilized to investigate their performance in recognizing human emotional movement. Six statistical features such as mean, maximum, minimum, standard deviation, skewness and kurtosis were derived from approximation and detail coefficients at five levels of decomposition. Two different classifiers known as k-Nearest Neighbor (KNN) and Fuzzy k-Nearest Neighborhood (FkNN) was used to classify emotional movement. The experimental results demonstrate that the proposed method gives very promising classification accuracies.","PeriodicalId":319285,"journal":{"name":"2013 IEEE International Conference on Control System, Computing and Engineering","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130498878","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 : 2013-11-01DOI: 10.1109/ICCSCE.2013.6720017
N. Syamimi, S. Yahud
Human mechanoreceptors are the biological tactile transducers, providing tactile information to the somatosensory system. A biologically inspired tactile sensor replicates structural and design of the human fingertip to produce similar response to the human mechanoreceptors. The study of different shapes and heights of an artificial epidermal ridge is proposed in order to obtain the optimum design of a bio-inspired tactile sensor. The Finite Element Analysis model was conducted using COMSOL software. The artificial skin was modelled as a nearly compressible, linear hyperelastic material. There were five different shapes of the epidermal ridge which are the centered circle, centered square, centered rectangle, semi-circular and rectangular ridge each with six different heights. The heights of epidermal ridges tested are 100, 110, 150, 170, 210, 250 μm. A boundary load of 1 N/m2 was applied on the top surface of the protrusion in z and x direction for normal and shear stress. The base of the model was constraint to maintain the same boundary conditions throughout all simulation. Simulations were done to determine the suitable depth for sensor placement in the skin area under the epidermal ridge. The simulated result for all different shape and height were compared. Simulation results with areas that experienced the highest stress were given to validate the proposed epidermal ridge model. The best epidermal ridge identified is the semi-circular model with 210 μm height with the value of 0.8246 N/m2 simulated Von Mises stress distribution. The optimum sensor placement with cut line 3D is at 400 μm below the model top surface. The proposed artificial epidermal ridge finger skin with optimum shape and height of the epidermal ridge are readily applicable to be fabricated as a bio-inspired tactile sensor.
{"title":"Finite Element Analysis of epidermal ridges in tactile sensing application","authors":"N. Syamimi, S. Yahud","doi":"10.1109/ICCSCE.2013.6720017","DOIUrl":"https://doi.org/10.1109/ICCSCE.2013.6720017","url":null,"abstract":"Human mechanoreceptors are the biological tactile transducers, providing tactile information to the somatosensory system. A biologically inspired tactile sensor replicates structural and design of the human fingertip to produce similar response to the human mechanoreceptors. The study of different shapes and heights of an artificial epidermal ridge is proposed in order to obtain the optimum design of a bio-inspired tactile sensor. The Finite Element Analysis model was conducted using COMSOL software. The artificial skin was modelled as a nearly compressible, linear hyperelastic material. There were five different shapes of the epidermal ridge which are the centered circle, centered square, centered rectangle, semi-circular and rectangular ridge each with six different heights. The heights of epidermal ridges tested are 100, 110, 150, 170, 210, 250 μm. A boundary load of 1 N/m2 was applied on the top surface of the protrusion in z and x direction for normal and shear stress. The base of the model was constraint to maintain the same boundary conditions throughout all simulation. Simulations were done to determine the suitable depth for sensor placement in the skin area under the epidermal ridge. The simulated result for all different shape and height were compared. Simulation results with areas that experienced the highest stress were given to validate the proposed epidermal ridge model. The best epidermal ridge identified is the semi-circular model with 210 μm height with the value of 0.8246 N/m2 simulated Von Mises stress distribution. The optimum sensor placement with cut line 3D is at 400 μm below the model top surface. The proposed artificial epidermal ridge finger skin with optimum shape and height of the epidermal ridge are readily applicable to be fabricated as a bio-inspired tactile sensor.","PeriodicalId":319285,"journal":{"name":"2013 IEEE International Conference on Control System, Computing and Engineering","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121578363","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 : 2013-11-01DOI: 10.1109/ICCSCE.2013.6720001
A. Al-Jodah, H. Zargarzadeh, Maythem K. Abbas
This paper focuses on implementation of swing-up, switching and stabilizing controllers for rotary inverted pendulum. An energy based method to swing-up the pendulum and a state feedback controller to keep the pendulum in the upright position are employed. The mixed H2/H∞ state feedback controller is used to stabilize the pendulum with reduced oscillations. The results have been compared with the standard full state feedback and LQR. The Quanser rotary inverted pendulum is used as the testbed. All controllers are implemented in real-time using Microstick II with dsPIC33FJ128MC802 and Simulink embedded target for Microchip®.
{"title":"Experimental verification and comparison of different stabilizing controllers for a rotary inverted pendulum","authors":"A. Al-Jodah, H. Zargarzadeh, Maythem K. Abbas","doi":"10.1109/ICCSCE.2013.6720001","DOIUrl":"https://doi.org/10.1109/ICCSCE.2013.6720001","url":null,"abstract":"This paper focuses on implementation of swing-up, switching and stabilizing controllers for rotary inverted pendulum. An energy based method to swing-up the pendulum and a state feedback controller to keep the pendulum in the upright position are employed. The mixed H2/H∞ state feedback controller is used to stabilize the pendulum with reduced oscillations. The results have been compared with the standard full state feedback and LQR. The Quanser rotary inverted pendulum is used as the testbed. All controllers are implemented in real-time using Microstick II with dsPIC33FJ128MC802 and Simulink embedded target for Microchip®.","PeriodicalId":319285,"journal":{"name":"2013 IEEE International Conference on Control System, Computing and Engineering","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126356337","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 : 2013-11-01DOI: 10.1109/ICCSCE.2013.6720035
A. A. Khalili, M. Basri, M. Ahmad
Microfluidic devices are important for the single cell analysis such as cell mechanical and electrical characterization. Single cell characterization could be related to many significant applications including early disease diagnosis. However to perform the single cell manipulation, firstly a single cell have to be isolated and a platform for the cell manipulation have to be provided. One of the methods to trap a single cell is by using hydrodynamic trapping in the microfluidic channel. This study provides a finite element model for single cell trapping for a yeast cell model. The objectives of the simulations are to obtain the appropriate channels' geometry and optimized ratio of the fluid's inlet and suction flow rate to trap a single yeast cell. Trap channel was designed to trap a 5 μm yeast cell with a suction hole placed in the end of the trap channel. Design geometry and ratio of fluid flow rates referring to the hydrodynamic concept were studied for the cell trapping model. The analysis was carried out using numerical solutions from the finite element ABAQUS-FEA software. Using the cell trapping model, a single yeast cell able to be trapped into the trap channel with optimized channel's suction hole's geometry and appropriate fluid's inlet and suction flow rate ratio.
{"title":"Single cell trapping in microfluidic channel via hydrodynamic manipulation","authors":"A. A. Khalili, M. Basri, M. Ahmad","doi":"10.1109/ICCSCE.2013.6720035","DOIUrl":"https://doi.org/10.1109/ICCSCE.2013.6720035","url":null,"abstract":"Microfluidic devices are important for the single cell analysis such as cell mechanical and electrical characterization. Single cell characterization could be related to many significant applications including early disease diagnosis. However to perform the single cell manipulation, firstly a single cell have to be isolated and a platform for the cell manipulation have to be provided. One of the methods to trap a single cell is by using hydrodynamic trapping in the microfluidic channel. This study provides a finite element model for single cell trapping for a yeast cell model. The objectives of the simulations are to obtain the appropriate channels' geometry and optimized ratio of the fluid's inlet and suction flow rate to trap a single yeast cell. Trap channel was designed to trap a 5 μm yeast cell with a suction hole placed in the end of the trap channel. Design geometry and ratio of fluid flow rates referring to the hydrodynamic concept were studied for the cell trapping model. The analysis was carried out using numerical solutions from the finite element ABAQUS-FEA software. Using the cell trapping model, a single yeast cell able to be trapped into the trap channel with optimized channel's suction hole's geometry and appropriate fluid's inlet and suction flow rate ratio.","PeriodicalId":319285,"journal":{"name":"2013 IEEE International Conference on Control System, Computing and Engineering","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129372084","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 : 2013-11-01DOI: 10.1109/ICCSCE.2013.6719998
W. Ghanem, B. Belaton
The process of detecting running software on remote hosts, is generally known as fingerprinting. Fingerprinting process is performed as step before the attack stage on the remote host. There are two types of fingerprinting; active and passive fingerprinting. However, each type encountered limitation when implemented separately in networks, and their inability to provide accurate information about the host services/applications. The main objective of this paper is to propose possibility of enhancing the detection process of the host profiling, applications/ services fingerprinting and the methods of host identification. Herein, we perform network host profiling by identifying different services/ applications that were running on the host. More so, we exploit sophisticated process of application layer protocol payloads by active and passive fingerprinting tools. Besides, we attempt to add a layer of correctness into these tool results, by building a new database of signatures which is derived from these results. The new signature database can be tested either exactly or through approximate fuzzy matching. The experiment results give a better accurate output compare to the base tools alone.
{"title":"Improving accuracy of applications fingerprinting on local networks using NMAP-AMAP-ETTERCAP as a hybrid framework","authors":"W. Ghanem, B. Belaton","doi":"10.1109/ICCSCE.2013.6719998","DOIUrl":"https://doi.org/10.1109/ICCSCE.2013.6719998","url":null,"abstract":"The process of detecting running software on remote hosts, is generally known as fingerprinting. Fingerprinting process is performed as step before the attack stage on the remote host. There are two types of fingerprinting; active and passive fingerprinting. However, each type encountered limitation when implemented separately in networks, and their inability to provide accurate information about the host services/applications. The main objective of this paper is to propose possibility of enhancing the detection process of the host profiling, applications/ services fingerprinting and the methods of host identification. Herein, we perform network host profiling by identifying different services/ applications that were running on the host. More so, we exploit sophisticated process of application layer protocol payloads by active and passive fingerprinting tools. Besides, we attempt to add a layer of correctness into these tool results, by building a new database of signatures which is derived from these results. The new signature database can be tested either exactly or through approximate fuzzy matching. The experiment results give a better accurate output compare to the base tools alone.","PeriodicalId":319285,"journal":{"name":"2013 IEEE International Conference on Control System, Computing and Engineering","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127070876","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 : 2013-11-01DOI: 10.1109/ICCSCE.2013.6720037
R. Boudville, Z. Hussain, S. Z. Yahaya, K. A. Ahmad, M. Taib
Knee-FES-ergometer for knee swinging exercise is introduced as a hybrid exercise for restoration of function of the knee for stroke patients through the application of functional electrical stimulation (FES). The aim of the new knee-FES-ergometer is to provide high intensity knee swinging exercise. It is able to reduce required electrical stimulation and will able to elongate the exercise duration while avoiding early muscle fatigue. Fuzzy logic control (FLC) is used to control the knee trajectory for the purpose of smooth knee swinging exercise. However, conventional FLC rely on human experiences and trial and error for parameter identifications. In this work, a genetic algorithm (GA) is used to tune the FLC to maintain a smooth swinging exercise. The performance of the proposed GA tuned FLC is compared with a manually tuned FLC. Results shows that the GA tuned FLC offers encouragingly better performance.
{"title":"GA-tuned fuzzy logic control of knee-FES-ergometer for knee swinging exercise","authors":"R. Boudville, Z. Hussain, S. Z. Yahaya, K. A. Ahmad, M. Taib","doi":"10.1109/ICCSCE.2013.6720037","DOIUrl":"https://doi.org/10.1109/ICCSCE.2013.6720037","url":null,"abstract":"Knee-FES-ergometer for knee swinging exercise is introduced as a hybrid exercise for restoration of function of the knee for stroke patients through the application of functional electrical stimulation (FES). The aim of the new knee-FES-ergometer is to provide high intensity knee swinging exercise. It is able to reduce required electrical stimulation and will able to elongate the exercise duration while avoiding early muscle fatigue. Fuzzy logic control (FLC) is used to control the knee trajectory for the purpose of smooth knee swinging exercise. However, conventional FLC rely on human experiences and trial and error for parameter identifications. In this work, a genetic algorithm (GA) is used to tune the FLC to maintain a smooth swinging exercise. The performance of the proposed GA tuned FLC is compared with a manually tuned FLC. Results shows that the GA tuned FLC offers encouragingly better performance.","PeriodicalId":319285,"journal":{"name":"2013 IEEE International Conference on Control System, Computing and Engineering","volume":"316 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133774614","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 : 2013-11-01DOI: 10.1109/ICCSCE.2013.6719980
N. A. Ali, S. I. Salim, R. A. Rahim, S. A. Anas, Z. M. Noh, S. I. Samsudin
Motor control mechanism on a robotic platform has been dominated by microcontroller-based system for the past decade. With the advancement of the reconfigurable hardware platforms such as field programmable gate array (FPGA), such control mechanism is being ported to the platform in order to improve efficiency and achieves higher performance. This paper presents the FPGA implementation of the servomotor control technique which is applied for a six-legged robot platform. The hexapod robot consisted of 18 continuous servomotors with 3 servos on each leg. Each of the servomotors is assigned with single pulse width modulation (PWM) output and could be individually controlled by the main controller. To enable smooth movement of the hexapod, all the PWM output are synchronized based on a simple tripod gait movement. The servo motor controller is implemented in the Spartan-3 FPGA chip and the hardware design is described in Verilog Hardware Description Language (HDL). The controller design is simulated and verified using Xilinx's ISE Simulator (ISim). Initial hardware implementation also has been conducted on several basic movements on the hexapod such as standing-up, forward and backward movement. Overall, the implementation of the servomotor controller in an FPGA has offered several advantages in terms of circuit design flexibility and simultaneous command executions when compared to conventional microcontroller-based system.
{"title":"PWM controller design of a hexapod robot using FPGA","authors":"N. A. Ali, S. I. Salim, R. A. Rahim, S. A. Anas, Z. M. Noh, S. I. Samsudin","doi":"10.1109/ICCSCE.2013.6719980","DOIUrl":"https://doi.org/10.1109/ICCSCE.2013.6719980","url":null,"abstract":"Motor control mechanism on a robotic platform has been dominated by microcontroller-based system for the past decade. With the advancement of the reconfigurable hardware platforms such as field programmable gate array (FPGA), such control mechanism is being ported to the platform in order to improve efficiency and achieves higher performance. This paper presents the FPGA implementation of the servomotor control technique which is applied for a six-legged robot platform. The hexapod robot consisted of 18 continuous servomotors with 3 servos on each leg. Each of the servomotors is assigned with single pulse width modulation (PWM) output and could be individually controlled by the main controller. To enable smooth movement of the hexapod, all the PWM output are synchronized based on a simple tripod gait movement. The servo motor controller is implemented in the Spartan-3 FPGA chip and the hardware design is described in Verilog Hardware Description Language (HDL). The controller design is simulated and verified using Xilinx's ISE Simulator (ISim). Initial hardware implementation also has been conducted on several basic movements on the hexapod such as standing-up, forward and backward movement. Overall, the implementation of the servomotor controller in an FPGA has offered several advantages in terms of circuit design flexibility and simultaneous command executions when compared to conventional microcontroller-based system.","PeriodicalId":319285,"journal":{"name":"2013 IEEE International Conference on Control System, Computing and Engineering","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114774805","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 : 2013-11-01DOI: 10.1109/ICCSCE.2013.6719973
M. Aziz, M. M. Shukor, B. Ahmad, M. K. Suaidi, M. F. Johar, M. Othman, S. N. Salleh, F. A. Azmin, M. F. Malek
The design FSS structure consists of square loop FSS structures placed on the FR4 board and glass. The square loop FSS is designed and simulated by using the CST Microwave Studio software for 2.4 GHz based on industrial, scientific and medical bands (ISM) standard. The reflection (S11) and transmission (S21) of the design FSS structure is analyzed based on the six types of configuration that have been set up. The hybrid material (FR4 board and glass) affects the transmission and reflection of the FSS. The highest efficiency for 2.4 GHz is 73% by using configuration 2.
{"title":"Investigation of a square loop Frequency Selective Surface (FSS) on hybrid material at 2.4 GHz","authors":"M. Aziz, M. M. Shukor, B. Ahmad, M. K. Suaidi, M. F. Johar, M. Othman, S. N. Salleh, F. A. Azmin, M. F. Malek","doi":"10.1109/ICCSCE.2013.6719973","DOIUrl":"https://doi.org/10.1109/ICCSCE.2013.6719973","url":null,"abstract":"The design FSS structure consists of square loop FSS structures placed on the FR4 board and glass. The square loop FSS is designed and simulated by using the CST Microwave Studio software for 2.4 GHz based on industrial, scientific and medical bands (ISM) standard. The reflection (S11) and transmission (S21) of the design FSS structure is analyzed based on the six types of configuration that have been set up. The hybrid material (FR4 board and glass) affects the transmission and reflection of the FSS. The highest efficiency for 2.4 GHz is 73% by using configuration 2.","PeriodicalId":319285,"journal":{"name":"2013 IEEE International Conference on Control System, Computing and Engineering","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114999855","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 : 2013-11-01DOI: 10.1109/ICCSCE.2013.6719934
M. Shayestegan, Abdul Sattar b. Din
This study aims to allow the robot to move safely without colliding with obstacles to reach a specified position in an unknown environment. To achieve the aim of the study, a fuzzy controller was proposed and employed in intelligent mobile robot navigation strategies within unknown environments. This fuzzy controller has four inputs (one target angle and three obstacle distance), two outputs (left and right speed) and 9 numbers of rules. A virtual mobile robot, E-puck robot in the Webots simulator was used to evaluate the performance of the proposed method. Few features such as time travelling, distance travelling of the output responses were analyzed. Comparisons are made between proposed fuzzy logic and Motlagh fuzzy controller. The simulation results were presented to verify the effectiveness of the proposed architectures in an unknown environment.
{"title":"Fuzzy logic controller for robot navigation in an unknown environment","authors":"M. Shayestegan, Abdul Sattar b. Din","doi":"10.1109/ICCSCE.2013.6719934","DOIUrl":"https://doi.org/10.1109/ICCSCE.2013.6719934","url":null,"abstract":"This study aims to allow the robot to move safely without colliding with obstacles to reach a specified position in an unknown environment. To achieve the aim of the study, a fuzzy controller was proposed and employed in intelligent mobile robot navigation strategies within unknown environments. This fuzzy controller has four inputs (one target angle and three obstacle distance), two outputs (left and right speed) and 9 numbers of rules. A virtual mobile robot, E-puck robot in the Webots simulator was used to evaluate the performance of the proposed method. Few features such as time travelling, distance travelling of the output responses were analyzed. Comparisons are made between proposed fuzzy logic and Motlagh fuzzy controller. The simulation results were presented to verify the effectiveness of the proposed architectures in an unknown environment.","PeriodicalId":319285,"journal":{"name":"2013 IEEE International Conference on Control System, Computing and Engineering","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117243787","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 : 2013-11-01DOI: 10.1109/ICCSCE.2013.6720019
J. Susana, S. Suzieyana, R. A. S. Ma
Design and analysis the structure of the mass-spring-dashpot of the RFMEMS switch are presented in this work. Most familiar method applies in designing MEMS switch is the spring design with difference length and width. These two parameters affect the capability of the spring to support the mass during `ON' and `OFF' operation by applying Hooke's Law to identify a suitable spring constant. The analysis is to observe the effects of the electrostatic parameter in terms of voltage, pull in stability, transient rise time, harmonic mode related to the spring movement and von Mises stress of the design. The MEMS switch using this cantilever beam was 15.9375 V of pull-in voltage and transient time of 12 μs. The spring constant for this cantilever beam is 79.9 N with quality factor of 0.0158.
{"title":"Design and simulation of mass-spring-dashpot system for RFMEMS Switch","authors":"J. Susana, S. Suzieyana, R. A. S. Ma","doi":"10.1109/ICCSCE.2013.6720019","DOIUrl":"https://doi.org/10.1109/ICCSCE.2013.6720019","url":null,"abstract":"Design and analysis the structure of the mass-spring-dashpot of the RFMEMS switch are presented in this work. Most familiar method applies in designing MEMS switch is the spring design with difference length and width. These two parameters affect the capability of the spring to support the mass during `ON' and `OFF' operation by applying Hooke's Law to identify a suitable spring constant. The analysis is to observe the effects of the electrostatic parameter in terms of voltage, pull in stability, transient rise time, harmonic mode related to the spring movement and von Mises stress of the design. The MEMS switch using this cantilever beam was 15.9375 V of pull-in voltage and transient time of 12 μs. The spring constant for this cantilever beam is 79.9 N with quality factor of 0.0158.","PeriodicalId":319285,"journal":{"name":"2013 IEEE International Conference on Control System, Computing and Engineering","volume":"88 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116459174","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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