This paper presents modelling, simulation and implementation of a quadrotor Unmanned Ariel Vehicle (UAV) Focus this work is to gain in-depth understanding dynamics develop simulator laboratory platform facilitate future development control algorithms, automatic navigation systems, trajectory planning for quadrotors. Quadrotor modeled using Newton-Euler method. The model predicts the effects forces torques generated by four propellers on motion. Based model, was developed in MATLAB® Simulink,...

quadrotor microaerial vehicles (MAVs) are simple robotic platforms with regard to their construction. In basic form, they no more than two counterrotating propeller pairs attached symmetrically a rigid crosslike frame, along the means control speed of each individual propeller. This symmetric design has enabled become but powerful vertical takeoff and landing aerial platform popular among robotics community.

This paper describes the development of a quadrotor fixed-wing hybrid unmanned aerial vehicle (UAV). By combining flying qualities UAV and that UAVs it is possible to achieve superior qualities. way, vertical take-off landing capability quadrotors long endurance have been put together, while eliminating disadvantages both these types. The proposed drone has shown exciting performance in taking-off, cruising fully autonomously. Control transition from backwards analyzed. Sky Scout used build...

A data-driven adaptive neurofuzzy controller is presented for the water-level control of U-tube steam generators in nuclear power plants. This capable learning action principles from data obtained using other methods automatic or manual control. There are four inputs system, yet only eighty fuzzy rules involved. Therefore, system versatile and moderately compact. The versatility due to higher input space dimension that helps learn more principles. compactness number being not too many. 10-h...

In this paper EOG signal processing and developing a low cost interface for wheelchair with high accuracy reliability severely disabled people is presented. Here the done on microcontroller which reduces drastically rather than using computer. Eye movement detected by signal, associates eye to motion commands of such as forward, reverse, left right. A 99% accurate classification has been demonstrated experimentally.

A new trajectory planning method for generating bounded and continuous jerk trajectories in joint space has been developed tested. In manipulator planning, reduced are desired path tracking vibration suppression. The proposed interpolation algorithm this research generates a spline, composed with 5th-order, 3rdorder 5th-order polynomial segments (5-3-5 spline) which can be used point-to-point via points. generated continuously differentiable position, velocity, acceleration, start end zero...

Quad Rotor unmanned aerial vehicle (UAV) is an platform which has drawn much attention in the recent past due to its simple yet unique design. Despite simplicity hardware, inherently unstable, and many control strategies have been proposed achieve stability of quad rotor platform. This paper presents a Fuzzy Logic based design stabilize UAV. The fuzzy controller was designed simulated along with non-linear dynamic model then used stable hovering UAV, amidst velocity disturbances. simulation...

Contour control of a robot arm is an act the end-effector tip being moved along reference Cartesian path, with assigned velocity. When torque saturation occurs, and lasts for some time, contour deteriorations result. In addition, system delay dynamics also causes deteriorations. this paper, offline trajectory generation algorithm described, which achieves both optimum avoidance compensation.

This paper analyzes the performance of an Extended Kalman Filter (EKF) based attitude estimator for a Quad Rotor Unmanned Aerial Vehicle (QRUAV). A non-linear dynamic model QRUAV, simulated in Matlab was complemented with EKF estimator. The fuses measurements obtained from accelerometers and gyroscopes onboard QRUAV. It is then shown that this only results adequate representation when translational velocity large. behavior explained considering dynamics vehicle accelerometers. Also possible...

One of the most challenging problems field robots is self-localization, which involves incremental update position while in motion. Though wheel based odometry cheaper to implement its accuracy degrades when wheels slip. In this paper performance low-cost visual approach experimented as a feasibility test for robot localization. We have used downward-facing camera and tested localization error view various parameters such frame size, rate, etc. A FFT-based image registration techniques was...

Presents a general solution to the contouring problem of industrial robot arms, under constraints assigned Cartesian velocity and joint torque/acceleration. The proposed is an off-line trajectory generation algorithm and, therefore, it possesses significant implications, as no hardware changes are needed for its implementation. According method, maximum utility torque/acceleration guaranteed be bound constraint. In realizable generated from objective delay dynamics compensated by using...

This paper presents non linear automatic unmanned aerial vehicle (UAV) control simulation with high maneuverability and precise tracking. Major considerations of flight performance tracking have been evaluated software by aerosonde UAV. The autonomous system is based on the Aerosonde UAV theory previously developed implemented into aircraft. requirements for are good path following minimum overshoot, settling time without oscillation low coupling between level commands. High leads to any...

Drones can be very useful in search and rescue missions primarily due to the aerial imaging capability. assist ground teams searching for a missing person, law enforcement officers crowd control. But there are instances where observer on control station misses subtle information video feed coming from drone. In fact, it is difficult job so vigilant viewing lot of images looking sign human those images. This paper presents drone-based identification system make more effective. The drone, once...

This paper presents a methodology for off-line trajectory generation that guarantees high-speed and precise end-effector point-to-point (positioning) control of industrial robot arms, within the bounds most relevant constraints. The constraints being addressed are saturation joint torque limit Cartesian velocity. In proposed methodology, shortest path travel maximum-joint torque/acceleration utility is guaranteed so true minimum-time generated. then compensated delay dynamics using...

Map building and obstacle detection are basic tasks in mobile robot navigation. In this paper we present a probability based solution for map which utilizes time of flight information from an ultrasonic sensor. contrast to most the available systems, uses single sensor, mounted on rotating shaft. Discrete sonar observations taken at regular intervals, by shaft small step angles incrementally merged into partial planes produce realistic representation environment that is amenable...

In this paper, we present a novel strategy to detect the slipping of an object grasped by human hand. The recognition early plays significant role in designing dexterous robotic hands ensure firm grasping. Here, system that uses force sensors embedded tight glove capture variations during object. analysis contribution five fingers and palm for grasping is presented based on new factor called factor. Also, propose direction incorporate controlling robot spatial activity exerted hand

This paper introduces techniques for designing and implementing remotely controllable outdoor robots with the ability to localize itself while traversing in hazardous environments. The robot platform designed is a semi-autonomous tiller modified as required by application. Localization based on wireless sensor network which has been research interest of addressed here use Zigbee protocol. A Kalman filter was applied initial gathering training data. For improvement accuracy position...

This paper presents on the stability analysis for RAVAN twin boom H-Tail Medium Scale UAV which has been developed by University of Moratuwa. It is required to understand behavior small perturbations in high altitudes while it flying be invisible. Indeed, without doing a proper different conditions, there risk fail perturbations. Not only that but also will help optimize aerodynamic prolonging flight endurance and effective deployment. The facilitate increase control flexibility.XFLR5...

In this paper, a semiautonomous low-cost wheelchair robot to supplement impaired mobility of handicapped or elderly people is presented. The motion the controlled by joystick and sonar sensor in such manner that has higher priority than normal conditions. uses two permanent magnet DC motors which are differentially driven using pulse width modulation (PWM) control signals. drive worm wheelchair. equipped with four ultrasonic range finders front, one at back avoid obstacles its path another...

The Axial Flux BLDC motors are relatively new, specially at higher power ratings over 10 kW. Therefore the designers face a lot of difficulties in designing and optimizing motor for given application. This paper presents new method to optimize performance speed, torque, torque stability, output, density dimensions view cost reliability motor; be used traction purposes. By this method, can easily choose exact parameters match requirement make sure optimization design. A software interface...