Fadilah Abdul Azis

Study of the effect in the output membership function when tuning a Fuzzy Logic Controller

This paper describes a study of tuning process for fuzzy logic controller (FLC) design. In fuzzy logic controller design, there is no systematic procedure to tune fuzzy logic controller to follow a desired set point. The tuning process of Fuzzy Logic Controllers (FLCs) using trial-and-error approach is commonly done until satisfactory results are obtained. This is usually a tedious and time-consuming task but it has been widely employed and has been used in many successful industrial applications. The performance of the system can be analyzed. If the results are not as desired, changes are made either to the number of the fuzzy partitions or the mapping of the membership function and then the system can be tested again. This paper demonstrates a faster tuning process by adjusting the mapping of the membership function to get desired output. Through identifying and analyzing what will be done on adjusting mapping of membership functions by utilizing knowledge from the experts, it will be demonstrated in this paper that the tuning process of FLCs can be easily simplified.

Performances evaluation and comparison of two algorithms for Fuzzy Logic rice cooking system (MATLAB Fuzzy Logic Toolbox and FuzzyTECH)

This paper presents an evaluation of performances rice cooking system with using Intelligent Controller that is Fuzzy Logic Controller (FLC) to meet the special requirements and some limitations of the rice cooking system. A new inference scheme is given to estimate the amount of rice and water to be used, and the temperature will be controlled according to the amount of rice and the time while cooking. The FLC system is designed by using two types of simulation software which are MATLAB Fuzzy Logic Toolbox and FuzzyTECH. The results obtained from the both simulation software are given in this paper. The differences the between both simulation also will be discussed. MATLAB Toolbox gives more specific results compared FuzzyTECH software. The both software meet the special requirements because is not much differ between each other.

System identification of a prototype small scale ROV for depth control

This paper present the design and development of a small scale underwater Remotely Operated Vehicle (ROV) and modelling the depth response of this ROV using System Identification Toolbox. The design of a small scale ROV has been done to minimize the hydrodynamic force and increase energy efficiency compared to the previous model that was developed by Underwater Technology Research Group (UTeRG). The performance of the designed ROV will be tested in UTeRG laboratory (lab tank test). The output signal from the pressure sensor (MPX4250GP) and the Inertial Measurement Unit (IMU) sensor are interpreted via an NI-card which was used for the data transfer. The prototype ROV was compared with the previous version in terms of depth control performance. System identification toolbox in MATLAB was used to infer a model from open-loop experiments. Then the obtained model was used to design a controller for the ROV. The focus of the controller design will be to ensure that the ROV is stable and can maintain position at a certain depth in a real underwater environment. After all the experiment has been conducted, the ROV managed to operate in a certain depth underwater using the controller designed successfully.

Observer based output feedback tuning for underwater remotely operated vehicle based on linear quadratic performance

This paper describes the effectiveness of observer-based output feedback for Unmanned Underwater Vehicle (UUV) with Linear Quadratic Regulation (LQR) performance. Tuning of observer parameters is crucial for tracking purpose. Prior to tuning facility, the ranges of observer and LQR parameters are obtained via system output cum error. The validation of this technique using unmanned underwater vehicles called Remotely Operated Vehicle (ROV) modelling helps to improve steady state performance of system response. The ROV modeling is focused for depth control using ROV 1 developed by the Underwater Technology Research Group (UTeRG). The results are showing that this technique improves steady state performances in term of overshoot and settling time of the system response.

Object with symmetrical pattern recognition with dynamic size filter

This paper presents the implementation of object with symmetrical pattern recognition algorithm for 2D vision system of 3D vision-based multi sensor feedback system. This paper also discusses the dynamic size filter developed for this system. The inputs for this system are received from a couple of webcams which is not calibrated. The project objective is to assist a robot arm system using vision system for making decision during conducting an operation or task. The solutions need no camera calibration because the system has self-calibration effect since the area of interest had modelled using a set of algorithms by an array of visible features on it and not by it environment. This system is design for on-event processes and suitable for indoor environment applications with low time frame rate camera. One of the advantages of this project is that it only used a camera and image processing generated by the algorithms itself without additional sensor such as sonar or IR sensor.