M. Kamran Joyo

Altitude and horizontal motion control of quadrotor UAV in the presence of air turbulence

Quad-rotor Unmanned Aerial Vehicles (UAVs) have become prominent rotorcraft amongst the helicopter type UAVs. They have been studied immensely in the recent past years. Several issues regarding its position and altitude control have been observed in conditions such as heavy wind gusts. In these circumstances it is necessary for quadrotor to carry a robust controller that responds quick enough to reduce the risk of terrific descent and drift from its original position. This article presents improved PID control technique to hold the horizontal position and descent rate of UAV under intense turbulent environments. The parameters of PID are extracted from auto tuned PID. The proposed control design is simulated on MATLAB platform. The outcomes of the research work demonstrate that under the extreme air turbulence the proposed control design works effectively for altitude and horizontal motion controlling of quadrotor UAV.

Yaw, Pitch and Roll controller design for fixed-wing UAV under uncertainty and perturbed condition

Now a days Unmanned Aerial Vehicle (UAV) systems are frequently used in many commercial applications. This makes UAV application as one of the hottest topic among the researchers. The most critical task for the researchers working on UAV is its proper and stable flight controlling under uncertainty and perturbed condition. In fixed wing UAV system altitude and attitude angles (Yaw, Pitch, Roll) play a significant role for flight stabilization. This paper presents a control algorithm for fixed-wing UAV longitude and latitude angles (Yaw, Pitch and Roll) controlling. This control algorithm is based on Proportional Integral Derivate (PID) conjunction with Extended Kalman Filter (EKF). It is also describes that how an unstable system become stable after applying proposed control technique. The proposed control method is simulated on fixed-wing UAV mathematical model under perturbed and unperturbed conditions using MATLAB platform. The Simulation results shows that the proposed controller performed well and maintains the stability of an airplane and holds desired angle values under uncertainties and perturbed conditions.

Attitude stabilization of Quad-rotor (UAV) system using Fuzzy PID controller (an experimental test)

Generally Quad-rotor type Unmanned Aerial Vehicles are unstable in nature, so to stabilize it, attitude controller is used. This paper presents a Fuzzy Logic based PID control system (FPID) for attitude stabilization of Quad-rotor Unmanned Aerial Vehicle (UAV). The Fuzzy logic controller updates the PID controller gains efficiently in such a way that it efficiently stabilizes the attitude of quad-rotor UAV. This method enhances the capabilities of conventional PID Controller to a dynamic PID Controller. The propose FPID control technique for attitude controlling of Quad-rotor UAV was tested on developed prototype of Quad rotor UAV for experimental purpose. Experimental results proved that proposed Fuzzy Logic based PID (FPID) controller quickly stabilized Quad-rotor UAV and its response time and settling time is reasonably good in attitude stabilization control application.

NMPC-PID based control structure design for avoiding uncertainties in attitude and altitude tracking control of quad-rotor (UAV)

The extensive consideration in this research article is to utilize the advantages of two most popular control techniques which are Non-Linear Model Predictive Control (NMPC) and Proportional Integral and Derivative (PID) controller for better stabilizing of quad-rotor VAV under different noises and disturbance conditions. The idea is to satisfy the environmental and safety considerations and for that the study of noises and disturbance condition in VAV flight upon the performances of NMPC and PID respectively is being evaluated. Finally a new control method is developed by combing two techniques which can be able to handle different sort of uncertainties i.e. noises and external disturbances in quad-rotor type VAV systems. The simulation result proves that the proposed control structure technique works very well in altitude and attitude stabilization of quad-rotor under different perturbed and unperturbed conditions.

Augmented reality with Haptic technology based online experimental based distance learning education technique

Distance learning or online education is experiencing astonishing growth in popularity among students. Advancement in the technology made this method of learning more engaging and viable alternative to traditional education. Regardless of all the advantages and facilities provided by distance learning methods, it still have some drawbacks and the prevalent issue of this earning technique is lack of experimental and hands on practical works. In this research article a new technique and methodology is proposed that is able to resolve the predicament of hands on experiment in distance learning education delivery. It uses a suitable Haptic Glove with wearable technologies through internet. This study also provides information regarding current techniques used in distance learning and presents the comparative analysis of it with proposed technique.

Energy conservation and management system using efficient building automation

In countries where the demand and supply gap of electricity is huge and the people are forced to endure increasing hours of load shedding, unnecessary consumption of electricity makes matters even worse. So the importance and need for electricity conservation increases exponentially. This paper outlines a step towards the conservation of energy in general and electricity in particular by employing efficient Building Automation technique. It should be noted that by careful designing and implementation of the Building Automation System, up to 30% to 40% of energy consumption can be reduced, which makes a huge difference for energy saving. In this study above mentioned concept is verified by performing experiment on a prototype experimental room and by implementing efficient building automation technique. For the sake of this efficient automation, Programmable Logic Controller (PLC) is employed as a main controller, monitoring various system parameters and controlling appliances as per required. The hardware test run and experimental findings further clarifies and proved the concept. The added advantage of this project is that it can be implemented to both small and medium level domestic homes thus greatly reducing the overall unnecessary load on the Utility provider.

Feedback sensor noise rejection control strategy for quadrotor UAV system

This paper describes a methodology for estimating the true value of all parameters from feedback sensor of quadrotor systems. A simple gyroscope and accelerometer sensors are taken into account for calculating the accurate value of system. Secondly, for filtering and controlling the feedback data of system, a Non-linear Model Predictive Control (NMPC) is proposed. For testing the accuracy of proposed technique a complete model of quadrotor with feedback system is implemented on Matlab and simulation results shows the effectiveness of proposed technique and controller design.

Hardware implementation of fast-sequency ordered complex hadamard transform

In this article hardware implementation of Sequency ordered Complex Hadamard Transform (SCHT) on FPGA is presented. SCHT is quite similar to Discrete Fourier Transform (DFT) but it consumes less computational time. DFT is replaceable by SCHT in several applications such as Communication, Spectrum analysis and estimation, Signal processing and image watermarking. The 8-point radix-2 fast SCHT is evaluated on FPGA to minimize its computational time, besides that certain parameters of fast SCHT matrices are analysed. Finally SCHT hardware implemented results and MATLAB simulated results are compared at the cost of time to verify the effectiveness of the SCHT on FPGA.

Survey of Conventional UUV Navigation Mapping Technique in Development of AQUA-X UUV

Unmanned Underwater Vehicles (UUV) are devices that perform task with slight or no human interaction. These tasks are predefined set of commands called navigation methods, that are used to achieve desired mission goals. The navigation control system plays an important role in maneuvering of UUV and without it UUV cannot perform any mission task. In this research article a survey of different navigation techniques are presented for new design of Underwater mobile robot named as AQUA-X Robot, which uses four (4) propellers placed in cartesian coordinate configuration with parallel arrangement which help it in batter navigation maneuvering. The detail working principles, advantages and problems in different navigation techniques are thoroughly discussed. Besides that, their implementation on UUV on a ranged mission situation are also briefly described. Finally the accuracy of the different navigation techniques are compared and based on this comparison a most suitable navigation method is selected for developing AQUA-X UUV for better navigation.

A novel approach in ENERGY CONSERVATION SYSTEM “Energy conservation & monitoring control system design”

This paper describes an ENERGY CONSERVATION & MONITORING SYSTEM, designed to avoid usage of extra energy consumption and monitor the usage of energy. Energy crises have caused economic halts to many countries, causing hindrance in development of developing nations. This project is a small effort to solve this problem. The testing and demonstration of this project was conducted in Faculty of Engineering Sciences and Technology, Hamdard University, Karachi, Pakistan. In first stage of the project, load calculation was done in which load of whole campus was determined. After that, implementation of this project was done in defined area. In which motion sensors were used to detect the presence of body in a certain range. The appliances were controlled by motion sensor in that area and this was logged in software connected with computer through serial port. The simulation results show that after implementation of this project around 20- 30 % energy was saved.