Pitikhate Sooraksa

Further investigation on trajectory of chaotic guiding signals for robotic systems

Chaotic signals have been used and can be generated by a chaotic circuit for controlling trajectories of mobile robots. Application of chaotically robotic systems may be employed for cleaning and patrolling tasks, when information of areas at work is not available. This paper presents an investigation on the trajectory of chaotic guiding signals generated by Chuas attractor and Arnolds nonattractor in five given situations. According to the simulation, with best adjusting parameters for both signals, the trajectory generated from Chuas pattern has covered more areas than that of Arnolds counterpart for all testing cases.

On comparison of attractors for chaotic mobile robots

In case of no map, trajectory planning could be a difficult task for robot motions to navigate around the assigned patrol areas. Chaotic mobile robots that move in chaotic patterns can be used to solve this problem. This paper is motivated by the question in seeking for suitable chaotic pattern for the aforementioned problem. Twenty-five chaotic patterns generated from various chaotic signals for the robots path are compared by computer simulation under given conditions.

Dual-line PID controller based on PSO for speed control of DC motors

This paper proposes an AI-based heuristic optimization techniques based on particle swarm optimization (PSO) to solve two applications i.e. identification of a DC motor and tuning PID controller parameters. The identification of a DC motor application, the 2nd order transfer function with time delays is obtained by the searching poles location mechanism based on PSO. This method has following steps. First, time responses of speed are determined by multi-level step input voltages. Second, the noises of time responses are reduced by wavelet soft thresholding. Finally, the noiseless time responses are identified by PSO. The tuning PID controller parameters application, the gains of proportional, integral, and derivative are determined both off-line and on-line tuning. For off-line tuning, the PID gains are optimized by PSO. On-line application, PSO-gains scheduling, adaptively adjusts the controller gains to improve the speed response under changing the speed demand and load. The simulation results show that the PSO can be efficiently used for system identification and tuning parameters of PID controller.

Facial Visualization for Robotic Indicator by using Fuzzy Emotional System

The issue of this paper is to show working status of a robot in the form of face emotion which shows the creation of fuzzy emotion generator. This fuzzy emotion generator uses Takagi-Sugeno (TS) fuzzy system to process input data from heat sensors on CPU and batter indicator into emotional output of a robot for visualization. The visualization system that was built can completely show robots emotions. The experimental results show the advantages of the application of fuzzy system in presenting the output and its advantages are natural continuation which is the result of successful implementation

Combined Chaotic Attractor Mobile Robots

The application of chaos in engineering field has been attracted much attention due to many potential applications include fan heaters, air-conditions, and dish washing machines. Even though the applied chaos in robot guidance is also not new, the problem of navigation of autonomous mobile robot in a totally unknown environment can be accomplished by using chaotic function. For implementation, most of researchers use CPUs with high performance to generate the chaotic trajectory. Unlike the others, in this paper, we use a chaotic circuit, which is low cost and easy to construct for trajectory generators. The Chuas circuit and a complex butterfly attractor are combined together providing pattern diversity and area coverage. A lab-scale two-wheel mobile robot is implemented and tested in our laboratory. The experimental results confirm that the proposed scheme of combined chaotic attractors is effective for path guiding for chaotic mobile robots

Wavelet Entropy Analysis of the High Resolution ECG

The high resolution ECG (HRECG) is a method of detecting microvolt cardiac signals from patients who have myocardial infarction. These signals are called ventricular late potentials (VLPs). They appear as fractionated signals with irregularity in shape on the body surface. In this study, the continuous wavelet transform (CWT) and the discrete wavelet transform (DWT) were used for analysis of the HRECG from the patients with and without VLPs. Then the wavelet entropy was applied to the HRECG. A disordered behavior of the system provides a high entropy value. Observations of the preliminary results in this study showed that the HRECG of patients with VLPs seems to have higher wavelet entropy than those without. In addition, the energy based on the CWT coefficient was computed. It was shown that the patient with VLPs would appear to have lower energy within the terminal QRS complex than the patient without

Fingerprint-based technique for indoor localization in wireless sensor networks using Fuzzy C-Means clustering algorithm

ZigBee as IEEE 802.15.4 standard has been using for main research topic in the wireless sensor network (WSN) applications. The new method of radio frequency (RF) fingerprint-based technique for indoor localization is proposed. The received signal strength indicator (RSSI) is used as database values which correspond to the location of the sensor nodes. Fuzzy C-Means (FCM) clustering algorithm is applied as the experiment data cluster method. FCM algorithm is deployed to cluster the obtained feature vectors into several classes corresponding to the different amount of RSSI values. The results show that FCM can cluster the target node in a group of the fingerprint database. The location of target node is arranged in various forms to validate the accuracy of the clustering technique. Euclidean distance is used as the parameter to compare the similarity between fingerprint database and the target location. The results show that the new method is simple and effective method to reduce the complexity and to support the low power and to reduce the time using in the fingerprint-based localization technique.

Odor Treatment System for Waste Management

This project is an applied research using automation technology for environment. The goal of the research is to build a prototype for waste treatment annihilating obnoxious odors. A good bacteria which is unharmful for human, is employed for the treatment by means of automatic spraying technique. The output of the research is the prototype as desired and the outcome is knowledge transferring to communities. Based on Thai TV news about this KMITL automatic waste treatment machine, the prototype has received a great attention from many local administrative governments of many provinces in Thailand

A discovery of sequential attack patterns of malware in botnets

More than 90 independent honeypots have observed malware traffic at the Japanese tier-1 backbone. Typical attacks were made by multiple servers, coordinating to send many kinds of malware. This paper aims to discover some frequent new sequential attack patterns of malware. It is not easy to identify particular patterns logs of one year because the volume of dataset is too large to investigate one by one. To overcome the problem, this paper proposes data mining algorithm, the PrefixSpan method. We implement the PrefixSpan algorithm to analyze the malware footprints and show the experimental result. The result of analysis shows that the attacks are performed by multiple sequential attack patterns within a short amount of time.

Enhanced model and fuzzy strategy of air to fuel ratio control for spark ignition engines

Various mathematical models for the air to fuel ratio and control for spark ignition (SI) engines have been proposed to satisfy technical specifications. This paper reveals an improvement of the mean value model (MVEM) and a simple yet effective nonlinear control to enhance the air to fuel regulator. The regulator is designed by using a discrete fuzzy PI algorithm, which provides easy tuning, robustness, and rapid development with a simple architecture. Effects on the dead time, exhausted delay, time-varying air flow and chaotic disturbance are also included. The computer simulation results show satisfactory performance based on standard evaluation criteria. The proposed model has a great potential for practical implementations.