Servet Soyguder

Design and simulation of self-tuning PID-type fuzzy adaptive control for an expert HVAC system

The modelling, numerical simulation and intelligent control of an expert HVAC (heating, ventilating and air-conditioning) system having two different zones with variable flow-rate were performed by considering the ambient temperature in this study. The sub-models of the system were obtained by deriving heat transfer equations of heat loss of two zones by conduction and convection, cooling unit and fan. All models of the variable flow-rate HVAC system were generated by using MATLAB/SIMULINK, and proportional-integral-derivative (PID) parameters were obtained by using Fuzzy sets. For comfortable of people the temperatures of the two different zones were decreased to 5^oC from the ambient temperature. The successful results were obtained by applying self-tuning proportional-integral-derivative (PID)-type fuzzy adaptive controller if comparing with the fuzzy PD-type and the classical PID controller. The obtained results were presented in a graphical form.

Predicting of fan speed for energy saving in HVAC system based on adaptive network based fuzzy inference system

In this paper, a HVAC (heating, ventilating and air-conditioning) system has two different zones was designed and fan motor speed to minimize energy consumption of the HVAC system was controlled by a conventional (proportional-integral-derivative) PID controller. The desired temperatures were realized by variable flow-rate by considering the ambient temperature for each zone. The control algorithm was transformed for a programmable logic controller (PLC). The realized system has been controlled by PLC used PID control algorithm. The input-output data set of the HVAC system were first stored and than these data sets were used to predict the fan motor speed based on adaptive network based fuzzy inference system (ANFIS). In simulations, root-mean-square (RMS) and the coefficient of multiple determinations (R2) as two performance measures were obtained to compare the predicted and actual values for model validation. All simulations have shown that the proposed method is more effective and controls the systems quite well.

Fuzzy adaptive control for the actuators position control and modeling of an expert system

In this paper, a heating, ventilating and air-conditioning (HVAC) system was designed and two different damper gap rates (actuators position) of the HVAC system were controlled by a conventional PID (proportional-integral-derivative) controller. One of the dampers was controlled by using the required temperature for the interested indoor volume while the other damper was controlled by using the required humidity for the same indoor volume. The realized system has a zone with variable flow-rate by considering the ambient temperature and humidity. The required air flow was supplied by controlled of the dampers placed on the entrance ducts of indoor. Programmable Logic Controller (PLC) used PID control algorithm was utilized to control the system. This system has been controlled by a PLC based closed-loop controller. In this work, the realized system has been controlled by PLC used PID control algorithm. The optimal values of PID parameters were obtained by using Fuzzy sets. Fuzzy adaptive control has been performed to maximize the performance of the system. Efficiency of fuzzy adaptive control (FAC) developed method was successfully obtained.

Design and prototype of a six‐legged walking insect robot

Purpose – This paper seeks to develop a novel legged robot.Design/methodology/approach – First, the paper models the legged robot using 3D computer model by intelligent inspiration of biological principles. Then, based on this model, it develops the prototype of the legged robot.Findings – A novel motion mechanism is used and only two actuators are used for driving the system.Originality/value – The modelled legged robot is original in terms of the developed motion mechanism.

Kinematic and dynamic analysis of a hexapod walking-running-bounding gaits robot and control actions

Kinematic and dynamic analysis, and control actions of a hexapod robot were realized for walking, running and bounding gaits in this study. If biological inspiration can be used to build robots that deal robustly with complex environments, it should be possible to demonstrate that legged biorobots can function in natural environments. Firstly, we tried to report on theoretic work with a six legged robot designed to emulate spider behavior like walking, running and bounding. We demonstrated theoretically that it can successfully walk, run and bound like a spider over natural terrain. Secondly, limitations in its capability were evaluated, and many biologically based important improvements were obtained for future experimental work. Thirdly, the hexapod robot with bounding gait was controlled by proportional-derivative control algorithm and was carried out by using spring loaded inverted pendulum model. Consequently, the developed kinematic and dynamic methods, and control action method makes both the system control easy and the system performance is improved by decreasing the run time for each loop.

Intelligent control based on wavelet decomposition and neural network for predicting of human trajectories with a novel vision-based robotic

Abstract In this paper, an intelligent novel vision-based robotic tracking model is developed to predict the performance of human trajectories with a novel vision-based robotic tracking system. The developed model is based on wavelet packet decomposition, entropy and neural network. We represent an implementation of a novel vision-based robotic tracking system based on wavelet decomposition and artificial neural (WD-ANN) which can track desired human trajectory pattern in real environments. The input–output data set of the novel vision-based robotic tracking system were first stored and than these data sets were used to predict the robotic tracking based on WD-ANN. In simulations, performance measures were obtained to compare the predicted and human–robot trajectories like actual values for model validation. In statistical analysis, the RMS value is 0.0729 and the R2 value is 99.76% for the WD-ANN model. This study shows that the values predicted with the WD-ANN can be used to predict human trajectory by vision-based robotic tracking system quite accurately. All simulations have shown that the proposed method is more effective and controls the systems quite successful.

Computer simulation and dynamic modeling of a quadrupedal pronking gait robot with SLIP model

In this study, a quadrupedal pronking gait robot modeling was carried out with Spring Loaded Inverted Pendulum model in stance phase. This is achieved by solving a natural problem in which the main goal is to enable the robot to walk and run in a stable condition regardless of the environmental conditions. In order to solve this problem, dynamic model and control of a quadrupedal robot were realized for a pronking gait. The stance and flight phase dynamic structures were solved in a sequential closed loop to obtain the equation of motion for pronking gait. Spring Loaded Inverted Pendulum model was used as a dynamic model to simplify the simulation, dynamic locomotion and experimental works of the system, and also to simplify the pronking gait concept. The quadrupedal robot with pronking gait was controlled by proportional-derivative control algorithm. As a result, all computer simulations have shown that the proposed control actions and methods are more effective and make the system control quite easy and successful.

Motion mechanism concept and morphology of a single actuator tetrapod walking spider robot: the ROBOTURK SA‐2 Robot

Purpose – This study seeks to develop a novel eight‐legged robot. Additionally, this study defines design and control of an eight‐legged single actuator walking ROBOTURK SA‐2 spider robot based on the features of a creatural spider.Design/methodology/approach – First, the single actuator eight‐legged tetrapod walking spider robot was modeled on solid works and then the animation of the model was realized to ensure the accurate walking patterns and more stable walking. Based on this model, the novel prototype of the single actuator eight‐legged walking spider robot was constructed.Findings – A novel motion mechanism uses only one actuator for driving the system.Originality/value – The modeled single actuator eight‐legged robot is original in terms of the developed motion mechanism.

Haptic industrial robot control with variable time delayed bilateral teleoperation

Purpose This study attempts to control the movement of industrial robots with virtual and real-time variable time delay. The improved variable wave method was used for analyzing position tracking performance and stability of the system. Design/methodology/approach This study consists of both theoretical and real-time operations. Teleoperation systems that provide information about point or environment that people cannot reach and are one of the important robotic works that include the human–machine interaction technology were used to obtain the necessary data. Robots, as the simulated virtual environment to achieve real behaviors, were found to be important for the identification of damage that may occur during the tests performed by real robots and then in terms of prevention of errors identified in algorithm development stages. Findings The position and speed controls of the real–virtual–real robots consist of the teleoperation system. Also, in this study, the virtual environment was created; variable time delay motion control with teleoperation was performed and applied in the simulation and real-time environment; and the performance results were analyzed. Originality/value The teleoperation system created in the laboratory consists of a six-degree-of-freedom (dof) master robot, six-dof industrial robot and six-dof virtual robot. A visual interface is designed to provide visual feedback of the virtual robot’s movements to the user.

Real-time control of bilateral teleoperation system with adaptive computed torque method

This paper aims to use the adaptive computed torque control (ACTC) method to eliminate the kinematic and dynamic uncertainties of master and slave robots and for the control of the system in the presence of forces originating from human and environment interaction.,In case of uncertainties in the robot parameters that are utilized in teleoperation studies and when the environment where interactions take place is not known and when there is a time delay, very serious problems take place in system performance. An adaptation rule was created to update uncertain parameters. In addition to this, disturbance observer was designed for slave robot. Lyapunov function was used to analyze the system’s position tracking and stability. A visual interface was designed to ensure that the movements of the master robot provided a visual feedback to the user.,In this study, a visual interface was created, and position and velocity control was achieved utilizing teleoperation; the system’s position tracking and stability were analyzed using the Lyapunov method; a simulation was applied in a real-time environment, and the performance results were analyzed.,This study consisted of both simulation and real-time studies. The teleoperation system, which was created in a laboratory environment, consisted of six-degree-of-freedom (DOF) master robots, six-DOF industrial robots and six-DOF virtual robots.