Victor Vladareanu

Reduced Base Fuzzy Logic Controller for Robot Actuators

The paper proposes an innovative type of fuzzy logic controller for robot actuators, building upon the current state of the art fuzzy architectures and various observations from work with Fuzzy Logic and Extenics Theory. This leads to a modified fuzzy controller, with a significantly simpler rule base, which shows comparable results. The effect is achieved by taking advantage of the rule base makeup of a regular linear fuzzy controller. Some slight modification is needed to the controller architecture, which is explained in detail. The rationality and validity of the proposed model are demonstrated through simulation in the Matlab/Simulink environment. The results show that the proposed new controller architecture obtains remarkable results, while having the advantage of increased simplicity in design and setting of parameters. Throughout the paper, opportunities for further improvement and research are highlighted and discussed.

Dynamic Control of a Walking Robot Using the Versatile Intelligent Portable Robot Platform

This paper studies the walking robot hybrid dynamic control in real time in order to increase movement stability of walking robots on flat terrain, with obstacles or uneven ground, at constant or variable walking speed and variable load. The motion trajectory positions of the robot leg end-effect or and joints, reaction forces and the walking robot dynamics are analyzed and the virtual projection method is adopted using the Versatile Intelligent Portable Robot Platform VIPRO. The obtained results lead to higher performance in relation to the walking robots movement possibilities, the real-time robot balance control, gait control and predictable motion control, providing increased mobility and stability, and also the development of new technological capabilities of the control systems.

Extension Hybrid Force-Position Robot Control in Higher Dimensions

The paper presents an advanced method for solving contradictory problems of hybrid position-force control of the movement of walking robots by applying a 2D Extension Set. Using the linear and non-linear attraction point principle and the network of attraction curves, there is determined the 2D space Dependent Function generated by position and force in order to solve the robot real time control. The generalization of the extension distance and dependent function uses Extenics in Higher Dimensions theory eliminates the crisp logic matrix of Cantor logic which describes the position-force sequences. Thus was developed an optimization method for hybrid position-force control which ensures positioning precision and robot movement stability on rough terrain. The final conclusions lead to development of a methodology that allows obtaining high level results for hybrid position-force control using extended transformations onto the real numbers set and an optimization function generated by the extended dependence function in 2 D space.

Reliability assessment of linear generator type wave energy converters

Wave energy is an important renewable source of electricity that can be exploited. The reliability is an important issue for these energy converters due to the fact that they must be installed in harsh environments. The paper presents a reliability analysis of the linear generator type wave energy converters and shows the impact of the environment on the components of these devices.

Markov analysis of an induction motor

The paper deals with the reliability of induction motors by using Markov techniques. The basis of this process is to perform the reliability predictions to obtain the necessary indicators in order to support the Markov analysis. The analysis is made on a single-phase induction motor, taking into consideration the most critical components that could lead to the failure of the motor. Furthermore, the possible states of the motor and the importance of maintenance in the lifecycle of the motor are presented. By having a well implemented maintenance policy, the life of the motor can be extended and unwanted defects can be avoided.

Hybrid Force-Position Dynamic Control of the Robots Using Fuzzy Applications

The paper presents methods of improving the hybrid force-position dynamic robot control using fuzzy logic for the error control. The implementation of the open architecture control system for robots using fuzzy application allows for the control of the hybrid position and force in Cartesian coordinates through real time processing of the Jacobean matrix obtained out of forward kinematics using the Denevit-Hartenberg method and calculating the Jacobean inverted matrix for control in closed loop. The effectiveness of various fuzzy control structures in controlling the force-position of the robot or mechatronics actuators is presented.

Modelling Inverse Kinematics for Virtual Environment Robot Simulation

The paper presents a visual application interface for modelling the inverse kinematics of a robot leg as part of a visual intelligent platform for virtual environment robotic simulation. The tracking reference for the angular joints is given using a trained neuro-fuzzy model instead of the usual inverse kinematic system. The validity of the model is checked in the Cartesian workspace. The visual application provides easy access to model parameterisation and also serves as a training tool for familiarization with the robotic applications workspace.