Zuradzman M. Razlan

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.

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.

Gas-Liquid Flow Distributions in Multipass Channels with Vertical Upward Branches

The gas-liquid flow distributions in multi-pass channels that simulate a compact evaporator used for an automobile air-conditioning system was examined experimentally. The test channel had a horizontal header with a square cross section of 20mm × 20mm and a length of 255mm, and ten upward branches with a length of 200mm were connected to it. Experiments were conducted in an isothermal air-water flow system. Special attention was directed to influences of (i) flow-inlet condition at the header entrance (stratified-flow inlet and mist-flow inlet), (ii) pressure condition at the branch outlets (uniform backpressure and non-uniform backpressure) and (iii) pressure-loss characteristics of branches (flat tubes and multi-port tubes) on the gas-liquid distribution characteristics. In addition to the gas-liquid distributions to branches, the pressure distributions in the headers were measured to make clear the pressure condition in a real evaporator. It was found that the outlet pressure condition of branches exerts great influence on the gas-liquid distributions to branches in the channel with flat tube branches, but it has only minor influence in the channel with multi- port tube branches. The flow-inlet condition at the header entrance has significant influence on the gas-liquid distribution, and the uniformity of the liquid distribution to branches is improved under the mist-flow inlet condition. The pressure in the headers showed uniform distributions in the longitudinal direction, suggesting that the uniform backpressure condition at the branch outlets is appropriate for reproducing the flow in a real compact evaporator with multi-pass channels.

Base fluid in improving heat transfer for EV car battery

This study examined the effects of base fluid (as coolants) channeling inside the heat exchanger in the process of the increase in thermal conductivity between EV car battery and the heat exchanger. The analysis showed that secondary cooling system by means of water has advantages in improving the heat transfer process and reducing the electric power loss on the form of thermal energy from batteries. This leads to the increase in the efficiency of the EV car battery, hence also positively reflecting the performance of the EV car. The present work, analysis is performed to assess the design and use of heat exchanger in increasing the performance efficiency of the EV car battery. This provides a preface to the use this design for nano-fluids which increase and improve from heat transfer.

Feature Extraction and Optimum Part Deposition Orientation for FDM

Support generation is an essential for Fused Deposition Modeling (FDM) process which is dependent on part deposition orientation. Various part deposition orientation result in formation of different support and non-support features. Present work focuses on extracting the support features containing Externally-Supported Features (ESF) which are able to determine the volume and number of support structure. The methodology proposed in this work uses these information as an input for Artificial Neural Network (ANN) in order to automate the selection of optimum part deposition orientation. The results produced in present methodology can be predicted and are in agreement with the results published earlier.

Analysis of EMG-based muscles activity for stroke rehabilitation

This paper presents 18 fundamental movements for the rehabilitation of the stroke patient. The objective of this research is to develop the movement sequences which are suitable for the rehabilitation process and is focused on hemiparesis sufferers which are the most common among stroke patients. The muscle activities are analyzed using electromyography (EMG). 12 electrodes are attached to the right arm of the subject includes deltoid, bicep, tricep, flexor and extensor. The experimental results proof that it is likely to produce movement sequence for stroke rehabilitation based on each muscle activity.

Speech Analysis Based On Image Information from Lip Movement

Deaf and hard of hearing people often have problems being able to understand and lip read other people. Usually deaf and hard of hearing people feel left out of conversation and sometimes they are actually ignored by other people. There are a variety of ways hearing-impaired person can communicate and gain accsss to the information. Communication support includes both technical and human aids. Human aids include interpreters, lip-readers and note-takers. Interpreters translate the Sign Language and must therefore be qualified. In this paper, vision system is used to track movements of the lip. In the experiment, the proposed system succesfully can differentiate 11 type of phonemes and then classified it to the respective viseme group. By using the proposed system the hearing-impaired persons could practise pronaunciations by themselve without support from the instructor.

Experimental Studies of a Ranque-Hilsch Vortex Tube

Vortex tube is a device that separates a compressed flow of gas into two streams simultaneously, one giving kinetic energy to the other, resulting one hotter than the inlet temperature and one lower, without having any moving part. This research focuses on investigating the effects of various physical parameters on the performance of the vortex tube, namely cold nozzle diameter, length of the tube, and air mass flow rate at the hot end of the tube. In general, there are two major design features associated with the vortex tube, namely (a) maximum temperature differentials in vortex tube to produce small amount of air with very low and very high temperatures, and (b) maximum cooling/heating effect by producing large quantity of air with moderate temperatures. By considering the experimental results, an optimized set of parameters that contribute to the most efficient vortex tube design would be proposed depending on the desired design features.

Investigation of Steering Wheel Control of an Electric Buggy Car for Designing Fuzzy Controller

Steering control for path tracking and navigation are important for the autonomous vehicle. A good steering control system can determine the success of autonomous navigation through designed paths. Comfort and safety for the passenger are the main concerns in developing a controller for an autonomous electric vehicle (AEV). Comfort and the safe autonomous system can be achieving by imitating human intelligence and decision-making ability into the controller. A GPS module couple with a fuzzy controller to follow the designed path. Steering is control by using brushless DC motor with certain gear configuration. In order to achieve better drive performance for the autonomous vehicle, the behaviors of human subjects are studied and investigated. Investigation of steering angle on 3 different paths is designed to study the driving patterns by the human subjects, which are straight, turn right and turn left. The results show satisfactory outcomes as the subject navigates through the designed path with the similar patterns. The average value of steering wheel angle for the straight, right and left path are 13°, −151°, and 237°, respectively. The maximum angle to turning to the left and right are 286° (subject #1) and −226° (subject #1). This paper consists of the construction of a Fuzzy logic controller to control steering wheel and experiments set-up to develop the Fuzzy controller for an autonomous vehicle.

Analysis of Human Behavior During Braking for Autonomous Electric Vehicles

Nowadays, the development of modern technologies in the transportation area has increased rapidly. The latest technology is focused on autonomous vehicles. The most important aspect in autonomous vehicle control systems is safety, smooth operation and comfort. It can be provided by the natural element which is from human behavior as a reference to the autonomous control system. This paper is briefly describing the human behavior during braking for autonomous electric vehicle (AEV) control system development. To obtain the human behaviour during accelerating and braking, two units of angle sensors were installed to the accelerator and brake pedal of an electric car to measure the angle of both pedals. Real-time speed is recorded by using a GPS unit. The experiment is focused on braking characteristic of the electric vehicle. It was carried out based on four different distances with fixed initial speed before braking action was recorded. A software interface was designed to display and control real-time speed and pedal angle value during operation.