Related papers: Stimulating Higher Order Thinking in Mechatronics …
This work aims to raise awareness among engineering students from different disciplines on the importance of feedback control. The proposal consists in comparing the performance of different control strategies in a laboratory session,…
Today manufacturers are using fuzzy logic in everything from cameras to industrial process control. Fuzzy logic controllers are easier to design and so are cheaper to produce. Fuzzy logic captures the impreciseness inherent in most input…
... This paper is to describe exploratory research on the design of a modular autonomous mobile robot controller. The controller incorporates a fuzzy logic [8] [9] approach for steering and speed control [37], a FL approach for ultrasound…
Motivation and gap: PID-family controllers remain a pragmatic choice for many robotic systems due to their simplicity and interpretability, but tuning stable, high-performing gains is time-consuming and typically non-transferable across…
Increasing demands in performance and quality make drive systems fundamental parts in the progressive automation of industrial processes. Their conventional models become inappropriate and have limited scope if one requires a precise and…
Use of Control theory within process control industries has changed rapidly due to the increase complexity of instrumentation, real time requirements, minimization of operating costs and highly nonlinear characteristics of chemical process.…
Fuzzy logic based PID controllers have been studied in this paper, considering several combinations of hybrid controllers by grouping the proportional, integral and derivative actions with fuzzy inferencing in different forms. Fractional…
Developing software projects allows students to put knowledge into practice and gain teamwork skills. However, assessing student performance in project-oriented courses poses significant challenges, particularly as the size of classes…
Combining model-based and model-free learning systems has been shown to improve the sample efficiency of learning to perform complex robotic tasks. However, dual-system approaches fail to consider the reliability of the learned model when…
Autonomous robots must operate in complex and changing environments subject to requirements on their behaviour. Verifying absolute satisfaction (true or false) of these requirements is challenging. Instead, we analyse requirements that…
Overall, in any system, the proportional term, integral term, and derivative term combined to produce a fast response time, less overshoot, no oscillations, increased stability, and no steady-state errors. Eliminating the steady state…
Designing a mechatronic system is a complex task since it deals with a high number of system components with multi-disciplinary nature in the presence of interacting design objectives. Currently, the sequential design is widely used by…
It has been shown that the emotional state of students has an important relationship with learning; for instance, engaged concentration is positively correlated with learning. This paper proposes the Inductive Control (IC) for educational…
A novel fractional order (FO) fuzzy Proportional-Integral-Derivative (PID) controller has been proposed in this paper which works on the closed loop error and its fractional derivative as the input and has a fractional integrator in its…
The role of design in K-12 education has increased in recent years. We argue that many of these design experiences do not help develop important habits of mind associated with Human Centered Design (HCD). In this paper, we present an…
This paper presents a new technique to control highly redundant mechanical systems, such as humanoid robots. We take inspiration from two approaches. Prioritized control is a widespread multi-task technique in robotics and animation: tasks…
Control theory provides engineers with a multitude of tools to design controllers that manipulate the closed-loop behavior and stability of dynamical systems. These methods rely heavily on insights about the mathematical model governing the…
Predicting and executing a sequence of actions without intermediate replanning, known as action chunking, is increasingly used in robot learning from human demonstrations. Yet, its effects on the learned policy remain inconsistent: some…
The race towards performance increase and computing power has led to chips with heterogeneous and complex designs, integrating an ever-growing number of cores on the same monolithic chip or chiplet silicon die. Higher integration density,…
Autonomous robots operating in open and changing environments cannot always rely on predefined inputs, outputs, and action routines. Although existing learning methods enable robots to improve their performance through environmental…