In this paper, the effectiveness of discrete yaw direction setting in 4 rotor helicopter control was evaluated by simple computer simulation and Parrot AR. Drone 4 rotor helicopter in horizontal plane automatic position fixing control. For 4 rotor system, it is necessary to control the attitude of the drone and the position in the space simultaneously in order to realize stable flight of the system. The attitude control can be realized by the internal acc / gyro sensors with high sampling rate (near 1 kHz), on the contrary, the position control in the outdoor situation is necessary to realize by the external 3D position measurement method with relatively low sampling rate techniques (lower than 100 Hz) such as GPS. The low sampling rate reduces the positional control stability, and it is causing the control problem such applications of inspection work at high height and long distance. Our attempt is to evaluate the effect of adding discrete yaw direction setting while normal 4 rotor helicopter roll and pitch control in horizontal plane movement by a simple computer simulation and model implementation. By adding the discrete yaw direction setting to the target direction, the fixed position movement control performance of the 4 rotor system could increase comparing with without the yaw direction setting of the 4 rotor system. The proposed method would be useful to improve the 4 rotor system control performance under the relatively low sampling rate positional information acquired situation.
Effectiveness of Fast Speed Yaw and Roll Control Switching Instead of Normal ...AM Publications
In this paper, the effectiveness of new position control strategy - fast speed yaw and roll control switching method instead of the roll control only in Parrot AR Drone 4 rotor helicopter in horizontal plane for automatic fixed position flight was confirmed. General 4 rotor basic flight controller considers only simple floating control and does not concern the position control in the space, the AR Drone was also developed as realizing the floating control only and it is necessary to control the position by the user. Instead of a simple roll control, fast speed switching yaw and roll controls (plus pitch control) could realize stable automatic fixed position control comparing with the simple roll plus pitch controls in the horizontal plane. Proposed method reduced the AR Drone automatic fixed control within S.D. of x and y axis to 31.6% and 54.8% comparing with the normal roll plus pitch controls S.D. of x and y in 3.5 x 5 x 2.4 m room, and it will useful for hobby-class 4 rotor system's the aircraft position control in such a small room condition.
Integral Backstepping Approach for Mobile Robot ControlTELKOMNIKA JOURNAL
This document summarizes an approach for mobile robot control using an integral backstepping approach. It begins by introducing mobile robots and their applications, as well as existing control approaches. It then presents the dynamic model of a unicycle-type mobile robot. Next, it describes the proposed control architecture, which uses a kinematic controller for the outer loop and an integral PI/backstepping controller for the dynamic model. Finally, it outlines the design of the nonlinear PI-based backstepping controller, including the error functions, Lyapunov functions, and virtual control inputs. The goal is to improve robustness when dynamic parameters are unknown.
Modeling and Control of a Spherical Rolling Robot Using Model Reference Adapt...IRJET Journal
The document describes modeling and control of a spherical rolling robot using model reference adaptive control (MRAC). It presents the mathematical model developed for the robot based on its nonholonomic constraints. MRAC is used to control the robot by adjusting controller parameters to minimize the error between the robot's actual output and the output of a reference model for ideal behavior. Simulation results show the proposed MRAC scheme eliminates steady state error and improves transient response without requiring knowledge of the robot's dynamic equations.
Determination of the Operational Parameters of a Planar Robot with Three JointsWaqas Tariq
Robots are currently made in numerous types and are used in diverse roles such as production lines, daily living activities and some security fields. These types of robots are well designed and successfully applied in many areas requiring high sensitivity and stability. The aim of this study was to determine the optimum values of several operational parameters for a planar robot with respect to robot design and construction. With this aim, a small planar robot with a three-jointed arm activated by hydraulic cylinders in each segment was evaluated using a technical design drawing. The arm motions of the planar robot are rotary and parallel within a vertical plane. The resulting optimal operational parameters of the planar robot were determined as starting and target positions of 31.5 cm and 55 cm, respectively, on the x-axis and 17.18 cm and 118.44 cm on the y–axis. Time-position and time-velocity graphs were constructed corresponding to the orbit-planning parameters, resulting in Cartesian velocities for the terminal processor of 13.98 m/sec on the x-axis and 20.16 m/sec on the y-axis at 1.5 seconds after initiation. The maximum power consumption of the robot was determined as 1 kW according to the outer load and arm weights.
1. The document describes the process of identifying key parameters for modelling a quadrotor drone.
2. Two custom test rigs were designed to measure the thrust coefficient, torque coefficient, and throttle command relation parameters.
3. Tests were conducted to determine values for the thrust coefficient, torque coefficient, throttle command relation, motor time constant, and mass moments of inertia for different quadrotor components.
4. The identified parameters will be used to accurately represent the quadrotor in simulations for controller design and evaluation.
This document discusses different control methods for vehicle lateral control, including classical control theory, modern control theory, fuzzy logic, sliding mode control, and neural networks. It develops a 2DOF bicycle model of a vehicle and uses pole placement control to design a lateral controller. Simulation results show the vehicle can track a reference input but with large overshoots in yaw rate and velocity. An improved controller is designed with slower response but smaller state variable fluctuations. Future work involves implementing the controller with an observer and designing longitudinal control.
Aplanning algorithm offive-axis feedrate interpolation based on drive and jer...IJRES Journal
CNC technology marks the core of modern manufacturing, and CNC interpolation module is one of the most important numerical control technology modules. Avery important feature of the CNC is to implement the feed rate that consists in producing the set points based on a NC program. In the high speed machining, the feed rate is restricted by the velocity, acceleration, and jerk. And the NURBS curve is a free curve, due to the many advantages of NURBS curves, it can be well applied to the CNC feed rate interpolation. The algorithm can get more smooth feed rate curves, which makes better use of kinematical characteristics of the machine. Finally, according to each machine axis capability, one can use the feed rate control method which is verified by simulation analysis and processing to test this method. The results show that the algorithm can effectively control the speed, acceleration and jerk.
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
Effectiveness of Fast Speed Yaw and Roll Control Switching Instead of Normal ...AM Publications
In this paper, the effectiveness of new position control strategy - fast speed yaw and roll control switching method instead of the roll control only in Parrot AR Drone 4 rotor helicopter in horizontal plane for automatic fixed position flight was confirmed. General 4 rotor basic flight controller considers only simple floating control and does not concern the position control in the space, the AR Drone was also developed as realizing the floating control only and it is necessary to control the position by the user. Instead of a simple roll control, fast speed switching yaw and roll controls (plus pitch control) could realize stable automatic fixed position control comparing with the simple roll plus pitch controls in the horizontal plane. Proposed method reduced the AR Drone automatic fixed control within S.D. of x and y axis to 31.6% and 54.8% comparing with the normal roll plus pitch controls S.D. of x and y in 3.5 x 5 x 2.4 m room, and it will useful for hobby-class 4 rotor system's the aircraft position control in such a small room condition.
Integral Backstepping Approach for Mobile Robot ControlTELKOMNIKA JOURNAL
This document summarizes an approach for mobile robot control using an integral backstepping approach. It begins by introducing mobile robots and their applications, as well as existing control approaches. It then presents the dynamic model of a unicycle-type mobile robot. Next, it describes the proposed control architecture, which uses a kinematic controller for the outer loop and an integral PI/backstepping controller for the dynamic model. Finally, it outlines the design of the nonlinear PI-based backstepping controller, including the error functions, Lyapunov functions, and virtual control inputs. The goal is to improve robustness when dynamic parameters are unknown.
Modeling and Control of a Spherical Rolling Robot Using Model Reference Adapt...IRJET Journal
The document describes modeling and control of a spherical rolling robot using model reference adaptive control (MRAC). It presents the mathematical model developed for the robot based on its nonholonomic constraints. MRAC is used to control the robot by adjusting controller parameters to minimize the error between the robot's actual output and the output of a reference model for ideal behavior. Simulation results show the proposed MRAC scheme eliminates steady state error and improves transient response without requiring knowledge of the robot's dynamic equations.
Determination of the Operational Parameters of a Planar Robot with Three JointsWaqas Tariq
Robots are currently made in numerous types and are used in diverse roles such as production lines, daily living activities and some security fields. These types of robots are well designed and successfully applied in many areas requiring high sensitivity and stability. The aim of this study was to determine the optimum values of several operational parameters for a planar robot with respect to robot design and construction. With this aim, a small planar robot with a three-jointed arm activated by hydraulic cylinders in each segment was evaluated using a technical design drawing. The arm motions of the planar robot are rotary and parallel within a vertical plane. The resulting optimal operational parameters of the planar robot were determined as starting and target positions of 31.5 cm and 55 cm, respectively, on the x-axis and 17.18 cm and 118.44 cm on the y–axis. Time-position and time-velocity graphs were constructed corresponding to the orbit-planning parameters, resulting in Cartesian velocities for the terminal processor of 13.98 m/sec on the x-axis and 20.16 m/sec on the y-axis at 1.5 seconds after initiation. The maximum power consumption of the robot was determined as 1 kW according to the outer load and arm weights.
1. The document describes the process of identifying key parameters for modelling a quadrotor drone.
2. Two custom test rigs were designed to measure the thrust coefficient, torque coefficient, and throttle command relation parameters.
3. Tests were conducted to determine values for the thrust coefficient, torque coefficient, throttle command relation, motor time constant, and mass moments of inertia for different quadrotor components.
4. The identified parameters will be used to accurately represent the quadrotor in simulations for controller design and evaluation.
This document discusses different control methods for vehicle lateral control, including classical control theory, modern control theory, fuzzy logic, sliding mode control, and neural networks. It develops a 2DOF bicycle model of a vehicle and uses pole placement control to design a lateral controller. Simulation results show the vehicle can track a reference input but with large overshoots in yaw rate and velocity. An improved controller is designed with slower response but smaller state variable fluctuations. Future work involves implementing the controller with an observer and designing longitudinal control.
Aplanning algorithm offive-axis feedrate interpolation based on drive and jer...IJRES Journal
CNC technology marks the core of modern manufacturing, and CNC interpolation module is one of the most important numerical control technology modules. Avery important feature of the CNC is to implement the feed rate that consists in producing the set points based on a NC program. In the high speed machining, the feed rate is restricted by the velocity, acceleration, and jerk. And the NURBS curve is a free curve, due to the many advantages of NURBS curves, it can be well applied to the CNC feed rate interpolation. The algorithm can get more smooth feed rate curves, which makes better use of kinematical characteristics of the machine. Finally, according to each machine axis capability, one can use the feed rate control method which is verified by simulation analysis and processing to test this method. The results show that the algorithm can effectively control the speed, acceleration and jerk.
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
STUDY ON THE PATH TRACKING AND POSITIONING METHOD OF WHEELED MOBILE ROBOTIJCSES Journal
This document discusses a path tracking and positioning method for wheeled mobile robots (AGVs) used in intelligent logistics systems. It proposes using laser coordinate positioning technology to accurately position AGVs. A new target reference point selection method is presented where reference points move with the AGV, maintaining tracking accuracy. Path tracking is implemented by analyzing the kinematics model of a single steering wheel AGV to calculate the steering angle needed to guide the AGV towards the next reference point. An experiment is conducted to verify the feasibility and stability of using laser positioning for path tracking, showing good agreement between theoretical and actual AGV positions.
This document describes simulation of non-linear computed torque control for a two link SCARA type manipulator in Simulink. It begins with an introduction to SCARA manipulators and computed torque control. It then provides the inverse kinematics equations to transform between Cartesian and joint space for the manipulator. It derives the equations of motion using Lagrange's equations. It describes a pick and place task and generates trajectories between points using a third order polynomial. Finally, it introduces computed torque control which uses feedback linearization to calculate the required joint torques to control the nonlinear manipulator.
Parameter study of stable walking gaits for nao humanoid roboteSAT Journals
Abstract It is a challenge to any researcher to maintain the stability of the robot while in the walking motion. This paper proposes for parameter study of a walking pattern method which is inspired by the Dip Goswami (2009). The walking pattern is generated based on three points. These points are located at ankle left and right and one at the hip of the NAO humanoid robot. By using these points the walking gaits are generated to use as a reference point while walking motion. Then, an inverse kinematics with geometric solution of a ten degree-of-freedom humanoid robot is formulated from hip until the ankle joint. By sampling period of time with ten this reference point is used to find the joint angle of each link. The NAO humanoid robot is built in with force resistive sensor (FSR) located under both feet are used to determine the walking stability by using force distributer concept. The zero moment point of the robot is calculated on the normalized value between FSR reading from right leg and left leg. The result shown based on the real time simulation environment by using Webots Robotic Software. A simulation result shows that a NAO humanoid robot successfully walks in stable condition by following five different walking parameter setting. The humanoid robot is stable if and only if the normalized value of the ZMP is between 1 and -1. Index Terms: Walking gaits, NAO humanoid robot, ZMP
This document summarizes a research paper that proposes a hierarchical control method for a 3-degree-of-freedom laboratory helicopter. The hierarchical controller consists of an attitude controller and a position controller. The attitude controller tracks the desired elevation and pitch angles, while the position controller generates a desired pitch reference based on errors in tracking the desired travel angle. Experimental results on the laboratory helicopter demonstrate the effectiveness of the hierarchical control strategy in stabilizing the helicopter's angles and tracking desired trajectories, despite uncertainties in the helicopter's nonlinear dynamics.
Improvement of vehicle ride comfort using geneticalgorithm optimization and p...ahmedgeweda
This document presents a study that aims to improve vehicle ride comfort using genetic algorithm optimization and a PI controller. The following key points are discussed:
1. A 7 degree-of-freedom full vehicle model is developed in MATLAB SIMULINK to study ride comfort.
2. A genetic algorithm is used to optimize the values of spring stiffness and damping coefficients for the front and rear passive suspension at different velocities.
3. A proportional-integral controller is also implemented to study its effect on ride comfort.
4. Comparisons of body acceleration and sprung mass displacement are made between the optimized suspension parameters, model with PI controller, and passive suspension system to evaluate ride performance improvements.
Inertial Sensor Array Calibration Made Easy !oblu.io
Ultra-low-cost single-chip inertial measurement units (IMUs) combined into IMU arrays are opening up new possibilities for inertial sensing. However, to make these systems practical, calibration and misalignment compensation of low-cost IMU arrays are necessary and a simple calibration procedure that aligns the sensitivity axes of the sensors in the array is needed. Team at KTH suggests a novel mechanical-rotation-rig-free calibration procedure based on blind system identification and a platonic solid (Icosahedron) printable by a contemporary 3D-printer. Matlab-scripts for the parameter estimation and production files for the calibration device are made available.
Sensor Fusion Algorithm by Complementary Filter for Attitude Estimation of Qu...TELKOMNIKA JOURNAL
This paper proposes a sensor fusion algorithm by complementary filter technique for attitude
estimation of quadrotor UAV using low-cost MEMS IMU. Angular rate from gyroscope tend to drift over a
time while accelerometer data is commonly effected with environmental noise. Therefore, high frequency
gyroscope signal and low frequency accelerometer signal is fused using complementary filter algorithm.
The complementary filter scaling factor K1=0.98 and K2=0.02 are used to merge both gyro and
accelerometer. The results show that the smooth roll, pitch and yaw attitude angle can be obtained from
the low cost IMU by using proposed sensor fusion algorithm.
CPREDICTION OF INVERSE KINEMATICS SOLUTION OF A REDUNDANT MANIPULATOR USING A...Ijripublishers Ijri
In this thesis, a method for forward and inverse kinematics analysis of a 5-DOF and a 7- DOF Redundant manipulator
is proposed. Obtaining the trajectory and computing the required joint angles for a higher DOF robot manipulator is one
of the important concerns in robot kinematics and control. The difficulties in solving the inverse kinematics equations
of these redundant robot manipulator arises due to the presence of uncertain, time varying and non-linear nature of
equations having transcendental functions. In this thesis, the ability of ANFIS is used to the generated data for solving
inverse kinematics problem. A single- output Sugeno-type FIS using grid partitioning has been modeled in this work.
The forward kinematics and inverse kinematics for a 5-DOF and 7-DOF manipulator are analyzed systemically. The Efficiency
of ANFIS can be concluded by observing the surface plot, residual plot and normal probability plot. This current
study in using different nonlinear models for the prediction of the IKs of a 5-DOF and 7-DOF Redundant manipulator
will give a valuable source of information for other modellers.
Keywords: 5-DOF and 7-DOF Redundant Robot Manipulator; Inverse kinematics; ANFIS; Denavit-Harbenterg (D-H)
notation.
Despite being around for almost two decades, footmounted inertial navigation only has gotten a limited spread. Contributing factors to this are lack of suitable hardware platforms and difficult system integration. As a solution to this, we present an open-source wireless foot-mounted inertial navigation module with an intuitive and significantly simplified dead reckoning interface. The interface is motivated from statistical properties of the underlying aided inertial navigation and argued to give negligible information loss. The module consists of both a hardware platform and embedded software. Details of the platform and the software are described, and a summarizing description of how to reproduce the module are given. System integration of the module is outlined and finally, we provide a basic performance assessment of the module. In summary, the module provides a modularization of the foot-mounted inertial navigation and makes the technology significantly easier to use.
Evolution of a shoe-mounted multi-IMU pedestrian dead reckoning PDR sensoroblu.io
Shoe-mounted inertial navigation systems, aka pedestrian dead reckoning or PDR sensors, are being preferred for pedestrian navigation because of the accuracy offered by them. Such shoe sensors are, for example, the obvious choice for real time location systems of first responders. The opensource platform OpenShoe has reported application of multiple IMUs in shoe-mounted PDR sensors to enhance noise performance. In this paper, we present an experimental study of the noise performance and the operating clocks based power consumption of multi-IMU platforms. The noise performances of a multi-IMU system with different combinations of IMUs are studied. It is observed that four-IMU system is best optimized for cost, area and power. Experiments with varying operating clocks frequency are performed on an in-house four-IMU shoe-mounted inertial navigation module (the Oblu module). Based on the outcome, power-optimized operating clock frequencies are obtained. Thus the overall study suggests that by selecting a well-designed operating point, a multi-IMU system can be made cost, size and power efficient without practically affecting its superior positioning performance.
Abstract - Positioning is a fundamental component of human life to make meaningful interpretations of the environment. Without knowledge of position, human beings are like machines and have very limited capabilities to interact with the environment. Even machines in today’s world can be made smarter if positioning information is made available to them. Indoor positioning of pedestrians is the broad area considered in this thesis. A foot mounted pedestrian tracking device has been studied for this purpose. Systems which utilize foot mounted inertial navigation system has been in the literature for more than two decades. However very few real time implementations have been possible. The purpose of this thesis is to benchmark and improve the performance of one such implementation.
Development of a quadruped mobile robot and its movement system using geometr...journalBEEI
As the main testbed platform of Artificial Intelligence, the robot plays an essential role in creating an environment for industrial revolution 4.0. According to their bases, the robot can be categorized into a fixed based robot and a mobile robot. Current robotics research direction is interesting since people strive to create a mobile robot able to move in the land, water, and air. This paper presents development of a quadruped mobile robot and its movement system using geometric-based inverse kinematics. The study is related to the movement of a four-legged (quadruped) mobile robot with three Degrees of Freedom (3 DOF) for each leg. Because it has four legs, the movement of the robot can only be done through coordinating the movements of each leg. In this study, the trot gait pattern method is proposed to coordinate the movement of the robot's legs. The end-effector position of each leg is generated by a simple trajectory generator with half rectified sine wave pattern. Furthermore, to move each robot's leg, it is proposed to use geometric-based inverse kinematic. The experimental results showed that the proposed method succeeded in moving the mobile robot with precision. Movement errors in the translation direction are 1.83% with the average pose error of 1.33 degrees, means the mobile robot has good walking stability.
Real-time Estimation of Human’s Intended Walking Speed for Treadmill-style Lo...toukaigi
This document discusses estimating a human's intended walking speed using force plates under a treadmill. It first introduces the problem and experimental setup using two force plates under a treadmill. It then describes Experiment 1 which found that a proposed force index, defined as the minimum value of the ratio of forward ground reaction force to total ground reaction force during one gait cycle, has a strong linear correlation with intended walking speed. Experiment 2 showed the coefficients of this linear relationship vary little, ensuring tolerance of individual variations. Finally, a treadmill-style locomotion interface is presented that allows a user to actively control the treadmill speed with their feet based on intended walking speed estimation, providing a promising human-machine interface.
Modeling, Simulation, and Optimal Control for Two-Wheeled Self-Balancing Robot IJECEIAES
Two-wheeled self-balancing robot is a popular model in control system experiments which is more widely known as inverted pendulum and cart model. This is a multi-input and multi-output system which is theoretical and has been applied in many systems in daily use. Anyway, most research just focus on balancing this model through try-on experiments or by using simple form of mathematical model. There were still few researches that focus on complete mathematic modeling and designing a mathematical model based controller for such system. This paper analyzed mathematical model of the system. Then, the authors successfully applied a Linear Quadratic Regulator (LQR) controller for this system. This controller was tested with different case of system condition. Controlling results was proved to work well and tested on different case of system condition through simulation on matlab/Simulink program.
Massive Sensors Array for Precision Sensingoblu.io
More than a billion smartphones being sold annually and growing with CAGR of 16%, the smartphone industry has become a driving force in the development of ultralow-cost inertial sensors. Unfortunately, these ultra low-cost sensors do not yet meet the needs of more demanding applications like inertial navigation and biomedical motion tracking systems. However, by adapting a wisdom of the crowd’s thinking and design arrays consisting of hundreds of sensing elements, one can capitalize on the decreasing cost, size, and power-consumption of the sensors to construct virtual high-performance low-cost inertial sensors. Team at KTH, Sweden and WUSTL, USA share findings and challenges.
1) The document describes the development of a mathematical model for a Yanmar AG1100 combine harvester to simulate its navigation performance on a computer.
2) Experiments were conducted to determine the relationships between the combine harvester's linear velocity, angular velocity, lever angle, and steering angle.
3) Keyhole turning experiments were performed and showed that the simulation results using the mathematical model matched well with real test trajectories, demonstrating the accuracy of the model.
SIMULTANEOUS OPTIMIZATION OF SEMIACTIVE QUARTER CAR SUSPENSION PARAMETERS USI...ijmech
In present paper, a methodology is presented related to the optimization of semi-active quarter car model
suspension parameters having three degrees of freedom, subjected to bump type of road excitation.
Influence of primary suspension stiffness, primary suspension damping, secondary suspension stiffness and
secondary suspension damping are studied on the passenger ride comfort, taking root mean square (RMS)
values of passenger seat displacement and settling time into account. Semi-active quarter car model
assembled with magneto-rheological (MR) shock absorber is selected for optimization of suspension
parameters using Taguchi method in combination with Grey relational analysis. Confirmatory results with
simulation run indicates that the optimized results of suspension parameters are helpful in achieving the
best ride comfort to travelling passengers in terms of minimization of passenger seat displacement and
settling time values.
Omni-directional Vision and 3D Animation Based Teleoperation of Hydraulically Actuated Hexapod Robot COMET-IV
H. Ohroku and K. Nonami
Graduate School of Science and Technology, Chiba University, 1-33 Yayoi-cho, Inage-ku, Chiba-shi, Chiba, 263-8522, Japan
Adaptive Fuzzy Integral Sliding-Mode Regulator for Induction Motor Using Nonl...IJPEDS-IAES
An adaptive fuzzy integral sliding-mode controller using nonlinear sliding surface is designed for the speed regulator of a field-oriented induction motor drive in this paper. Combining the conventional integral sliding surface with fractional-order integral, a nonlinear sliding surface is proposed for the integral sliding-mode speed control, which can overcome the windup problem and the convergence speed problem. An adaptive fuzzy control term is utilized to approximate the uncertainty. The stability of the controller is analyzed by Lyapunov stability theory. The effectiveness of the proposed speed regulator is demonstrated by the simulation results in comparison with the conventional integral sliding-mode controller based on boundary layer.
Development of an Integrated Attitude Determination System for Small Unmanned...IRJET Journal
This document presents a study that developed an integrated attitude determination system for small unmanned aerial vehicles (UAVs) based on the principles of simple neural networks. The system fuses data from sensors like gyroscopes, accelerometers, magnetometers, and GPS to determine vehicle attitude. Individual sensor solutions are combined using weights based on sensor error and deviation from the mean attitude. The algorithm was evaluated by comparing its outputs to those of a traditional attitude determination system on a commercial UAV. Results found good agreement, validating the proposed approach as a computationally efficient alternative.
Neural Network Control Based on Adaptive Observer for Quadrotor HelicopterIJITCA Journal
A neural network control scheme with an adaptive observer is proposed in this paper to Quadrotor helicopter stabilization. The unknown part in Quadrotor dynamical model was estimated on line by a
Single Hidden Layer network. To solve the non measurable states problem a new adaptive observer was proposed. The main purpose here is to reduce the measurement noise amplification caused by conventional
high gain observer by introducing some changes in observer’s original structure that can minimize the variance and the amplitude of the noisy signal without increasing tracking error. The stability analysis of the overall closed-loop system/ observer is performed using the Lyapunov direct method. Simulation results are given to highlight the performances of the proposed scheme.
STUDY ON THE PATH TRACKING AND POSITIONING METHOD OF WHEELED MOBILE ROBOTIJCSES Journal
This document discusses a path tracking and positioning method for wheeled mobile robots (AGVs) used in intelligent logistics systems. It proposes using laser coordinate positioning technology to accurately position AGVs. A new target reference point selection method is presented where reference points move with the AGV, maintaining tracking accuracy. Path tracking is implemented by analyzing the kinematics model of a single steering wheel AGV to calculate the steering angle needed to guide the AGV towards the next reference point. An experiment is conducted to verify the feasibility and stability of using laser positioning for path tracking, showing good agreement between theoretical and actual AGV positions.
This document describes simulation of non-linear computed torque control for a two link SCARA type manipulator in Simulink. It begins with an introduction to SCARA manipulators and computed torque control. It then provides the inverse kinematics equations to transform between Cartesian and joint space for the manipulator. It derives the equations of motion using Lagrange's equations. It describes a pick and place task and generates trajectories between points using a third order polynomial. Finally, it introduces computed torque control which uses feedback linearization to calculate the required joint torques to control the nonlinear manipulator.
Parameter study of stable walking gaits for nao humanoid roboteSAT Journals
Abstract It is a challenge to any researcher to maintain the stability of the robot while in the walking motion. This paper proposes for parameter study of a walking pattern method which is inspired by the Dip Goswami (2009). The walking pattern is generated based on three points. These points are located at ankle left and right and one at the hip of the NAO humanoid robot. By using these points the walking gaits are generated to use as a reference point while walking motion. Then, an inverse kinematics with geometric solution of a ten degree-of-freedom humanoid robot is formulated from hip until the ankle joint. By sampling period of time with ten this reference point is used to find the joint angle of each link. The NAO humanoid robot is built in with force resistive sensor (FSR) located under both feet are used to determine the walking stability by using force distributer concept. The zero moment point of the robot is calculated on the normalized value between FSR reading from right leg and left leg. The result shown based on the real time simulation environment by using Webots Robotic Software. A simulation result shows that a NAO humanoid robot successfully walks in stable condition by following five different walking parameter setting. The humanoid robot is stable if and only if the normalized value of the ZMP is between 1 and -1. Index Terms: Walking gaits, NAO humanoid robot, ZMP
This document summarizes a research paper that proposes a hierarchical control method for a 3-degree-of-freedom laboratory helicopter. The hierarchical controller consists of an attitude controller and a position controller. The attitude controller tracks the desired elevation and pitch angles, while the position controller generates a desired pitch reference based on errors in tracking the desired travel angle. Experimental results on the laboratory helicopter demonstrate the effectiveness of the hierarchical control strategy in stabilizing the helicopter's angles and tracking desired trajectories, despite uncertainties in the helicopter's nonlinear dynamics.
Improvement of vehicle ride comfort using geneticalgorithm optimization and p...ahmedgeweda
This document presents a study that aims to improve vehicle ride comfort using genetic algorithm optimization and a PI controller. The following key points are discussed:
1. A 7 degree-of-freedom full vehicle model is developed in MATLAB SIMULINK to study ride comfort.
2. A genetic algorithm is used to optimize the values of spring stiffness and damping coefficients for the front and rear passive suspension at different velocities.
3. A proportional-integral controller is also implemented to study its effect on ride comfort.
4. Comparisons of body acceleration and sprung mass displacement are made between the optimized suspension parameters, model with PI controller, and passive suspension system to evaluate ride performance improvements.
Inertial Sensor Array Calibration Made Easy !oblu.io
Ultra-low-cost single-chip inertial measurement units (IMUs) combined into IMU arrays are opening up new possibilities for inertial sensing. However, to make these systems practical, calibration and misalignment compensation of low-cost IMU arrays are necessary and a simple calibration procedure that aligns the sensitivity axes of the sensors in the array is needed. Team at KTH suggests a novel mechanical-rotation-rig-free calibration procedure based on blind system identification and a platonic solid (Icosahedron) printable by a contemporary 3D-printer. Matlab-scripts for the parameter estimation and production files for the calibration device are made available.
Sensor Fusion Algorithm by Complementary Filter for Attitude Estimation of Qu...TELKOMNIKA JOURNAL
This paper proposes a sensor fusion algorithm by complementary filter technique for attitude
estimation of quadrotor UAV using low-cost MEMS IMU. Angular rate from gyroscope tend to drift over a
time while accelerometer data is commonly effected with environmental noise. Therefore, high frequency
gyroscope signal and low frequency accelerometer signal is fused using complementary filter algorithm.
The complementary filter scaling factor K1=0.98 and K2=0.02 are used to merge both gyro and
accelerometer. The results show that the smooth roll, pitch and yaw attitude angle can be obtained from
the low cost IMU by using proposed sensor fusion algorithm.
CPREDICTION OF INVERSE KINEMATICS SOLUTION OF A REDUNDANT MANIPULATOR USING A...Ijripublishers Ijri
In this thesis, a method for forward and inverse kinematics analysis of a 5-DOF and a 7- DOF Redundant manipulator
is proposed. Obtaining the trajectory and computing the required joint angles for a higher DOF robot manipulator is one
of the important concerns in robot kinematics and control. The difficulties in solving the inverse kinematics equations
of these redundant robot manipulator arises due to the presence of uncertain, time varying and non-linear nature of
equations having transcendental functions. In this thesis, the ability of ANFIS is used to the generated data for solving
inverse kinematics problem. A single- output Sugeno-type FIS using grid partitioning has been modeled in this work.
The forward kinematics and inverse kinematics for a 5-DOF and 7-DOF manipulator are analyzed systemically. The Efficiency
of ANFIS can be concluded by observing the surface plot, residual plot and normal probability plot. This current
study in using different nonlinear models for the prediction of the IKs of a 5-DOF and 7-DOF Redundant manipulator
will give a valuable source of information for other modellers.
Keywords: 5-DOF and 7-DOF Redundant Robot Manipulator; Inverse kinematics; ANFIS; Denavit-Harbenterg (D-H)
notation.
Despite being around for almost two decades, footmounted inertial navigation only has gotten a limited spread. Contributing factors to this are lack of suitable hardware platforms and difficult system integration. As a solution to this, we present an open-source wireless foot-mounted inertial navigation module with an intuitive and significantly simplified dead reckoning interface. The interface is motivated from statistical properties of the underlying aided inertial navigation and argued to give negligible information loss. The module consists of both a hardware platform and embedded software. Details of the platform and the software are described, and a summarizing description of how to reproduce the module are given. System integration of the module is outlined and finally, we provide a basic performance assessment of the module. In summary, the module provides a modularization of the foot-mounted inertial navigation and makes the technology significantly easier to use.
Evolution of a shoe-mounted multi-IMU pedestrian dead reckoning PDR sensoroblu.io
Shoe-mounted inertial navigation systems, aka pedestrian dead reckoning or PDR sensors, are being preferred for pedestrian navigation because of the accuracy offered by them. Such shoe sensors are, for example, the obvious choice for real time location systems of first responders. The opensource platform OpenShoe has reported application of multiple IMUs in shoe-mounted PDR sensors to enhance noise performance. In this paper, we present an experimental study of the noise performance and the operating clocks based power consumption of multi-IMU platforms. The noise performances of a multi-IMU system with different combinations of IMUs are studied. It is observed that four-IMU system is best optimized for cost, area and power. Experiments with varying operating clocks frequency are performed on an in-house four-IMU shoe-mounted inertial navigation module (the Oblu module). Based on the outcome, power-optimized operating clock frequencies are obtained. Thus the overall study suggests that by selecting a well-designed operating point, a multi-IMU system can be made cost, size and power efficient without practically affecting its superior positioning performance.
Abstract - Positioning is a fundamental component of human life to make meaningful interpretations of the environment. Without knowledge of position, human beings are like machines and have very limited capabilities to interact with the environment. Even machines in today’s world can be made smarter if positioning information is made available to them. Indoor positioning of pedestrians is the broad area considered in this thesis. A foot mounted pedestrian tracking device has been studied for this purpose. Systems which utilize foot mounted inertial navigation system has been in the literature for more than two decades. However very few real time implementations have been possible. The purpose of this thesis is to benchmark and improve the performance of one such implementation.
Development of a quadruped mobile robot and its movement system using geometr...journalBEEI
As the main testbed platform of Artificial Intelligence, the robot plays an essential role in creating an environment for industrial revolution 4.0. According to their bases, the robot can be categorized into a fixed based robot and a mobile robot. Current robotics research direction is interesting since people strive to create a mobile robot able to move in the land, water, and air. This paper presents development of a quadruped mobile robot and its movement system using geometric-based inverse kinematics. The study is related to the movement of a four-legged (quadruped) mobile robot with three Degrees of Freedom (3 DOF) for each leg. Because it has four legs, the movement of the robot can only be done through coordinating the movements of each leg. In this study, the trot gait pattern method is proposed to coordinate the movement of the robot's legs. The end-effector position of each leg is generated by a simple trajectory generator with half rectified sine wave pattern. Furthermore, to move each robot's leg, it is proposed to use geometric-based inverse kinematic. The experimental results showed that the proposed method succeeded in moving the mobile robot with precision. Movement errors in the translation direction are 1.83% with the average pose error of 1.33 degrees, means the mobile robot has good walking stability.
Real-time Estimation of Human’s Intended Walking Speed for Treadmill-style Lo...toukaigi
This document discusses estimating a human's intended walking speed using force plates under a treadmill. It first introduces the problem and experimental setup using two force plates under a treadmill. It then describes Experiment 1 which found that a proposed force index, defined as the minimum value of the ratio of forward ground reaction force to total ground reaction force during one gait cycle, has a strong linear correlation with intended walking speed. Experiment 2 showed the coefficients of this linear relationship vary little, ensuring tolerance of individual variations. Finally, a treadmill-style locomotion interface is presented that allows a user to actively control the treadmill speed with their feet based on intended walking speed estimation, providing a promising human-machine interface.
Modeling, Simulation, and Optimal Control for Two-Wheeled Self-Balancing Robot IJECEIAES
Two-wheeled self-balancing robot is a popular model in control system experiments which is more widely known as inverted pendulum and cart model. This is a multi-input and multi-output system which is theoretical and has been applied in many systems in daily use. Anyway, most research just focus on balancing this model through try-on experiments or by using simple form of mathematical model. There were still few researches that focus on complete mathematic modeling and designing a mathematical model based controller for such system. This paper analyzed mathematical model of the system. Then, the authors successfully applied a Linear Quadratic Regulator (LQR) controller for this system. This controller was tested with different case of system condition. Controlling results was proved to work well and tested on different case of system condition through simulation on matlab/Simulink program.
Massive Sensors Array for Precision Sensingoblu.io
More than a billion smartphones being sold annually and growing with CAGR of 16%, the smartphone industry has become a driving force in the development of ultralow-cost inertial sensors. Unfortunately, these ultra low-cost sensors do not yet meet the needs of more demanding applications like inertial navigation and biomedical motion tracking systems. However, by adapting a wisdom of the crowd’s thinking and design arrays consisting of hundreds of sensing elements, one can capitalize on the decreasing cost, size, and power-consumption of the sensors to construct virtual high-performance low-cost inertial sensors. Team at KTH, Sweden and WUSTL, USA share findings and challenges.
1) The document describes the development of a mathematical model for a Yanmar AG1100 combine harvester to simulate its navigation performance on a computer.
2) Experiments were conducted to determine the relationships between the combine harvester's linear velocity, angular velocity, lever angle, and steering angle.
3) Keyhole turning experiments were performed and showed that the simulation results using the mathematical model matched well with real test trajectories, demonstrating the accuracy of the model.
SIMULTANEOUS OPTIMIZATION OF SEMIACTIVE QUARTER CAR SUSPENSION PARAMETERS USI...ijmech
In present paper, a methodology is presented related to the optimization of semi-active quarter car model
suspension parameters having three degrees of freedom, subjected to bump type of road excitation.
Influence of primary suspension stiffness, primary suspension damping, secondary suspension stiffness and
secondary suspension damping are studied on the passenger ride comfort, taking root mean square (RMS)
values of passenger seat displacement and settling time into account. Semi-active quarter car model
assembled with magneto-rheological (MR) shock absorber is selected for optimization of suspension
parameters using Taguchi method in combination with Grey relational analysis. Confirmatory results with
simulation run indicates that the optimized results of suspension parameters are helpful in achieving the
best ride comfort to travelling passengers in terms of minimization of passenger seat displacement and
settling time values.
Omni-directional Vision and 3D Animation Based Teleoperation of Hydraulically Actuated Hexapod Robot COMET-IV
H. Ohroku and K. Nonami
Graduate School of Science and Technology, Chiba University, 1-33 Yayoi-cho, Inage-ku, Chiba-shi, Chiba, 263-8522, Japan
Adaptive Fuzzy Integral Sliding-Mode Regulator for Induction Motor Using Nonl...IJPEDS-IAES
An adaptive fuzzy integral sliding-mode controller using nonlinear sliding surface is designed for the speed regulator of a field-oriented induction motor drive in this paper. Combining the conventional integral sliding surface with fractional-order integral, a nonlinear sliding surface is proposed for the integral sliding-mode speed control, which can overcome the windup problem and the convergence speed problem. An adaptive fuzzy control term is utilized to approximate the uncertainty. The stability of the controller is analyzed by Lyapunov stability theory. The effectiveness of the proposed speed regulator is demonstrated by the simulation results in comparison with the conventional integral sliding-mode controller based on boundary layer.
Development of an Integrated Attitude Determination System for Small Unmanned...IRJET Journal
This document presents a study that developed an integrated attitude determination system for small unmanned aerial vehicles (UAVs) based on the principles of simple neural networks. The system fuses data from sensors like gyroscopes, accelerometers, magnetometers, and GPS to determine vehicle attitude. Individual sensor solutions are combined using weights based on sensor error and deviation from the mean attitude. The algorithm was evaluated by comparing its outputs to those of a traditional attitude determination system on a commercial UAV. Results found good agreement, validating the proposed approach as a computationally efficient alternative.
Neural Network Control Based on Adaptive Observer for Quadrotor HelicopterIJITCA Journal
A neural network control scheme with an adaptive observer is proposed in this paper to Quadrotor helicopter stabilization. The unknown part in Quadrotor dynamical model was estimated on line by a
Single Hidden Layer network. To solve the non measurable states problem a new adaptive observer was proposed. The main purpose here is to reduce the measurement noise amplification caused by conventional
high gain observer by introducing some changes in observer’s original structure that can minimize the variance and the amplitude of the noisy signal without increasing tracking error. The stability analysis of the overall closed-loop system/ observer is performed using the Lyapunov direct method. Simulation results are given to highlight the performances of the proposed scheme.
Motion compensation for hand held camera deviceseSAT Journals
Abstract
With handy camera image is not enough stable at that time stabilization method is used to recover that shaky effect. So, stabilization of image is concept to recover the scale and theta of shaky image. For that algorithm should be able to stabilize the image with maximum original information from that shaky input image. And from this image stabilization algorithm we can use this as a fundamental concept to stabilize the video. Here in this paper algorithm is applied for 2D image and measure the efficiency of that algorithm
Keywords: Motion estimation; Feature detection methods; FAST feature detection
Quadrotor is one of rotary wing UAV types which is able to perform a hover position. In order to take off, landing, and hover, it needs controllers. Conventional controllers have been widely applied in quadrotor, yet they have drawbacks namely overshoot. This paper presents attitude and altitude control algorithm in order to obtain a response as quadrotor hovered optimally within minimum overshoot, rise time, and settling time. The algorithm used is Fuzzy Logic Controller (FLC) algorithm with Mamdani method. By using the algorithm, the quadrotor is able to hover with minimum overshoot and maximum rise time. The advantage of the algorithm is that it does not require linearization model of the quadrotor.
Robust second order sliding mode control for a quadrotor considering motor dy...ijctcm
In this paper, a robust second order sliding mode control (SMC) for controlling a quadrotor with uncertain
parameters presented based on high order sliding mode control (HOSMC). A controller based on the
HOSMC technique is designed for trajectory tracking of a quadrotor helicopter with considering motor
dynamics. The main subsystems of quadrotor (i.e. position and attitude) stabilized using HOSMC method.
The performance and effectiveness of the proposed controller are tested in a simulation study taking into
account external disturbances with consider to motor dynamics. Simulation results show that the proposed
controller eliminates the disturbance effect on the position and attitude subsystems efficiency that can be
used in real time applications.
Robust Second Order Sliding Mode Control for A Quadrotor Considering Motor Dy...ijctcm
This document presents a robust second order sliding mode control approach for controlling the position and attitude of a quadrotor helicopter that considers motor dynamics. A nonlinear dynamic model of the quadrotor is developed that includes motor dynamics. Based on this model, a controller is designed using higher order sliding mode control techniques to independently control the altitude, longitudinal, latitudinal, and heading motions of the quadrotor. Simulation results show that the proposed controller is effective at eliminating disturbances and can be used for real-time applications.
Robust Second Order Sliding Mode Control for A Quadrotor Considering Motor Dy...ijctcm
In this paper, a robust second order sliding mode control (SMC) for controlling a quadrotor with uncertain parameters presented based on high order sliding mode control (HOSMC). A controller based on the HOSMC technique is designed for trajectory tracking of a quadrotor helicopter with considering motor dynamics. The main subsystems of quadrotor (i.e. position and attitude) stabilized using HOSMC method. The performance and effectiveness of the proposed controller are tested in a simulation study taking into account external disturbances with consider to motor dynamics. Simulation results show that the proposed controller eliminates the disturbance effect on the position and attitude subsystems efficiency that can be used in real time applications.
The active suspension system with hydraulic actuator for half car model analy...eSAT Publishing House
This document describes the design and simulation of an active suspension system with a hydraulic actuator for a half car model. A PID controller is designed and tuned using three different methods - heuristic tuning, Ziegler-Nichols tuning, and iterative learning algorithm tuning. The half car model and hydraulic actuator are modeled and simulated in MATLAB Simulink. Simulation results show that the PID controller tuned with the iterative learning algorithm provides the best ride quality performance compared to the other tuning methods or a passive suspension, reducing the body displacement under various road disturbances.
Robust Control of a Spherical Mobile RobotIRJET Journal
This document summarizes a research paper about controlling a spherical mobile robot using sliding mode control. It begins with an abstract that describes the challenges of controlling spherical robots due to their underactuated systems. It then provides background on previous control methods for spherical robots. The document presents the kinematic model of a 2-DOF spherical robot and describes how sliding mode control can be used to provide robust control and path following for the robot. It provides the equations for the sliding mode controller design. Finally, it presents simulation results showing the robot following a desired trajectory with minimal tracking error using the sliding mode controller.
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology
Abstract Robots are expected to be new tools for the operations and observations in the extreme environments where humans have difficulties in direct access. One of the important matters to realize mobile robots for extreme environments is to establish systems in their structures which are strong enough to disturbances. Also, while considering surveillance in inaccessible remote areas, a need arises for the presence of a robot capable of intruding into small crevices as well as provides proper surveillance. This work aims at the implementation of a snake robot for surveillance operations in remote areas. A biologically inspired robot with various motion patterns is taken into consideration. An important problem in the control of locomotion of robots with multiple degrees of freedom is in adapting the locomotors patterns to the properties of the environment. This has been overcome by using control techniques capable of integrating the motion patterns of a snake. Here an attempt is taken to focus on the creeping locomotion of a living snake. In hybrid model, the optimal locomotion of the snake robot is tried to achieve by comparing it with that of a living snake. A wireless real time vision processing is also employed within the robot to improve its performance. The presence of Video acquisition along with processing will be an added advantage for implementation of the robot for highly precise and difficult surveillance applications. Real time processing of video enables proper and efficient control towards obstacle avoidance pattern of the robot. This ensures that the locomotion of the robot is in a bio-inspired highly efficient path towards the target. Keywords: Collision-free behavior, neural oscillator, snake locomotion, steering, real time vision processing
The effect of rotor disc clearance on the lift performance of contra rotating...eSAT Publishing House
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology
IJERD (www.ijerd.com) International Journal of Engineering Research and Devel...IJERD Editor
This document summarizes a research paper that proposes a new design methodology for a roll position demand autopilot for guided missiles. The design is based on state feedback using Ackermann pole placement and a reduced order observer. The open-loop unstable roll control model is stabilized using state feedback and pole placement. Actuator dynamics are included. Simulation results show the new design significantly improves responses over previous frequency domain designs by eliminating overshoots and reducing maximum roll rates and aileron deflections. A reduced order Das & Ghosal observer is used to estimate unmeasurable states like aileron angle and rate.
Modelling, and Design of a Quadcopter With MATLAB ImplementationIRJET Journal
This document describes the modeling and design of a quadcopter using MATLAB. It discusses modeling the basic physical plant of the quadcopter and increasing the complexity of the model. It also demonstrates how to implement the quadcopter model in MATLAB/Simulink. The modeling process involves defining states, parameters, and mathematical equations of motion for roll, pitch, yaw and thrust. The parameters include moments of inertia, rotor inertia, thrust and drag coefficients. The document provides details on building the plant model and increasing its accuracy to better simulate quadcopter flight.
Design and Simulation of Different Controllers for Stabilizing Inverted Pendu...IJERA Editor
The Inverted Pendulum system has been identified for implementing controllers as it is an inherently unstable system having nonlinear dynamics. The system has fewer control inputs than degrees of freedom which makes it fall under the class of under-actuated systems. It makes the control task more challenging making the inverted pendulum system a classical benchmark for the design, testing, evaluating and comparing. The inverted pendulum to be discussed in this paper is an inverted pendulum mounted on a motor driven cart. The aim is to stabilize the system such that the position of the cart on the track is controlled quickly and accurately so that the pendulum is always erected in its vertical position. In this paper the linearized model was obtained by Jacobian matrix method. The Matlab-Simulink models have been developed for simulation for optimal control design of nonlinear inverted pendulum-cart dynamic system using different control methods. The methods discussed in this paper are a double Proportional-Integral-Derivative (PID) control method, a modern Linear Quadratic Regulator (LQR) control method and a combination of PID and Linear Quadratic Regulator (LQR) control methods. The dynamic and steady state performance are investigated and compared for the above controllers.
Hexacopter using MATLAB Simulink and MPU SensingIRJET Journal
This document describes the modeling and control of a hexacopter unmanned aerial vehicle using MATLAB simulation. It presents the mathematical modeling of the hexacopter dynamics using Newton-Euler angles and reference frames. PID controllers are developed for altitude, roll, pitch and yaw control. The rotor speeds required for thrust and attitude control are calculated from the PID outputs. Simulation parameters are provided and the results obtained from implementing the PID controllers on the hexacopter model in MATLAB are presented.
DEVELOPMENT AND IMPLEMENTATION OF A ADAPTIVE FUZZY CONTROL SYSTEM FOR A VTOL ...ijctcm
The studies in aerial vehicles modeling and control have been increased rapidly recently. This paper presents the modeling and control of a four rotor vertical take-off and landing (VTOL) vehicle. The modeling of the VTOL vehicle will be described by using Euler-Newton equations. In order to stable this vehicle and control the attitude of that, classical PID controller and a fuzzy system that adjusts the PID controller gains, have been designed. Although fuzzy control of various dynamical systems has been presented in literature, application of this technology to aerial vehicle control is quite new. This system has nonlinear characteristics where classical control methods are not adequate for stabilize that. On the other hand, fuzzy control is nonlinear and it is thus suitable for nonlinear system control. Matlab Simulink has been used to test, analyze and compare the performance of the controllers in simulations. Finally this
presented controller will be implemented on a real vehicle and performance of that will be showed. This study showed that although, both of the classical PID and the fuzzy self-tuning PID controllers, can control the system properly, the second controller performed better than the classical PID controller
DEVELOPMENT AND IMPLEMENTATION OF A ADAPTIVE FUZZY CONTROL SYSTEM FOR A VTOL ...ijctcm
ABSTRACT
The studies in aerial vehicles modeling and control have been increased rapidly recently. This paper presents the modeling and control of a four rotor vertical take-off and landing (VTOL) vehicle. The modeling of the VTOL vehicle will be described by using Euler-Newton equations. In order to stable this vehicle and control the attitude of that, classical PID controller and a fuzzy system that adjusts the PID controller gains, have been designed. Although fuzzy control of various dynamical systems has been presented in literature, application of this technology to aerial vehicle control is quite new. This system has nonlinear characteristics where classical control methods are not adequate for stabilize that. On the other hand, fuzzy control is nonlinear and it is thus suitable for nonlinear system control. Matlab Simulink has been used to test, analyze and compare the performance of the controllers in simulations. Finally this presented controller will be implemented on a real vehicle and performance of that will be showed. This study showed that although, both of the classical PID and the fuzzy self-tuning PID controllers, can control the system properly, the second controller performed better than the classical PID controller.
This document describes a study on developing a human instruction follower drone. It discusses selecting components like a quadcopter frame, motors, electronic speed controllers, an IMU sensor, GPS, and Arduino board. It explains how the drone will navigate autonomously using GPS waypoints from its original position to a given destination defined by latitude and longitude, then return to the original position. The document outlines the mechanism for frame selection, component selection and interfacing, and the performance of the IMU sensor and use of a complementary filter to provide stable sensor data for flight stabilization and control.
Design and simulation of radio frequencyeSAT Journals
Abstract
Present day guided weapon systems, especially tactical class missiles use RF seeker, for target tracking towards terminal engagement. The seeker system including its antenna assembly will be onboard the missile. Due to the missile trajectory corrections, the seeker antenna pointing to the target may get disturbed resulting in track loss. To avoid this track loss, it becomes necessary to stabilize the antenna system in two planes. The fundamental role of stabilization loop in seeker application is to precisely follow the angular rate of the target. In order to achieve this requirement, it is essential to highly isolate the gimbaled antenna from the missile body motion due to the maneuvering of target or low frequency vibration during flight. However, the isolation ratio and stability margin of stabilization loop adopting the gimbaled platform with both low stiffness and heavy inertia are limited by mechanical characteristic such as low resonance frequency and its high magnitude. The selection of proper feedback sensors, modeling of the total system are key features of this project. In the end, the performance and the stability of designed stabilization loop are demonstrated using simulation in both frequency and time domain. The Hardware for the system is under realization by the Industry. The whole scheme is simulated in MATLAB off-line for this project.
Keywords: Missile, RF seeker, Track loss, Stabilization loop, Angular Rate Command, Bore-Sight Error, Maneuvering and Gimbaled Platform.
Similar to Effect of Discrete Yaw Direction Setting for 4 Roter Helicopter Control: Computer Simulation and AR. Drone Model Implementation (20)
DEVELOPMENT OF TODDLER FAMILY CADRE TRAINING BASED ON ANDROID APPLICATIONS IN...AM Publications
Toddler family cadre is a community members work voluntarily in fostering and providing information to parents of toddlers about how to properly care for children. Toddler Family cadre desperately need training to increase their skills. There are still a few Toddler family cadres who get training so that the knowledge and skills of parents and other family members in developing toddlers' growth through physical stimulation, motoric intelligence, emotional and social economy as well as possible are still lacking. The purpose of this study is to develop an Android- assisted Toddler family cadre training model in Demak. This research is research in tian research and development. The research location was in Demak Regency. Toddler family cadres became the object of this research. Development of Toddler family cadre training models assisted by Android in Demak is feasible to be used as an effort to improve Toddler Family cadres' capabilities.
TESTING OF COMPOSITE ON DROP-WEIGHT IMPACT TESTING AND DAMAGE IDENTIFICATION ...AM Publications
In recent years the use of composite materials in structural components has become increasingly common in a wide range of engineering applications. Composite materials offer numerous advantages over more conventional materials because of their superior specific properties, but a serious obstacle to a more widespread use of these materials is their high sensitivity to localized impact loading. This paper presents an experimental study to assess the impact response of drop weight impact tests on fiber reinforced polymer composites with deferent load and damage identification of composite using Non-destructive testing techniques ultrasonic testing (UT) C scan. In the study includes checking the strength of the specimen, plotting of graphs between the height and the impact energy obtained and tabulating the results after conducting the various functional tests.
THE USE OF FRACTAL GEOMETRY IN TILING MOTIF DESIGNAM Publications
In this paper I will present the use of fractal geometry to design tile motifs. A fractal is a geometric figure that combines the several characteristics among others: its parts have the same form as the whole, fragmented, and formation by iteration. The concept of fractals has been spread over all fields of sciences, technology, and art. This paper aims to provide an algorithm to creating motifs of tile algorithm for create the tile motif consists of base, iteration, coloration and duplication. In order to help the reader better understand the algorithm, I will present some script using Matlab. We describe a mathematically based algorithm that can fill a spatial region with sequence of randomly placed which may be transformed copies of one motif or several motifs. By using this algorithm, I can produce thousand variety of aesthetically pleasing tile motifs, of which we show a number of examples.
TWO-DIMENSIONAL INVERSION FINITE ELEMENT MODELING OF MAGNETOTELLURIC DATA: CA...AM Publications
Two-dimensional resistivity analysis of magnetotelluric data has been done at “Z” geothermal area which is located in southern part of Indonesia. The objective is to understand subsurface structure beneath reasearch area based on 2-D modeling of magnetotelluric data. The inversion finite element method were used for numerical simulations which requires discretization on the boundary of the modeling domain. The modeling results of magnetotelluric data shows relativity structure dissemination: 0-10 ohm.m in a thickness of 1 km (Clay Cap), 10-100 ohm.m with 1-2 km depth respectively (reservoir zone), and on a scale of 100-1000 ohm.m in a depth of 2-3 km (heat source zone). The result of relativity structure can be used to delineate an area with geothermal prospect around 12 km2.
USING THE GENETIC ALGORITHM TO OPTIMIZE LASER WELDING PARAMETERS FOR MARTENSI...AM Publications
This document presents an optimization of laser welding parameters for martensitic stainless steel using a genetic algorithm. The algorithm aims to minimize the difference between the actual and desired weld size (width and depth) by optimizing laser power, welding speed, and fiber diameter. The genetic algorithm was run 10 times with a population of 30 over 200 iterations each time. The results showed errors between optimized and experimental values of less than 5% for the parameters. The study demonstrates that genetic algorithms can effectively optimize laser welding parameters to achieve a preset weld size.
ANALYSIS AND DESIGN E-MARKETPLACE FOR MICRO, SMALL AND MEDIUM ENTERPRISESAM Publications
The Ministry of Cooperatives and Small and Medium Enterprises launched in 2018 the number of Micro, Small and Medium Enterprises (MSMEs) in Indonesia as many as 58.97 million people. It is predicted that the number of MSMEs players in 2019 will amount to 59.2 million. This shows that the Indonesian people have made changes in the field of family economics which initially as consumptive are now productive. The community prefers to carry out activities that can increase family income. Future MSMEs remain the mainstay of the national economy. In accordance with the government roadmap, in 2020 e-commerce transactions are predicted to reach Rp1,300 trillion or equivalent to USD130 billion. According to data from the Central Statistics Agency (BPS), the contribution of MSMEs to Indonesia's Gross Domestic Product (GDP) reached 61.41%, with the number of MSMEs reaching almost 60 million units. However, only around 8% or 3.79 million of the 59.2 million MSMEs players have used online platforms to market their products. Based on the above problems, researchers conducted research on the analysis and display of E-Marketplace for MSMEs in Indonesia. The type of research used is action research. The object of research is MSMEs which are under the Office of Industry and Trade of Sragen Regency. The method of data collection is by techniques: (1) interview, (2) documentation (3) observation, (4) literature study. The researcher uses the waterfall method in developing the system. The research team has successfully analyzed the E-Market place according to the results of data collection. The research team has succeeded in designing the E-Marketplace for MSMEs. E-Marketplace designed can be used by admin, MSME and user. Admin is in charge of managing E-Marketplace and has full access rights. MSMEs can register online and manage their products in E-Marketplace. Users or buyers can search data in E-Marketplace as desired. To make transactions, users can interact directly with MSMEs according to the data provided in E-Marketplace. E-Marketplace can be used for marketing together MSMEs products. This e-marketplace can be accessed at www.umkmonline.com
REMOTE SENSING AND GEOGRAPHIC INFORMATION SYSTEMS AM Publications
Remote sensing technology's increasing accessibility helps us observe research and learn about our globe in ways we could only imagine a generation ago. Guides to profound knowledge of historical, conceptual and practical uses of remote sensing which is increasing GIS technology. This paper will go briefly through remote sensing benefits, history, technology and the GIS and remote sensing integration and their applications. Remote sensing (RS) is used in mapping the predicted and actual species and dominates the ecosystem canopy.
EVALUATE THE STRAIN ENERGY ERROR FOR THE LASER WELD BY THE H-REFINEMENT OF TH...AM Publications
Currently, the finite element method (FEM) is still one of the useful tools in numerical simulation for technical problems. With this method, a continuum model presented by a certain number of elements with a simple approximation field causes the presence of discretization error in solutions. This paper considers the butt weld by laser which subjected the tension for AISI 1018 steel highness 8 mm. The aim of the study is to use the h-refinement of the FEM in estimation the strain energy error for the laser weld mentioned. The results show that the stability of the h-refinement shown by the value of the relative error of the strain energy is quite small, specifically; FEM is less than 5.7% and extra is no more than 3.7%.
HMM APPLICATION IN ISOLATED WORD SPEECH RECOGNITIONAM Publications
Speech recognition is always being an all-time trendy topic for discussion and also for researches and we see a major application in our life. This paper provides the work done on the application of Hidden Markov model to implement isolated word speech recognition on MATLAB and to develop and train the system for set of self-selective words for specific user (user dependent) to get maximum efficiency in word recognition system. Which uses the forward and Baum-welch algorithm and fitting Gaussian of the Baum-welch algorithm for all the iteration perform. We use a sample of 7 alphabets which are recorded in 15 different ways giving total of 105 word to use for training with each word with 15 variations. This system can be used in real world in system security using voice security system and mainly for children and impaired people.
PEDESTRIAN DETECTION IN LOW RESOLUTION VIDEOS USING A MULTI-FRAME HOG-BASED D...AM Publications
Detecting pedestrians in low resolution videos is a challenging task, due to the small size of pedestrians in the images and the limited information. In practical outdoor surveillance scenarios the pedestrian size is usually small. Existing state-of-the-art pedestrian detection methods that use histogram of oriented gradient (HOG) features have poor performance in this problem domain. To compensate for the lack of information in a single frame, we propose a novel detection method that recognizes pedestrians in a short sequence of frames. Namely, we take the single-frame HOG-based detector and extend it to multiple frames. Our detector is applied to regions containing potential moving objects. In the case of video taken from a moving camera on an aerial platform, video stabilization is first performed to register the frames. A classifier is then applied to features extracted from spatio-temporal volumes surrounding the potential moving objects. On challenging stationary and aerial video datasets, our detection accuracy outperforms several state-of-the-art algorithms.
The aim of this paper is to help the blind people to identify and catch the public transport vehicles with the help of Light Fidelity technology. It is a Navigation aid. When the bus arrives at the bus stand, transmitter in the bus transmits the light signals and receiver in the stick, receives the light signals and a sound signal is generated through the speaker present in the stick. The sound message contains the bus number and the destination of the bus. In addition to this, if the person is absconded or lost, details of the location will be sent to his/her family members by pressing a button. This is made possible with the help of Global System for Mobile (GSM). Finally, presence of water can be detected along the blind person’s path, with the help of water sensors.
EFFECT OF SILICON - RUBBER (SR) SHEETS AS AN ALTERNATIVE FILTER ON HIGH AND L...AM Publications
A digital radiography delivers a radiation dose to patients; therefore it poses potential risk to the patients. One effort to reduce dose is carried out using a radiation filter, e.g. Silicone Rubber (SR) sheet. The purpose of this research was to determine the impact of the SR sheet on the high contrast objects (HCO) and the low contrast objects (LCO). The dose reduction was determined from attenuation x-rays before and after using the SR sheet. Assessment of HCO and LCO was observed from CDR TOR phantom at tube voltage of 48 kVp and tube current of 8 mAs. The physical parameter to assess image quality was the Signal to Noise Ratio (SNR) value in LCO. The maximum x-ray attenuation using the SR sheet is 48.82%. The visibility of the HCO remains the same, namely 16 objects; however the LCO slighly decreases from 14 objects to 13 objects after using the SR sheet. The SNR value decreases with an average value of 15.17%.Therefore, the SR sheet as a alternative filter has no effect on the HCO and has realtively little effect on the LCO. Thus, the SR sheet potentially is used for radiation protection in patients, especially on examinations that do not require low contrast resolution.
UTILIZATION OF IMMUNIZATION SERVICES AMONG CHILDREN UNDER FIVE YEARS OF AGE I...AM Publications
Immunization is the key strategy to curb communicable diseases which are the number one killer of children under five. Immunization prevents mortalities of approximating three million children under five annually. This study aimed to assess utilization of immunization services among children under five of age in Kirinyaga County, Kenya.
REPRESENTATION OF THE BLOCK DATA ENCRYPTION ALGORITHM IN AN ANALYTICAL FORM F...AM Publications
The article presents the study of cryptographic transformations of the Kuznyechik algorithm in relation to differential analysis and the translation of their representations into a more convenient form for cryptanalysis. A simplification of the type of transformations of the algorithm to algebraic the form, in which cryptanalysis software will be more effective. Since the description of the algorithm in the analytical form allows for 16 cycles of execution of the shift register with linear feedback, each of which will be carried out 16 operations of multiplication and 15 operations of addition, reduced to 16 multiplying and 15 the operations of addition. The result is an algebraic form of a linear transformation (from a shift register with linear feedback to the multiplication of the matrix in a finite field). In the future, the algebraic type of transformation can be used to effectively carry out differential cryptanalysis.
Optical character recognition (OCR) is process of classification of optical patterns contained in a digital image. The process of OCR Recognition involves several steps including pre-processing, segmentation, feature extraction, classification. Pre-processing is for done the basic operation on input image like noise reduction which remove the noisy signal from image. Segmentation stage for segment the given image into line by line and segment each character from segmented line. Future extraction calculates the characteristics of character. A Radial Basis Function Neural Network (RBFNN) is used to classification contains the database and does the comparison.
Surveillance refers to the task of observing a scene, often for lengthy periods in search of particular objects or particular behaviour. This task has many applications, foremost among them is security (monitoring for undesirable behaviour such as theft or vandalism), but increasing numbers of others in areas such as agriculture also exist. Historically, closed circuit TV (CCTV) surveillance has been mundane and labour Intensive, involving personnel scanning multiple screens, but the advent of reasonably priced fast hardware means that automatic surveillance is becoming a realistic task to attempt in real time. Several attempts at this are underway.
SIMULATION OF ATMOSPHERIC POLLUTANTS DISPERSION IN AN URBAN ENVIRONMENTAM Publications
Interest in air pollution investigation of urban environment due to existence of industrial and commercial activities along with vehicular emission and existence of buildings and streets which setup natural barrier for pollutant dispersion in the urban environment has increased. The air pollution modelling is a multidisciplinary subject when the entire cities are taken under consideration where urban planning and geometries are complex which needs a large software packages to be developed like Operational Street Pollution Model (OSPM), California Line Source model (CALINE series) etc. On overviewing various works it can be summarized that the air pollutant dispersion in urban street canyons and all linked phenomenon such as wind flow, pollutant concentrations, temperature distribution etc. generally depend on wind speed and direction, building heights and density, road width, source and intensity of air pollution, meteorological variables like temperature, humidity etc. A unique and surprising case is observed every time on numerous combinations of these factors. The main aim of this study is to simulate the atmospheric pollutant dispersion for given pollutant like carbon monoxide, sulphur dioxide and nitrogen dioxide and given atmospheric conditions like wind speed and direction. Computational Fluid Dynamics (CFD) simulation for analysing the atmospheric pollutant dispersion is done after natural airflow analysis. Volume rendering is done for variables such as phase 2 volume fraction and velocity with resolution as 250 pixels per inch and transparency as 20%. It can be observed that all the three pollutant namely nitrogen dioxide, sulphur dioxide and carbon monoxide the phase 2 volume fraction changes from 0 to 1. The wind velocity changes from 3.395×10-13 m/s to 1.692×102 m/s. The dispersion of pollutants follow the sequence Sulphur dioxide>Carbon monoxide>Nitrogen dioxide.
PREPARATION AND EVALUATION OF WOOL KERATIN BASED CHITOSAN NANOFIBERS FOR AIR ...AM Publications
In this article, we have extracted keratin from deccani wool waste and prepared the wool keratin based Chitosan nanofibers by electrospinning technique. The prepared nanofibers mat were prepared with different weight percent ratio like 1wt.%, 3wt.% and 5wt.% with respect to polymer i.e Chitosan. The physicochemical and filtration properties of wool keratin based Chitosan nanofibers were studied. Wool keratin based Chitosan nanofibers were characterized by Fourier transform infrared spectroscopy (FTIR), X-ray diffraction (XRD), differential scanning calorimetry (DSC) and scanning electron microscopy (FESEM). The filtration efficiency of keratin Chitosan nanofibers were investigated through DOP test and heavy metal removal capacity of evaluated through Atomic absorption spectroscopy. FTIR results were showed that Keratin gets compatible with Chitosan. XRD patterns revealed keratin was in crystalline nature and increase the crystalline nature of Chitosan nanofibers. FESEM images showed that uniform nanofibers generation with average fiber diameter 80nm. Nanofibers filtration efficiency against a particulate matter in air was obtained more than 99.53% and excellent property of removal of heavy metal.
ANALYSIS ON LOAD BALANCING ALGORITHMS IMPLEMENTATION ON CLOUD COMPUTING ENVIR...AM Publications
Cloud computing means storing and accessing data and programs over the Internet instead of your computer's hard drive. The cloud is just a metaphor for the Internet. The elements involved in cloud computing are clients, data center and distributed server. One of the main problems in cloud computing is load balancing. Balancing the load means to distribute the workload among several nodes evenly so that no single node will be overloaded. Load can be of any type that is it can be CPU load, memory capacity or network load. In this paper we presented an architecture of load balancing and algorithm which will further improve the load balancing problem by minimizing the response time. In this paper, we have proposed the enhanced version of existing regulated load balancing approach for cloud computing by comping the Randomization and greedy load balancing algorithm. To check the performance of proposed approach, we have used the cloud analyst simulator (Cloud Analyst). Through simulation analysis, it has been found that proposed improved version of regulated load balancing approach has shown better performance in terms of cost, response time and data processing time.
A MODEL BASED APPROACH FOR IMPLEMENTING WLAN SECURITY AM Publications
This paper presents various security features and configurations commonly implemented in WLANs and their aggregated security levels and then proposes a model that enables implementation and evaluation of WLAN security
This presentation is about Food Delivery Systems and how they are developed using the Software Development Life Cycle (SDLC) and other methods. It explains the steps involved in creating a food delivery app, from planning and designing to testing and launching. The slide also covers different tools and technologies used to make these systems work efficiently.
Digital Twins Computer Networking Paper Presentation.pptxaryanpankaj78
A Digital Twin in computer networking is a virtual representation of a physical network, used to simulate, analyze, and optimize network performance and reliability. It leverages real-time data to enhance network management, predict issues, and improve decision-making processes.
Determination of Equivalent Circuit parameters and performance characteristic...pvpriya2
Includes the testing of induction motor to draw the circle diagram of induction motor with step wise procedure and calculation for the same. Also explains the working and application of Induction generator
Supermarket Management System Project Report.pdfKamal Acharya
Supermarket management is a stand-alone J2EE using Eclipse Juno program.
This project contains all the necessary required information about maintaining
the supermarket billing system.
The core idea of this project to minimize the paper work and centralize the
data. Here all the communication is taken in secure manner. That is, in this
application the information will be stored in client itself. For further security the
data base is stored in the back-end oracle and so no intruders can access it.
Impartiality as per ISO /IEC 17025:2017 StandardMuhammadJazib15
This document provides basic guidelines for imparitallity requirement of ISO 17025. It defines in detial how it is met and wiudhwdih jdhsjdhwudjwkdbjwkdddddddddddkkkkkkkkkkkkkkkkkkkkkkkwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwioiiiiiiiiiiiii uwwwwwwwwwwwwwwwwhe wiqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqq gbbbbbbbbbbbbb owdjjjjjjjjjjjjjjjjjjjj widhi owqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqqq uwdhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhwqiiiiiiiiiiiiiiiiiiiiiiiiiiiiw0pooooojjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjj whhhhhhhhhhh wheeeeeeee wihieiiiiii wihe
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Null Bangalore | Pentesters Approach to AWS IAMDivyanshu
#Abstract:
- Learn more about the real-world methods for auditing AWS IAM (Identity and Access Management) as a pentester. So let us proceed with a brief discussion of IAM as well as some typical misconfigurations and their potential exploits in order to reinforce the understanding of IAM security best practices.
- Gain actionable insights into AWS IAM policies and roles, using hands on approach.
#Prerequisites:
- Basic understanding of AWS services and architecture
- Familiarity with cloud security concepts
- Experience using the AWS Management Console or AWS CLI.
- For hands on lab create account on [killercoda.com](https://killercoda.com/cloudsecurity-scenario/)
# Scenario Covered:
- Basics of IAM in AWS
- Implementing IAM Policies with Least Privilege to Manage S3 Bucket
- Objective: Create an S3 bucket with least privilege IAM policy and validate access.
- Steps:
- Create S3 bucket.
- Attach least privilege policy to IAM user.
- Validate access.
- Exploiting IAM PassRole Misconfiguration
-Allows a user to pass a specific IAM role to an AWS service (ec2), typically used for service access delegation. Then exploit PassRole Misconfiguration granting unauthorized access to sensitive resources.
- Objective: Demonstrate how a PassRole misconfiguration can grant unauthorized access.
- Steps:
- Allow user to pass IAM role to EC2.
- Exploit misconfiguration for unauthorized access.
- Access sensitive resources.
- Exploiting IAM AssumeRole Misconfiguration with Overly Permissive Role
- An overly permissive IAM role configuration can lead to privilege escalation by creating a role with administrative privileges and allow a user to assume this role.
- Objective: Show how overly permissive IAM roles can lead to privilege escalation.
- Steps:
- Create role with administrative privileges.
- Allow user to assume the role.
- Perform administrative actions.
- Differentiation between PassRole vs AssumeRole
Try at [killercoda.com](https://killercoda.com/cloudsecurity-scenario/)
Accident detection system project report.pdfKamal Acharya
The Rapid growth of technology and infrastructure has made our lives easier. The
advent of technology has also increased the traffic hazards and the road accidents take place
frequently which causes huge loss of life and property because of the poor emergency facilities.
Many lives could have been saved if emergency service could get accident information and
reach in time. Our project will provide an optimum solution to this draw back. A piezo electric
sensor can be used as a crash or rollover detector of the vehicle during and after a crash. With
signals from a piezo electric sensor, a severe accident can be recognized. According to this
project when a vehicle meets with an accident immediately piezo electric sensor will detect the
signal or if a car rolls over. Then with the help of GSM module and GPS module, the location
will be sent to the emergency contact. Then after conforming the location necessary action will
be taken. If the person meets with a small accident or if there is no serious threat to anyone’s
life, then the alert message can be terminated by the driver by a switch provided in order to
avoid wasting the valuable time of the medical rescue team.
This study Examines the Effectiveness of Talent Procurement through the Imple...DharmaBanothu
In the world with high technology and fast
forward mindset recruiters are walking/showing interest
towards E-Recruitment. Present most of the HRs of
many companies are choosing E-Recruitment as the best
choice for recruitment. E-Recruitment is being done
through many online platforms like Linkedin, Naukri,
Instagram , Facebook etc. Now with high technology E-
Recruitment has gone through next level by using
Artificial Intelligence too.
Key Words : Talent Management, Talent Acquisition , E-
Recruitment , Artificial Intelligence Introduction
Effectiveness of Talent Acquisition through E-
Recruitment in this topic we will discuss about 4important
and interlinked topics which are
Sri Guru Hargobind Ji - Bandi Chor Guru.pdfBalvir Singh
Sri Guru Hargobind Ji (19 June 1595 - 3 March 1644) is revered as the Sixth Nanak.
• On 25 May 1606 Guru Arjan nominated his son Sri Hargobind Ji as his successor. Shortly
afterwards, Guru Arjan was arrested, tortured and killed by order of the Mogul Emperor
Jahangir.
• Guru Hargobind's succession ceremony took place on 24 June 1606. He was barely
eleven years old when he became 6th Guru.
• As ordered by Guru Arjan Dev Ji, he put on two swords, one indicated his spiritual
authority (PIRI) and the other, his temporal authority (MIRI). He thus for the first time
initiated military tradition in the Sikh faith to resist religious persecution, protect
people’s freedom and independence to practice religion by choice. He transformed
Sikhs to be Saints and Soldier.
• He had a long tenure as Guru, lasting 37 years, 9 months and 3 days