This work presents a Fuzzy Logic Controller （FLC） assigned to control a robotic arm motion while avoiding the obstacles that may face the robotic arm in its movement from the initial point to the final point in an o...This work presents a Fuzzy Logic Controller （FLC） assigned to control a robotic arm motion while avoiding the obstacles that may face the robotic arm in its movement from the initial point to the final point in an optimized manner, in addition to avoid the singularity phenomenon, and without any exceeding of the physical constraints of the robot arm. A real platform （5 DOF ＂Degree Of Freedom＂ Lab Volt 5150 Robotic Arm） is used to carry this work practically, in addition to providing it by a vision sensor, where a new approach is proposed to inspect the robot work environment using a designed integrated MATLAB program having the ability to recognize the changeable locations of each of the robotic arm＇s end-effector, the goal, and the multi existed obstacles through a recorded film taken by a webcam, then these information will be treated using the FLC where its outputs represent the values that must be delivered to the robot to adopt them in its next steps till reaching to the goal in collision-free movements. The experimental results showed that the developed robotic ann travels successfully from Start to Goal where a high percentage of accuracy in arriving to Goal was achieved, and without colliding with any obstacle ensuring the harmonization between the theoretical part and the experimental part in achieving the best results of controlling the robotic arm＇s motion.展开更多
Motor current signature analysis provides good results in laboratory environment. In real life situation, electrical machines usually share voltage and current from common terminals and would easily influence each oth...Motor current signature analysis provides good results in laboratory environment. In real life situation, electrical machines usually share voltage and current from common terminals and would easily influence each other. This will result in considerable amount of interferences among motors and doubt in identity of fault signals. Therefore, estimating the mutual influence of motors will help identifying the original signal from the environmental noise. This research aims at modelling the propagation of signals that are caused by faults of induction motors in power networks. Estimating the propagation pattern of fault signal leads to a method to discriminate and identify the original source of major events in industrial networks. Simulation results show that source of fault could be identified using this approach with a higher certainty than anticipated output coming of any individual diagnosis.展开更多
文摘This work presents a Fuzzy Logic Controller （FLC） assigned to control a robotic arm motion while avoiding the obstacles that may face the robotic arm in its movement from the initial point to the final point in an optimized manner, in addition to avoid the singularity phenomenon, and without any exceeding of the physical constraints of the robot arm. A real platform （5 DOF ＂Degree Of Freedom＂ Lab Volt 5150 Robotic Arm） is used to carry this work practically, in addition to providing it by a vision sensor, where a new approach is proposed to inspect the robot work environment using a designed integrated MATLAB program having the ability to recognize the changeable locations of each of the robotic arm＇s end-effector, the goal, and the multi existed obstacles through a recorded film taken by a webcam, then these information will be treated using the FLC where its outputs represent the values that must be delivered to the robot to adopt them in its next steps till reaching to the goal in collision-free movements. The experimental results showed that the developed robotic ann travels successfully from Start to Goal where a high percentage of accuracy in arriving to Goal was achieved, and without colliding with any obstacle ensuring the harmonization between the theoretical part and the experimental part in achieving the best results of controlling the robotic arm＇s motion.
文摘Motor current signature analysis provides good results in laboratory environment. In real life situation, electrical machines usually share voltage and current from common terminals and would easily influence each other. This will result in considerable amount of interferences among motors and doubt in identity of fault signals. Therefore, estimating the mutual influence of motors will help identifying the original signal from the environmental noise. This research aims at modelling the propagation of signals that are caused by faults of induction motors in power networks. Estimating the propagation pattern of fault signal leads to a method to discriminate and identify the original source of major events in industrial networks. Simulation results show that source of fault could be identified using this approach with a higher certainty than anticipated output coming of any individual diagnosis.
