Figure - available from: Advances in Mechanical Engineering
This content is subject to copyright.
Source publication
This paper presents an intelligent motion controller for four-wheeled holonomic mobile robots with four driving omnidirectional wheels equally spaced at 90 degrees from one another by using field-programmable gate array (FPGA)-based artificial immune system (AIS) algorithm. Both the nature-inspired AIS computational approach and motion controller a...
Similar publications
Genetic Algorithms (GA) have proven its reliability to obtain near optimum for complex problems. However, to optimize solutions and prevent premature convergence, operators on the GA were highly dependent on large population sizes, causing the computational speed to be slower than newer algorithms. Therefore, in this study, we propose a way to caus...
The spread of real-time applications has led to a huge amount of data shared between users. This vast volume of data rapidly evolving over time is referred to as data stream. Clustering and processing such data poses many challenges to the data mining community. Indeed, traditional data mining techniques become unfeasible to mine such a continuous...
![Figure 1. Artificial Immune System (AIS) taxonomy used in this work [11].](publication/357242937/figure/fig1/AS:1103800362373120@1640177922396/Artificial-Immune-System-AIS-taxonomy-used-in-this-work-11_Q320.jpg)
The autonomous and adaptable identification of anomalies in industrial contexts, particularly in the physical processes of Cyber-Physical Production Systems (CPPS), requires using critical technologies to identify failures correctly. Most of the existing solutions in the anomaly detection research area do not consider such systems’ dynamics. Due to...
Automated exploration of groups of customers to understand customer behavior from raw data is highly required to support strategic decision making given the pressure of competitive market. Several mathematical and statistical methods have been applied for autonomous model estimation from multivariate data. The current paper investigates employabili...
Intrusion detection system is used to monitor the system and network activities to identify anomalies and attacks so that integrity, availability, and confidentiality can be preserved. Here an intrusion detection system based on Artificial Immune System is proposed based on Natural Killer (NK) cells with immunological memory. NK cells are created a...
Citations
... Typically, rather than replicating the biological immune system (BIS) as a whole, specific immune functions or models are considered in the design of the AIS [16]. In mobile robotics, for trajectory tracking problem, most works propose algorithms based on the clonal selection theory for parameter optimization purpose, as in [17][18][19][20][21][22]. Among these works only the last one considers the sliding mode control, but the formation control is not treated. ...
Mobile robotics has drawn attention of researchers due to its variety of applications. In this paper, for nonholonomic differential-drive wheeled mobile robots with an embedded PD dynamic controller, a robust kinematic controller based on sliding mode theory is designed considering the trajectory tracking problem and its extension to the formation control by multiple robots using the leader-follower separation-bearing strategy. A classical sliding mode control has some drawbacks such as the chattering phenomenon and the requirement of a priori knowledge of the disturbances effects boundary for its design. Thus, this paper aims to propose the design of an approach inspired by an immune regulation mechanism, also using a simple fuzzy boundary layer method, in replacement of the discontinuous portion of the controller, adjusting its gains with no need to know the uncertainties and disturbances boundaries as well as suppressing the chattering. The effectiveness of the proposed controller is shown by simulation results and its stability is proved by the Lyapunov theorem.
... Artificial intelligence (AI) is a computational philosophy for taking care of the tuning issues in a wide range of supportable applications. De Castro and Timmis introduced AIS algorithm [2]. Immunity refers to the biological state that describes the defence mechanisms and techniques in an organism against bacteria, viruses and other disease-causing organisms, known as antigens. ...
... There have been many studies about using the mechanism of the immune system as controller and optimization technique in the literature in recent years. The first study for artificial immune system algorithm was presented by de Castro and Timmis [2]. The immune evolutionary algorithm is introduced in [6]. ...
... Parameters of PID controller were optimized using fuzzy self-tuning PID mechanism. Field programmable gate array (FPGA)-based artificial immune system (AIS) algorithm is designed for four-wheeled holonomic mobile robots in [2]. These FPGA-based AIS gave better result compared with the conventional nonoptimal controllers. ...
This paper explains a new control structure based on the artificial immune system, Fuzzy and fractional order PID control schemes. In this paper immune feedback control system, Fuzzy logic and fractional order control schemes will be combined and optimized using clonal selection algorithm. Fuzzy-immune fractional order PID Control schemes will be used as a new controller for path tracking of the robot manipulator. The performance of the proposed control scheme is compared with fuzzy-immune PID control schemes. The parameters of fractional PID and conventional PID controllers are optimized using Clonal Selection Algorithm (CSA). Simulation results state that optimal Fuzzy-immune fractional PID is better than optimal fuzzy-immune PID Control schemes for path tracking problem under the same condition. All control schemes were tested using SIMULINK under MATLAB2014a.
... The modeling and control designs for OMRs are well discussed. [1][2][3][4][5][6] For example, Conceicao et al. 7 considered the modeling and parameter estimation problems for OMRs; Indiveri 8 studied the kinematics analysis and control of Swedish wheeled OMRs; Hashemi et al. 9 investigated the proportional-integral (PI) control scheme of four-wheeled OMRs; a near-optimal control strategy for a kind of three-wheeled OMR platform was proposed in Kalmar-Nagy et al.'s 10 work. ...
This article studies the neural network–based adaptive dynamic surface control for trajectory tracking of full-state constrained omnidirectional mobile robots. The barrier Lyapunov function method is adopted to handle the full-state constraints of the omnidirectional mobile robot, and thus state variables will never violate the restrictions. Then, the neural network is used to approximate the uncertain system dynamics, and the adaptive law is proposed to adjust the weights. Moreover, the dynamic surface control is adopted to avoid the derivation of virtual variables, and the complexity of the controller can be simplified in comparison with the classical backstepping technique. The auxiliary system is proposed as the compensator to address the input saturation of omnidirectional mobile robots. All signals including tracking errors, state variables, adaptive parameters, and control inputs in the closed-loop system are proved to be uniformly bounded, while the control gains are chosen properly. Numerical simulations are tested to validate the effectiveness and advancements of the given control strategy.
... Jiri Jaros et al. studied and designed an evolutionary fault-tolerant scheme for cluster communications. Marcos Paulo Mello Araujo et al. studied the scheme of optimal state allocation for finite state machines based on quantum evolutionary algorithms, and summed up an evolutionary approach to solve the design of finite state machines [15]. ...
The development and research status of the evolutionary hardware technology are analyzed and summarized. The characteristics of the existing evolutionary circuit design methods are analyzed and compared. The genetic algorithm and other evolutionary control algorithms are analyzed, and the design method of the virtual reconfigurable circuit is studied. An evolutionary circuit design method of "Nios II+VRC array" is proposed, which has a wide range of applications and can be evolved from PC to online evolution.
... PID kontrolcü ile sistemin uygun şekilde denetlenebilmesi, kontrolcüye ait özel parametrelerin doğru belirlenmesi ile mümkündür. Bu parametrelerin belirlenmesi için klasik yöntemlerin yanında yapay zeka teknikleri de yaygın olarak kullanılmaktadır (Kishnani et al. 2014, Huang 2015, Huang 2013. ...
Endüstüride en yaygın kullanılan kontrolcü türü PID kontrolcüdür. PID kontrolcünün parametreleri, kontrolcü karakteristiğini doğrudan etkilemektedir ve iyi bir kontrol için optimum parametrelerin ayarlanması gerekir. Günümüzde bu amaçla geliştirilmiş birçok optimizaasyon algoritması kullanılmaktadır. Bu sayede kontrolcü parametreleri için optimum değerler daha kısa zamanda ve daha az tecrübeyle ayarlanabilmektedir. Bu çalışmada Genetik Algoritma (GA) ve Parçacık Sürüsü Optimizasyonu (PSO) kullanılarak PID kontrolcünün parametreleri için optimum değerler belirlenmiştir. PID kontrolcü ile Sabit Mıknatıslı DC Motorun hız kontrolü yapılmış ve simülasyon ortamında incelenmiştir. Her iki yöntem de klasik yöntemlerden daha iyi sonuç vermiştir. GA ve PSO iki farklı amaç fonksiyon ile denenmiş ve karşılaştırmalı olarak sonuçları verilmiştir. PSO ile daha yüksek performans elde edilmiştir.
... 2. The hardware architecture can be flexibly added or changed. 3. Low power consumption. ...
... Broadly useable, because it can apply a digital or analog electronic system, making a System on Chip relatively more superior and develop faster than a microcontroller which can only apply certain process. The used method is System on Programmable Chip (SoPC), which is the combination between processor core and custom hardware that is implemented using FPGA logic element and memory blocks [3]. The use of this method will give higher flexibility level on designing a hardware system. ...
... The method used to build a soft processor is System on Programmable Chip (SoPC). This method is a combination between soft core processor and custom hardware that is implemented using FPGA logic element and memory blocks [3]. Configuration blocks of soft processor design with SoPC method is shown on fig. 1. Fig. 1. ...
... Swarm intelligence is a new category of methods in the optimization framework for solving the complex optimization problems in a wide variety of real-world applications [11][12][13][14][15][16]. Compared with the conventional methods, these approaches are more powerful, so that they do not need the reformulation of the problem to search a nonlinear space with real-world conditions [11][12][13][14][15][16]. ...
... Swarm intelligence is a new category of methods in the optimization framework for solving the complex optimization problems in a wide variety of real-world applications [11][12][13][14][15][16]. Compared with the conventional methods, these approaches are more powerful, so that they do not need the reformulation of the problem to search a nonlinear space with real-world conditions [11][12][13][14][15][16]. Among these modern metaheuristic-based approaches for complex problems solving, DNA algorithm has been regarded as another efficient optimization technique. ...
This paper presents a hybrid Taguchi deoxyribonucleic acid (DNA) swarm intelligence for solving the inverse kinematics redundancy problem of six degree-of-freedom (DOF) humanoid robot arms. The inverse kinematics problem of the multi-DOF humanoid robot armis redundant and has no general closed-formsolutions or analytical solutions.The optimal joint configurations are obtained by minimizing the predefined performance index inDNAalgorithmfor real-world humanoid robotics application.The Taguchi method is employed to determine the DNA parameters to search for the joint solutions of the six-DOF robot arms more efficiently. This approach circumvents the disadvantage of time-consuming tuning procedure in conventional DNA computing. Simulation results are conducted to illustrate the effectiveness and merit of the proposed methods. This Taguchi-based DNA (TDNA) solver outperforms the conventional solvers, such as geometric solver, Jacobian-based solver, genetic algorithm (GA) solver and ant, colony optimization (ACO) solver.
Mobile robotics has drawn attention of researchers due to its variety of applications. In this paper, for nonholonomic differential-drive wheeled mobile robots with an embedded proportional-derivative dynamic controller, a robust kinematic controller based on sliding mode theory is designed considering the trajectory tracking problem and its extension to the formation control by multiple robots using the leader-follower separation-bearing strategy. A classical sliding mode control has some drawbacks such as the chattering phenomenon and the requirement of a priori knowledge of the boundaries of disturbances for its design. Thus, this paper aims to propose the design of an approach inspired by an immune regulation mechanism, also using a simple fuzzy boundary layer method, in replacement of the discontinuous portion of the controller, adjusting its gains with no need to know the boundaries of the uncertainties and disturbances as well as suppressing the chattering. The effectiveness of the proposed controller is shown by simulation results, and its stability is proved by the Lyapunov theorem.
This article has been withdrawn: please see Elsevier Policy on Article Withdrawal (https://www.elsevier.com/about/our-business/policies/article-withdrawal).
This article has been withdrawn as part of the withdrawal of the Proceedings of the International Conference on Emerging Trends in Materials Science, Technology and Engineering (ICMSTE2K21). Subsequent to acceptance of these Proceedings papers by the responsible Guest Editors, Dr S. Sakthivel, Dr S. Karthikeyan and Dr I. A. Palani, several serious concerns arose regarding the integrity and veracity of the conference organisation and peer-review process. After a thorough investigation, the peer-review process was confirmed to fall beneath the high standards expected by Materials Today: Proceedings.
The veracity of the conference also remains subject to serious doubt and therefore the entire Proceedings has been withdrawn in order to correct the scholarly record.
