- Dr. Muhammad Majid Gulzar is currently an associate professor in the Faculty of Engineering, University of Central Pu... moreDr. Muhammad Majid Gulzar is currently an associate professor in the Faculty of Engineering, University of Central Punjab, Pakistan. He did his Post-Doctorate certification from Nanjing University of Aeronautics and Astronautics, Nanjing, China in 2019. He received his Ph.D. and M.S degrees with specialization in Electrical Engineering (Control Science and Engineering) from the University of Science and Technology of China (USTC) in 2016 and the University of Engineering and Technology (UET), Lahore, Pakistan in 2012 respectively. He is a member of the Pakistan Engineering Council (PEC) and IEEEP (P). His areas of interest are Optimization Techniques, Multi-agent Networks, Analysis and Design of Linear/Nonlinear Systems, Design of Renewable Energy Systems, Maximum Power Point Trackers for PV systems, Economic Energy Dispatch, etc. He has advised several projects in these areas and has a number of publications in international leading journals and conferences.edit
This paper proposes a new Maximum Power Point Tracking (MPPT) technique for photovoltaic (PV) systems especially under Partial Shading (PS). This technique is based on Generalized Pattern Search (GPS) optimization algorithm. The proposed... more
This paper proposes a new Maximum Power Point Tracking (MPPT) technique for photovoltaic (PV) systems especially under Partial Shading (PS). This technique is based on Generalized Pattern Search (GPS) optimization algorithm. The proposed technique adopts the GPS algorithm owing to the reason that its major features like simple implementation, derivative free nature, fast convergence and high accuracy are ideally suited to deal with PS conditions. Furthermore, these features of GPS can well resolve the limitations and drawbacks of previous MPPT techniques, such as fluctuation, low efficiency, high complexity and slow convergence. For comparison, our proposed MPPT algorithm, the Particle Swarm Optimization (PSO) algorithm and the Perturb and Observe (P&O) algorithm have been implemented in MATLAB/Simulink. The comparison results demonstrate that the proposed MPPT technique can efficiently detect the global maximum (GM) in a fewer number of voltage samples, which is nearly 4 times less than the number of voltage samples required by PSO. Moreover, the steady state efficiency of the proposed MPPT is 99.8%, which is higher than the other MPPT techniques. Therefore, the proposed technique distinguishes itself from other MPPT techniques due to its superior quality in terms of convergence speed, dynamic and steady state efficiencies and low complexity.
Research Interests:
Importance of PV based energy systems cannot be denied with quickly increase in renewable energy demand. Due to inherent uncertainties and non-linear behaviour of grid tied PV system, conventional control strategies are unable to provide... more
Importance of PV based energy systems cannot be denied with quickly increase in renewable energy demand. Due to inherent uncertainties and non-linear behaviour of grid tied PV system, conventional control strategies are unable to provide satisfactory performance. Therefore, key purpose of this paper is to design non linear controller for the control of grid tied PV system. A novel control strategy is devised by utilizing Lyapunov base finite time non-linear reactive power and dc link voltage control. This strategy employes Lyapunov approach to ensure stability and guarantees robustness. With this control strategy, better and superior performance is observed in comparison to proportional integral controller. Furthermore, simulation results are provided to illustrate the effectiveness of proposed algorithm. Various disturbances of system such as change in solar insolation level, change in reference parameters, faults on buses are considered. With this control strategy, settling time and oscillations are found significantly less than PI controller.
Research Interests:
The penetration of renewable energy sources into the conventional power systems are evolving day by day. Therefore, in this paper, a photovoltaic (PV) connected thermal system is discussed and analyzed by keeping PV to operate at maximum... more
The penetration of renewable energy sources into the conventional power systems are evolving day by day. Therefore, in this paper, a photovoltaic (PV) connected thermal system is discussed and analyzed by keeping PV to operate at maximum power point (MPP). The main problem in the interconnection of these systems is load frequency fluctuations due to different load changing conditions. The model predictive controller (MPC) has the ability to predict the target value at real-time with fast convergence. Therefore, MPC is proposed to negate this problem by giving minimum oscillation. The comparison analysis is carried out with other conventional controllers, including genetic algorithm-based PI, firefly algorithm-based PI and PI controller. Simulation results clearly exhibit the outclass performance of MPC over all other controllers.
Research Interests:
Cooperative control consensus is one of the most actively studied topics within the realm of multi-agent systems. It generally aims to drive multi-agent systems to achieve a common group objective. The core aim of this paper is to promote... more
Cooperative control consensus is one of the most actively studied topics within the realm of multi-agent systems. It generally aims to drive multi-agent systems to achieve a common group objective. The core aim of this paper is to promote research in cooperative control community by presenting the latest trends in this field. A summary of theoretical results regarding consensus for agreement analysis for complex dynamic systems and time-invariant information exchange topologies is briefly described in a unified way. The application under both non-formation and formation cooperative control consensus for multi-agent system also investigated. In addition, future recommendations and some open problems are also proposed.
Research Interests:
In this paper, a comprehensive review of essential components of the PV (Photovoltaic) system is elaborated, and their comparative unique features are discussed. The paper describes hardware design (power converters topologies... more
In this paper, a comprehensive review of essential components of the PV (Photovoltaic) system is elaborated, and their comparative unique features are discussed. The paper describes hardware design (power converters topologies specifically) employed in PV based energy generation systems to harvest maximum power from the available energy source. In this study, thirty different Maximum Power Point Tracking (MPPT) techniques have been critically analyzed and their response with respect to partial shading condition has been discussed. It is very difficult to say which technique is best as one must consider various factors and parameters while selecting a technique such as application, convergence speed, accuracy, efficiency, system reliability, and cost and performance of available hardware. Aiming at the complexity, hardware implementation, tracking speed, steady-state accuracy, or global maximum detection of the algorithm, an MPPT algorithm based on a rule table is proposed. In addition, the MPPT of a PV system based on bio inspired techniques is considered. The bio inspired algorithms and its application in PV system are compared for the authenticity of the review, and six different MPPT techniques are implemented on PV systems. A comparative analysis is made based on the results of four different cases of irradiance.
Research Interests:
This paper introduces a novel genetic optimize multi-control adaptive fractional order PID (AFOPID) for Photovoltaic (PV) and Wind connected grid system. The proposed AFOPID controller is optimized by a genetic algorithm (GA) to... more
This paper introduces a novel genetic optimize multi-control adaptive fractional order PID (AFOPID) for Photovoltaic (PV) and Wind connected grid system. The proposed AFOPID controller is optimized by a genetic algorithm (GA) to initialize the controller parameters. The renewable energy sources are mathematically modeled using multi control approach (MCA). In the proposed work, the MCA involves the maximum power point tracking (MPPT), dc link voltage, and current control and quadrature axis modeling. Furthermore, the current control functionalities are performed through an adaptive approach of AFOPID, where the controlling parameters are updated by measured error at
Research Interests:
In this paper, an optimized Adaptive Fuzzy LogicController based Proportional-Integral (AFLC-PI) is proposed for Load Fre-quency Control (LFC) for a multi-area system. The proposed controller has thecapability to tune the... more
In this paper, an optimized Adaptive Fuzzy LogicController based Proportional-Integral (AFLC-PI) is proposed for Load Fre-quency Control (LFC) for a multi-area system. The proposed controller has thecapability to tune the Proportional-Integral (PI) controller on the basis of fre-quency error, frequency oscillations and minimize the LFC problem for Photo-voltaic (PV) connected thermal system. Moreover, the Adaptive Fuzzy LogicController (AFLC) response under different real-time load changing conditionsis simulated and analyzed along with the uncertainty in governor and turbinetime-constant. Finally, the comparison analysis with Fuzzy Logic Controllertuned PI (FLC-PI), Genetic Algorithm tuned PI (GA-PI) and Firefly tuned PI(FA-PI) based optimized controllers is carried out.
Research Interests:
Mobile users spent most of their time in an indoor environment, therefore it is crucial to develop indoor traffic models for next-generation networks. The significance of this paper is related to the predominant femtocell technology as it... more
Mobile users spent most of their time in an indoor environment, therefore it is crucial to develop indoor traffic models for next-generation networks. The significance of this paper is related to the predominant femtocell technology as it is anticipated to be a very crucial part of the modern mobile networks such
Research Interests:
This paper presents a new modified variable step size Fractional Order Incremental Conductance (FOIC) with maximum power point tracking using Fractional Order PID controller tuned by bio-inspired Particle Swarm Optimization (PSO) to find... more
This paper presents a new modified variable step size Fractional Order Incremental Conductance (FOIC) with maximum power point tracking using Fractional Order PID controller tuned by bio-inspired Particle Swarm Optimization (PSO) to find optimal gain values of fractional integrator order (λ) and fractional derivative order (μ). The classical incremental conductance and FOIC show drawbacks under changing irradiance, oscillation around maximum power point (MPP) which decreases its convergence speed. To resolve these prone a variable step size FOIC is proposed to achieve an adaptive duty cycle via tuning of FOPID through PSO. The robustness of the proposed technique is judged by its steady-state and dynamic response with fast converges, less response time, overshoot, and ripples under changing environmental conditions. Furthermore, the performance of the proposed technique is evaluated by comparing it with a fixed step size conventional incremental conductance algorithm and FOIC.
Research Interests:
This paper aimed at the prospect of an optimized algorithm for Selective Harmonic Elimination (SHE) through a hybrid control mechanism using fmincon and Newton-Raphson iterative method. In search of minimizing the Total Harmonic... more
This paper aimed at the prospect of an optimized algorithm for Selective Harmonic Elimination (SHE) through a hybrid control mechanism using fmincon and Newton-Raphson iterative method. In search of minimizing the Total Harmonic Distortion (THD), appropriate multi-level sequences and firing angles are used. This technique not only reduces the execution time but also improves the convergence rate. MATLAB simulations confirm that the algorithm is robust and the desired response is achieved within a few iterations for any range of modulation index. PSpice simulation verifies the successful removal of harmonics and confirms THD lies within limits specified by IEEE 519 standard. The implementation of this SHEPWM algorithm will improve the working of cascaded multi-level inverters by increasing their efficiency rate with respect to their speed. Keywords Cascaded multi-level inverters (CMI) Á Selective Harmonic Elimination (SHE) Á fmincon Á Newton-Raphson (NR) Á Harmonics Á MATLAB Á PSpice
Research Interests:
In this paper, an improved PWM technique is presented which decreases the harmonic distortion further and it will, in general, have more efficient voltage level and angle calculations. These voltage levels and angles are then utilized for... more
In this paper, an improved PWM technique is presented which decreases the harmonic distortion further and it will, in general, have more efficient voltage level and angle calculations. These voltage levels and angles are then utilized for switching of inverters to reduce the Total Harmonic Distortion (THD). A most recent topology of inverter having exceedingly less number of switches is utilized for the execution of proposed t e c h n i q u e t o c o n f i r m i t s p r o d u c t i v e n e s s. Cascaded multilevel inverters are popular and have various electric applications with lesser unwanted harmonics [6, 7]. Moreover, these inverters incorporate a medium rated voltage with low rated voltage using a specific arrangement of components. This specific property empowers it to achieve higher voltages with increased accessibility due to the redundancy of components in it. These features make this a better alternative for voltage inverters with medium range. On the other side, when these inverters are used for mechanical drives, the THD on the inverter output is not satisfactory owing to the fact that the operation of these drives is totally dependent on the nature of input voltage provided. Also, the low range harmonics are very undesirable in electrical grids as they create different problems for distribution network [8]. So the true objective is to control lower harmonics generated by multilevel inverters. There exist a couple of techniques to eliminate harmonics in the literature. These are commonly known as: sinusoidal Pulse Width Modulation (PWM) [9-12], Selective Harmonic Elimination and Space Vector Modulation (SVM) [13-14]. Still, these PWM methods also cannot diminish lower order harmonics perfectly.
In modern era diabetic eye disease comprises a group of eye conditions that affect people with diabetes, in which diabetic retinopathy (DR) has the potential to cause severe vision loss. This paper proposes a peculiar algorithm in MATLAB... more
In modern era diabetic eye disease comprises a group of eye conditions that affect people with diabetes, in which diabetic retinopathy (DR) has the potential to cause severe vision loss. This paper proposes a peculiar algorithm in MATLAB for automating the detection of DR using fundus image. Several morphological operations performed on fundus image to detect and extract the features like blood vessels, micro-aneurysms and exudates. Automatic detection of DR will determine to sort between normal or abnormal eye based on the features detection. As a result, an early detection of DR facilitates medication to prevent vision loss. Real-time image processing shows encouraging results in terms of validity and efficiency.
Research Interests:
In this paper, a concurrent motion control system is designed and implemented to control and achieve the consensus of a multi-axis structure using inverse kinematic technique. Speed and precision were the main targets. Thus a... more
In this paper, a concurrent motion control system is designed and implemented to control and achieve the consensus of a multi-axis structure using inverse kinematic technique. Speed and precision were the main targets. Thus a synthesizable model to support floating point calculations is presented using a combinational divider. This model is used to implement trigonometric equation using Look up Tables (LUT) and hence can easily be implemented on FPGA devices. The gate level demonstration of the entire model containing Arithmetic Logic Unit (ALU), multiplier and divider are also presented. As FPGA has a concurrent structure for high-speed arithmetic calculations, which can be utilized for parallel control of several motors, so this algorithm has improved the efficiency and has reduced execution time from 5.2 μsec to 1.4 μsec with an accuracy of ±1 to manipulator position. For more precision, the tradeoff is between accuracy and execution time. Synthesis model to support floating point division calculations up to n-bits is designed, where implementation results for floating digit 1 to 11 are given with their time lag, slices and LUT used. The test points were verified in simulation and on hardware platform which exhibits the high speed implementation of the proposed model.
Research Interests:
The electricity supplied by the utility grid is insufficient to meet all the load requirements due the rising trend of power utilization. For this purpose de-centralized energy generation or Micro-grid technology is used in parallel with... more
The electricity supplied by the utility grid is insufficient to meet all the load requirements due the rising trend of power utilization. For this purpose de-centralized energy generation or Micro-grid technology is used in parallel with the utility grid Energy Management Systems (EMS) in smart buildings and homes are used to control Heating, Ventilation and Air-conditioning (HVAC) systems. Moreover, this system efficiently manage and control the usage of electricity, reduce unnecessary wastage of electrical power and at the same time provide comfort to the occupants of the building up to their desirable level. In this study, various control methods such as PID controllers, fazzy logic controllers and multi-agent control systems are discussed for optimization of electrical energy and comfort features in modern near-zero energy buildings. In addition fuzzy logic and PID controllers for temperature regulation of airconditioning system is also presented.
Though airplane has a number of important factors, its stability and control is a key design parameter that must be met. In an airplane the stability is defined in three angles i.e. pitch, yaw, and roll. The control pitch has been focused... more
Though airplane has a number of important factors, its stability and control is a key design parameter that must be met. In an airplane the stability is defined in three angles i.e. pitch, yaw, and roll. The control pitch has been focused in this paper, for which the low cost optimal PD controller is designed and compares control result with uncontrolled ones. The percentage overshoot, steady state error, settling time, and rise time of Boeing Commercial Airplane are reduced and also analyses the results through root locus and frequency response. MATLAB/Simulink plays an important role in monitoring the results of designed controller. I.
n this paper, basic concepts of block diagrams have been discussed. Block diagrams have their own significance in every discipline of engineering. A block diagram is I Fig. 1 Basic Block Diagram reduced to its canonical from using block... more
n this paper, basic concepts of block diagrams have been discussed. Block diagrams have their own significance in every discipline of engineering. A block diagram is I Fig. 1 Basic Block Diagram reduced to its canonical from using block diagram algebra. Block diagram of a linear time-invariant (LTI) system We simulated the same problem in MATLAB and consists of four elements as shown in fig 2 [1]: SIMULINK. We applied the step input and observed the 1. Signals behavior of the system. 2. Systems Index Terms-Transfer function, block diagram. 3. Summing Junctions I.
Research Interests:
The purpose of brain machine interface (BMI) is to provide a communication path between brain signals and external devices. Use of brain signals for restoring function of impaired body parts using scientific methods require brain machine... more
The purpose of brain machine interface (BMI) is to provide a communication path between brain signals and external devices. Use of brain signals for restoring function of impaired body parts using scientific methods require brain machine interface. This article presents BMI to control five-fingered prosthetic hand using the electroencephalography (EEG) signals. The core objective of the system is to develop a control system that will be able to communicate with the brain thoughts. EEG signals captured from the human scalp are used as information carrier for brain control interface (BCI) system. This research article discusses the development of a system to assist disable persons using EEG based signals.
Research Interests:
Robotic controllers have to execute various complex independent tasks repeatedly. Massive processing power is required by the motion controllers to compute the solution of these computationally intensive algorithms. General-purpose... more
Robotic controllers have to execute various complex independent tasks repeatedly. Massive processing power is required by the motion controllers to compute the solution of these computationally intensive algorithms. General-purpose graphics processing unit (GPGPU)-enabled mobile phones can be leveraged for acceleration of these motion controllers. Embedded GPUs can replace several dedicated computing boards by a single powerful and less power-consuming GPU. In this paper, the inverse kinematic algorithm based numeric controllers is proposed and realized using the GPGPU of a handheld mobile device. This work is the extension of a desktop GPU-accelerated robotic controller presented at DAS'16 where the comparative analysis of different sequential and concurrent controllers is discussed. First of all, the inverse kinematic algorithm is sequentially realized using Arduino-Due microcontroller and the field-programmable gate array (FPGA) is used for its parallel implementation. Execution speeds of these controllers are compared with two different GPGPU architectures (Nvidia Quadro K2200 and Nvidia Shield K1 Tablet), programmed with Compute Unified Device Architecture (CUDA) computing language. Experimental data shows that the proposed mobile platform-based scheme outperforms the FPGA by 5× and boasts a 100× speedup over the Arduino-based sequential implementation.
Research Interests:
In this research paper, implementation of embedded system based robotic hand that can reproduce all the movements of human hand and provides comparable sensitivity is discussed. Moreover, the control system of wireless controlled shadow... more
In this research paper, implementation of embedded system based robotic hand that can reproduce all the movements of human hand and provides comparable sensitivity is discussed. Moreover, the control system of wireless controlled shadow dexterous hand is presented which can be used for hazardous environments. This hand allows a direct mapping from a human to the robot movement using sensors placed on hand. Sensors placed on hand detect the muscles response of a person and then the responses of corresponding sensors are delivered to the microcontroller. Then Xbee module is used to transfer the wireless signals to the microcontroller, which drives the mechanical hand according to the acquired signal and produces the shadow movement of human hand.
Research Interests:
Robotic arm enormous applications can be seen in industries as it is one of the most important manipulator for development. In this work, a light weight robotic arm is designed. The main factors for the designing of mechanical prototypes... more
Robotic arm enormous applications can be seen in industries as it is one of the most important manipulator for development. In this work, a light weight robotic arm is designed. The main factors for the designing of mechanical prototypes were rigidity of structure, cantilever effect and centre of gravity. To calculate the angles of robotic arm according to given cartesian position in a short possible time FPGA was used using JTAG protocol. The arduino kit controls the driving circuit of robotic arm which drives the servo motors according to the given instruction. The basic aim was to design and practically implement a robotic arm, keeping an eye to reduce the cost by readily available components in the market.
Load Frequency Control (LFC) has become of crucial importance in modern power systems on account of varying demand and generation trends. To maintain the frequency variations and minimize the tie line power fluctuations, various soft... more
Load Frequency Control (LFC) has become of crucial importance in modern power systems on account of varying demand and generation trends. To maintain the frequency variations and minimize the tie line power fluctuations, various soft computing techniques have been used for fine tuning of PID controller in LFC problems. This paper presents a comparative analysis of various swarm optimization-based intelligent algorithms for LFC problems. From simulation results obtained via Simulink (MATLAB), the frequency variations in each area, tie-line power fluctuation profile as well as the convergence trend for each algorithm has been analyzed in this paper. Besides various system parameters such as percentage overshoot, settling time, rise time and steady state error, different performance indices have also been computed against each swarm intelligence-based algorithm.
Research Interests:
The controlling techniques of liquid level in a coupled conical tank system is a challenging task owing to its continuous changing cross-section and non-linearity in the system. In this paper, an adaptive model predictive controller... more
The controlling techniques of liquid level in a coupled conical tank system is a challenging task owing to its continuous changing cross-section and non-linearity in the system. In this paper, an adaptive model predictive controller (AMPC) is presented to control the valve speed of conical shaped tank to maintain the liquid level. In AMPC, the plant model states are changed in every cycle along with the MPC controller to update the plant parameters in a precise manner, which is a major concern due to its non-linear behavior. Moreover, the comparative analysis of coupled conical tank system with other controllers like Fractional order PID (FOPID) controller and PID controller is carried out. The simulation results represent the superiority of the AMPC controller as compared to the other controlling methods in terms of response time and overshoot.
Research Interests:
Vehicle Cruise Control System (VCCS) is used to regulate the speed of the locomotive to a reference speed as desired by the driver. It is mainly used to reduce the driving exhaustion on the driver. This research paper deals with the... more
Vehicle Cruise Control System (VCCS) is used to regulate the speed of the locomotive to a reference speed as desired by the driver. It is mainly used to reduce the driving exhaustion on the driver. This research paper deals with the control of VCCS based on Model Predictive Controller (MPC) in parallel with the conventional PID controller. The results of the proposed control system are compared with the conventional techniques including FLC, GA and ALO based PID controller. Simulation results show that the hybrid combination of MPC and classical PID controller has better outcome with regard to transient state response than numerous published techniques in recent times.
Research Interests:
The technology is continuously advancing day by day and has transformed the personal computer (PC) from a very simple computing gadget to a highly advanced multi-processing and a multi-functional device. It is now capable of connecting... more
The technology is continuously advancing day by day and has transformed the personal computer (PC) from a very simple computing gadget to a highly advanced multi-processing and a multi-functional device. It is now capable of connecting and processing different devices at different places simultaneously. This improvement brings the system advancement for disabled persons so that they can be self-governed. This paper focuses on various interfacing techniques utilizing windows Operating System to assist the disabled persons and proposes a technique named as “Windows Interface for Mobility impaired and Blind people” (WIMB). Proposed model assists the disabled individuals (having blindness, mobility-impartment and deafness) to control real-life utilities through Microsoft Windows OS (Operating System). Furthermore, few available, applications are also reviewed and compared with the proposed technique.
Research Interests:
The shortest path searching algorithms are broadly utilized as an essential part of autonomous agents and navigation systems. As applications get extensively complex, the shortest path calculations implemented via programming produce a... more
The shortest path searching algorithms are broadly utilized as an essential part of autonomous agents and navigation systems. As applications get extensively complex, the shortest path calculations implemented via programming produce a lot of time overhead. In this paper, different path planning techniques are analyzed on the bases of their time effectiveness under dynamic constraints; varying spaces and environments having a different level of complexities. Bi-RRT algorithm is proposed as the most time efficient algorithm in complex environments with high spaces. In addition, the algorithms are tested in different environments and comparison among all simulations results are presented in the form of time and path length.
Research Interests:
This paper presents an improved path planning algorithm for obstacles having critical shapes (obstacles having angle of 90o). The proposed algorithm outperforms the reported bug algorithms and achieves the target safely in relatively less... more
This paper presents an improved path planning algorithm for obstacles having critical shapes (obstacles having angle of 90o). The proposed algorithm outperforms the reported bug algorithms and achieves the target safely in relatively less time while avoiding multiple obstacles without suffering into local minima. The improvements are of speed and the direction to follow the obstacle edge. The agent speed is the function of goal and the obstacle location and the direction to follow obstacle edge in not predefined rather than selected on the basis of taking the dot product between obstacle edge and the follow target behavior. In this way the optimal path can be achieved to reach to the final target with safe, smooth and short trajectory. Simulation results and practical implementation validated the effectiveness of our purposed model. Finally, performance comparison of the proposed algorithm with other approaches (in terms of distance-time plots) confirms the efficiency of the presented approach.
Research Interests: Mobile Robotics, Autonomous Agentes, Autonomous Robotics, Inertial navigation, Motion Planning, and 27 morePath planning, Navigation, Mobile Robots, Swarm Robotics,Industrial Robotics, Mobile Robotics,Bionics, Assistive Robotics, Automation, Machine vision, Artificial Intelligence, PLC, Control Systems, Autonomous Mobile Robots, Mobile robotics, Embedded systems, Audio processing, Collision Avoidance, Robot Path Planning, Mobile Robot, Omidirectional Mobile Robot, Robotic motion control and path planning and behavior ,Rotordynamic, Mobile Agents, History of Navigation, Mobile Robot Navigation, Robotic Path Planning, Path Planning of Mobile Robot, Mobile Agent, Path planning for Robots, Path Planning, Robot Motion Planning & Optimization, Robotic Motion Planning, Mobile Intelligent Agents, Robot Path Planning Locus, Autonomous Collision Avoidance, Autonomous Mobile Robotics, Robot Motion Planning, and Motion Planning Algorithm
SCARA (Selective Compliance Assembly Robot Arm) manipulators are among the most extensively used manipulators in industry due to high precision and their inherent rigidity. This research demonstrates mechanical design process of an... more
SCARA (Selective Compliance Assembly Robot Arm) manipulators are among the most extensively used manipulators in industry due to high precision and their inherent rigidity. This research demonstrates mechanical design process of an economical SCARA manipulator with unique and competing industrial specifications using Pro-E software. Inverse kinematic equations are also derived using algebraic and geometric method to control the manipulator movement. The design process includes the design of joints, links and controller as well as the selection of its electrical and mechanical components. The selection of the actuators and the dimensions of the whole mechanical structure are selected in such a way to direct its center of gravity towards base and also reduce the vibration and backlash in its mechanical structure. The main task was to use readily available components with an eye on keeping the costs down. Finally the performance of SCARA system is examined in Pro-E and verified manipulators movement with MATLAB/Simulink which exhibits the effectiveness of the proposed model.
Research Interests:
Maximum Power Point Tracking (MPPT) under partial shading condition is the main issue in Photovoltaic (PV) system. This research work is based on a hybrid mechanism for MPPT problem by utilizing two commonly used techniques. The whole... more
Maximum Power Point Tracking (MPPT) under partial shading condition is the main issue in Photovoltaic (PV) system. This research work is based on a hybrid mechanism for MPPT problem by utilizing two commonly used techniques. The whole algorithm is divided into two stages. Initially it uses Fractional Open Circuit Voltage (FOCV) technique in order to detect Global Maxima (GM) region. Once the GM region is achieved the variable step sized incremental conductance technique can easily detect the Maximum Power Point (MPP). The proposed technique is fast, accurate and simple to implement. This algorithm is implemented and tested using MATLAB/Simulink and the robustness of this algorithm is verified by testing this algorithm under different partial shading conditions. Finally the superiority of this algorithm is judged by comparing this algorithm with other MPPT algorithms.
Research Interests:
Satellites use sun sensors as a reliable source of attitude determination during sunlit conditions while in orbit around the earth. This work elucidates the design and development of high precision and wide field of view digital sun... more
Satellites use sun sensors as a reliable source of attitude determination during sunlit conditions while in orbit around the earth. This work elucidates the design and development of high precision and wide field of view digital sun sensor for space applications. Sun sensor employs active pixel image sensor along with processing techniques of feature extraction and image correlation. Software algorithm exploits the distinctive features of Active Pixel imaging Sensor (APS), in comparison to CCD based image sensor, for computationally efficient algorithm design. Sunlight falling on the sun sensor produces an image of the sun on image sensor. Software algorithm processes this image for noise removal, feature extraction, centroid analysis and sun vector calculations. Digital sun sensor, presented here, achieves 0.018 pixels (3σ) centroid accuracy with 120°×120° field of view.
Research Interests:
Massive Open Online Courses (MOOCs) are the latest installment in the field of distance education. This paper discusses the pros and cons of MOOCs in the educational systems with a special emphasis on the engineering education. Since... more
Massive Open Online Courses (MOOCs) are the latest installment in the field of distance education. This paper discusses the pros and cons of MOOCs in the educational systems with a special emphasis on the engineering education. Since 2012, more and more universities have been joining MOOC revolution and the number of online courses has considerably increased over time. Engineering MOOCs are also increasing. Due to their access to large audience, massive online courses have been expanding their horizon of admission to engineering education at all levels and improving the in-campus learning.
Research Interests: Engineering, Electrical Engineering, Civil Engineering, Education, Educational Technology, and 14 moreTeacher Education, Science Education, Engineering Education, Higher Education, Educational Psychology, Educational Research, ICT in Education, Pedagogy, Education Policy, Online Learning, Open Education, Pedagogia, Massive Open Online Courses (MOOCs), and MOOCs
Language of signs is usually used by the deaf-mute persons in order to convey their message. But, it becomes very difficult for those who have no knowledge of the sign language. The aim of this research work is to resolve this problem... more
Language of signs is usually used by the deaf-mute persons in order to convey their message. But, it becomes very difficult for those who have no knowledge of the sign language. The aim of this research work is to resolve this problem using Digital Dactylology Converser (DDC) which is a device that converts a sign language into voice signal and text message. Primarily a hands gesture is recognised by computer vision program and based on that image a speech and text is played and displayed on the speaker and LCD respectively. Purpose of this device is to make conversation easy between dumb and the normal people around the world. In order to minimize their limitations and enable them to expand their boundaries, this is best suitable device. Experimental results verify the operational accuracy of the device for different users. The proposed device can work well and translates the letters, alphabets to text …
Research Interests:
Industrial and robotic controllers have to execute various complex independent tasks repeatedly in real time. In order to implement these algorithms with non-linear equations, massive computational power is required in a motion control... more
Industrial and robotic controllers have to execute various complex independent tasks repeatedly in real time. In order to implement these algorithms with non-linear equations, massive computational power is required in a motion control system. In this paper, inverse kinematics algorithm is selected as a test algorithm to compare performance of General Purpose Graphics Processing Unit (GPGPU) with other widely used sequential and concurrent controllers. Inverse Kinematics algorithm is implemented sequentially in Arduino Due microcontroller and FPGA is used for concurrent implementation where algorithm is designed in VHDL using combinational division. Execution speeds of these controllers are compared with NVIDIA Quadro K2200 GPU programmed with CUDA Parallel Computing Architecture. Results validated that using computational power of GPU, execution time of large independent tasks is significantly decreased.
Research Interests:
—Passive dynamic walking (PDW) provides us better insight for understanding human walking, for developing prosthetic limbs and for designing superior bipedal robots. In this paper, we investigated the dynamics of a simple PDW, 2D... more
—Passive dynamic walking (PDW) provides us better insight for understanding human walking, for developing prosthetic limbs and for designing superior bipedal robots. In this paper, we investigated the dynamics of a simple PDW, 2D compass-gait biped model that loosely look like human legs (without knees), using time-series analysis based on nonlinear dynamics. Previously, this passive biped model has been explored using only bifurcation diagrams and phase-space plots, but we studied it using nonlinear time-series analysis. The experimental results from walking experiments of prototype passive compass-gait biped validated the simulation results. These results can be useful for designing efficient bipedal robots.
Research Interests: Mathematical Biology, Nonlinear dynamics, Chaos Theory, System Dynamics Modeling, System Dynamics, and 31 moreMathematical Modelling, Time-Series Analysis, Chaos (Physics), Bipedal Walking, Dynamical systems and Chaos, Chaos/Complexity Theory, Time series analysis, Chaos, Patterns, Walking, Nonlinear Dynamics, Bifurcation and Stability, Bipedalism, Biped Robot, Bipedal Locomotion, Nonlinear Dynamics and Chaos, Applied Time Series Analysis, Nonlinear Dynamics and complex systems, Biped Walking, Nonlinear Time Series Analysis, Statics and Dynamics, Bipedal robot, Stability and Chaos, Fractals and Chaos, Time Series Analysis and Forecasting, Biped Animation, Biped, Time Series Analysis and Forecasting, Biped Locomotion, Passive Dynamic Walking, Non Linear Dynamics & Chaos, and Waves in Ecology
Electrical energy generation by using Photovoltaic system is becoming popular day by day. This paper presents a control topology for multilevel inverters used in standalone PV system. A hybrid technique is used to optimize the switching... more
Electrical energy generation by using Photovoltaic system is becoming popular day by day. This paper presents a control topology for multilevel inverters used in standalone PV system. A hybrid technique is used to optimize the switching angles of thirteen levels single-phase cascaded multilevel inverter for selective harmonics elimination. The nonlinear transcendental equations problem is solved by dividing the whole system into two stages. In stage-I: it will find the convergence angles region by using Fmincon optimization technique and then in stage II it will find the accurate convergence point by using most common technique which is Newton Raphson (NR) method. This approach is fast, low cost, efficient and it produces very low total harmonics distortion. The ability of the proposed technique is simulated by using MATLAB and implemented on cascaded h-bridge circuits, opto-isolators and Arduino UNO microcontroller. The simulation and hardware results verify the capability of proposed technique.
Research Interests:
In this paper, General Purpose Graphical Processing Unit (GPGPU) based concurrent implementation of handwritten digit classifier is presented. Different styles of handwriting make it difficult to recognize a pattern but using neural... more
In this paper, General Purpose Graphical Processing Unit (GPGPU) based concurrent implementation of handwritten digit classifier is presented. Different styles of handwriting make it difficult to recognize a pattern but using neural network, it is not a difficult task to perform. Different softwares like torch and MATLAB provide the support of multiple training algorithms to train a network. By choosing an appropriate training algorithm for a specific application, speed of training can be increased. Furthermore, using computational power of GPUs, training and classification speed of neural network can be significantly improved. In this work, Modified National Institute of Standards and Technology (MNIST) database of handwritten digits is used to train the network. Accuracy and training time of digit classifier is evaluated for different algorithms and then concurrent training is performed by exploiting power of GPU. Trained parameters are imported and used for the concurrent classification with Compute Unified Device Architecture (CUDA) computing language which can be useful in numerous practical applications. Finally, the results of sequential and concurrent operations of training and classification are compared.
Research Interests:
A 6-DoF robotic testbed has been proposed, designed and developed for university students to learn the concepts of control systems theory in robotics. Testbed is comprised of two parts namely; 6-DoF platform and ball-plate balancing... more
A 6-DoF robotic testbed has been proposed, designed and developed for university students to learn the concepts of control systems theory in robotics. Testbed is comprised of two parts namely; 6-DoF platform and ball-plate balancing payload. Robotic maneuvers in platform are generated through rotary Stewart-Gough mechanism using inverse kinematic algorithm. Ball-plate balancing payload is fixed on top of platform. This paper presents a comparison among generic testbeds, available at standard control system laboratories. Design of robotic platform along with payload has been detailed and tested with software simulations in MATLAB Simulink. This work explains complete electrical, mechanical and software design along with development, testing and results.
Research Interests:
Accurate and precise control of a robotic arm involves two main issues. The first issue is to calculate the desired angular displacements of the robotic arm joints based on the desired position (in the Euclidian space) of the tip (or... more
Accurate and precise control of a robotic arm involves two main issues. The first issue is to calculate the desired angular displacements of the robotic arm joints based on the desired position (in the Euclidian space) of the tip (or gripper) of the arm. The second issue is the design of an efficient and effective control law to achieve the desired angular displacements. This paper attempts to resolve both of the issues for a 2DOF robotic arm by using Inverse Kinematics and linear control law designs. In particular, Inverse Kinematics equations have been implemented on a commercial off the shelf robotic arm in order to calculate the desired angular displacements of the arm-joints. In order to achieve the desired angular displacement, various linear control laws have been designed using the robotic arm joint model. The performance of the designed control laws has been analyzed and compared. A comparison of the control torque required to
achieve the performance of each control law is also presented.
achieve the performance of each control law is also presented.
This work attempts to introduce a preferably easier and efficient simulation technique followed by the implementation for biped robot gait pattern. For the gait pattern an automated path is generated with the aid of an algorithmic program... more
This work attempts to introduce a preferably easier and efficient simulation technique followed by the implementation for biped robot gait pattern. For the gait pattern an automated path is generated with the aid of an algorithmic program titled as reverse kinematics and zero moment point (IK-ZMP). Moreover an adaptive control system is proposed for balancing and control of the biped gait movement. This algorithm is simulated in a concurrent language known as VHDL and then it is implemented on FPGA-Spartan 3E, DIGILENT-NEXYS 2. Simulation results and hardware execution validates the effectiveness of this approach. Hence this method has effectively reduced the time duration from 0.56 jusec to 0.16 μsec which is nearly four times lesser than the time lengths of former method with sequential approach.
Research Interests:
Photovoltaic (PV) systems are gradually becoming the key renewable source of electrical energy. But the nonlinear characteristics of the PV module require special techniques to harvest maximum power. The techniques used to track the... more
Photovoltaic (PV) systems are gradually becoming the key renewable source of electrical energy. But the nonlinear characteristics of the PV module require special techniques to harvest maximum power. The techniques used to track the Maximum Power Point (MPP) from the nonlinear I-V characteristics through power electronic circuits are known as Maximum Power Point Tracking (MPPT) techniques. Although enormous MPPT techniques have been anticipated in literature, each endures its own advantages and disadvantages. This paper proposes a novel hybrid technique to enhance the performance of Incremental conductance (InC) technique. Our proposed technique removes the limitations of InC under rapid changing environmental condition. It improves the efficiency and reduces the oscillation power loss under steady state. A hybrid combination of variable-step sized Incremental Conductance with Fractional Short Circuit Current (FSCC) technique is proposed in this research work. Initially, the FSCC forces the PV system to work near MPP and then InC technique track the exact peak. Matlab/Simulink software is used to implement the proposed hybrid technique. Finally, the results verify its superior performance under rapidly changing environmental conditions.
Research Interests:
Robotic arm enormous applications can be seen in industries as it is one of the most important manipulator for development. In this work, a light weight robotic arm is designed. The main factors for the designing of mechanical prototypes... more
Robotic arm enormous applications can be seen in industries as it is one of the most important manipulator for development. In this work, a light weight robotic arm is designed. The main factors for the designing of mechanical prototypes were rigidity of structure, cantilever effect and centre of gravity. To calculate the angles of robotic arm according to given cartesian position in a short possible time FPGA was used using JTAG protocol. The arduino kit controls the driving circuit of robotic arm which drives the servo motors according to the given instruction. The basic aim was to design and practically implement a robotic arm, keeping an eye to reduce the cost by readily available components in the market.
Research Interests:
Since its inception in 1989, World Wide Web has been reshaping the idea of open learning. But in the field of distance education, Massive Open Online Courses (MOOCs) are the latest innovation. This paper presents concepts of chaos theory... more
Since its inception in 1989, World Wide Web has been reshaping the idea of open learning. But in the field of distance education, Massive Open Online Courses (MOOCs) are the latest innovation. This paper presents concepts of chaos theory for developing a framework for this rapidly emerging form of online learning in general and engineering education in particular. The metaphors of chaos theory can be used in education because a MOOC classroom is a complex dynamical system. The authors find the metaphors of deterministic chaos like sensitive dependence on initial conditions, nonlinearity, and complexity relevant to teaching and learning MOOCs.
Research Interests: Engineering, Electrical Engineering, Electronic Engineering, Mechanical Engineering, Control Systems Engineering, and 27 moreTeaching and Learning, Education, Educational Technology, Teacher Education, Science Education, Engineering Education, Higher Education, Educational Research, Learning and Teaching, Online Instruction, Chaos Theory, Pedagogy, Education Policy, Online Education, Mathematics Education Pedagogy, Chaos/Complexity Theory, Teaching, Electronics Engineering, Chaos Theory and Complexity Science, Massive Open Online Courses (MOOCs), Curriculum and Pedagogy, evaluation of Engineering and Science EducationProgram, MOOCs, Archetypes and Chaos Theory, Electrical Engineering Education, MOOCs phenomenon, and MOOCs to Mainstream
This research aims to design a modified P&O algorithm for the efficient tracking of maximum power point (MPPT) for standalone and grid-connected systems. The proposed research work modifies the P&O algorithm for the dc-dc converter where... more
This research aims to design a modified P&O algorithm for the efficient tracking of maximum power point (MPPT) for standalone and grid-connected systems. The proposed research work modifies the P&O algorithm for the dc-dc converter where the fixed step size P&O algorithm is translated into variable step size with the help of ant colony optimization (ACO) to generate optimal parameters for the PID controller to generate a variable step size in the P&O algorithm. This variable step size is dependent upon the error that is the difference between the generated power and desired power. By doing this it improves the efficiency of the P&O algorithm and its limitations are overcome. Furthermore, the PV is extended to connect with a grid where the inverter is controlled by a fuzzy logic controller (FLC) so that the combined structure of variable P&O and fuzzy helps to achieve MPP efficiently. The robustness of the proposed work is compared with other state-of-the-art controllers to justify t...
Research Interests:
The technology is continuously advancing day by day and has transformed the personal computer (PC) from a very simple computing gadget to a highly advanced multi-processing and a multi-functional device. It is now capable of connecting... more
The technology is continuously advancing day by day and has transformed the personal computer (PC) from a very simple computing gadget to a highly advanced multi-processing and a multi-functional device. It is now capable of connecting and processing different devices at different places simultaneously. This improvement brings the system advancement for disabled persons so that they can be self-governed. This paper focuses on various interfacing techniques utilizing windows Operating System to assist the disabled persons and proposes a technique named as “Windows Interface for Mobility impaired and Blind people” (WIMB). Proposed model assists the disabled individuals (having blindness, mobility-impartment and deafness) to control real-life utilities through Microsoft Windows OS (Operating System). Furthermore, few available, applications are also reviewed and compared with the proposed technique.
Research Interests:
Vehicle Cruise Control System (VCCS) is used to regulate the speed of the locomotive to a reference speed as desired by the driver. It is mainly used to reduce the driving exhaustion on the driver. This research paper deals with the... more
Vehicle Cruise Control System (VCCS) is used to regulate the speed of the locomotive to a reference speed as desired by the driver. It is mainly used to reduce the driving exhaustion on the driver. This research paper deals with the control of VCCS based on Model Predictive Controller (MPC) in parallel with the conventional PID controller. The results of the proposed control system are compared with the conventional techniques including FLC, GA and ALO based PID controller. Simulation results show that the hybrid combination of MPC and classical PID controller has better outcome with regard to transient state response than numerous published techniques in recent times.
Research Interests:
The shortest path searching algorithms are broadly utilized as an essential part of autonomous agents and navigation systems. As applications get extensively complex, the shortest path calculations implemented via programming produce a... more
The shortest path searching algorithms are broadly utilized as an essential part of autonomous agents and navigation systems. As applications get extensively complex, the shortest path calculations implemented via programming produce a lot of time overhead. In this paper, different path planning techniques are analyzed on the bases of their time effectiveness under dynamic constraints; varying spaces and environments having a different level of complexities. Bi-RRT algorithm is proposed as the most time efficient algorithm in complex environments with high spaces. In addition, the algorithms are tested in different environments and comparison among all simulations results are presented in the form of time and path length.
Research Interests:
The technology has proceeded so much that the power system should be substantial and explicit to give optimal results. Ever-increasing complexities of the power system and load disparity cause frequency fluctuations leading to efficiency... more
The technology has proceeded so much that the power system should be substantial and explicit to give optimal results. Ever-increasing complexities of the power system and load disparity cause frequency fluctuations leading to efficiency degradation of the power system. In order to give a suitable real power output, the system entails an extremely perceptive control technique. Consequently, an advanced control method, that is, an adaptive model predictive controller (AMPC), is suggested for load frequency control (LFC) of the series power system which comprises photovoltaic (PV), wind, and thermal power. The suggested method is considered to enhance the power system execution as well as to decrease the oscillations due to a discrepancy in the system parameters and load disturbance under a multi-area power system network. The AMPC design verifies the constant frequency by maintaining a minimum steady state error under varying load conditions. The proposed control approach pledge that...
Research Interests:
In this paper, an optimized Adaptive Fuzzy LogicController based Proportional-Integral (AFLC-PI) is proposed for Load Fre-quency Control (LFC) for a multi-area system. The proposed controller has thecapability to tune the... more
In this paper, an optimized Adaptive Fuzzy LogicController based Proportional-Integral (AFLC-PI) is proposed for Load Fre-quency Control (LFC) for a multi-area system. The proposed controller has thecapability to tune the Proportional-Integral (PI) controller on the basis of fre-quency error, frequency oscillations and minimize the LFC problem for Photo-voltaic (PV) connected thermal system. Moreover, the Adaptive Fuzzy LogicController (AFLC) response under different real-time load changing conditionsis simulated and analyzed along with the uncertainty in governor and turbinetime-constant. Finally, the comparison analysis with Fuzzy Logic Controllertuned PI (FLC-PI), Genetic Algorithm tuned PI (GA-PI) and Firefly tuned PI(FA-PI) based optimized controllers is carried out.
Research Interests:
The controlling techniques of liquid level in a coupled conical tank system is a challenging task owing to its continuous changing cross-section and non-linearity in the system. In this paper, an adaptive model predictive controller... more
The controlling techniques of liquid level in a coupled conical tank system is a challenging task owing to its continuous changing cross-section and non-linearity in the system. In this paper, an adaptive model predictive controller (AMPC) is presented to control the valve speed of conical shaped tank to maintain the liquid level. In AMPC, the plant model states are changed in every cycle along with the MPC controller to update the plant parameters in a precise manner, which is a major concern due to its non-linear behavior. Moreover, the comparative analysis of coupled conical tank system with other controllers like Fractional order PID (FOPID) controller and PID controller is carried out. The simulation results represent the superiority of the AMPC controller as compared to the other controlling methods in terms of response time and overshoot.
Many research groups developed bifurcation diagrams, Poincare maps and computed Feigenbaum constants for passive walkers. Very few attempts have been made for performing nonlinear time-series analyses of these complex dynamical systems.... more
Many research groups developed bifurcation diagrams, Poincare maps and computed Feigenbaum constants for passive walkers. Very few attempts have been made for performing nonlinear time-series analyses of these complex dynamical systems. Besides, Garcia’s et al.’s the simplest walking model, the compass-gait biped model is the most commonly used passive dynamic walking (PDW) biped robot by the biomechanists, robotics engineers and chaos theorists. We accomplished nonlinear analysis of a time-series generated by the compass-gait biped and aimed to examine its dynamical behavior. The walking gait time-series data presented chaotic dynamics as fractal dimensions and positive Lyapunov exponents were found.
Research Interests: Autonomous Robotics, Humanoid Robotics, Chaos Theory, Educational Robotics, Bipedal Walking, and 15 moreDynamical systems and Chaos, Application of Chaos, Chaos, Lyapunov exponents, Bipedalism, Biped Robot, Bipedal Locomotion, Deterministic Chaos, Bipedal robot, Fractals and Chaos, Deterministic and Non Deterministic Chaos, Correlation Dimension, Chaos dynamics and Lyapunov exponent, Lyapunov Exponents Calculations, and Chaos Physics
This work attempts to introduce a preferably easier and efficient simulation technique followed by the implementation for biped robot gait pattern. For the gait pattern an automated path is generated with the aid of an algorithmic program... more
This work attempts to introduce a preferably easier and efficient simulation technique followed by the implementation for biped robot gait pattern. For the gait pattern an automated path is generated with the aid of an algorithmic program titled as reverse kinematics and zero moment point (IK-ZMP). Moreover an adaptive control system is proposed for balancing and control of the biped gait movement. This algorithm is simulated in a concurrent language known as VHDL and then it is implemented on FPGA-Spartan 3E, DIGILENT-NEXYS 2. Simulation results and hardware execution validates the effectiveness of this approach. Hence this method has effectively reduced the time duration from 0.56 jusec to 0.16 μsec which is nearly four times lesser than the time lengths of former method with sequential approach.
Research Interests:
In a grid, the choice of the point of common coupling (PCC) does not solely rely on the voltage level alone but also conjointly depends on the grid strength for many explicit purposes. Nowadays, the affinity of low SCR grid connections... more
In a grid, the choice of the point of common coupling (PCC) does not solely rely on the voltage level alone but also conjointly depends on the grid strength for many explicit purposes. Nowadays, the affinity of low SCR grid connections has become a crucial thought once it involves the integration of wind generation plants (WPPs). Since the quality of wind resources is a critical issue, these plants are usually placed in remote areas with a sophisticated potential of wind flow. These remote areas are typically less inhabited, where the grid does not perpetually always have to be sturdy. Moreover, the exceeded power demand loading and higher wind penetration affect the generation, transmission, and distribution utilities by permitting the flow of unbalanced voltages and currents in the power system. Therefore, the quality of transmitted power is becoming a crucial facet of distributed energy generation units. In this paper, a permanent-magnet synchronous generator (PMSG) based wind en...
Research Interests:
A 6-DoF robotic testbed has been proposed, designed and developed for university students to learn the concepts of control systems theory in robotics. Testbed is comprised of two parts namely; 6-DoF platform and ball-plate balancing... more
A 6-DoF robotic testbed has been proposed, designed and developed for university students to learn the concepts of control systems theory in robotics. Testbed is comprised of two parts namely; 6-DoF platform and ball-plate balancing payload. Robotic maneuvers in platform are generated through rotary Stewart-Gough mechanism using inverse kinematic algorithm. Ball-plate balancing payload is fixed on top of platform. This paper presents a comparison among generic testbeds, available at standard control system laboratories. Design of robotic platform along with payload has been detailed and tested with software simulations in MATLAB Simulink. This work explains complete electrical, mechanical and software design along with development, testing and results.
Research Interests:
This paper introduces a novel genetic optimize multi-control adaptive fractional order PID (AFOPID) for Photovoltaic (PV) and Wind connected grid system. The proposed AFOPID controller is optimized by a genetic algorithm (GA) to... more
This paper introduces a novel genetic optimize multi-control adaptive fractional order PID (AFOPID) for Photovoltaic (PV) and Wind connected grid system. The proposed AFOPID controller is optimized by a genetic algorithm (GA) to initialize the controller parameters. The renewable energy sources are mathematically modeled using multi control approach (MCA). In the proposed work, the MCA involves the maximum power point tracking (MPPT), dc link voltage, and current control and quadrature axis modeling. Furthermore, the current control functionalities are performed through an adaptive approach of AFOPID, where the controlling parameters are updated by measured error at
Research Interests:
Research Interests:
Mobile users spent most of their time in an indoor environment, therefore it is crucial to develop indoor traffic models for next-generation networks. The significance of this paper is related to the predominant femtocell technology as it... more
Mobile users spent most of their time in an indoor environment, therefore it is crucial to develop indoor traffic models for next-generation networks. The significance of this paper is related to the predominant femtocell technology as it is anticipated to be a very crucial part of the modern mobile networks such
Research Interests:
Research Interests:
In this paper, a comprehensive review of essential components of the PV (Photovoltaic) system is elaborated, and their comparative unique features are discussed. The paper describes hardware design (power converters topologies... more
In this paper, a comprehensive review of essential components of the PV (Photovoltaic) system is elaborated, and their comparative unique features are discussed. The paper describes hardware design (power converters topologies specifically) employed in PV based energy generation systems to harvest maximum power from the available energy source. In this study, thirty different Maximum Power Point Tracking (MPPT) techniques have been critically analyzed and their response with respect to partial shading condition has been discussed. It is very difficult to say which technique is best as one must consider various factors and parameters while selecting a technique such as application, convergence speed, accuracy, efficiency, system reliability, and cost and performance of available hardware. Aiming at the complexity, hardware implementation, tracking speed, steady-state accuracy, or global maximum detection of the algorithm, an MPPT algorithm based on a rule table is proposed. In additi...
Research Interests:
Research Interests:
Research Interests:
Electrical energy generation by using Photovoltaic system is becoming popular day by day. This paper presents a control topology for multilevel inverters used in standalone PV system. A hybrid technique is used to optimize the switching... more
Electrical energy generation by using Photovoltaic system is becoming popular day by day. This paper presents a control topology for multilevel inverters used in standalone PV system. A hybrid technique is used to optimize the switching angles of thirteen levels single-phase cascaded multilevel inverter for selective harmonics elimination. The nonlinear transcendental equations problem is solved by dividing the whole system into two stages. In stage-I: it will find the convergence angles region by using Fmincon optimization technique and then in stage II it will find the accurate convergence point by using most common technique which is Newton Raphson (NR) method. This approach is fast, low cost, efficient and it produces very low total harmonics distortion. The ability of the proposed technique is simulated by using MATLAB and implemented on cascaded h-bridge circuits, opto-isolators and Arduino UNO microcontroller. The simulation and hardware results verify the capability of proposed technique.
Research Interests:
In this paper, General Purpose Graphical Processing Unit (GPGPU) based concurrent implementation of handwritten digit classifier is presented. Different styles of handwriting make it difficult to recognize a pattern but using neural... more
In this paper, General Purpose Graphical Processing Unit (GPGPU) based concurrent implementation of handwritten digit classifier is presented. Different styles of handwriting make it difficult to recognize a pattern but using neural network, it is not a difficult task to perform. Different softwares like torch and MATLAB provide the support of multiple training algorithms to train a network. By choosing an appropriate training algorithm for a specific application, speed of training can be increased. Furthermore, using computational power of GPUs, training and classification speed of neural network can be significantly improved. In this work, Modified National Institute of Standards and Technology (MNIST) database of handwritten digits is used to train the network. Accuracy and training time of digit classifier is evaluated for different algorithms and then concurrent training is performed by exploiting power of GPU. Trained parameters are imported and used for the concurrent classification with Compute Unified Device Architecture (CUDA) computing language which can be useful in numerous practical applications. Finally, the results of sequential and concurrent operations of training and classification are compared.
Research Interests:
Passive dynamic walking (PDW) provides us better insight for understanding human walking, for developing prosthetic limbs and for designing superior bipedal robots. In this paper, we investigated the dynamics of a simple PDW, 2D... more
Passive dynamic walking (PDW) provides us better insight for understanding human walking, for developing prosthetic limbs and for designing superior bipedal robots. In this paper, we investigated the dynamics of a simple PDW, 2D compass-gait biped model that loosely look like human legs (without knees), using time-series analysis based on nonlinear dynamics. Previously, this passive biped model has been explored using only bifurcation diagrams and phase-space plots, but we studied it using nonlinear time-series analysis. The experimental results from walking experiments of prototype passive compass-gait biped validated the simulation results. These results can be useful for designing efficient bipedal robots.
Research Interests: Engineering, Computer Science, Chaos Theory, Bipedal Walking, Dynamical systems and Chaos, and 15 moreChaos, Gait, Gait Analysis, Bipedalism, Biped Robot, Bipedal Locomotion, Applied Time Series Analysis, Biped Walking, Bipedal robot, Compass, Fractals and Chaos, Biped Animation, Biped, Biped Locomotion, and Chaos Physics
Maximum Power Point Tracking (MPPT) under partial shading condition is the main issue in Photovoltaic (PV) system. This research work is based on a hybrid mechanism for MPPT problem by utilizing two commonly used techniques. The whole... more
Maximum Power Point Tracking (MPPT) under partial shading condition is the main issue in Photovoltaic (PV) system. This research work is based on a hybrid mechanism for MPPT problem by utilizing two commonly used techniques. The whole algorithm is divided into two stages. Initially it uses Fractional Open Circuit Voltage (FOCV) technique in order to detect Global Maxima (GM) region. Once the GM region is achieved the variable step sized incremental conductance technique can easily detect the Maximum Power Point (MPP). The proposed technique is fast, accurate and simple to implement. This algorithm is implemented and tested using MATLAB/Simulink and the robustness of this algorithm is verified by testing this algorithm under different partial shading conditions. Finally the superiority of this algorithm is judged by comparing this algorithm with other MPPT algorithms.
Research Interests:
Research Interests:
Language of signs is usually used by the deaf-mute persons in order to convey their message. But, it becomes very difficult for those who have no knowledge of the sign language. The aim of this research work is to resolve this problem... more
Language of signs is usually used by the deaf-mute persons in order to convey their message. But, it becomes very difficult for those who have no knowledge of the sign language. The aim of this research work is to resolve this problem using Digital Dactylology Converser (DDC) which is a device that converts a sign language into voice signal and text message. Primarily a hands gesture is recognised by computer vision program and based on that image a speech and text is played and displayed on the speaker and LCD respectively. Purpose of this device is to make conversation easy between dumb and the normal people around the world. In order to minimize their limitations and enable them to expand their boundaries, this is best suitable device. Experimental results verify the operational accuracy of the device for different users. The proposed device can work well and translates the letters, alphabets to text and sound.
Research Interests:
Massive Open Online Courses (MOOCs) are the latest installment in the field of distance education. This paper discusses the pros and cons of MOOCs in the educational systems with a special emphasis on the engineering education. Since... more
Massive Open Online Courses (MOOCs) are the latest installment in the field of distance education. This paper discusses the pros and cons of MOOCs in the educational systems with a special emphasis on the engineering education. Since 2012, more and more universities have been joining MOOC revolution and the number of online courses has considerably increased over time. Engineering MOOCs are also increasing. Due to their access to large audience, massive online courses have been expanding their horizon of admission to engineering education at all levels and improving the in-campus learning.
Research Interests: Engineering, Electrical Engineering, Civil Engineering, Computer Science, Education, and 15 moreEducational Technology, Distance Education, Science Education, Engineering Education, Higher Education, Educational Psychology, Educational Research, ICT in Education, Pedagogy, Education Policy, Online Learning, Open Education, IEEE, Pedagogia, and MOOCs
SCARA (Selective Compliance Assembly Robot Arm) manipulators are among the most extensively used manipulators in industry due to high precision and their inherent rigidity. This research demonstrates mechanical design process of an... more
SCARA (Selective Compliance Assembly Robot Arm) manipulators are among the most extensively used manipulators in industry due to high precision and their inherent rigidity. This research demonstrates mechanical design process of an economical SCARA manipulator with unique and competing industrial specifications using Pro-E software. Inverse kinematic equations are also derived using algebraic and geometric method to control the manipulator movement. The design process includes the design of joints, links and controller as well as the selection of its electrical and mechanical components. The selection of the actuators and the dimensions of the whole mechanical structure are selected in such a way to direct its center of gravity towards base and also reduce the vibration and backlash in its mechanical structure. The main task was to use readily available components with an eye on keeping the costs down. Finally the performance of SCARA system is examined in Pro-E and verified manipulators movement with MATLAB/Simulink which exhibits the effectiveness of the proposed model.
Research Interests:
In this paper, basic concepts of block diagrams have been discussed. Block diagrams have their own significance in every discipline of engineering. A block diagram is reduced to its canonical from using block diagram algebra. We simulated... more
In this paper, basic concepts of block diagrams have been discussed. Block diagrams have their own significance in every discipline of engineering. A block diagram is reduced to its canonical from using block diagram algebra. We simulated the same problem in MATLAB and SIMULINK. We applied the step input and observed the behavior of the system.