Journal of Control Engineering and Applied Informatics, 2018
This paper presents a collaborative control scheme that adaptively combines two different control... more This paper presents a collaborative control scheme that adaptively combines two different control strategies in order to optimize the trajectory-tracking performance and the angular-position response of the motor, installed at the metacarpophalangeal joint of each finger, in a robotic hand. The scheme contains an adaptive neuro-fuzzy inference system (ANFIS) in the feed-forward path, and a proportional-integral-derivative (PID) controller in the feedback path. The ANFIS supervises the motion-control and efficiently tracks the reference trajectory. The PID controller improves the transient response and robustly nullifies the effects of exogenous disturbances. The final control output is taken as the weighted sum of individual outputs from the ANFIS and PID controller. A hyperbolic tangent function (HTF) of the error dynamics is used to adaptively vary the weightages in the controller combination. This feature dynamically varies the contributions of individual control effort, delivere...
Journal of Art, Architecture and Built Environment
Environment is one of the greatest assets of human kind for its survival but due to pollution and... more Environment is one of the greatest assets of human kind for its survival but due to pollution and environmental damage from anthropogenic activities, human race has caused greater damage to it. Hence it is need of the hour to transform these pollutants and waste products into environment friendly products to ensure their negative impact is reduced. One of these products from burning of fossil fuels and Kilns is fly ash. The research aimed with developing potential of the fly ash from the Sargodha city brick kilns and then transform it into a sustainable green product i.e. fly ash cement block. With exploration of amount produced from multiple kilns, the waste was collected to form four different compositions of sample blocks which were produced and further tested for compressive strength and water absorption tests. Results showed that 10% fixed cement proportion with 60-70% fly ash delivered a competitive product against the local bricks produced which are neither green nor sustaina...
Journal of Research in Architecture & Planning, 2020
COVID-19 is one of the largest pandemic that hit the world at the end of 2019 and took the globe ... more COVID-19 is one of the largest pandemic that hit the world at the end of 2019 and took the globe by a storm. With almost seven hundred fifty thousand affected and above thirty five thousand deaths at the time of writing this paper, it was declared by World Health Origination (WHO) a major global health crisis. Pakistan, a developing South Asian country having sixth largest population in the world having fragile and poor healthcare infrastructure also got hit badly with above one thousand six hundred affected and more than twenty deaths till the time of writing. With such a large health burden at stake and closing of all major socio-economic activities, with having very limited quarantine and isolation facilities, there was a dire need to explore the gap of existing healthcare infrastructure to cope with current circumstances. In order to explore the current context with reference to the COVID-19 health burden, existing infrastructure and facilities were explored through literature r...
Journal of Control Engineering and Applied Informatics, 2018
This paper presents a collaborative control scheme that adaptively combines two different control... more This paper presents a collaborative control scheme that adaptively combines two different control strategies in order to optimize the trajectory-tracking performance and the angular-position response of the motor, installed at the metacarpophalangeal joint of each finger, in a robotic hand. The scheme contains an adaptive neuro-fuzzy inference system (ANFIS) in the feed-forward path, and a proportional-integral-derivative (PID) controller in the feedback path. The ANFIS supervises the motion-control and efficiently tracks the reference trajectory. The PID controller improves the transient response and robustly nullifies the effects of exogenous disturbances. The final control output is taken as the weighted sum of individual outputs from the ANFIS and PID controller. A hyperbolic tangent function (HTF) of the error dynamics is used to adaptively vary the weightages in the controller combination. This feature dynamically varies the contributions of individual control effort, delivere...
Journal of Art, Architecture and Built Environment
Environment is one of the greatest assets of human kind for its survival but due to pollution and... more Environment is one of the greatest assets of human kind for its survival but due to pollution and environmental damage from anthropogenic activities, human race has caused greater damage to it. Hence it is need of the hour to transform these pollutants and waste products into environment friendly products to ensure their negative impact is reduced. One of these products from burning of fossil fuels and Kilns is fly ash. The research aimed with developing potential of the fly ash from the Sargodha city brick kilns and then transform it into a sustainable green product i.e. fly ash cement block. With exploration of amount produced from multiple kilns, the waste was collected to form four different compositions of sample blocks which were produced and further tested for compressive strength and water absorption tests. Results showed that 10% fixed cement proportion with 60-70% fly ash delivered a competitive product against the local bricks produced which are neither green nor sustaina...
Journal of Research in Architecture & Planning, 2020
COVID-19 is one of the largest pandemic that hit the world at the end of 2019 and took the globe ... more COVID-19 is one of the largest pandemic that hit the world at the end of 2019 and took the globe by a storm. With almost seven hundred fifty thousand affected and above thirty five thousand deaths at the time of writing this paper, it was declared by World Health Origination (WHO) a major global health crisis. Pakistan, a developing South Asian country having sixth largest population in the world having fragile and poor healthcare infrastructure also got hit badly with above one thousand six hundred affected and more than twenty deaths till the time of writing. With such a large health burden at stake and closing of all major socio-economic activities, with having very limited quarantine and isolation facilities, there was a dire need to explore the gap of existing healthcare infrastructure to cope with current circumstances. In order to explore the current context with reference to the COVID-19 health burden, existing infrastructure and facilities were explored through literature r...
Uploads
Papers