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(It can be said that the system of sensing the tilt angle and speed of a multi-rotor copter come in the first rank among all the other sensors on the multi-rotor copters and all other planes due to its important roles for stabilization. The MPU6050 sensor is one of the most popular sensors in this field. It has an embedded 3-axis accelerometer and a 3-axis gyroscope. It is a simple sensor in dealing with it and extracting accurate data. Everything changes when this sensor is placed on the plane. It becomes very complicated to deal with it due to vibration of the motors on the multirotor copter. In this study, two main problems were diagnosed was solved that appear in most sensors when they are applied to a high-frequency vibrating environment. The first problem is how to get a precise angle of the sensor despite the presence of vibration. The second problem is how to overcome the errors that appear when the multirotor copter revolves around its vertical axis during the tilting in either direction x or y or both. The first problem was solved in two steps. The first step involves mixing data of the gyroscope sensor with the data of auxetometer sensor by a mathematical equation based on optimized complementary filter using gray wolf optimization algorithm GWO. The second step involves designing a suitable FIR filter for data. The second problem was solved by finding a non-linear mathematical relationship between the angles of the copter in both X and Y directions, and the rotation around the vertical axis of multirotor copter frame. [ABSTRACT FROM AUTHOR]

Vehicular ad hoc networks (VANETs) are the core of intelligent transportation systems (ITS) to obtain safety, better transportation services, and improved traffic management. Providing more reliable and efficient on demand routing protocol is one of the main challenges in these networks research scope. This paper argues a compressed fuzzy logic based method to enhance Ad hoc on demand distance vector (AODV) routing decision by jointly considering number of relays, distance factor, direction angle, and vehicles speed variance. The proposed scheme is simulated in both freeway and urban scenarios with different number of vehicles using real time interaction between both OMNet++ and SUMO simulators. Simulation results show that the proposed approach can get better performance in terms of packet delivery ratio, throughput, mean delay, and number of sent control packets. [ABSTRACT FROM AUTHOR]

In coordination of a group of mobile robots in a real environment, the formation is an important task. Multimobile robot formations in global knowledge environments are achieved using small robots with small hardware capabilities. To perform formation, localization, orientation, path planning and obstacle and collision avoidance should be accomplished. Finally, several static and dynamic strategies for polygon shape formation are implemented. For these formations minimizing the energy spent by the robots or the time for achieving the task, have been investigated. These strategies have better efficiency in completing the formation, since they use the cluster matching algorithm instead of the triangulation algorithm. [ABSTRACT FROM AUTHOR]

Vehicular ad hoc network (VANET) routing protocols have been attracting a considerable attention of both research and industrial communities, due to their significant role in intelligent transportation system applications. The present paper adopts an optimized integrated multicast, multicriteria, adaptive route lifetime as a routing protocol for VANETs. Whereby only an optimal subset of neighbor vehicles is chosen to relay route request (RREQ) messages based on distance, direction, speed, and future direction information in a combined sender-receiver manner. Among those selected optimal paths for route discovery, the best route with lowest cost will be chosen for forwarding data packets for a specified duration assigned depending on the obtained cost and number of intermediate vehicles of that route. Fuzzy controllers were employed to assess routes' costs and their lifetimes. Furthermore, artificial bee colony (ABC) algorithm was used to concurrently optimize all used fuzzy systems and obtain the optimal highest rank of links' cost values within which the neighbors could be selected as relay nodes in route discovery process. Simulation results prove that the proposed routing scheme significantly improves the network performance in both urban and highway scenarios, under different situations of vehicle density. [ABSTRACT FROM AUTHOR]

The reluctance of industry to allow wireless paths to be incorporated in process control loops has limited the potential applications and benefits of wireless systems. The challenge is to maintain the performance of a control loop, which is degraded by slow data rates and delays in a wireless path. To overcome these challenges, this paper presents an application-level design for a wireless sensor/actuator network (WSAN) based on the "automated architecture". The resulting WSAN system is used in the developing of a wireless distributed control system (WDCS). The implementation of our wireless system involves the building of a wireless sensor network (WSN) for data acquisition and controller area network (CAN) protocol fieldbus system for plant actuation. The sensor/actuator system is controlled by an intelligent digital control algorithm that involves a controller developed with velocity PIDlike Fuzzy Neural Petri Net (FNPN) system. This control system satisfies two important real-time requirements: bumpless transfer and anti-windup, which are needed when manual/auto operating aspect is adopted in the system. The intelligent controller is learned by a learning algorithm based on back-propagation. The concept of petri net is used in the development of FNN to get a correlation between the error at the input of the controller and the number of rules of the fuzzy-neural controller leading to a reduction in the number of active rules. The resultant controller is called robust fuzzy neural petri net (RFNPN) controller which is created as a software model developed with MATLAB. The developed concepts were evaluated through simulations as well validated by real-time experiments that used a plant system with a water bath to satisfy a temperature control. The effect of disturbance is also studied to prove the system's robustness. [ABSTRACT FROM AUTHOR]

In this paper, fuzzy Petri Net controller is used for Quadrotor system. The fuzzy Petrinet controller is arranged in the velocity PID form. The optimal values for the fuzzy Petri Net controller parameters have been achieved by using particle swarm optimization algorithm. In this paper, the reference trajectory is obtained from a referenc e mode l that can be designed to have the ideal required response of the Quadrotor, also using the quadrotor equations to find decoupling controller is first designed to reduce the effect of coupling between different inputs and outputs of quadrotor. The system performance has been measured by MATLAB. Simulation results showed that the FPN controller has a reasonable robustness against disturbances and good dynamic performance. [ABSTRACT FROM AUTHOR]

This work presents a healthcare monitoring system that can be used in an intensive care room. Biological information represented by ECG signals is achieved by ECG acquisition part. AD620 Instrumentation Amplifier selected due to its low current noise. The ECG signals of patients in the intensive care room are measured through wireless nodes. A base node is connected to the nursing room computer via a USB port, and is programmed with a specific firmware. The ECG signals are transferred wirelessly to the base node using nRF24L01+ wireless module. So, the nurse staff has a real time information for each patient available in the intensive care room. A star Wireless Sensor Network is designed for collecting ECG signals . ATmega328 MCU in the Arduino Uno board used for this purpose. Internet for things used For transferring ECG signals to the remote doctor, a Virtual Privet Network is established to connect the nursing room computer and the doctor computer . So, the patients information kept secure. Although the constructed network is tested for ECG monitoring, but it can be used to monitor any other signals. [ABSTRACT FROM AUTHOR]

The nonorthogonal basis generalized Fourier transform is used as orders extraction tech-nique during machinery speed-up and slow-down tests due to nonstationaiy nature of vibration signals in these tests. The kernels of this transform have time-dependent fre-quency which is related to the operating speed of the machine. Since these kernels may belong to different groups or shafts, they are generally nonorthogonal. The actual ampli-tudes and phases of the orders can be found by solving the system of linear equations resulting from decomposition process which is proposed in this work as an improvement to the time variant discrete Fourier transform (TVDFT) method. The proposed scheme is proved to be efficient and the processing time is very small as compared to other schemes such as the Vold-Kalman order tracking (VKOT) method. The accuracy and efficiency of the proposed scheme are investigated using simulated vibration signal and also actual signals. [ABSTRACT FROM AUTHOR]

The purpose of this paper is to introduce Artificial Neural Network (ANN) based system identification for a nonlinear dynamics structure of fish school for trajectory tracking problem. A discrete time dynamic model has been derived, and the neural network (NN) training data has been collected experimentally using a Simulink model within MATLAB program designed for this purpose. This work also seeks to design a user friendly program to automatically monitor and track the trajectory of the live fish in an aquarium using two webcams to produce a three dimensions (3D) view of the acquired trajectory. MATLAB program was used to develop a graphical user interface (GUI) which allows the monitoring user to input experiment specifications such as desired tracking time, tracking region and video source (real time directly from webcams vs. cached from the pre-saved files) in addition displaying the acquired videos from two webcams, position of the tracked fish (trajectory), and fish velocity. A predictive control approach based on NN is proposed to provide the control signal(s) that could be used to control the robotic fish to achieve trajectory tracking task in an attempt to design and build autonomous robotic fishes in future that are able to reactive to the environment and navigate toward the desired location underwater. [ABSTRACT FROM AUTHOR]

In this paper we present the details of methodology pursued in implementation of an HMI and Demo Temperature Monitoring application for wireless sensor-based distributed control systems. The application of WSN for a temperature monitoring and control is composed of a number of sensor nodes (motes) with a networking capability that can be deployed for monitoring and control purposes. The temperature is measured in the real time by the sensor boards that sample and send the data to the monitoring computer through a base station or gateway. This paper proposes how such monitoring system can be setup emphasizing on the aspects of low cost, energy-efficient, easy ad-hoc installation and easy handling and maintenance. This paper focuses on the overall potential of wireless sensor nodes and networking in industrial applications. A specific case study is given for the measurement of temperature (with thermistor or thermocouple), humidity, light and the health of the WSN. The focus was not on these four types of measurements and analysis but rather on the design of a communication protocol and building of an HMI software for monitoring. So, a set of system design requirements are developed that covered the use of the wireless platforms, the design of sensor network, the capabilities for remote data access and management, the connection between the WSN and an HMI software designed with MATLAB. [ABSTRACT FROM AUTHOR]

In a human-robot interface, the prediction of motion, which is based on context information of a task, has the potential to improve the robustness and reliability of motion classification to control human-assisting manipulators. The electromyography (EMG) signals can be used as a control source of artificial arm after it has been processed. The objective of this work is to achieve better classification with multiple parameters using KNearest Neighbor for different movements of a prosthetic arm. A K-Nearest Neighbor (K-NN) rule is one of the simplest and the most important methods in pattern recognition. The proposed structure is simulated using MATLAB Ver. R2009a, and satisfied results are obtained by comparing with conventional method of recognition using Artificial Neural Network(ANN), that explains the ability of the proposed structure to recognize the movements of human arm based EMG signals. Results show the proposed technique achieved a uniformly good performance with respect to ANN in term of time which is important in recognition systems, better accuracy in recognition when applied to lower SNR signal. [ABSTRACT FROM AUTHOR]

This paper deals with the application of Fuzzy-Neural Networks (FNNs) in multi-machine system control applied on hot steel rolling. The electrical drives that used in rolling system are a set of three-phase induction motors (IM) controlled by indirect field-oriented control (IFO). The fundamental goal of this type of control is to eliminate the coupling influence though the coordinate transformation in order to make the AC motor behaves like a separately excited DC motor. Then use Fuzzy-Neural Network in control the IM speed and the rolling plant. In this work MATLAB/SIMULINK models are proposed and implemented for the entire structures. Simulation results are presented to verify the effectiveness of the proposed control schemes. It is found that the proposed system is robust in that it eliminates the disturbances considerably. [ABSTRACT FROM AUTHOR]

Power transformer protective relay should block the tripping during magnetizing inrush and rapidly operate the tripping during internal faults. Recently, the frequency environment of power system has been made more complicated and the quantity of 2nd frequency component in inrush state has been decreased because of the improvement of core steel. And then, traditional approaches will likely be maloperated in the case of magnetizing inrush with low second harmonic component and internal faults with high second harmonic component. This paper proposes a new relaying algorithm to enhance the fault detection sensitivities of conventional techniques by using a fuzzy logic approach. The proposed fuzzy-based relaying algorithm consists of flux-differential current derivative curve, harmonic restraint, and percentage differential characteristic curve. The proposed relaying was tested with MATLAB simulation software and showed a fast and accurate trip operation. [ABSTRACT FROM AUTHOR]