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2022

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Articles 451 - 480 of 1255

Full-Text Articles in Computer Engineering

Supermodal Decomposition Of The Linear Swing Equation For Multilayer Networks, Kshitij Bhatta, Amirhossein Nazerian, Francesco Sorrentino, Majeed M. Hayat Jul 2022

Supermodal Decomposition Of The Linear Swing Equation For Multilayer Networks, Kshitij Bhatta, Amirhossein Nazerian, Francesco Sorrentino, Majeed M. Hayat

Electrical and Computer Engineering Faculty Research and Publications

We study the swing equation in the case of a multilayer network in which generators and motors are modeled differently; namely, the model for each generator is given by second order dynamics and the model for each motor is given by first order dynamics. We also remove the commonly used assumption of equal damping coefficients in the second order dynamics. Under these general conditions, we are able to obtain a decomposition of the linear swing equation into independent modes describing the propagation of small perturbations. In the process, we identify symmetries affecting the structure and dynamics of the multilayer network …

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Identification And Quantitation Of Aqueous Single- And Multianalyte Solutions Of The Isomers Ethylbenzene, M-, P-, And O-Xylene Using A Single Specifically Tailored Sensor Coating And Estimation Theory-Based Signal Processing, Nicholas Post, Florian Bender, Fabien Josse, Edwin E. Yaz, Antonio J. Ricco Jul 2022

Identification And Quantitation Of Aqueous Single- And Multianalyte Solutions Of The Isomers Ethylbenzene, M-, P-, And O-Xylene Using A Single Specifically Tailored Sensor Coating And Estimation Theory-Based Signal Processing, Nicholas Post, Florian Bender, Fabien Josse, Edwin E. Yaz, Antonio J. Ricco

Electrical and Computer Engineering Faculty Research and Publications

The isomer-specific detection and quantitation of m-, p-, and o-xylene and ethylbenzene, dissolved singly and as mixtures in aqueous solutions at concentrations from 100 to 1200 ppb by volume, is reported for a specifically designed polymer-plasticizer coating on a shear-horizontal surface acoustic wave (SH-SAW) device. The polystyrene-ditridecyl phthalate-blend coating was designed utilizing Hansen solubility parameters and considering the dipole moment and polarizability of the analytical targets and coating components to optimize the affinity of the sensor coating for the four chemical isomers. The two key coating sorption properties, sensitivity and response time constant, are determined by the …

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Analysis Of Digital Image Segmentation Algorithms, Khalilov Sirojiddin Jun 2022

Analysis Of Digital Image Segmentation Algorithms, Khalilov Sirojiddin

Karakalpak Scientific Journal

Ushbu maqolada zamonaviy axborot-kommunikatsiya texnologiyalaridan foydalanishni kengaytirish maqsadida raqamli tasvirni qayta ishlash usullari va algoritmlari tahlil qilinadi. Maqolada, shuningdek, raqamli tasvirni qayta ishlash, tasvirni segmentatsiyalash usullari, WaterShed, MeanShift, FloodFill, GrabCut algoritmlarining afzalliklari va kamchiliklari o'rganiladi.

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Critical Information Infrastructure Protection, Vulnerabilities, Threats And Challenges: A Critical Review, Krishna Prakasha Jun 2022

Critical Information Infrastructure Protection, Vulnerabilities, Threats And Challenges: A Critical Review, Krishna Prakasha

Manipal Journal of Science and Technology

Protection of Critical Information Infrastructure is a crucial requirement nowadays and requires immediate attention and a lot of prevention activities to avoid any cyber threat to critical IT services. This article aims to give a basic overview of Critical Information Infrastructure (CII) and Critical Sectors such as the Power and Energy Sector, Banking Financial Service and Insurance (BFSI), Telecommunications, Government Services, the Transport Sector, the Health Sector, etc. The consequences of attacks on these sectors have been examined, including their national and international challenges. This article shall also discuss the vulnerabilities of common CII, security controls, emerging trends, threats, and …

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Measuring Creativity In The Fermi Problem, A Type Of Mathematical Modeling, Applying Information Theory, Hidemichi Okamoto Jun 2022

Measuring Creativity In The Fermi Problem, A Type Of Mathematical Modeling, Applying Information Theory, Hidemichi Okamoto

Journal of Educational Technology Development and Exchange (JETDE)

Many methods of measuring creativity have been studied - mainly in psychology. In recent years, there have been attempts to incorporate such creativity into mathematical modelling, a topic handled in mathematics education. Accordingly, some studies have been trying to assess creativity in it. However, there have been no clear criteria or formulas that can be used for any problem, since a rubric has been created for each problem and evaluated individually. In the present study, to measure creativity in the Fermi problem, a type of mathematical modelling, a formula that applies information theory used in information science is proposed and …

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The Effective Strategies For Mitigation The Impact Of Covid-19 On Construction Projects In Egypt, Nora Magdy Essa, Ibrahim Mahdi, Hassan Mohamed Ibrahim Jun 2022

The Effective Strategies For Mitigation The Impact Of Covid-19 On Construction Projects In Egypt, Nora Magdy Essa, Ibrahim Mahdi, Hassan Mohamed Ibrahim

Future Engineering Journal

From the time when the first narrated infections in Wuhan China, in late 2019, COVID-19 has had a substantial peal on human life and health. By the early of 2020, the World Health Organization (WHO) announced the eruption of COVID-19, a public health crisis of international concern. On 11 March 2020, the World Health Organization officially announced COVID-19 a pandemic. The first case was infected in Egypt of covid-19 on Feb 14, 2020 (Gilbert et al., 2020). On 16 March 2020, the Egyptian Government began issuing decisions as preventative courses as part of the country's inclusive plan to cope with …

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Estimating The Weights Of Latticed Power Transmission Towers Using Genetic Programming, Ahmed M. Ebid Dr. Jun 2022

Estimating The Weights Of Latticed Power Transmission Towers Using Genetic Programming, Ahmed M. Ebid Dr.

Future Engineering Journal

The recent booming in the power network industry inspired a lot of researchers to develop models to estimate the optimum cost of transmission towers. Unlike previous researches which depended on design the tower from scratch, this research depends on collecting actual database from several projects around the globe and applying the well-known (GP) technique to develop a model to predict the tower weight. The accuracy of the developed formula was about 84%. The developed model could be used in early tender stage or to check design economy.

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Exploration Of Energy Efficient Computing For Data-Intensive Applications, Md Adnan Zaman Jun 2022

Exploration Of Energy Efficient Computing For Data-Intensive Applications, Md Adnan Zaman

USF Tampa Graduate Theses and Dissertations

The recent surge of data-intensive applications has stretched the performance and energy limit of today’s traditional computing system. The massive amount of data generated by data-intensive applications is not processed at the same speed due to bandwidth mismatch between the faster processing unit and slower memory. Memory access and communication bandwidth can be identified as the primary bottlenecks. Consequently, these two bottlenecks make up most of the total energy consumption. In light of this, we explore energy-efficient computing for data-intensive applications. We examine different aspects of two computing systems, such as in-memory computing and AI-enabled edge computing, more popularly known …

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Cutting-Edge Technologies To Achieve A Higher Level Of Modular Construction – Literature Review, Seungtaek Lee, Jin Ouk Choi, Seung Song Jun 2022

Cutting-Edge Technologies To Achieve A Higher Level Of Modular Construction – Literature Review, Seungtaek Lee, Jin Ouk Choi, Seung Song

Civil and Environmental Engineering and Construction Faculty Research

Cost overruns, schedule delays, and a shortage of skilled labor are common problems the construction industry is currently experiencing. Modularization and standardization strategies have the potential to resolve the various problems mentioned above and have been applied for various construction applications for a long time. However, the level of modularization remains low, and modular construction projects have not been getting the full benefits. Thus, this review investigated the cutting-edge technologies currently being utilized to develop the modular construction field. For this paper, qualified research papers were identified using predetermined keywords from previous related research papers. Identified literature was then filtered …

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The Current State And Future Directions Of Industrial Robotic Arms In Modular Construction, Seung Ho Song, Jin Ouk Choi, Seungtaek Lee Jun 2022

The Current State And Future Directions Of Industrial Robotic Arms In Modular Construction, Seung Ho Song, Jin Ouk Choi, Seungtaek Lee

Civil and Environmental Engineering and Construction Faculty Research

Industrial robotic arms are widely adopted in numerous industries for manufacturing automation under factory settings, which eliminates the limitations of manual labor and provides significant productivity and quality benefits. The U.S. modular construction industry, despite having similar controlled factory environments, still heavily relies on manual labor. Thus, this study investigates the U.S., Canada, and Europe-based leading modular construction companies and research labs implementing industrial robotic arms for manufacturing automation. The investigation mainly considered the current research scope, industry state, and constraints, as well as identifying the types and specifications of the robotic arms in use. First, the study investigated well-recognized …

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Can Language Models Capture Graph Semantics? From Graphs To Language Model And Vice-Versa, Tarun Garg, Kaushik Roy, Amit Sheth Jun 2022

Can Language Models Capture Graph Semantics? From Graphs To Language Model And Vice-Versa, Tarun Garg, Kaushik Roy, Amit Sheth

Publications

Knowledge Graphs are a great resource to capture semantic knowledge in terms of entities and relationships between the entities. However, current deep learning models takes as input distributed representations or vectors. Thus, the graph is compressed in a vectorized representation. We conduct a study to examine if the deep learning model can compress a graph and then output the same graph with most of the semantics intact. Our experiments show that Transformer models are not able to express the full semantics of the input knowledge graph. We find that this is due to the disparity between the directed, relationship and …

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An Unsupervised Deep Neural Network For Image Fusion, Peipei Zhou, Xinglin Hou Jun 2022

An Unsupervised Deep Neural Network For Image Fusion, Peipei Zhou, Xinglin Hou

Journal of System Simulation

Abstract: Due to the low dynamic range of camera, can not be expressed in the different region of the high dynamic scene a single-exposure image. An unsupervised depth neural network is constructed to fuse the multi-exposure images into a high dynamic image. Based on the VGG-Net, encoding and decoding sub-networks are designed. Guided by the structural similarity of the images before and after fusion, a loss function suitable for image fusion is designed by introducing the weight factors based on the local image information, and the valid information of the different input images is given consideration. Compared with the …

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Research And Simulation Of Internet Of Vehicles Task Offloading Based On Mobile Edge Computing, Peng Cheng, Wenzhu Zhang, Shuhan Xie, Zixuan Yang Jun 2022

Research And Simulation Of Internet Of Vehicles Task Offloading Based On Mobile Edge Computing, Peng Cheng, Wenzhu Zhang, Shuhan Xie, Zixuan Yang

Journal of System Simulation

Abstract: In order to use the computing resources of edge devices to provide high-quality services, a joint resource allocation and task offloading mechanism is designed for the Internet of Vehicles architecture based on mobile edge computing. In the mechanism, the original problem is decomposed into two sub-problems of resource allocation and offloading decision. The original problem is simplified into the resource allocation of maximizing system capacity, and the initial offloading set is obtained through the proportional resource allocation algorithm; the above problem is solved by the joint offloading decision-making and resource allocation mechanism. The stable experimental results are obtained …

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Design And Realization Of 6-Dof Parachuting Simulation Training System, Xiaoguang Zhou, Peng Zhu, Yuanyuan Zhang, Huan Lu, Yuan Zhou Jun 2022

Design And Realization Of 6-Dof Parachuting Simulation Training System, Xiaoguang Zhou, Peng Zhu, Yuanyuan Zhang, Huan Lu, Yuan Zhou

Journal of System Simulation

Abstract: Aiming at restoring the 6-DOF motion process of each stage during parachuting, a 6-DOF parachuting simulation training system is designed and implemented. The architecture of the simulator is designed, and the realization of the sub-systems such as the motion calculation, 6-DOF motion platform, control loading system, virtual reality scene, somatosensory system and management console is explained. Compared with the same type of parachute simulator, this system has introduced a 6-DOF motion platform which can drive the trainees to simulate the various postures of parachuting. It can also help the trainees master the control methods of parachute and enhance the …

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A High Spectral-Efficiency Maritime Very-High-Frequency Communication Technology And Simulation, Xinyu Dou, Xiaohui Chen, Dequn Liang, Bin Lin Jun 2022

A High Spectral-Efficiency Maritime Very-High-Frequency Communication Technology And Simulation, Xinyu Dou, Xiaohui Chen, Dequn Liang, Bin Lin

Journal of System Simulation

Abstract: Marine communications cannot follow the development route on land of developing high frequency resources and high spectral-efficiency modulation technologies in 5G and 6G high-speed communication. The data rate and spectral-efficiency of maritime communications are low and are difficult to be improved. A high spectral-efficiency maritime very-high-frequency (VHF) communication technology based on multi-carrier time-delay overlapping modulation (MC-TDOP) is proposed. The core is delaying the subcarriers in turn and directly overlapping them in time domain. The orthogonality between the subcarriers can be neglected, thus the spectral-efficiency can be further enhanced from the fundamental information modulations. The results show that the proposed …

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Simulation Method Of Virtual Human Pose Optimization Based On Vr Peripherals, Muqing Wang, Lei Zhang, Xiumin Fan, Xiaomeng Luo, Wenmin Zhu Jun 2022

Simulation Method Of Virtual Human Pose Optimization Based On Vr Peripherals, Muqing Wang, Lei Zhang, Xiumin Fan, Xiaomeng Luo, Wenmin Zhu

Journal of System Simulation

Abstract: The commonly used VR peripheral is the position tracker worn on the operator body and is not very convenient. Focus on the problem, a visual sensor combination-based scheme is proposed to realize the simple and real-time unmarked virtual human driven simulation. On the basis of the parameterized human model SMPL, by minimizing the objective function of multiple error terms, the driven accuracy of the virtual human is improved, and the fitted human body model conforming to the operator form and posture is calculated and the ergonomic evaluation is realized. The module is verified by a case of evaluation in …

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Multi-Person Interactive Globe System Based On Ar Technology, Yiling Sun, Yi Chen, Guihua Shan, Xiaoxing Li Jun 2022

Multi-Person Interactive Globe System Based On Ar Technology, Yiling Sun, Yi Chen, Guihua Shan, Xiaoxing Li

Journal of System Simulation

Abstract: The characteristic of multi-source, high-dimensional, time-varying and massive of the Earth big data is difficult to be understood and analyzed. Aiming at this problem and for the science popularization needs, an AR-based multi-person interactive globe system is proposed and implemented. A system architecture integrating AR technology is proposed to realize the seamless overlay combination effect of the virtual information and the physical globe. A data visualization display scheme is designed to realize the visualization of the Earth big data in three-dimensional space. A lightweight multi-person multi-terminal collaboration mechanism is proposed to improve the practicality and interestingness of the system. …

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Multi-Agent Simulation For Online Fresh Food Autonomous Delivery, Miaojia Lu, Chengyuan Huang, Jing Teng Jun 2022

Multi-Agent Simulation For Online Fresh Food Autonomous Delivery, Miaojia Lu, Chengyuan Huang, Jing Teng

Journal of System Simulation

Abstract: Autonomous delivery can solve the last-mile delivery problems of low efficiency, high manual cost, and potential safety hazard. The autonomous delivery of the online fresh food in urban communities is discussed and a data-driven agent-based platform with the actual spatial-temporal demand is built. Three kinds of agents including the autonomous vehicles, customers, and distribution center and the simulation environment based on the actual road network are construct. To achieve the objectives of the minimum total operating costs and maximum customer satisfaction, the different static and dynamic order dispatch strategies and the route planning strategies with the principle of …

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Denoising Algorithm Based On Multi-Feature Non-Local Mean Filtering For Monte Carlo Rendered Images, Kai Yang, Chunyi Chen, Xiaojuan Hu, Haiyang Yu Jun 2022

Denoising Algorithm Based On Multi-Feature Non-Local Mean Filtering For Monte Carlo Rendered Images, Kai Yang, Chunyi Chen, Xiaojuan Hu, Haiyang Yu

Journal of System Simulation

Abstract: Aiming at the rendering noise in Monte Carlo synthesized images induced by the low light-path sampling rate, a denoising algorithm based on the multi-feature non-local-mean filtering is proposed. The gradient image of the scene's albedo information is calculatedwith the canny operator, and a guided filter together with the said gradient image is employed to prefilter the normal vector image. The structural similarity of the sub-blocks in the prefiltered normal vector image is calculated and the improved weights of the non-local mean filter are computed according to the logarithmic value of the reciprocal of the structural similarity. The improved …

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Multi-Uavs 3d Path Planning Method Based On Random Strategy Search, Sen Zhang, Mengyan Zhang, Jingping Shao, Jiexin Pu Jun 2022

Multi-Uavs 3d Path Planning Method Based On Random Strategy Search, Sen Zhang, Mengyan Zhang, Jingping Shao, Jiexin Pu

Journal of System Simulation

Abstract: In view of the difficulty of the traditional path planning method without energy consumption constraints to meet the emergency rescue requirements in the complex mountain operation environment, a three-dimensional path planning algorithm for multi-UAVs is proposed based on LSTM-DPPO(long short-term memory-distributed proximal policy optimization) framework. The LSTM long and short-term memory neural network is used to extract the important characteristic state information sequence of the multiple unmanned aerial vehicles in their respective flight process. After repeated iteration and updating, an optimal network parameter model is obtained. Combined with the energy consumption, the optimal 3D detection path is generated. …

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Simulation Of Multi-Layer Ship Evacuation System Based On Improved A* Algorithm, Dun Meng, Zhuo Hu, Huajun Zhang Jun 2022

Simulation Of Multi-Layer Ship Evacuation System Based On Improved A* Algorithm, Dun Meng, Zhuo Hu, Huajun Zhang

Journal of System Simulation

Abstract: Aiming at the low efficiency of emergency evacuation at sea, an emergency evacuation system based on improved A* algorithm is proposed. Based on the network flow model, the traversal mode of the adjacency node is used to complete the path search, and the influence of the path personnel density and path obstacles is added to the calculation of the cost, which makes the algorithm more practical. In order to improve the efficiency of the algorithm, the node optimization of the network is carried out, and a multi-path optimal scheme is proposed in the case of single layer with multiple …

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Image Center Layout Optimization Method Based On Improved Genetic Algorithm, Zhijie Li, Haoqi Shi, Changhua Li, Jie Zhang Jun 2022

Image Center Layout Optimization Method Based On Improved Genetic Algorithm, Zhijie Li, Haoqi Shi, Changhua Li, Jie Zhang

Journal of System Simulation

Abstract: Aiming at the layout optimization methods of image center being influenced by the subjective factors and low level of automation, a method of combining systematic layout planning(SLP) with the improved genetic algorithm is proposed. The layout scheme generated by SLP improves the initial population of the genetic algorithm and increases the diversity of the initial population. In order to improve the efficiency of optimization, the improved algorithm updates the crossover probability and mutation probability adaptively according to the evolution stages and the fitness value of the individuals. On the basis of the layout area model and multi-objective optimization mathematical …

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Airport Flight Transit Support Time Collaborative Planning Modeling Based On Stn, Bin Chen, Yue Liu, Yalei Yang Jun 2022

Airport Flight Transit Support Time Collaborative Planning Modeling Based On Stn, Bin Chen, Yue Liu, Yalei Yang

Journal of System Simulation

Abstract: Under the constraint of resources, the collaborative planning of airport flight transit support time is one of the effective methods to improve airport operation efficiency. Based on Simple Temporal Network (STN), a planning model of flight transit support time is established. Based on the temporal decoupling, the shortest path matrix simplification, and the distance graph solving of STN task model considering resources, the method of collaborative planning of flight transit support time for airport considering resources is obtained. The comparison results of the simulation and the actual data show that STN task model considering resources can optimize the airport …

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Vehicle Detection Method Based On Multi Scale Feature Fusion, Yin Wang, Feixiang Wang, Qianlai Sun Jun 2022

Vehicle Detection Method Based On Multi Scale Feature Fusion, Yin Wang, Feixiang Wang, Qianlai Sun

Journal of System Simulation

Abstract: Vehicle detection is the important research content and hotspot in the intelligent transportation. Aiming at the low detection accuracy and poor small-scale recognition effect of the traditional vehicle detection algorithm, an improved detection method based on YOLOv4(you only look once v4) is proposed to improve the detection performance of small target vehicles in traffic scenes. By redesigning the YOLOv4 network, the MobileNetv2 deep separable convolution module is used to replace the traditional convolution, and the convolutional block attention module (CBAM) attention module is integrated into the feature extraction network to ensure the detection accuracy of the model and reduce …

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A Hybrid Algorithm Based On Seeker Optimization Algorithm And Salp Swarm Algorithm For Pid Parameters Optimization, Shaomi Duan, Huilong Luo, Haipeng Liu Jun 2022

A Hybrid Algorithm Based On Seeker Optimization Algorithm And Salp Swarm Algorithm For Pid Parameters Optimization, Shaomi Duan, Huilong Luo, Haipeng Liu

Journal of System Simulation

Abstract: Aiming at the premature convergence of seeker optimization algorithm(SOA) during optimizing the global problems, a new SOA-SSA hybrid algorithm based on seeker optimization algorithm and salp swarm algorithm (SSA) is proposed.The SOA-SSA algorithm is based on a double population evolution strategy, in which some individuals of the population are evolved by seeker optimization algorithm and the rest are evolved from salp swarm algorithm. The individuals in SOA and SSA both employ an information sharing mechanism to realize the coevolution. These strategies increase the diversity of the population and avoid the premature convergence. The experimental results show that …

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Application Of Improved Q Learning Algorithm In Job Shop Scheduling Problem, Yejian Zhao, Yanhong Wang, Jun Zhang, Hongxia Yu, Zhongda Tian Jun 2022

Application Of Improved Q Learning Algorithm In Job Shop Scheduling Problem, Yejian Zhao, Yanhong Wang, Jun Zhang, Hongxia Yu, Zhongda Tian

Journal of System Simulation

Abstract: Aiming at the job shop scheduling in a dynamic environment, a dynamic scheduling algorithm based on an improved Q learning algorithm and dispatching rules is proposed. The state space of the dynamic scheduling algorithm is described with the concept of "the urgency of remaining tasks" and a reward function with the purpose of "the higher the slack, the higher the penalty" is disigned. In view of the problem that the greedy strategy will select the sub-optimal actions in the later stage of learning, the traditional Q learning algorithm is improved by introducing an action selection strategy based on the …

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Visual Inspection Model Of Uav Cluster Based On Improved Pigeon Flock Hierarchy, Qi Chen, Haoyang Cui Jun 2022

Visual Inspection Model Of Uav Cluster Based On Improved Pigeon Flock Hierarchy, Qi Chen, Haoyang Cui

Journal of System Simulation

Abstract: Aim at UAV being vulnerable to the environmental interference and the low efficiency of the traditional single-person-UAV model in the transmission line inspection, a visual inspection model for the power line by UAV is proposed based on the improved pigeon flock hierarchy. The initial landmark point of the UAV is generated based on GPS coordinates of the aircraft-carrying vehicle and the tower to be inspected, and the movement trajectory is planned. The return point of the UAV is used to update the initial landmark of onward UAV, which realizes the dynamic handover between the work-exchanging UAV, and the landmark …

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Design Of Interactive Simulated Water Gun Fire Fighting Training System Based On Steam Vr, Cheng Lu, Xuesheng Jin Jun 2022

Design Of Interactive Simulated Water Gun Fire Fighting Training System Based On Steam Vr, Cheng Lu, Xuesheng Jin

Journal of System Simulation

Abstract: In order to save the fire fighting training resources and increase the immersion and experience of VR training, an interactive simulated water gun fire fighting training system based on Steam VR is designed. By using the Hall sensors and signal conversion circuit boards to collect and transmit the signal of the simulated water gun, and by using the Unity3D engine combined with the VIVE head-mounted display to build and present VR fire scene. The gun is controlled through C# programming to complete the interaction with the virtual fire scene. The system is evaluated by a post-questionnaire survey …

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Application Of Observability In Performance Evaluation Of Photosynthesis Model, Hongnai Gao, Lijiang Fu, Qian Xia, Ya Guo Jun 2022

Application Of Observability In Performance Evaluation Of Photosynthesis Model, Hongnai Gao, Lijiang Fu, Qian Xia, Ya Guo

Journal of System Simulation

Abstract: The photochemical reaction of photosynthesis involves a variety of physiological substances that cannot be directly measured. By modeling the control system, the state of these physiological substances can be es-timated based on the chlorophyll fluorescence, but the reliability of the state estimation is not given in all the reference documents. In response to this problem, based on the photochemical reaction kinetic model, the observability of the nonlinear system is introduced to evaluate the reliability of the state estimation. Aiming at the existing observability methods lacking the direct comparability due to the different dimensions of the components of different states, …

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Fuzzy Super-Twisting Second Order Sliding Mode Trajectory Tracking Control For Robotic Manipulator, Baolin Du, Dachang Zhu, Yihua Pan Jun 2022

Fuzzy Super-Twisting Second Order Sliding Mode Trajectory Tracking Control For Robotic Manipulator, Baolin Du, Dachang Zhu, Yihua Pan

Journal of System Simulation

Abstract: A fuzzy super-twisting second order sliding mode control method is proposed for the uncertainties of the model error and external disturbance on the trajectory tracking accuracy of robotic manipulator. Based on the dynamic model of the robotic, a new non-singular terminal sliding mode manifold is designed, and an improved super-twisting algorithm is used to design the second order sliding mode controller. In order to solve the problem that the matching disturbance can only be compensated under the condition of the known disturbance boundary in the sliding mode control, the fuzzy logic algorithm is used to carryout the online compensation …

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