Fuzzy logic control application for the prototype of gun-turret system (arsu 57-mm) using

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https://scholar.google.com/scholar?hl=id&as_sdt=0%2C5&q=Fuzzy+Logic+Control+Application+for+the+Prototype+of+Gun-Turret+System+%28ARS… 1/1 JDS Munadi, MF Luthfa - International Journal of …, 2014 - pdfs.semanticscholar.org

In this work, we study the problem of gun-turret control. High precision control is desirable for future weapon systems. Several control design strategy are applied to a weapon system to assess the applicability of each control design method and to characterize the achievable performance of the gun-turret system in precision control. The gun-turret control is achieved through proper combined actuation of its azimuth and elevation inputs, which ARSU 57mm is one of gun-turret system was manually driven by human power. We modify to make a …

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ISSN: 1793-8198 (Print)

Abbreviated Title: Int. J. Mater. Mech. Manuf.

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IJMMM 2014 Vol.2(2): 174-180 ISSN: 1793-8198 DOI: 10.7763/IJMMM.2014.V2.123

Fuzzy Logic Control Application for the Prototype of Gun-Turret System (ARSU 57 mm) Using Matlab

Munadi, Joga Dharma Setiawan, and Muhammad Fairuz Luthfa

Abstract—In this work, we study the problem of gun-turret control. High precision control is desirable for future weapon systems. Several control design strategy are applied to a weapon system to assess the applicability of each control design method and to characterize the achievable performance of the gun-turret system in precision control. The gun-turret control is achieved through proper combined actuation of its azimuth and elevation inputs, which ARSU 57mm is one of gun-turret system was manually driven by human power. We modify to make a prototype of ARSU 57 mm using two DC motors as actuator for controlling the angle of azimuth rotation and elevation mavement of barrel. The proportional integral derivative (PID) and fuzzy logic control will be proposed for controlling this gun-turret system. The control design objective of the gun- turret control system is to achieve a rapid and precise tracking response with respect to the turret motor command and the barrel motor command. We apply hardware in the loop (HIL) as a technique that is used in the development and test of both control methods. The PID control is implemented to avoid overshooting and high-frequency oscillations. The fuzzy logic control is provided as an effective means of capturing the approximate, to address unexpected parameter variations without mathematical equations. Matlab/Simulink and fuzzy logic toolbox is used to set up the application of the gun-turret system.

Experimental results are presented to show the performance of the controller.

Index Terms—Gun-turret system, ARSU 57 mm, fuzzy logic control.

Munadi and Joga D. S. are with the Dept. of Mechanical Engineering, Diponerogo University, Indonesia (e-mail:

[email protected], [email protected]).

Muhammad F. L. is with the Electrical Engineering Department in Diponegoro University, Indonesia.

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Cite:Munadi, Joga Dharma Setiawan, and Muhammad Fairuz Luthfa, "Fuzzy Logic Control Application for the Prototype of Gun-Turret System (ARSU 57 mm) Using Matlab," International Journal of Materials, Mechanics and Manufacturing vol. 2, no. 2, pp. 174-180, 2014.

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Article# Article Title & Authors Page

109 Swimming Pattern Generator Based on Diving Beetles for Legged Underwater Robots

Hee-Joong Kim and Jihong Lee 101

110 ANFIS PD+I Based Hybrid Force/ Position Control of an Industrial Robot Manipulator

Himanshu Chaudhary, Vikas Panwar, N. Sukavanam, and Rajendra Prasad 107

111 Evaluating the Cutting Mechanics of Woodworking Hand-Saw Teeth

Andrew Naylor 113

112 Connection between Parameters of Timing Diagram of Automatic Machine and Equations Movements of Mechanisms

A. Jomartov, S. Joldasbekov, and Y. Temirbekov 117

113 Conceptual Design of 3 Independent Motor Actuation Transmission Systems for Low-Cost Anthropomorphic Prosthetic Hand

Anggriyawan Putranto, Ilham Priadythama, Susy Susmartini, and Pringgo W. Laksono 121

114 Importance of Locomotion and Its Dominance over Other Factors

Shruti Mundra and Shiv Bhagwan Agarwal 126

115 A Real-Time Fall Detection System in Elderly Care Using Mobile Robot and Kinect Sensor

Zaid A. Mundher and Jiaofei Zhong 133

116 A Stochastic Programming Approach to Supply Chain Disruptions Planning and Management

S. M. Ali and K. Nakade 139

117 Some Observations on Resource Allocation in Assembly-Like Queueing Networks via Simulation Approach

Yu Song and Masayoshi Hasama 146

118 Complex Production Structures in Assembly Processes

W. Grzechca 150

119 Availability Analysis with Opportunistic Maintenance of a Two Component Deteriorating System

Joel P. Varghese and Girish Kumar 155

120 Design of Confectionery Slicer for SME’s Product Quality Improvement

Sri Indrawati, Tio Sampurno, Yogi Thanjaya, and Rahmadani R. Octaviani 161

121 Mechanical Properties of Rice Husks Fiber Reinforced Polyester Composites

I Wayan Surata, I Gusti Agung Kade Suriadi, and Krissanti Arnis 165

122 Knowledge Integration in Collaborative New Product Development of Large Commercial Aircraft of China

Li Zhengfeng 169

123 Fuzzy Logic Control Application for the Prototype of Gun-Turret System (ARSU 57 mm) Using Matlab

Munadi, Joga Dharma Setiawan, and Muhammad Fairuz Luthfa 174

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Abstract—In the paper, we propose a better solution with a view point of biomometic technique. As a biomimetic model of underwater organisms, we chose diving beetles structurally similar to a legged underwater robot Crabster which is under development. Various swimming locomotion of the diving beetle has been observed and sorted by robotics technology through experiments with a high-speed camera and image processing software Image J. Subsequently, we analyze coordinated patterns of rhythmic movements of the diving beetle. Through the procedure of comparing locomotion reproduced by simple control parameters with observed motions of the diving beetles, we confirmed applicability of various swimming patterns to the robot making it easy to control trajectories and velocities of its legs. In addition, the concept of the robot leg is proposed for efficient swimming.

Index Terms—Diving beetles, bio-inspired legged underwater robots, swimming pattern generator, underwater locomotion.

I. INTRODUCTION

The research of swimming patterns based on biomimetics for underwater robots had been increased for the purpose of employing the agility and efficiency of animal locomotion.

As the underwater organisms have been evolved to suit given environments for millions years, their capability to rapidly and continuously modulate locomotion by accelerating, decelerating, changing type of motion, and changing directions is enough to fascinate engineers. What is more interesting about mimicking living organisms in the water for carrying out some missions such as ocean detection and resource exploration is not only to grate dynamic characteristics but also to have higher energy efficiency more than the undersea robots which have propeller based actuators through many researches[1], [2].

Generally, most of the bio-inspired robots which are mainly focused on a task of ocean detection employed fish-like locomotion in forms of the repetitive swishing and oscillating fins of tails[3]-[6]. There is one of the well-known legged underwater robot, AQUA, it does not use-like stepping or retractable movements for its legs or feet as the legs move like wheels and paddles [7]. Unlike the research that mentioned above, the primary difference of our approach for underwater swimming is to develop an articulated-legged underwater robot called CRABSTER in order to perform many missions such as manipulation and collection while both walking and swimming. CRABSTER has been in development at KORDI (Korea Ocean Research &

Manuscript received September 20, 2013; revised December 28, 2013.

Hee Joong Kim and Jihong Lee are with the Department of Mechatronics Engineering, Chungnam National University, 99 Daehang-ro, Yuseong-gu, Daejeon, Korea (e-mail: [email protected], [email protected]).

Development Institute) since in 2010 [8]-[10]. The walking type of CRABSTER called CR200 which is able to operate the depth of 200m underwater is officially released in 2013 (see Fig. 1).

Fig. 1. A bio-inspired legged underwater robot CRABSTER.

As designing a walking and swimming type of the robot for the next step, we have been studied on one of the legged underwater livings, a diving beetle, which is optimized for swimming in the water at any direction.

Fig. 2. A diving beetle (Cybister lateralimarginalis).

In this paper, we analyze its swimming patterns and confirm the possibility of applying its locomotion to the robot with the following procedures.

1) An experimental environment to analyze the diving beetle was set up with a high speed camera to get motion capture data of its movements. A model of its movements was generated through engineering techniques and the dynamic characteristics of the diving beetle were observed.

2) The pattern generator is developed for repetitive movements of the legged underwater robot inspired by diving beetle with simple control parameters.

3) It is verified that the motions of diving beetles are easily reconstructed with high similarities by comparing produced locomotion by adjusting the parameters with observed motions of the diving beetle.

4) The concept of the robot leg is proposed for efficient swimming considering the dimensional problem.

II. SWIMMING PATTERN ANALYSIS OF DIVING BEETLES A. An Experimental Environment

In order to observe the movement of the diving beetles closely, a high-speed motion capture system has been built up shown as Fig. 3. Diving beetles are swimming in the water

Swimming Pattern Generator Based on Diving Beetles for Legged Underwater Robots

Hee-Joong Kim and Jihong Lee

International Journal of Materials, Mechanics and Manufacturing, Vol. 2, No. 2, May 2014

101 DOI: 10.7763/IJMMM.2014.V2.109

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natural experiences from creatures which have changed themselves to suit their given environments on the Earth for millions of years.

The pattern generator is designed for repetitive movements of the legged underwater robot with simple control parameters. Each characteristic of the parameter was stated in the paper having different activating region on the leg trajectory. Then, each produced pattern was compared to observed motions of the diving beetle. As a result, the designed pattern generator could make it possible to produce motions of diving beetles easily with high similarities.

In addition, we proposed a concept of the leg which is possible to both walk and swim in three-dimensional space employing the benefit of the passive joints based on the leg structure of the diving beetle.

ACKNOWLEDGMENT

The authors thank Korea Ocean Research & Development Institute for giving us an opportunity to cooperate with them for the project “Plan and control an optimized path for an articulated swimming robot”.

REFERENCES

[1] M. S. Traiantafyllou and G. S. Traiantafyllou, “An efficient swimming machine,” Scientific American, vol. 272, issue 3, pp. 64-70, June 1995.

[2] P. R. Bandyopadhyay, “Trends in Biorobotics Autonomous Undersea Vehicles,” IEEE Journal of Ocean Engineering, vol. 30, no.1, January 2005.

[3] K. Hirata, “Locomotion by mechanical pectoral fins,” Journal of Marine Science and Technology, vol. 3, no. 3, pp. 113-121, 1998.

[4] Y. S. Ryuh and J. I. Moon, “Multi-agent control and implementation of bio-inspired underwater robots for mariculture monitoring and control,”

in Proc. the 2013 IEEE International Conference on Robotics and Biomimetics, pp. 777-783, December 2012.

[5] H. Hu, “Biologically Inspired Design of Autonomous Robotic Fish at Essex,” in Proc. the IEEE SMC UK-RI Chapter Conference on Advances in Cybernetic Systems, September 7-8, 2006.

[6] A. Crepsi, D. Lachat, A. Pasquier, and A. J. Ijspeert, “Controlling swimming and crawling in a fish robot using a central pattern generator,” Autonomous Robots, vol. 25, pp. 3-13, August 2008.

[7] P. Gigure, C. Prahacs, and G. Dudek, “Characterization and modeling of rotational responses for an oscillating foil underwater robot,” in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, October 9-15, 2006.

[8] B. H. Jun, H. Shim, J. Y. Park, B. Kim, and P. M. Lee, “A new concept and technologies of multi-legged underwater robot for high tidal current underwater technology,” in Proc. IEEE Symposium on and Workshop on Scientific Use of Submarine Cables and Related Technologies, April 5-8, 2011.

[9] B. H. Jun, H. Shim, J. Y. Park, H. Baek, P. M. Lee, W. J. Kim, and Y. S.

Park, “Preliminary design of the multi-legged underwater walking robot CR200,” in Proc. the MTS/IEEE Oceans, May 21-24, 2012.

[10] H. Kang, H. Shim, B. H. Jun, and P. M. Lee, “Development of leg with arm for multi-legged seabed robot CR200,” in Proc. the MTS/TEEE OCEANS, October 14-19, 2012.

[11] MotionScope M1.0.3. Software of transferring video images. [Online].

Available: http://redrake.com/

[12] Image J. Image processing software. [Online]. Available:

http://rsbweb.nih,gov/ij/

[13] M. Sfaloptakis, A. Kazakidi, N. Pateromichelakis, J. A. Ekaterinaris and D. P. Tsakiris, “Robotic Underwater Propulsion Inspired by the Octopus Multi-arm Swimming,” in Proc. 2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012.

Hee Joong Kim received the B.S degree in mechatronics engineering from Chungnam National University in 2012. He is currently a M.S candidate at Chungnam National University. He is interested in the field of robotics, intelligent control, indoor localization, underwater robots.

Jihong Lee received the B.B degree in electronics engineering from Seoul National University, Korea in 1983, and the M.S and Ph.D. degrees from Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea, in 1985 and 1991, respectively, all in electrical and electronics engineering. Since 2004, he has been a professor in Department of Mechatronics Engineering at Chunnam National University, Daejeon, Korea. His research interests include in the field of robotics, intelligent control, mobile-robot localization, underwater robots, and unmanned ground vehicles.

Author’s formal photo

106

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Abstract—The research detailed in this paper investigates the chip formation modes for woodworking handsaw teeth. Two tooth geometries (beveled and un-beveled) were evaluated using a single tooth rig. A high speed video camera was used to observe the chip formation in real time. For both tooth geometries the video footage provides evidence of a shearing mechanism cutting along the wood grain, and a bending mechanism cutting across the wood grain. Un-beveled teeth (with orthogonal edges) generally yield high cutting forces yet are very effective at removing material along the wood grain in a

“chisel like” cutting action. Beveled teeth with sharp lateral edges generally yield low cutting forces and are well suited to severing the wood fibers perpendicular to the grain in a “knife like” cutting action.

Index Terms—Wood sawing, high speed photography, cutting mechanics.

I. INTRODUCTION

Traditionally there are two types of tooth geometry for wood-cutting handsaws: The first type can be described as un-beveled (rip) teeth. These are widely understood to act as orthogonal cutting tools and are used by carpenters to remove material along the wood grain in a “chisel” like action. The second type can be described as beveled (cross-cutting) teeth.

These are employed to sever wood fibers perpendicular to the grain. This paper takes these two common assumptions at face value and further investigates the precise mechanics of cutting.

A comprehensive review into wood machining (focusing on sawing) has been conducted by this author [1]. This supports the hypothesis that, in general, there are three types of factors that have a significant influence on the cutting mechanics:

1) Factors attributed to the machining process 2) The bulk properties of the wood

3) The moisture content of the wood

Analysis of the wood cutting process in some of the earliest studies [2]-[5] examines all of these three groups in detail.

The most fundamental studies conducted by Franz [2], McKenzie [3], Woodson and Koch [4] provide adequate respective models for wood machining using simple, orthogonal tools.

Excluding studies carried out by this author [6], [7], the small amount of research that focuses on saw-teeth does not

Manuscript received October 23, 2013; revised January 20, 2014.

The author are with the School of Mechanical and Systems Engineering, Newcastle University, Newcastle upon Tyne, United Kingdom (e-mail:

[email protected]).

adequately consider wood as a heterogeneous material [8]-[16]. Quite often only density and moisture content are considered when developing predictive tool force models. In short, different mechanical properties in multiple directions need to be obtained to credit the isotropic, heterogeneous nature of wood.

II. FINDINGS FROM PREVIOUS STUDY

Two numerical models have previously been developed by this author to predict the force in the major direction of cutting both along and across the wood grain [6]. Mechanical properties using standard test procedures [17] were obtained and used as categorical predictors.

The cutting tests were performed in a controlled experimental rig machining both along and across the wood grain (Fig. 1). Only an un-beveled tooth was used to perform the cutting action. This was done to maintain focus on the work-piece properties rather than the tooth geometry. When the saw-tooth passed through the work-piece, the calibrated dynamometer registered charge signals in the X, Y and Z directions. These signals were then amplified, processed via a PLC and then logged on the computer using LabView. The signals in the Y and Z axes (side and thrust force respectively) were minimal and hence not carried forward for further analysis.

Each predictive model demonstrated a strong correlation between the cutting force and specific mechanical properties:

The cutting force along the grain correlated well with shear strength (τ) and toughness (Us). The cutting force across the grain correlated well with bending strength (M.O.R) and toughness (Ub). In both instances elastic moduli (G and M.O.E) were poor predictors. Density (ρ) however did act as a reasonably good predictor in both directions. To the best knowledge of this author, this is the first time that specific mechanical properties have been used to create predictive tool force models along and across the grain respectively.

Fig. 1. Test rig schematic diagram.

Evaluating the Cutting Mechanics of Woodworking Hand-Saw Teeth

Andrew Naylor

113 DOI: 10.7763/IJMMM.2014.V2.111

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2011.

[14] B. Porankiewicz, B. Axelsson, A. Grönlund, and B. Marklund, "Main and normal cutting forces by machining wood of Pinus sylvestris,"

BioRes, vol. 6, pp. 3687-3713, August 2011.

[15] I. Cooz and R. W. Meyer, "Cutting forces for tension and normal wood of maple," Forest Products Journal, vol. 56, pp. 26-34, April 2006.

[16] F. Eyma, P. J. Méausoone, and P. Martin, "Strains and cutting forces involved in the solid wood rotating cutting process," Journal of Materials Processing Technology, vol. 148, pp. 220-225, May 2004.

[17] Standard Test Methods for Small Clear Specimens of Timber, ASTM

Standard D143-09 – 2009.

Andrew Naylor received his BEng(Hons), PhD degrees. He is an AMIMechE. He is currently a post-doctoral researcher with the school of Mechanical and Systems Engineering, Newcastle University, United Kingdom. His research interests primarily consist of the use of natural materials in engineering, biotribology and most recently biomedical engineering.

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