Soft computing-based approaches to predict energy consumption and stability margin of six-legged robots moving on gradient terrains

Soft computing-based approaches have been developed to predict specific energy consumption and stability margin of a six-legged robot ascending and descending some gradient terrains. Three different neuro-fuzzy and one neural network-based approaches have been developed. The performances of these approaches are compared among themselves, through computer simulations. Genetic algorithm-tuned multiple adaptive neuro-fuzzy inference system is found to perform better than other three approaches for predicting both the outputs. This could be due to a more exhaustive search carried out by the genetic algorithm in comparison with back-propagation algorithm and the use of two separate adaptive neuro-fuzzy inference systems for two different outputs. A designer may use the developed soft computing-based approaches in order to predict specific energy consumption and stability margin of the robot for a set of input parameters, beforehand.     

Effects of turning gait parameters on energy consumption and stability of a six-legged walking robot

Minimization of energy consumption plays a key role in the locomotion of a multi-legged robot used for various purposes. Turning gaits are the most general and important factors for omni-directional walking of a six-legged robot. This paper presents an analysis on energy consumption of a six-legged robot during its turning motion over a flat terrain. An energy consumption model is developed for statically stable wave gaits in order to minimize dissipating energy for optimal feet forces distributions. The effects of gait parameters, namely angular velocity, angular stroke and duty factors are studied on energy consumption, as the six-legged robot walks along a circular path of constant radius with wave gait. The variations of average power consumption and energy consumption per unit weight per unit traveled length with the angular velocity and angular stroke are compared for the turning gaits of a robot with four different duty factors. Computer simulations show that wave gait with a low duty factor is more energy-efficient compared to that with a high duty factor at the highest possible angular velocity. A stability analysis based on normalized energy stability margin is performed for turning motion of the robot with four duty factors for different angular strokes.     

Dynamic modeling,stability and energy consumption analysis of a realistic six-legged walking robot

This paper deals with a detailed analysis on kinematics, dynamics, stability and energy consumption of a realistic six-legged robot. The aim of this study is to extend a previous work of Roy et al. [1], in order to estimate optimal feet forces and joint torques of the six-legged robot generating wave-gaits with four different duty factors and deal with its stability issues. Two different approaches are developed to determine optimal feet forces. In the first approach, minimization of the norm of feet forces is carried out using a least square method, whereas minimization of the norm of joint torques is performed in the second approach. The second approach is found to be more energy efficient compared to the first one. The maximum values of feet forces and joint torques are seen to decrease with the increase of duty factor. The effects of walking parameters, namely velocity, stroke and duty factors have been studied on energy consumption and stability of the robot. The variations of average power consumption and specific energy consumption with the velocity and stroke are compared for four different duty factors. Wave gait with a low duty factor is found to be more energy-efficient compared to that with a high duty factor at the highest possible velocity.     

Basic theoretical results for expert systems. Application to the supervision of adaptation transients in planar robots

The objective of expert systems is the use of Artificial Intelligence tools so as to solve problems within specific prefixed applications. In the last two decades a great experimental effort together with some theoretical knowledge have been employed to investigate the completeness and consistency of knowledge-based systems and to clarify the structure of these systems. Nevertheless, there is often a gap in the formalism which allows the structuring of the expert system programming towards the expert system design. In the last years, a new field called Ontological Engineering, defined by the IEEE as “the field that establishes a set of concepts, axioms, and relationships that describe a domain of scientific or technological interest” is trying to fill this gap. The work presented here may be placed in this context. In particular, the paper deals with the development of an expert system valid to optimize the adaptation transients arising in adaptive control using a logic formalism previously described, providing good simulation results. Its structure is composed by a supervisor based on an expert network organization and designed to improve the transient performances in the adaptive control of a planar robot. Apart form the basic adaptation scheme consisting of an estimation algorithm plus an adaptive controller, two additional coordinated expert systems are used to update an adaptation gain and the sampling period with a master expert system coordinating both above expert systems.     

Navigation of multiple mobile robots in a highly clutter terrains using adaptive neuro-fuzzy inference system

In recent years, the interest in research on robots has increased extensively; mainly due to avoid human to involve in hazardous task, automation of Industries, Defence, Medical and other household applications. Different kinds of robots and different techniques are used for different applications. In the current research proposes the Adaptive Neuro Fuzzy Inference System (ANFIS) Controller for navigation of single as well as multiple mobile robots in highly cluttered environment. In this research it has tried to design a control system which will be able decide its own path in all environmental conditions to reach the target efficiently. Some other requirement for the mobile robot is to perform behaviours like obstacle avoidance, target seeking, speed controlling, knowing the map of the unknown environments, sensing different objects and sensor-based navigation in robot’s environment.     

Feedforward neural network and adaptive network-based fuzzy inference system in study of power lines

Over the past several decades, concerns have been raised over the possibility that the exposure to extremely low frequency electromagnetic fields from power lines may have harmful effects on human and living organisms. This paper presents novel approach based on the use of both feedforward neural network (FNN) and adaptive network-based fuzzy inference system (ANFIS) to estimate electric and magnetic fields around an overhead power transmission lines. An FNN and ANFIS used to simulate this problem were trained using the results derived from the previous research. It is shown that proposed approach ensures satisfactory accuracy and can be a very efficient tool and useful alternative for such investigations.     

Comparison of conventional and soft computing-based power control methods in mobile communications systems

 In this paper, we give a comparison between the conventional power control scheme and soft computing-based approaches in a mobile communications application. At the base station, the `bang–bang' control strategy and a neural network-based prediction control method are employed. In addition, full power command transmission mode, single-bit command transmission mode, and fuzzy logic-based power command enhancement unit are considered. Based on simulation experiments, we quantitatively evaluate the performance of various combinations of these control methods and command transmission modes. Conclusions on the optimal configuration are finally drawn.     

Discrimination of quarry blasts and earthquakes in the vicinity of Istanbul using soft computing techniques

The purpose of this article is to demonstrate the use of feedforward neural networks (FFNNs), adaptive neural fuzzy inference systems (ANFIS), and probabilistic neural networks (PNNs) to discriminate between earthquakes and quarry blasts in Istanbul and vicinity (the Marmara region). The tectonically active Marmara region is affected by the Thrace-Eski?ehir fault zone and especially the North Anatolian fault zone (NAFZ). Local MARNET stations, which were established in 1976 and are operated by the Kandilli Observatory and Earthquake Research Institute (KOERI), record not only earthquakes that occur in the region, but also quarry blasts. There are a few quarry-blasting areas in the Gaziosmanpa?a, Çatalca, Ömerli, and Hereke regions. Analytical methods were applied to a set of 175 seismic events (2001-2004) recorded by the stations of the local seismic network (ISK, HRT, and CTT stations) operated by the KOERI National Earthquake Monitoring Center (NEMC). Out of a total of 175 records, 148 are related to quarry blasts and 27 to earthquakes. The data sets were divided into training and testing sets for each region. In all the models developed, the input vectors consist of the peak amplitude ratio (S/P ratio) and the complexity value, and the output is a determination of either earthquake or quarry blast. The success of the developed models on regional test data varies between 97.67% and 100%.