This paper introduces some generalized fundamentals for fractional-order RL β C α circuits as well as a gradient-based optimization technique in the frequency domain. One of the main advantages of the fractional-order design is that it increases the flexibility and degrees of freedom by means of the fractional parameters, which provide new fundamentals and can be used for better interpretation or best fit matching with experimental results. An analysis of the real and imaginary components, the magnitude and phase responses, and the sensitivity must be performed to obtain an optimal design

Committing robotics with artificial intelligence becomes mandatory collaboration with distinct environments. Omnidirectional Wheeled (Omni-WD) mobile robots are one of the robots that interact with humans in various circumstances, where it is important to function effectively and accurately. In this paper, the distinction of a 3WD-Omni model and control using machine vision is demonstrated. The use of fractional order (FO) calculus has been stated to increase the degrees of freedom of the controller over the integer ones. Hybridization of FO control and metaheuristics optimization is reported

In this paper a novel strategy for the position control and trajectory tracking of robotic manipulators is proposed. This strategy consists of an independent two degree of freedom PID controller for a two links robotic arm. Due to the capability of two degree of freedom PID controllers to deal with disturbances, each link is controlled independently considering that the disturbance does not affect the system performance due to the robustness of the closed loop system. Then, a fuzzy type-2 centralized compensator is implemented to drive the orientation variables with the desired trajectory in

Soft pneumatic actuators grasping tasks is one of the essential rules in robot manipulation methods. The grasping forces can be adapted to handle delicate and hard objects without leaving any damages on the object surfaces. This paper investigates the influence of the inclination angle of the soft pneumatic actuator (SPA) on its gripping force at its end tip. A range of inclination angles for SPA is analyzed using Finite Element Analysis (FEA) to estimate the gripping force at the end tip regarding SPA inner faces pressure. FEA study is conducted based on Hyperelastic material modeling

This study aims to produce starch bioplastic pellets from food waste such as potato peels. Measuring the ease of flow of the melt is crucial for producing these pellets. The melt flow index (MFI) is measured in this study to evaluate the consistency of the produced pellets and determine the extent of degradation of the plastic because of molding. This study investigates the effect of adding different fillers to the starch matrix on reducing the MFI value. The fillers used in this work are nano chitosan, nano potato peel, and micro cellulose fillers. The fillers were used with different

This paper represents modeling and control of an agricultural service skid steering mobile robot for the purposes of grass cutting using Proportional-Integral-Derivative (PID) controller and Fuzzy Logic techniques and feedback signals from sensors as IMU, encoders, and Machine Vision. The paper deals with the system modeling into two methods: The first is using Fuzzy modeling as a modeling tool for complex nonlinear system, the second is using MATLAB software system Identification Tool. The study Uses PID, Fuzzy logic controller and fuzzy self-tuning of PID controller to control the path

Thermal insulators have a crucial role in reducing the operational building energy. They are commonly fabricated from petrochemical materials that mostly cause negative environmental impacts. This study aims to develop banana leaves-polystyrene composites (BL-PS) as a sustainable and low-cost thermal insulator. The BL powder was mixed with PS in different weight ratios (90:10, 80:20, 70:30, and 60:40). Thermal conductivity, electrical conductivity, SEM, XRD, FTIR, TGA, and DSC were carried out on BL and BL-PS composites that were prepared with 10 wt.% of PS powder (BL-PS1) and 30 wt.% of PS

This paper presents a case for adopting agent-based modeling (ABM) as a framework for representing the complex interactions that occur within the context of urban infrastructure management. A generic ABM is proposed with four key agents namely; assets, users, operators and politicians. For each agent a set of generic attributes, actions and behaviors are defined. A detailed behavioral model is adapted from the service quality domain to represent customer perceptions and actions related to infrastructure level of service. An illustrative example of 20 assets and 50 user agents is simulated to

Titanium dioxide (TiO2) nanocomposites have been extensively employed in many fundamental optoelectronic and photocatalytic applications due to their outstanding optical, electronic and chemical properties. In the present work, we introduce a simple layer-by-layer approach to design a magnetic TiO2 nanocomposite that could be easily recycled using an external magnetic field without affecting its quantum efficiency. The crystallinity, size, surface area, stability, morphology, purity and other optical, thermal and magnetic properties of the composite have been investigated. Surface topology

This study presents proposed solutions for increasing the productivity of a production line in the perfumes industry in Egypt using lean manufacturing methodology. Enhancing efficiency is a major significant objective to consider in a typical manufacturing firm to improve the overall performance. Increasing productivity is achieved through applying an extensive lean program implementing appropriate lean tools to solve problems identified as wastage in materials and activities as well as bottlenecks increasing lead time. Information of current problems and gaps are gathered through visits and