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All Journal Bulletin of Electrical Engineering and Informatics Indonesian Journal of Electrical Engineering and Computer Science
Yousif I. Al Mashhadany
University of Anbar
Electrical & Electronics Engineering

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Virtual reality trajectory of modified PUMA 560 by hybrid intelligent controller Yousif I. Al Mashhadany
Bulletin of Electrical Engineering and Informatics Vol 9, No 6: December 2020
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/eei.v9i6.2579

Abstract

The high performance is a goal for all designers to get better, faster, or more efficient than others. This paper proposes a design for virtual reality (VR) of modified PUMA 560 by hybrid controller between adaptive neuro fuzzy inference system (ANFIS) controller and fractional order proportional, integral, derivative (FOPID) controller. The main purpose is to obtain the optimal trajectory by get the best value of controller’s parameters that regulate the manipulator movements smoothly to the desired target. The procedure of design start by obtains the optimal values of the traditional PID controller parameters normally. The next step is applied the FOPID controller with high accuracy. It is high performance to control the perplexing physics system than, the classical integer order of PID controller. The final step to get high performance of the control system under considers is achieved by hybrid between FOPID with ANFIS controller which used the pervious output as predictive point. The whole proposed hybrid controller model was simulated and reproduction by MATLAB Version 2019b and Robotic system Toolbox 9. The optimal design of this controller is applied with 3D model of modified PUMA 560 which design by using VR technique under MATLAB/Simulink.
Diabetics blood glucose control based on GA-FOPID technique Wesam M. Jasim; Yousif I. Al Mashhadany
Bulletin of Electrical Engineering and Informatics Vol 10, No 1: February 2021
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/eei.v10i1.2715

Abstract

In this paper, an optimized Fractional Order Proportional, Integral, Derivative based Genetic Algorithm GA-FOPID optimization technique is proposed for glucose level normalization of diabetic patients. The insulin pump with diabetic patient system used in the simulation is the Bergman minimal model, which is used to simulate the overall system. The main purpose is to obtain the optimal controller parameters that regulate the system smoothly to the desired level using GA optimization to find the FOPID parameters. The next step is to obtain the FOPID controller parameters and the traditional PID controller parameters normally. Then, the simulation output results of using the proposed GA-FOPID controller was compared with that of using the normal FOPID and the traditional PID controllers. The comparison shows that all the three controllers can regulate the glucose level but the use of GA-FOPID controller was outperform the use of the other two controllers in terms of speed of normalization and the overshoot value.
Real time modified programmable universal machine for assembly (PUMA) 560 with intelligent controller Yousif I. Al Mashhadany; Wesam M. Jasim
Indonesian Journal of Electrical Engineering and Computer Science Vol 20, No 3: December 2020
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijeecs.v20.i3.pp1194-1202

Abstract

In this work, the design of an integrated industrial application for use on a modified PUMA 560 robot arm was presented. The modified PUMA 560 robot has three joints; two of them are free-moving and the third one is at constant 90 degree angle. It has three links and two extra Griper links. Each joint was controlled via a DC motor through a PIC microcontroller. The design and implementation of modified PUMA 560 with electronic circuits to derive the motor were used with the robot and the working platform. These electronic circuits were also used to interface with the computer to control the DC motor based on the computer orders. The control signals used to control the application control system and to perform the defined tasks were received from a remote computer connected via internet. This design has been implemented in two phases; the first phase was the simulation of the complete control system, while, the second phase was the practical implementation. The obtained results were ensured the ability of the proposed system to perform the tasks of many industrial applications.
Co-Authors Wesam M. Jasim