A two-link robotic manipulator is a Multi-Input Multi-Output (MIMO), highly nonlinear and coupled system. Therefore, designing an efficient controller for this system is a challenging task for the control engineers. In this paper, the Fractional Order Fuzzy Proportional-Integral-Derivative (FOFPID) controller for a two-link planar rigid robotic manipulator for trajectory tracking problem is investigated. Robustness testing of FOFPID controller for model uncertainties, disturbance rejection and noise suppression is also investigated. To study the effectiveness of FOFPID controller, its performance is compared with other three controllers namely Fuzzy PID (FPID), Fractional Order PID (FOPID) and conventional PID. For tuning of parameters of all the controllers, Cuckoo Search Algorithm (CSA) optimization technique was used. Two performance indices namely Integral of Absolute Error (IAE) and Integral of Absolute Change in Controller Output (IACCO) having equal weightage for both the links are considered for minimization. Numerical simulation results clearly indicate the superiority of FOFPID controller over the other controllers for trajectory tracking, model uncertainties, disturbance rejection and noise suppression.

Performance analysis of fractional order fuzzy PID controllers applied to a robotic manipulator

Cuckoo search (CS) is a recently developed meta-heuristic, which has shown good search abilities on many optimization problems. In this paper, we present a hybrid multi-objective CS (HMOCS) for solving multi-objective optimization problems (MOPs). The HMOCS employs the non-dominated sorting procedure and a dynamical local search. The former is helpful to generate Pareto fronts, and the latter focuses on enhance the local search. In order to verify the performance of our approach HMOCS, six well-known benchmark MOPs were used in the experiments. Simulation results show that HMOCS outperforms three other multi-objective algorithms in terms of convergence, spread and distributions.

Hybrid multi-objective cuckoo search with dynamical local search

A combined model based on data pre-analysis and weight coefficients optimization for electrical load forecasting

Cuckoo search (CS) was introduced by Xin-She Yang and Suash Deb in 2009, and it has attracted great attention due to its promising efficiency in solving many optimization problems and real-world applications. In the last few years, many papers have been published regarding cuckoo search, and the relevant literature has expanded significantly. This chapter summarizes briefly the majority of the literature about cuckoo search in peer-reviewed journals and conferences found so far. These references can be systematically classified into appropriate categories, which can be used as a basis for further research.

Cuckoo Search: A Brief Literature Review

A flexible dual-band antenna with a metamaterial structure (MS) is presented. Polyimide substance, which makes the antenna thin and bendable, is used as the substrate for the antenna. When the MS is placed between the antenna and the human’s forearm, the antenna gain is increased by 9.3 and 5.37 dB, and the radiation efficiency is increased by 48.4% and 35.7%, at 2.45 and 5.8 GHz, respectively. In addition, the specific absorption rate is decreased by more than 70%, considering the limitations imposed by Federal Communications Commission and the regulation of International Commission on Non-Ionizing Radiation Protection (ICNIRP) for the frequencies cited above. The fabricated prototype of the antenna with the integrated MS was investigated by placing it on different places of human body, as also on different human bodies. The obtained results show that the proposed antenna is safe and suitable for use, in terms of the ICNIRP standards of World Health Organization.

Investigation of SAR Reduction Using Flexible Antenna With Metamaterial Structure in Wireless Body Area Network

Presently, wireless capsule endoscopy (WCE) is the sole technology for inspecting the human gastrointestinal (GI) tract for diseases painlessly and in a non-invasive way. For the further development of WCE, the main concern is the development of a high- speed telemetry system that is capable of transmitting high-resolution images at a higher frame rate, which is also a concern in the use of conventional endoscopy. A vital task for such a high-speed telemetry system is to be able to determine the path loss and how it varies in a radio channel in order to calculate the proper link budget. The hostile nature of the human body's channel and the complex anatomical structure of the GI tract cause remarkable variations in path loss at difierent frequencies of the system as well as at capsule locations that have high impacts on the calculation of the link budget. This paper presents the path loss and its variation in terms of system frequency and location of the capsule. Along with the guideline about the optimum system frequency for WCE, we present the difierence between the maximum and minimum path loss at difierent anatomical regions, which is the most important information in the link-margin setup for highly e-cient telemetry systems in next-generation capsules. In order

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The use of a human body model to determine the variation of path losses in the human body channel in wireless capsule endoscopy

The need to flnd ways to efiectively utilize the large quantities of agricultural waste that are produced is indicative of the huge potential associated with producing an alternative pyramidal microwave absorber for anechoic chamber-testing applications. We propose the development of a pyramidal microwave absorber that can use sugar cane bagasse (SCB), a byproduct from the production and processing of sugar cane, as the absorbent. In this paper, we report the results of our use of dielectric probe measurement to determine the dielectric constant and loss tangent of SCB. These values were used to model and simulate an SCB pyramidal microwave absorber in Computer Simulation Technology's (CST's) Microwave Studio. This absorber was operated in the microwave frequency range between 0.1GHz and 20.0GHz.

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Development of Pyramidal Microwave Absorber Using Sugar Cane Bagasse (Scb)

Flexible substrates have been increasingly studied in recent years. This paper proposes natural rubber as a new substrate material for flexible antennas. In our work, prototype antennas were built using rubber formulated with different filler contents. Carbon black was used as the filler where its amount was varied to yield different dielectric properties. Prototype inset-feed microstrip patch antennas with outer dimensions 7.52mm × 10.607mm × 1.7mm and copper as its conducting material were fabricated to operate at 2.45GHz. The prototypes were measured and their performance analyzed in terms of the effects of filler content on Q, return loss and bending effects on their gain and radiation characteristics. The return loss and gain were found to be comparable to those built on existing synthetic substrates, but these new antennas offer an added feature of frequency-tunability by varying the filler content. Under bending conditions, these new antennas were also found to perform better than existing designs, showing less changes in their gain, frequency shift and beamwidth, in addition to less impedance mismatch when bent.

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Flexible Antennas Based on Natural Rubber

In this study, we proposed a bio-inspired technique known as modified cuckoo search (MCS)-based weighted sum algorithm towards synthesizing symmetric linear array geometry with minimum side lobe level (SLL) and/or nulls control. The newly evolved metaheuristic algorithm was primarily based on the natural obligate brood parasitic behavior of some cuckoo species in combination with the Levy flight behavior of some birds and fruit flies. Through the integration with the Roulette wheel selection operator and the inertia weight controlling the position (solution) exploration, the MCS-based weighted sum approach optimized concurrently the array element excitation locations, amplitudes, and phases within the uniform pattern and Dolph-Chebyshev window, respectively. The optimal solutions obtained were then compared against the conventional (with λ/2 inter-element distance) and other chosen evolutionary algorithms-based arrays.

Modified cuckoo search algorithm in weighted sum optimization for linear antenna array synthesis

In this paper, the measurement of complex dielectric constant of natural rubber at microwave frequencies is reported. A free space, non-destructive technique was used to measure the parameter for several rubber samples at X band. The samples were prepared using different amounts of carbon filler to alter the dielectric properties so that the relation between filler content and er can be investigated. Our studies show that er and tan δ increase with the filler content. In addition, er showed a decreasing trend, while tan δ increased with frequency.

Nur Adyani Mohd Affendi

Papers

The use of a human body model to determine the variation of path losses in the human body channel in wireless capsule endoscopy

Development of Pyramidal Microwave Absorber Using Sugar Cane Bagasse (Scb)

Flexible Antennas Based on Natural Rubber

Modified cuckoo search algorithm in weighted sum optimization for linear antenna array synthesis

Microwave non-destructing testing of rubber at X-band