Advances of soft robotics enabled better mimicking of biological creatures and closer realization of animals’ motion in the robotics field. The biological creature’s movement has morphology and flexibility that is problematic deportation to a bio-inspired robot. This paper aims to study the ability to mimic turtle motion using a soft pneumatic actuator (SPA) as a turtle flipper limb. SPA’s behavior is simulated using finite element analysis to design turtle flipper at 22 different geometrical configurations, and the simulations are conducted on a large pressure range (0.11–0.4 Mpa). The

This paper represents the control of a two-wheel self-balancing robot based on the theory of controlling the inverted pendulum. This paper dividing the system modeling into two main parts. The first part is the dc motor and the second part are the whole mechanical design and its characteristics as a function in the motor speed and the torque depending on the system, creating two control closed loops inner and outer. The study uses conventional proportional–integral–derivative (PID) and two degree of freedom PID controllers to obtain a robust controller for the system. The inner loop controls

This paper introduces a study of fractional-order PID (FOPID) controller applied to a DC motor. The idea is to control the motor speed using the FOPID and compare it with the conventional PID controller. Two approximation techniques are employed to realize the FOPID, which are Matsuda and Oustaloup, each with order four. Different responses are depicted for various fractional orders. A specific case study for controlling the speed of a DC motor is investigated with selected fractional-orders. A comparison between the two applied techniques is proposed on the case study to determine which

Fractional-order controllers have gained significant research interest in various practical applications due to the additional degrees of freedom offered in their tuning process. The main contribution of this work is the analog implementation, for the first time in the literature, of a fractional-order controller with a transfer function that is not directly constructed from terms of the fractional-order Laplacian operator. This is achieved using Padé approximation, and the resulting integer-order transfer function is implemented using operational transconductance amplifiers as active elements

This paper focuses on the problem of fractional time derivative of fluid flow and convective heat and mass transfer from a heated semi-infinite wall immersed. We provided two cases of study, one is free convective heat transfer and the other is a free double-convective heat and mass transfer. The time-derivative terms in the equations of momentum, energy and concentration are assumed to be fractional using the Grunwald-Letnikov (GL) model. A finite difference scheme has been developed for each case of study and followed by a von Neumann stability analysis. Therefore, a stability condition has

Technological revolution has reached all life activities starting from day planning reaching communication, entertainment, industry, and transportation. Each of previously mentioned categories get improved in a way making human life easier and safer. In the use of automatic control, several researches focused on automating vehicles’ systems to make driving easier and safer. The availability of autonomous vehicles will avoid accidents caused by taking a late decision or lack of driving experience in such situation. Approaching autonomous driving, an autonomous vehicle must be able to respond to

Human's health information is considered momentous information, which is represented in medical systems. The amount of medical image information available for analysis is increasing with the modern medical image devices and biomedical image processing techniques. To prevent data modification from unauthorized persons from an insecure network, medical images should be encrypted efficiently. In this paper, a novel chaotic-based medical image encryption technique is proposed. This technique uses first a Butterworth High Pass Filter (BHPF) to enhance the medical image's details to avoid any

The mechanical properties of bone tissues change significantly within the bone body, since it is considered as a heterogeneous material. The characterization of bone mechanical properties is necessary for many studies, such as in prosthesis design. An experimental uniaxial compression study is carried out in this work on bovine cortical bone tissue in long bones (femur and tibia) at several speeds to characterize its anisotropic behavior. Several samples from different regions are taken, and the result selection is carried out considering the worst situations and failure modes. When

Designing a proper public transportation system is a main concern for many countries with large population size like Egypt. Therefore, the online based transportation business for individuals is highly growing in Egypt and the concept of online reservation in the transportation field has arisen. In this paper, a model in the analysis phase for an online public bus reservation system (OPBRS) is proposed. The system is large, complex and includes many interrelated functions. Therefore, the object-oriented modeling approach is chosen for developing the system by using the industry standard

Laminar unsteady incompressible flow past two-cylinders in tandem is investigated numerically. The vortex shedding over the cylinders' arrangement is studied at various Reynolds numbers and blockage ratios while changing the distance between the two cylinders. The output from the numerical simulations is used to feed different regression methodologies to find the optimal approach for the proposed system modeling and identification. Artificial Neural Network (ANN) using Levenberg-Marquardt Algorithm (LM) training algorithm is used, as well as Takagi-Sugeno (T-S) fuzzy model are used and