Abstract—Based on the Takagi Sugeno (TS) fuzzy model of DC series motor, an integral controller i... more Abstract—Based on the Takagi Sugeno (TS) fuzzy model of DC series motor, an integral controller is designed for controlling its speed. The nonlinear plant is converted into regional fuzzy models for which the control gains are found through a set of linear matrix inequalities (LMIs). The local fuzzy controllers are blended afterwards through parallel distributed compensation scheme to yield the final control law. MATLAB simulation results are presented to show the effectiveness of the designed controller. Keywords-DC series motor;TS fuzzy model;LMI integral controller;Parallel distributed compensation;MATLAB Simulink I.
2016 19th International Multi-Topic Conference (INMIC), 2016
This paper presents the design of a fuzzy logic controller for a non-linear tele-robotic system w... more This paper presents the design of a fuzzy logic controller for a non-linear tele-robotic system where the slave's environment is unknown. First, the non-linear tele-robotic system is approximated by a class of Takagi-Sugeno (TS) fuzzy models. A fuzzy control law is then adopted to stabilize the tele-robotic system. Further, the selected control law allows deriving the design conditions for determining the bilateral control gains of the state convergence architecture which has been used in this study as a framework for establishing communication between the master and slave sides. MATLAB simulations on one-degree-of-freedom (DoF) non-linear tele-robotic system are included to prove the validity of the proposed fuzzy bilateral controller.
2016 International Conference on Emerging Technologies (ICET), 2016
This paper presents the design of a transparent fuzzy bilateral controller for a nonlinear teleop... more This paper presents the design of a transparent fuzzy bilateral controller for a nonlinear teleoperation system which has been approximated by a class of Takagi-Sugeno (TS) fuzzy models. After the approximation stage, TS fuzzy control laws are introduced for the master and slave robotic systems. These laws further help in developing the design conditions using the state convergence methodology. The control gains are then found as a solution of these design conditions for achieving the bilateral teleoperation. MATLAB simulations on one degree-of-freedom (DoF) nonlinear teleoperation system validate the proposed fuzzy bilateral control scheme.
2010 2nd International Conference on Advanced Computer Control, 2010
Abstract In this paper, design and development of an autonomous ball potting robot for participat... more Abstract In this paper, design and development of an autonomous ball potting robot for participating in National Engineering Robotics Contest (NERC) 2008 is presented. Equipped with infrared sensors, bump switches and potentiometers; all interfaced to AT89C52 microcontroller, the robot is capable of picking the balls from a ball stand and potting these balls into goal posts of different heights by navigating through a grid of white reflecting lines.
2010 International Conference on Signal Acquisition and Processing, 2010
Abstract This paper proposes and implements an integrated library management system for book sear... more Abstract This paper proposes and implements an integrated library management system for book search and placement tasks. Book searching task is carried out with the help of a mobile phone. The user can check the availability of a particular book by title or author name using his mobile phone. The information received by the user contains book code number and location of the book inside the shelf. Book placement task involves placing the book inside the shelf according to the assigned code number using image processing. Digital ...
2010 Second International Conference on Computer Engineering and Applications, 2010
Abstract This paper proposes and implements a solution for enhancing public transportation manage... more Abstract This paper proposes and implements a solution for enhancing public transportation management services based on GPS and GSM in Punjab province of Pakistan. The system consists of four modules: BUS Station Module, In-BUS Module, BASE Station Module and BUS Stop Module. Equipped with PC and GSM modem, BUS Station Module sends the initialization information containing the bus number and license plate number to In-BUS Module and BASE Station Module using SMS. The microcontroller based In-BUS Module ...
2009 Second International Conference on Computer and Electrical Engineering, 2009
Abstract A cheap guidance system based on AT89C52 microcontroller is developed for facilitating v... more Abstract A cheap guidance system based on AT89C52 microcontroller is developed for facilitating visually impaired people. Ultrasonic sensors are used to calculate distance of the obstacles around the blind person to guide the user towards the available path. Output is in the form of voice which the blind person can hear eg, right, left etc. In its advance mode, the system will be able to recognize objects using image processing algorithms. Results are presented to show the validity and performance of the system.
2009 International Conference on Wireless Networks and Information Systems, 2009
Abstract As the wireless standards came into existence, the access techniques used also exhibited... more Abstract As the wireless standards came into existence, the access techniques used also exhibited increase in efficiency, capacity and scalability. The key enabling technology of upcoming era is the cognitive radio (CR) technology. The CR is an intelligent wireless communication system that is aware of its environment and uses the methodology of understanding by building to learn from the environment and adapt to statistical variations in the input. In this paper, current wireless trend, the impact of CR technology, its outstanding ...
2010 International Conference on Signal Acquisition and Processing, 2010
Abstract The junior level Power Electronics Lab is an important component of Electrical Engineeri... more Abstract The junior level Power Electronics Lab is an important component of Electrical Engineering curriculum at University of The Punjab, Lahore. It serves to familiarize the students with the design simulation and analysis of power electronic converters. In this paper, design and implementation of a low cost microcontroller based controlled rectifier training module for single-phase system to be utilized in Power Electronics Lab is presented. The module comprises of various units. The first unit is zero crossing detector followed by ...
Second International Conference on Digital Image Processing, 2010
ABSTRACT A self teaching image processing and voice recognition based system is developed to educ... more ABSTRACT A self teaching image processing and voice recognition based system is developed to educate visually impaired children, chiefly in their primary education. System comprises of a computer, a vision camera, an ear speaker and a microphone. Camera, attached with the computer system is mounted on the ceiling opposite (on the required angle) to the desk on which the book is placed. Sample images and voices in the form of instructions and commands of English, Urdu alphabets, Numeric Digits, Operators and Shapes are already stored in the database. A blind child first reads the embossed character (object) with the help of fingers than he speaks the answer, name of the character, shape etc into the microphone. With the voice command of a blind child received by the microphone, image is taken by the camera which is processed by MATLAB® program developed with the help of Image Acquisition and Image processing toolbox and generates a response or required set of instructions to child via ear speaker, resulting in self education of a visually impaired child. Speech recognition program is also developed in MATLAB® with the help of Data Acquisition and Signal Processing toolbox which records and process the command of the blind child.
2009 Second International Conference on Machine Vision, 2009
With the increasing number of vehicles on the road, it has become difficult to properly control t... more With the increasing number of vehicles on the road, it has become difficult to properly control the flow of traffic especially in large cities like Lahore. The proposed system uses a digital camera mounted on a stepper motor to sense the traffic on the road. The decision to open the lane is done after monitoring the traffic load. The heavily
Abstract—Based on the Takagi Sugeno (TS) fuzzy model of DC series motor, an integral controller i... more Abstract—Based on the Takagi Sugeno (TS) fuzzy model of DC series motor, an integral controller is designed for controlling its speed. The nonlinear plant is converted into regional fuzzy models for which the control gains are found through a set of linear matrix inequalities (LMIs). The local fuzzy controllers are blended afterwards through parallel distributed compensation scheme to yield the final control law. MATLAB simulation results are presented to show the effectiveness of the designed controller. Keywords-DC series motor;TS fuzzy model;LMI integral controller;Parallel distributed compensation;MATLAB Simulink I.
2016 19th International Multi-Topic Conference (INMIC), 2016
This paper presents the design of a fuzzy logic controller for a non-linear tele-robotic system w... more This paper presents the design of a fuzzy logic controller for a non-linear tele-robotic system where the slave's environment is unknown. First, the non-linear tele-robotic system is approximated by a class of Takagi-Sugeno (TS) fuzzy models. A fuzzy control law is then adopted to stabilize the tele-robotic system. Further, the selected control law allows deriving the design conditions for determining the bilateral control gains of the state convergence architecture which has been used in this study as a framework for establishing communication between the master and slave sides. MATLAB simulations on one-degree-of-freedom (DoF) non-linear tele-robotic system are included to prove the validity of the proposed fuzzy bilateral controller.
2016 International Conference on Emerging Technologies (ICET), 2016
This paper presents the design of a transparent fuzzy bilateral controller for a nonlinear teleop... more This paper presents the design of a transparent fuzzy bilateral controller for a nonlinear teleoperation system which has been approximated by a class of Takagi-Sugeno (TS) fuzzy models. After the approximation stage, TS fuzzy control laws are introduced for the master and slave robotic systems. These laws further help in developing the design conditions using the state convergence methodology. The control gains are then found as a solution of these design conditions for achieving the bilateral teleoperation. MATLAB simulations on one degree-of-freedom (DoF) nonlinear teleoperation system validate the proposed fuzzy bilateral control scheme.
2010 2nd International Conference on Advanced Computer Control, 2010
Abstract In this paper, design and development of an autonomous ball potting robot for participat... more Abstract In this paper, design and development of an autonomous ball potting robot for participating in National Engineering Robotics Contest (NERC) 2008 is presented. Equipped with infrared sensors, bump switches and potentiometers; all interfaced to AT89C52 microcontroller, the robot is capable of picking the balls from a ball stand and potting these balls into goal posts of different heights by navigating through a grid of white reflecting lines.
2010 International Conference on Signal Acquisition and Processing, 2010
Abstract This paper proposes and implements an integrated library management system for book sear... more Abstract This paper proposes and implements an integrated library management system for book search and placement tasks. Book searching task is carried out with the help of a mobile phone. The user can check the availability of a particular book by title or author name using his mobile phone. The information received by the user contains book code number and location of the book inside the shelf. Book placement task involves placing the book inside the shelf according to the assigned code number using image processing. Digital ...
2010 Second International Conference on Computer Engineering and Applications, 2010
Abstract This paper proposes and implements a solution for enhancing public transportation manage... more Abstract This paper proposes and implements a solution for enhancing public transportation management services based on GPS and GSM in Punjab province of Pakistan. The system consists of four modules: BUS Station Module, In-BUS Module, BASE Station Module and BUS Stop Module. Equipped with PC and GSM modem, BUS Station Module sends the initialization information containing the bus number and license plate number to In-BUS Module and BASE Station Module using SMS. The microcontroller based In-BUS Module ...
2009 Second International Conference on Computer and Electrical Engineering, 2009
Abstract A cheap guidance system based on AT89C52 microcontroller is developed for facilitating v... more Abstract A cheap guidance system based on AT89C52 microcontroller is developed for facilitating visually impaired people. Ultrasonic sensors are used to calculate distance of the obstacles around the blind person to guide the user towards the available path. Output is in the form of voice which the blind person can hear eg, right, left etc. In its advance mode, the system will be able to recognize objects using image processing algorithms. Results are presented to show the validity and performance of the system.
2009 International Conference on Wireless Networks and Information Systems, 2009
Abstract As the wireless standards came into existence, the access techniques used also exhibited... more Abstract As the wireless standards came into existence, the access techniques used also exhibited increase in efficiency, capacity and scalability. The key enabling technology of upcoming era is the cognitive radio (CR) technology. The CR is an intelligent wireless communication system that is aware of its environment and uses the methodology of understanding by building to learn from the environment and adapt to statistical variations in the input. In this paper, current wireless trend, the impact of CR technology, its outstanding ...
2010 International Conference on Signal Acquisition and Processing, 2010
Abstract The junior level Power Electronics Lab is an important component of Electrical Engineeri... more Abstract The junior level Power Electronics Lab is an important component of Electrical Engineering curriculum at University of The Punjab, Lahore. It serves to familiarize the students with the design simulation and analysis of power electronic converters. In this paper, design and implementation of a low cost microcontroller based controlled rectifier training module for single-phase system to be utilized in Power Electronics Lab is presented. The module comprises of various units. The first unit is zero crossing detector followed by ...
Second International Conference on Digital Image Processing, 2010
ABSTRACT A self teaching image processing and voice recognition based system is developed to educ... more ABSTRACT A self teaching image processing and voice recognition based system is developed to educate visually impaired children, chiefly in their primary education. System comprises of a computer, a vision camera, an ear speaker and a microphone. Camera, attached with the computer system is mounted on the ceiling opposite (on the required angle) to the desk on which the book is placed. Sample images and voices in the form of instructions and commands of English, Urdu alphabets, Numeric Digits, Operators and Shapes are already stored in the database. A blind child first reads the embossed character (object) with the help of fingers than he speaks the answer, name of the character, shape etc into the microphone. With the voice command of a blind child received by the microphone, image is taken by the camera which is processed by MATLAB® program developed with the help of Image Acquisition and Image processing toolbox and generates a response or required set of instructions to child via ear speaker, resulting in self education of a visually impaired child. Speech recognition program is also developed in MATLAB® with the help of Data Acquisition and Signal Processing toolbox which records and process the command of the blind child.
2009 Second International Conference on Machine Vision, 2009
With the increasing number of vehicles on the road, it has become difficult to properly control t... more With the increasing number of vehicles on the road, it has become difficult to properly control the flow of traffic especially in large cities like Lahore. The proposed system uses a digital camera mounted on a stepper motor to sense the traffic on the road. The decision to open the lane is done after monitoring the traffic load. The heavily
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Papers by M Usman Asad