Cover Image

Gait identification modelling for a hybrid amphi-underwater robot with exponential momentum ant colony algorithm

Multiple highly manoeuvrable robots have become the focus of heated discussion lately, especially in applications involving disasterMultiple highly manoeuvrable robots have become the focus of heated discussion lately, especially in applications involving disaster rescue, military missions and under...

Full description

Saved in:
Bibliographic Details
Main Authors: Toha, Siti Fauziah, Ahmad, Salmiah, Ismail, Amelia Ritahani, Abdul Hamid, Syamsul Bahrin
Format: Monograph
Language:English
Published: 2020
Subjects:
T Technology (General)
Online Access:http://irep.iium.edu.my/80015/1/FRGS17_031_0597IREP_IIUM.pdf
http://irep.iium.edu.my/80015/
Tags: Add Tag
No Tags, Be the first to tag this record!
id my.iium.irep.80015
record_format dspace
spelling my.iium.irep.800152020-12-07T08:39:36Z http://irep.iium.edu.my/80015/ Gait identification modelling for a hybrid amphi-underwater robot with exponential momentum ant colony algorithm Toha, Siti Fauziah Ahmad, Salmiah Ismail, Amelia Ritahani Abdul Hamid, Syamsul Bahrin T Technology (General) Multiple highly manoeuvrable robots have become the focus of heated discussion lately, especially in applications involving disasterMultiple highly manoeuvrable robots have become the focus of heated discussion lately, especially in applications involving disaster rescue, military missions and underwater or extra‐terrestrial explorations. The surroundings concerned are harsh and hazardous terrains, and predictably the malfunction rate is high. Thus a highly robust autonomous robot that could manoeuvre not only on allterrain but also underwater is of prime importance. One of the most crucial aspects of the legged robot is to optimise the executing patterns of leg-joint angles which is known as gaits. Synthesising gaits by manual tuning control is a complex and time consuming task which becomes even more challenging when the vehicle operates underwater. However, the mechanism presented in the literature are focusing on individual mechanism either on-land or underwater gait configuration. In fact, both mechanisms are tackled separately whereas, in a typical application such as surveillance and disaster management, both mechanisms can be integrated and executed appropriately to fulfil bigger objectives in a better optimised relocate position, as well as in faster completion time. When operating on both land and underwater, any motion of the limbs could apply forces to the robot. Efficient gait identification must therefore be modelled to mitigate these unwanted forces while meeting the desired gait properties. This research proposed automatic gait synthesis system for a hybrid amphi-underwater robot. The system utilises an exponential momentum ant colony optimization which provides randomization and attractive parameter adaptation during the iteration process. The resulting will improve significantly not only manoeuvring time but also optimising total energy usage during manouvring stage on both land and on water. 2020 Monograph NonPeerReviewed application/pdf en http://irep.iium.edu.my/80015/1/FRGS17_031_0597IREP_IIUM.pdf Toha, Siti Fauziah and Ahmad, Salmiah and Ismail, Amelia Ritahani and Abdul Hamid, Syamsul Bahrin (2020) Gait identification modelling for a hybrid amphi-underwater robot with exponential momentum ant colony algorithm. Project Report. UNSPECIFIED. (Unpublished)
institution Universiti Islam Antarabangsa Malaysia
building IIUM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider International Islamic University Malaysia
content_source IIUM Repository (IREP)
url_provider http://irep.iium.edu.my/
language English
topic T Technology (General)
spellingShingle T Technology (General)
Toha, Siti Fauziah
Ahmad, Salmiah
Ismail, Amelia Ritahani
Abdul Hamid, Syamsul Bahrin
Gait identification modelling for a hybrid amphi-underwater robot with exponential momentum ant colony algorithm
description Multiple highly manoeuvrable robots have become the focus of heated discussion lately, especially in applications involving disasterMultiple highly manoeuvrable robots have become the focus of heated discussion lately, especially in applications involving disaster rescue, military missions and underwater or extra‐terrestrial explorations. The surroundings concerned are harsh and hazardous terrains, and predictably the malfunction rate is high. Thus a highly robust autonomous robot that could manoeuvre not only on allterrain but also underwater is of prime importance. One of the most crucial aspects of the legged robot is to optimise the executing patterns of leg-joint angles which is known as gaits. Synthesising gaits by manual tuning control is a complex and time consuming task which becomes even more challenging when the vehicle operates underwater. However, the mechanism presented in the literature are focusing on individual mechanism either on-land or underwater gait configuration. In fact, both mechanisms are tackled separately whereas, in a typical application such as surveillance and disaster management, both mechanisms can be integrated and executed appropriately to fulfil bigger objectives in a better optimised relocate position, as well as in faster completion time. When operating on both land and underwater, any motion of the limbs could apply forces to the robot. Efficient gait identification must therefore be modelled to mitigate these unwanted forces while meeting the desired gait properties. This research proposed automatic gait synthesis system for a hybrid amphi-underwater robot. The system utilises an exponential momentum ant colony optimization which provides randomization and attractive parameter adaptation during the iteration process. The resulting will improve significantly not only manoeuvring time but also optimising total energy usage during manouvring stage on both land and on water.
format Monograph
author Toha, Siti Fauziah
Ahmad, Salmiah
Ismail, Amelia Ritahani
Abdul Hamid, Syamsul Bahrin
author_facet Toha, Siti Fauziah
Ahmad, Salmiah
Ismail, Amelia Ritahani
Abdul Hamid, Syamsul Bahrin
author_sort Toha, Siti Fauziah
title Gait identification modelling for a hybrid amphi-underwater robot with exponential momentum ant colony algorithm
title_short Gait identification modelling for a hybrid amphi-underwater robot with exponential momentum ant colony algorithm
title_full Gait identification modelling for a hybrid amphi-underwater robot with exponential momentum ant colony algorithm
title_fullStr Gait identification modelling for a hybrid amphi-underwater robot with exponential momentum ant colony algorithm
title_full_unstemmed Gait identification modelling for a hybrid amphi-underwater robot with exponential momentum ant colony algorithm
title_sort gait identification modelling for a hybrid amphi-underwater robot with exponential momentum ant colony algorithm
publishDate 2020
url http://irep.iium.edu.my/80015/1/FRGS17_031_0597IREP_IIUM.pdf
http://irep.iium.edu.my/80015/
_version_ 1685578525663297536
score 13.211869

Similar Items