Real-Time Trajectory Control of Potential Drug Carrier Using Pantograph “Experimental Study”

Farag, Ramy M. A.; Badawy, I.; Magdy, Fady; Mahmoud, Zakaria M. M.; Sallam, Mohamed

doi:10.1007/978-3-030-58669-0_28

Cited by 7 publications

(16 citation statements)

References 19 publications

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“…The findings show that the settling error is reduced by 33.25%, 35%, 36.25%, 36.25%, 50% by using MPA, FPA, SMA, MVO, and SSA respectively, compared with former experiments [3]. that exhibits the highest amount of settling error It was observed that the MPA technique achieves the highest values of the rise time, settling time and settling error for both simulation and experimental results among other control approaches, while the SSA approach reduces the settling error by 50% compared to former experiments [3]. It can be concluded that the SSA technique is a promising approach for predicting real-time for the micro-robotics system.…”

Section: B Discussionmentioning

confidence: 79%

“…The average diameter of these micro-particles was 100 µm and a hollow coil was used in the experiment. The same experiment was conducted by Ramy et al [3] by using a solid coil, and the settling error in this experiment was 8 µm. In the present study, the same experiment was conducted and the settling error achieved was 4 µm.…”

Section: Introductionmentioning

confidence: 93%

“…In part III, the simulation, experimental results, and discussion are depicted, while part IV exhibits the future prospects and conclusion of this study. The data is collected by an experimental setup, of which some results are reported in [3] which is an extension of this work.…”

Section: Introductionmentioning

confidence: 99%

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Design and Optimization of PID Controller using Various Algorithms for Micro-Robotics System

Ghith

Tolba

2022

Journal of Robotics and Control

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Microparticles have the potentials to be used for many medical purposes in-side the human body such as drug delivery and other operations. This paper attempts to provide a thorough comparison between five meta-heuristic search algorithms: Sparrow Search Algorithm (SSA), Flower Pollination Algorithm (FPA), Slime Mould Algorithm (SMA), Marine Predator Algorithm (MPA), and Multi-Verse Optimizer (MVO). These approaches were used to calculate the PID controller optimal indicators with the application of different functions, including Integral Absolute Error (IAE), Integral of Time Multiplied by Square Error (ITSE), Integral Square Time multiplied square Error (ISTES), Integral Square Error (ISE), Integral of Square Time multiplied by square Error (ISTSE), and Integral of Time multiplied by Absolute Error (ITAE). Every method of controlling was presented in a MATLAB Simulink numerical model, and LABVIEW software was used to run the experimental tests. It is observed that the MPA technique achieves the highest values of settling error for both simulation and experimental results among other control approaches, while the SSA approach reduces the settling error by 50% compared to former experiments. The results indicate that SSA is the best method among all approaches and that ISTES is the best choice of PID for optimizing the controlling parameters.

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Section: B Discussionmentioning

confidence: 79%

Section: Introductionmentioning

confidence: 93%

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Design and Optimization of PID Controller using Various Algorithms for Micro-Robotics System

Ghith

Tolba

2022

Journal of Robotics and Control

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“…) and joint space of the five-link mechanism system can be calculated, where x and y are the Cartesian coordinates of Joint e with respect to the plane ( ) of reference [13], as shown in fig. 3 [14].…”

Section: Direct Kinematicsmentioning

confidence: 99%

“…The position vector of the center of mass of link A with respect to reference plane ( ) is given by: ( 14 ) The position vector of the center of mass of link B is given by: ( 15 ) Similarly, the position vector of the center of mass of link D is given by: ( 16 ) Finally, the position vector of the center of mass of link C is given by: ( 17 )…”

Section: Dynamics Solutionmentioning

confidence: 99%

Mathematical Model of Two-Dof Five Links Closed-Chain Mechanism (Pantograph)

EL-Tehewy¹,

Shamseldin

Sallam

et al. 2021

International Journal of Advanced Engineering and Business Scie

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Parallel manipulators have been developed largely for applications that need high accuracy and speed, which make them useful in important fields. This paper presents a detailed mathematical model for a closed chain pantograph mechanism. This task was done by defining its differential equation of motion and implements it using the Matlab Simulink. The mathematical model describes the forward and inverse kinematics, in addition, the dynamic behavior. The mathematical model advantage is studying the parameters variation using different advanced control techniques. This model can be implemented using the Simscape model, which considers a black-box model. To validate the proposed mathematical model for the pantograph, the corresponding model mechanism using the Simscape had been implemented. A comparative study was executed between the mathematical model and the outputs of the Simscape. The results indicated a perfect match for output extracted from Simscape and Simulink. This is evidence for the validity of the inferred equations and Simulink model.

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