First, a brief overview is provided on humanoid robots, and also models for the dynamic behavior are discussed. As base for these models these two methods Denavit-Hartenberg and Newton-Euler are used. Main aim of this work is to investigate the stability of a biped robot developed from IHRT. There is currently the low base of robot - consisting of feet, legs, hips and upper part of robots body. This structure currently has ten degrees of freedom.

As the number of ships for marine transportation increases with the advancement of global trade, encountering multiple ships in marine traffic becomes common. This situation raises the risk of collision of the ships; hence this paper proposes a novel Fuzzy-logic based intelligent conflict detection and resolution algorithm, where the collision courses and possible avoiding actions are analyzed by considering ship motion dynamics and the input and output fuzzy membership functions are derived. As a conflict detection module, the Collision Risk (CR) is measured for each ship by using a scaled nondimensional Distance to the Closest Point of Approach (DCPA) and Time to the Closest Point of Approach (TCPA) as inputs. Afterwards, the decisions for collision avoidance are made based on the calculated CR, encountering angle and relative angle of each ship measured from others. In this regard, the rules for the Fuzzy interface system are defined in accordance with the COLREGs, and the whole system is implemented on the MATLAB Simulink platform. In addition, to deal with the multiple ship encounters, the paper proposes a unique maximum-course and minimum-speed change approach for decision making, which has been found to be efficient to solve Imazu problems, and other complicated multiple-ship encounters.

Recently, the environment is being put under constantly increasing pressure. Globally, water shortage is considered as one of the most serious environmental problems which affect human life and plant wealth. Iraq is highly affected by water deficit in many regions. In particular, Al-Najaf region is selected to be under evaluation for the current and future water resources shortage. This study is based on the collected data for rainfall, evaporation, flow-rate, groundwater, water needed for irrigation, and daily uses for the period between 2000 and 2018. The Artificial Neural Network, normal distribution, and lognormal distribution type III are applied for analyzing the collected data in addition to predict the water shortage for year 2050. Results show a water shortage in years 2002, 2004, 2005, and 2017 only for the selected period. A Simulink model is constructed using Matlab to increase the credibility of the estimated results and gives accurate results for the groundwater and surface water needed. Where in 2050, it is found that it needs to use the groundwater source by 0.024 x 10⁹ m³ to support the surface water source which is represented by the Euphrates River. The study shows the extent of inefficient management of water resources in Al-Najaf region.

Rising sensitivity of the loads with respect to power quality has grown-up the consideration of power system study and power quality enhancement systems. The fluctuation of voltage outside the normal working range due to faults may lead to unsuitable interruption of wind turbines. This thesis present 1.5MW grid connected Adama Ⅰ Wind Farm in Ethiopia with the objectives to capture the optimal power from the wind and ensure voltage source for sensitive load. This paper deals with the effective voltage sag mitigation and Harmonic distortion effectively met IEEE 519-1992 standard under all Phase to ground fault compensation by using Dynamic Voltage Restorer (DVR), to regulate the terminal voltage of the wind farm and safe operation of sensitive load. The DVR utilizes a feed forward control-based algorithm to generate PWM. The simulation results are going to be carried out by MATLAB-Simulink to verify the operation and effectiveness of DVR during balanced voltage sag and swell conditions.

Most of the municipalities in the Gulf region are facing performance related issues in their municipal solid waste management (MSWM) systems. They lack to possess a deliberate inter-municipality benchmarking processes. Instead of identifying the performance gaps for their key components (e.g., personnel productivity, operational reliability, etc.) and adopt proactive measures, the municipalities primarily rely on an efficient emergency response. A novel hierarchical modeling framework, based on deductive reasoning, is developed for performance assessment of MSWM systems. Fuzzy rule based modeling using Simulink-MATLAB was used for performance inferencing at different levels, i.e., component, sub-components, etc. The model is capable of handling the inherent uncertainties due to limited data and imprecise knowledge base. The model’s outcomes can exclusively assist the managers working at different levels of organizational hierarchy for effective decision-making. Performance of the key component, assists the senior management to assess the overall compliance level of performance objectives. Subsequently, operation management can hone in the sub-components to acquire useful information for intra-municipality performance management. While, individual indicators are useful for inter-municipality benchmarking. The model has been implemented on two municipalities operating in Qassim Region, Saudi Arabia. The results demonstrate the model’s pragmatism for continuous performance improvement of MSWM systems in the country and elsewhere.

Unmanned aerial vehicles (UAVs) represent a new model of social robots for home care of dependent persons. In this regard, this article introduces a study on people’s feeling of safety and comfort while watching the monitoring trajectory of a quadrotor dedicated to determining their condition. Three main parameters are evaluated: the relative monitoring altitude, the monitoring velocity and the shape of the monitoring path around the person (ellipsoidal or circular). For this purpose, a new trajectory generator based on a state machine, which is successfully implemented and simulated in MATLAB/Simulink®, is described. The study is carried out with 37 participants using a virtual reality (VR) platform based on two modules, UAV Simulator and VR Visualiser, both communicating through the MQTT protocol. The participants’ preferences have been a high relative monitoring altitude, a high monitoring velocity and a circular path. These choices are a starting point for the design of trustworthy socially assistive UAVs flying in real homes.

Instead of simplified steady-state models, with modern computers, one can solve the complete aero-thermodynamics happening in gas turbine engines. In the present article, we describe a mathematical model and numerical procedure to represent the transient response of a PT6A gas turbine engine operating at off-design conditions. The aero-thermal model consists of a set of algebraic and ordinary differential equations that arise from the application of the mass, linear momentum, angular momentum, and energy balances in each engine's component. The solution code has been developed in Matlab-Simulink using a block-oriented approach. Transient simulations of the PT6A engine start-up have been carried out by changing the original Jet-A1 fuel with biodiesel blends. Time plots of the main thermodynamic variables are shown, especially those regarding the structural integrity of the burner. Numerical results have been validated against reported experimental measurements and GasTurb simulations. The computer model has been capable to predict acceptable fuel blends, such that the real PT6A engine can be substituted to avoid the risk of damaging it.

This work is part of an ongoing research project to develop an unmanned flying social robot to monitor dependants at home in order to detect the person’s state and bring the necessary assistance. In this sense, this paper focuses on the description of a virtual reality (VR) simulation platform for the monitoring process of an avatar in a virtual home by a rotatory-wing autonomous unmanned aerial vehicle (UAV). This platform is based on a distributed architecture composed of three modules communicated through the Message Queue Telemetry Transport (MQTT) protocol: the UAV Simulator implemented in MATLAB/Simulink, the VR Visualiser developed in Unity, and the new emotion recognition (ER) System developed in Python. Using a face detection algorithm and a convolutional neural network (CNN), the ER System is able to detect the person’s face in the image captured by the UAV’s on-board camera and classify the emotion among seven possible ones (surprise, fear, happiness, sadness, disgust, anger or neutral expression). The experimental results demonstrate the correct integration of this new computer vision module within the VR platform, as well as the good performance of the designed CNN, with around 85% in the F1-score, a mean of the precision and recall of the model. The developed emotion detection system can be used in the future implementation of the assistance UAV that monitors dependent people in a real environment, since the methodology used is valid for images of real people.

ABSTRACT Ethiopia is a developing country, where majority of the population lives in rural areas without access to electricity. 83% of the total population of the country use traditional biomass energy as a basic source of energy. In contrast, the country is endowed with sufficient renewable energy resources which can be used as a standalone electric energy supply system for electrifying remote areas of the country. These resources are mainly micro hydropower and wind which can be used individually or the best combination of one another. The application of hybrid renewable energy system has become an important alternative solution for rural electrification program. The Modeling and control of a hybrid PV-Wind-Hydro DG system is also addressed. Dynamic models for the major system components, namely, wind energy conversion system, PV energy conversion system, hydro, inverter, and overall fuzzy logic controller units are developed. Then, a simulation model for the proposed hybrid power system has been developed using MATLAB /Simulink environment. This is done by creating subsystem sets of the major dynamic component models and then assembling into a single aggregate model. The overall power management strategy for coordinating and/or controlling the different energy sources is also presented in the thesis work. Generally there are 800 households with total electric demand of 71.6KW.To satisfy this demand 52%, 35% and 13% is to be contributed from wind/hydro/solar respectively. To use the power economically fuzzy logic controller is used. The controller monitors the demand and the available sources and then switches to the appropriate power supply according to the written rules. Simulations have been carried out to verify the system dynamic performance using a practical load profile and weather data. The result shows that the overall power management strategy is effective and the load demand is balanced. To complete this work, a grid extension from the closest substation has been compared with hybrid system. Cost of the grid extension is estimated based on the data obtained from EEP office. This is done in order to compare the cost of the designed hybrid power system against the cost of grid extension. The result shows that breakeven grid extension distance to be 23.9km which indicates that grid extension is preferable.