A Mathematical Fuzzy Logic Control Systems Model Using Rough Set Theory for Robot Applications

Authors

  • Aaron Don M. Africa Department of Electronics and Communications Engineering, De La Salle University Manila 2401 Taft Avenue Manila Philippines 1004

Keywords:

Control Systems, Sensory Systems, Computer Engineering, Electronic Engineering, Fuzzy Logic, Rough Set Theory,

Abstract

Robotics is an important technology that can aid humans in a variety of ways. These devices can help humans in fields like car production, military service, commercialized agriculture and space exploration. A robot is essentially a mechanical device that can be programmed to follow a specific set of instructions. One problem that is usually encountered in robotics is there are instances when its output is in degrees of truth of either 0 or 1. This is a challenge because robotic representations must not be limited to specific degrees of truth; it must have the ability to be represented in a wide variety of ranges. This research solves that problem by applying Fuzzy Logic Control Systems to robotic representations specifically in the delta-speed motor control area. This provides the Mathematical Model the ability to represent robotic representations of delta-speed motor control to a wide variety of ranges. The output of the Mathematical Model is in the decision rules that show the delta-speed motor control in a wide variety of ranges. Rough Set Theory is then applied to the model in order to turn the rules into nominal form to simplify the rules so that only the necessary parameters are needed to obtain the output. A prototype was created to demonstrate the Mathematical Model of this research with the aid of Lego Mindstorms EV3. The Lejos EV3 Java framework and MATLAB was used to program and demonstrate the Mathematical Model of the robot.

References

K. Hou, H. Sun, Q. Jia, and Y. Zhang,"An Autonomous Positioning and Navigation System for Spherical Mobile Robot," Procedia Engineering, vol. 29, no. 1, pp. 2556-2561, 2012.

A. Zaki, O. Arafa, and S. Amer, "Microcontroller-based mobile robot positioning and obstacle avoidance," Journal of Electrical Systems and Information Technology, vol. 1, no. 1, pp. 58-71, 2014.

A. Africa, R. Jamisola, C. Llorente and A. Montesines-Nagayo, "WALLy: A Fuzzy Controlled Mobile Robot for Soccer Competition," 5th International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment, 2009.

J. Zhang, "Applications of fuzzy logic control in autonomous robot systems," International Journal of Systems Science, vol. 24, no. 10, pp. 1885-1904, 2007.

E. Mamdani, and S. Assilian, "An experiment in linguistic synthesis with a fuzzy logic controller," International Journal of Man-Machine Studies, vol. 7, no. 1, pp. 1–13, 1975.

Fuzzy Interference. https://www.mathworks.com/help/fuzzy/what-ismamdani-type-fuzzy-inference.html. 2016.

ROSE. http://idss.cs.put.poznan.pl/site/rose.html. 2016

C. Lim, "Implementation and experimental study of a fuzzy logic controller for dc motors," Computers in Industry, vol. 26, no. 1, pp. 93-96, 1995.

L. Zadeh, "Fuzzy logic and the calculi of fuzzy rules, fuzzy graphs, and fuzzy probabilities," Computers & Mathematics with Applications, vol. 37, no. 11-12, pp. 35, 1999.

T. Vitez, R. Wada, and A. Macario, "Fuzzy logic: Theory and medical applications,” Journal of Cardiothoracic and Vascular Anesthesia, vol. 10, no. 6, pp. 800-808, 1996.

Watkins. http://www.sjsu.edu/faculty/watkins/fuzzyjapan.htm. 2016.

Z. Palwak, "Rough Sets," . International Journal of Computer and Information Sciences, vol. 11, no. 5, pp. 341-356, 1982.

H. Zhang, W. Zhang, and W. Wu, "On characterization of generalized interval-valued fuzzy rough sets on two universes of discourse," International Journal of Approximate Reasoning, vol. 51, no. 1, pp. 56-70, 2009.

S. Mahapatra, S. Sreekumar, and SS. Mahapatra, " Attribute selection in marketing: A rough set approach," IIMB Management Review, vol. 22, no. 1-2, pp. 16-24, 2010.

K. Kaneiwa, and Y. Kudo, "A sequential pattern mining algorithm using rough set theory," International Journal of Approximate Reasoning, vol. 52, no. 6, pp. 881-893, 2011.

E. Lashin, A. Kozae, A. Khadra and T. Medhat, "Rough set theory for topological spaces," International Journal of Approximate Reasoning, vol. 40, no. 1-2, pp. 35-43, 2005.

Y. Yao, "Probabilistic rough set approximations," International Journal of Approximate Reasoning, vol. 49, no. 2, pp. 255-271, 2008.

Y. Yao, and B. Yao, “Covering based rough set approximations," Information Sciences, vol. 200, no. 1, pp. 91-107, 2012.

MATLAB. https://www.mathworks.com/. 2016.

MATLAB Fuzzy Logic Toolbar. https://www.mathworks.com/products/fuzzy-logic/. 2016.

Lejos. http://www.lejos.org/. 2016.

Lejos Mapping. http://www.lejos.org/ev3/docs/lejos/robotics/ mapping/package-summary.html. 2016.

Downloads

Published

2017-09-01

How to Cite

M. Africa, A. D. (2017). A Mathematical Fuzzy Logic Control Systems Model Using Rough Set Theory for Robot Applications. Journal of Telecommunication, Electronic and Computer Engineering (JTEC), 9(2-8), 7–11. Retrieved from https://jtec.utem.edu.my/jtec/article/view/2620

Issue

Vol. 9 No. 2-8: Towards Creative and Innovative Technologies for Humankind II

Section

Articles

License

TRANSFER OF COPYRIGHT AGREEMENT

The manuscript is herewith submitted for publication in the Journal of Telecommunication, Electronic and Computer Engineering (JTEC). It has not been published before, and it is not under consideration for publication in any other journals. It contains no material that is scandalous, obscene, libelous or otherwise contrary to law. When the manuscript is accepted for publication, I, as the author, hereby agree to transfer to JTEC, all rights including those pertaining to electronic forms and transmissions, under existing copyright laws, except for the following, which the author(s) specifically retain(s):

  1. All proprietary right other than copyright, such as patent rights
  2. The right to make further copies of all or part of the published article for my use in classroom teaching
  3. The right to reuse all or part of this manuscript in a compilation of my own works or in a textbook of which I am the author; and
  4. The right to make copies of the published work for internal distribution within the institution that employs me

I agree that copies made under these circumstances will continue to carry the copyright notice that appears in the original published work. I agree to inform my co-authors, if any, of the above terms. I certify that I have obtained written permission for the use of text, tables, and/or illustrations from any copyrighted source(s), and I agree to supply such written permission(s) to JTEC upon request.