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Article
Soft Computing Control System of an Unmanned Airship

Authors: Wong Wei Kitt --- Ali Chekima --- jamal A. Dhargam --- Farrah wong --- et al.
Journal: Iraqi Journal for Electrical And Electronic Engineering المجلة العراقية للهندسة الكهربائية والالكترونية ISSN: 18145892 Year: 2010 Volume: 6 Issue: 1 Pages: 22-27
Publisher: Basrah University جامعة البصرة

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Abstract

Soft computing control system have beenapplied in various applications particularly in thefields of robotics controls. The advantage ofhaving a soft computing controls methods is that itenable more flexibility to the control systemcompared with conventional model based controlssystem. Firstly, soft computing methods enable atransfer of human controls and thinking into themachine via training. Secondly it is more robust toerror compared to conventional model basedsystem. In this paper, a UAV airship is controlledusing fuzzy logic for its propulsion and steeringsystem. The airship is tested on a simulation levelbefore test flight. The prototype airship has onboard GPS and compass for telemetry andtransmitted to the ground control system via awireless link

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Article
A Framework for Sensor Fusing Using Fuzzy Logic for Navigation Systems

Authors: Wong Wei Kitt --- Ali Chekima --- Jamal A. Dhargam --- Farrah Wong --- et al.
Journal: Iraqi Journal for Electrical And Electronic Engineering المجلة العراقية للهندسة الكهربائية والالكترونية ISSN: 18145892 Year: 2010 Volume: 6 Issue: 2 Pages: 83-88
Publisher: Basrah University جامعة البصرة

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Abstract

Navigational sensors are evolvingboth on a commercial and research level.However, the limitation still lies in the accuracyof the respective sensors. For a navigationsystem to reach a certain accuracy, multi sensorsor fusion sensors are used. In this paper, aframework of fuzzy sensor data fusing isproposed to obtain an optimised navigationalsystem. Different types of sensors without aknown state of inaccuracy can be fused using thesame method proposed. This is demonstrated byfusing compass/accelerometer and GPS signal.GPS has evolved as a choice of navigationmethod for outdoor autonomous system. Despiteit emerging trend and application, one problemremains is that it is still prone to inaccuraciesdue to environmental factors. These factors areavailable and evaluated in the GPS receiverarchitecture. These inaccuracies are available inthe extracted NMEA(National MaritimeElectronics Association) protocols as SNR(Signal to noise ratio) and HDOP (HorizontalDillusion of Precision). Dead reckoning sensorson the other hand does not depend on externalradio signal coverage and can be used in areaswith low coverage. Unfortunately, the errors areunbounded and has an accumulative effect overtime.

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