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Mittal, Seema
- Comparison of Techniques for Disturbance-Tolerant Position Control of the Manipulator of PUMA Robot using PID
Abstract Views :169 |
PDF Views:0
Authors
Affiliations
1 Ajay Kumar Garg Engineering College, Ghaziabad − 201009, Uttar Pradesh, IN
2 Department Electrical Engineering, Shiv Nader University, NCR Delhi − 201308, IN
3 Al Falah University, Dhauj, Faridabad −121004, Haryana, IN
1 Ajay Kumar Garg Engineering College, Ghaziabad − 201009, Uttar Pradesh, IN
2 Department Electrical Engineering, Shiv Nader University, NCR Delhi − 201308, IN
3 Al Falah University, Dhauj, Faridabad −121004, Haryana, IN
Source
Indian Journal of Science and Technology, Vol 9, No 45 (2016), Pagination:Abstract
Objectives: The control of the robotic manipulator arm under a variety of faults has been studied and the performance is compared using PID and other technique. Methods/Statistical Analysis: In a highly nonlinear environment such as manipulator of a robot, employing more than one control techniques yields desirable results. Here, a combination of PID along with pole-placement control of linear model has been designed. The feedback control gains have been obtained offline using equivalent linearization of the nonlinear coupled robot dynamic system. The input torque has been obtained from PID. The combined torque has been applied to the joints. This scheme has been implemented online in a standard PUMA manipulator with the payload. Findings: It has been observed that PID as compared to modified pole placement method is more efficient to control a robotic arm. Application/Improvement: The proposed hybrid control approach involving offline designs and their online implementation on six degrees of freedom robot has been found to be efficient and capable of accommodating common types of faults represented as an exponential or sine or a constant function but sudden or abrupt in nature.Keywords
Fault-Tolerant Control, Hybrid Control, Linearization, PID, Pole Placement Control, PUMA Robot, Robotic Toolbox.- Multiple Calcified Scrotal Sebaceous Cysts:A Rare Case Presentation
Abstract Views :236 |
PDF Views:134
Authors
Affiliations
1 Department of General Surgery, Sri Guru Ram Das Institute of Medical Sciences & Research, Vallah, Sri Amritsar, Punjab, IN
1 Department of General Surgery, Sri Guru Ram Das Institute of Medical Sciences & Research, Vallah, Sri Amritsar, Punjab, IN
Source
International Journal of Medical and Dental Sciences, Vol 7, No 1 (2018), Pagination: 1646-1648Abstract
A sebaceous cyst is a retention cyst. The classical management of scrotal sebaceous cysts is complete surgical excision and in the current era and as expected from the patient from the doctor and as the duty of the doctor, excellent outcome, minimal morbidity with good cosmetic results.Keywords
Retention Cyst, Sebaceous Gland, Epidermal Cysts, Gold Standard, Idiopathic, Calcinosis.References
- Kavoussi PK, Costabile RA. Surgery of the Scrotum and Seminal Vesicles. CampbellWalsh Urology. 10th ed. Philadelphia: Elsevier; 2012.p.1032.
- Snell RS. Clinical Anatomy by Regions. 9th Ed. Philadelphia: Lippincott Williams & Wilkins;2012.p.6.
- Mohite P, Bhatnagar A. A case of multiple sebaceous cysts over scrotum in a 35 years old male. International J Surg 2006;9:23.
- Angus W, Mistry R, Floyd MS Jr, Machin DG. Multiple large infected scrotal sebaceous cysts masking Fournier’s gangrene in a 32year-old-man. BMJ Case Reports 2012;DOI:10.1136/bcr.11.2011.5253.
- Klin B, Ashkenazi H. Sebaceous cyst excision with minimal surgery. Am family physician 1990;41:1746-8.