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99 results on '"Waghmare, L"'

1. AAUNet: An Attention Augmented Convolution Based UNet for Change Detection in High Resolution Satellite Images

Author

Patil, P. S., Holambe, R. S., Waghmare, L. M., Filipe, Joaquim, Editorial Board Member, Ghosh, Ashish, Editorial Board Member, Prates, Raquel Oliveira, Editorial Board Member, Zhou, Lizhu, Editorial Board Member, Raman, Balasubramanian, editor, Murala, Subrahmanyam, editor, Chowdhury, Ananda, editor, Dhall, Abhinav, editor, and Goyal, Puneet, editor

Published
2022
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2. Intelligently Trained Elman Neural Network-Based MPPT for Photovoltaic Systems

Author

Patil, Sangita Bapu, Waghmare, L. M., Kacprzyk, Janusz, Series Editor, Gomide, Fernando, Advisory Editor, Kaynak, Okyay, Advisory Editor, Liu, Derong, Advisory Editor, Pedrycz, Witold, Advisory Editor, Polycarpou, Marios M., Advisory Editor, Rudas, Imre J., Advisory Editor, Wang, Jun, Advisory Editor, Fong, Simon, editor, Dey, Nilanjan, editor, and Joshi, Amit, editor

Published
2022
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14. Robust self-organising fuzzy sliding mode-based path-following control for autonomous underwater vehicles.

Author

Lakhekar, G. V. and Waghmare, L. M.

Subjects
*SLIDING mode control, *AUTONOMOUS underwater vehicles, *FUZZY logic, *BOUNDARY layer (Aerodynamics), *MIRROR images, *ADAPTIVE fuzzy control, *HYPERSONIC planes
Abstract

A robust self-organising fuzzy sliding mode control law steers autonomous underwater vehicles (AUVs) to track a predefined planar path at a constant speed without temporal specifications. An intelligent methodology has been adopted for path-following control to handle varying parametric uncertainties in vehicle dynamics and also conquers stringent preliminary condition constraints in several path-following control strategies illustrated in the literature. Robust controller design builds on a fusion of sliding mode control theory and fuzzy logic technique with an adaptation mechanism to tune boundary layer width and hitting gain. This novel strategy proposes two distinct tuning procedures: the first method commonly uses absolute error and their derivative as fuzzy input variables in a two-dimensional fuzzy logic rule structure. Herein, skew symmetry property is utilised in rule base structure to derive a single input fuzzy variable based on the signed distance technique, drastically reducing two-dimensional fuzzy logic rules. Since the second method provides substantial reductions in rule inferences through the use of the fuzzy rule's mirror image and the Lyapunov approach for tuning purposes, the resulting guidance control law yields fast convergence of the path-following error trajectory towards zero along with the elimination of chattering problem. Simulation results illustrate the effectiveness and robustness of the proposed control law to achieve favourable tracking performance with a high accuracy. [ABSTRACT FROM AUTHOR]

Published
2023
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16. Active Disturbance Rejection Control Based Sinusoidal Trajectory Tracking for an Upper Limb Robotic Rehabilitation Exoskeleton

Author

Aole, S, Elamvazuthi, I, Waghmare, L, Patre, B, Bhaskarwar, T, Meriaudeau, F, Su, S, Aole, S, Elamvazuthi, I, Waghmare, L, Patre, B, Bhaskarwar, T, Meriaudeau, F, and Su, S

Abstract

In this paper, a combined control strategy with extended state observer (ESO) and finite time stable tracking differentiator (FTSTD) has been proposed to perform flexion and extension motion repetitively and accurately in the sagittal plane for shoulder and elbow joints. The proposed controller improves the tracking accuracy, performs state estimation, and actively rejects disturbance. A sinusoidal trajectory as an input has been given to a two-link multiple-input multiple-output (MIMO) upper limb robotic rehabilitation exoskeleton (ULRRE) for a passive rehabilitation purpose. The efficacy of the controller has been tested with the help of performance indices such as integral time square error (ITSE), integral square error (ISE), integral time absolute error (ITAE), and integral of the absolute magnitude of error (IAE). The system model is obtained through the Euler–Lagrangian method, and the controller’s stability is also given. The proposed controller has been simulated for ±20% parameter variation with constant external disturbances to test the disturbance rejection ability and robustness against parametric uncertainties. The proposed controller has been compared with already developed ESO-based methods such as active disturbance rejection control (ADRC), nonlinear active disturbance rejection control (NLADRC), and improved active disturbance rejection control (I-ADRC). It has been found that the proposed method increases tracking performance, as evidenced by the above performance indices.

Published
2022

19. DESIGN OF PID CONTROLLERS INTEGRATOR SYSTEM WITH TIME DELAY AND DOUBLE INTEGRATING PROCESSES

Author

Waghmare L. M, Uplane M. D, and Patil B.S

Subjects
020401 chemical engineering, Computer science, Control theory, Integrator, PID control, optimization, double integrating plus time delay, SIMC rules, integrating systems, internal model controller, stability analysis, direct synthesis method, robustness, Kharitonov's theorem, level control in cylindrical tank, PID controller, Control engineering, 02 engineering and technology, 0204 chemical engineering, 021001 nanoscience & nanotechnology, 0210 nano-technology
Abstract

In this paper first we investigate optimal PID control of a double integrating plus delay process and compare with the SIMC rules. What makes the double integrating process special is that derivative action is actually necessary for stabilization. In control, there is generally a trade-off between performance and robustness, so there does not exist a single optimal controller. However, for a given robustness level (here defined in terms of the Ms-value) we can find the optimal controller which minimizes the performance J (here defined as the integrated absolute error (IAE)-value for disturbances). Interestingly, the SIMC PID controller is almost identical to the optimal pid controller. This can be seen by comparing the paretooptimal curve for J as a function of Ms, with the curve found by varying the SIMC tuning parameter Tc.

Published
2020
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22. Role of Antibiotics on Surgical Site Infection in Cases of Open and Laparoscopic Cholecystectomy: A Comparative Observational Study

Author

Gharde, P, Swarnkar, M, Waghmare, L S, Bhagat, V M, Gode, D S, Wagh, D D, Muntode, P, Rohariya, H, and Sharma, A

Subjects
Antibiotics, laparoscopic cholecystectomy, open cholecystectomy, surgical site infection
Abstract

Introduction: Surgical site infection (SSI) comes as third most common healthcare related infection which produces morbidity and deaths at large. Still many authors believe that it is better not to use prophylactic antibiotics in simple and uncomplicated cases. Laparoscope, now‑a‑days is a much used instrument for abdominal surgeries. Even after new aseptic techniques SSI remains to be a major problem. Aims and Objectives: To study the effect of antibiotics on superficial SSI in the cases of open and laparoscopic cholecystectomy. Observation and Results: One hundred patients were enrolled for cholecystectomy. The patients were divided into two groups, A and B. Group A consisted of patients in whom laparoscopic cholecystectomy was done and group B in whom open cholecystectomy was done. The male female ratio was 1: 2.23. The mean age of patients in Group A was 46 years and in Group B was 44; Standard deviation (SD) for age was 14.8% and 13.8% in groups A and B respectively; t‑value was 0.654 and P value was 0.515 and they were not significant. The number of males and females was 16 and 26 respectively in Group A and 11 and 31 in Group B. The Chi square X2 = 1.36 and P value was 0.248 and both were insignificant. The rate of superficial surgical site infection was 2.63% in both the groups. Conclusion: Our study concludes that there is no difference in the outcome of patients in cases of open as well as laparoscopic cholecystectomy. There is no significant difference in the surgical site infection rate in cases of open as well as laparoscopic cholecystectomy.Keywords: Antibiotics, laparoscopic cholecystectomy, open cholecystectomy, surgical site infection

Published
2014

29. Robust proportional derivative (PD)-like fuzzy control designs for diving and steering planes control of an autonomous underwater vehicle.

Author

Londhe, P. S., Patre, B. M., Waghmare, L. M., and Santhakumar, M.

Subjects
DEGREES of freedom, AUTONOMOUS underwater vehicles, FUZZY systems, SIMULATION methods & models, FUZZY logic
Abstract

In this paper, a highly non-linear model with six degrees of freedom (DOF) is used for the manoeuvring and depth control of an autonomous underwater vehicle (AUV). A simplified scheme to design a conventional fuzzy logic controller known as robust Proportional Derivative (PD)-like Fuzzy Controller (PD-FZ) is designed separately for diving and steering subsystems of an AUV and then applied for combined steering, diving and speed control functions. Simulation results are shown by using the slender form of the Naval Post-Graduate School (NPS, Monterey, CA) AUV. Results of simulation studies using a nonlinearAUVdynamics are presented under the presence of any bounded ocean currents orwave disturbances and results show that proposed controller gives robust performance against these disturbances and modeling nonlinearity. Waypoint acquisition based on line of sight guidance is used to achieve path tracking. [ABSTRACT FROM AUTHOR]

Published
2017
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