A NOVEL NN OUTPUT FEEDBACK CONTROL LAW FOR QUAD ROTOR UAV by IJARIDEA Journal

Christo Ananth et al., International Journal of Advanced Research in Innovative Discoveries in Engineering and Applications[IJARIDEA] Vol.2, Issue 1,27 February 2017, pg. 18-26

A NOVEL NN OUTPUT FEEDBACK CONTROL LAW FOR QUAD ROTOR UAV Christo Ananth1 1

Associate Professor, Francis Xavier Engineering College, Tirunelveli, India

Abstract— Another NN yield input control law was created for an under incited quad rotor UAV which uses the regular limitations of the under incited framework to create virtual control contributions to ensure the UAV tracks a craved direction. Utilizing the versatile back venturing method, every one of the six DOF are effectively followed utilizing just four control inputs while within the sight of un demonstrated flow and limited unsettling influences. Elements and speed vectors were thought to be inaccessible, along these lines a NN eyewitness was intended to recoup the limitless states. At that point, a novel NN virtual control structure which permitted the craved translational speeds to be controlled utilizing the pitch and the move of the UAV. At long last, a NN was used in the figuring of the real control inputs for the UAV dynamic framework. Utilizing Lyapunov systems, it was demonstrated that the estimation blunders of each NN, the spectator, Virtual controller, and the position, introduction, and speed following mistakes were all SGUUB while unwinding the partition Principle. Keywords— DOF; Lyapunov technique; NN; UAV. I. INTRODUCTION

Quad rotor helicopters have immediately developed as a well known unmanned airborne vehicle (UAV) stage in the most recent quite a long while. Other than applications like observation and inquiry and safeguard, the prominence of this stage has originated from its basic development as contrasted and traditional helicopters. For instance, a quad rotor UAV utilizes settled pitch rotors so that its rotor speed can be changed in accordance with accomplish control instead of mechanical control linkages utilized as a part of routine helicopters. Subsequently, a quad rotor UAV is less demanding to construct and keep up. The progression of the quad rotor UAV are nonlinear, as well as combined with each other and under incited; qualities which can make the stage hard to control. As such, the UAV has six degrees of opportunity (DOF) with just four control inputs comprising of push and the three rotational torque inputs. To illuminate the quad rotor UAV following control issue, numerous strategies have been proposed where the control goal is to track three sought Cartesian positions and a wanted yaw point. In a state-subordinate Riccati condition based control plan was produced utilizing the little edge estimate so as to infer the sought pitch and roll required for speed following. Conversely, Madaniand Benallegue plan a controller utilizing back venturing to track the three sought Cartesian positions and a yaw point while settling the pitch and move edges. At that point, immersion capacities are utilized in the improvement of the control inputs got by means of back venturing approach. A disadvantage of these controllers is the requirement for full state estimation and information of the UAV elements a need while the elements like streamlined grinding are either suggested or overlooked by and large. It was demonstrate that the above suggestions are legitimate just at low speeds, for example, floating while the streamlined impacts can get to be significant even at direct speeds bringing on precariousness of the UAV. Then again, a sliding mode onlooker is acquainted with gauge the translational and rakish speeds of the UAV. Notwithstanding the UAV speeds, Besnardet al proposed a sliding mode estimator of outer aggravations, for example, wind and model instabilities. At that point, utilizing virtual control inputs and the bend sin work, the sought pitch and move of the UAV were defined to track. In spite of the fact that the utilization of the circular segment sin work 18 © 2017, IJARIDEA All Rights Reserved

Christo Ananth et al., International Journal of Advanced Research in Innovative Discoveries in Engineering and Applications[IJARIDEA] Vol.2, Issue 1,27 February 2017, pg. 18-26

gives a characteristic immersion of the coveted points, bend sin gets to be undefined when its contention is outside the range defined by, and arrangements to guarantee that the previously mentioned situation does not occur are not ensured. A yield input controller is accomplished by deliberately bringing a consistent term into the changed following mistake which is typically denned as an element of the position and translational speed following blunders, separately. The presentation of the consistent term is then used in the plan of a helper control contribution for the translational speeds where as the framework non linearity's need to fulfill a straight in the obscure parameters (LIP) suspicion. A versatile spectator is proposed to recoup the speed of the UAV utilizing increasing velocities, point estimations, and measured rakish speeds. Therefore, the estimation depends on a precise inertial estimation unit other than requiring a stringent persistency of excitation (PE) condition to ensure execution which is difficult to fulfill by and by. Christo Ananth et al. [3] discussed about a system, a low power area reduced and speed improved serial type daisy chain memory register also known as shift Register is proposed by using modified clock generator circuit and SSASPL (Static differential Sense Amplifier based Shared Pulsed Latch). This latch based shift register consumes low area and low power than other latches. There is a modified complementary pass logic based 4 bit clock pulse generator with low power and low area is proposed that generates small clock pulses with small pulse width. These pulses are given to the conventional shift register that results high speed. The system is designed by the Cadence virtuoso 180 nm technology. The Maximum supply voltage for the system, clock source and input source are 1.8V. The complementary pass logic based proposed system reduces the area about 7% for the total system and about 23% for the 4 bit clock pulse generator circuit. The Power is reduced by 26% than the conventional system. The speed is improved about 7% than the existing system. Christo Ananth et al. [4] discussed about Nanorobots Control Activation For Stenosed Coronary Occlusion, this paper presents the study of nanorobots control activation for stenosed coronary occlusion, with the practical use of chemical and thermal gradients for biomedical problems. The recent developments on nanotechnology new materials allied with electronics device miniaturization may enable nanorobots for the next few years. New possibilities for medicine are expected with the development of nanorobots. It may help to advance the treatment of a wide number of diseases: cardiovascular problems, neurosurgery, cancer, diabetes and new cell therapies. The implementation of new methodologies to help on manufacturing analyses and system design for the development of nanoscale molecular machine is one of the most important fields for research. The use of 3D physically based simulation in conjunction with clinical data may provide ways to design practical approaches for control and transducers development. II. NONLINEAR CONTROLLER

Nonlinear control is the territory of control building particularly included with frameworks that are nonlinear, time-variation, or both. Some entrenched investigation and outline strategies exist for LTI frameworks (e.g., root-locus, Bode plot, Nyquist rule, state-criticism, shaft situation); notwithstanding, either of the controller and the framework under control in a general control framework may not be a LTI framework, thus these techniques can't really be connected specifically. Nonlinear control hypothesis contemplates how to apply existing direct techniques to these more broad control frameworks. Moreover, it gives novel control strategies that can't be investigated utilizing LTI framework hypothesis. Notwithstanding when LTI framework hypothesis can be utilized for the examination and outline of a controller, a nonlinear controller can have alluring qualities (e.g., easier usage, expanded speed, or diminished control vitality); in any case, nonlinear control hypothesis more often than not requires more thorough scientific investigation to legitimize its decisions. Christo 19 ÂŠ 2017, IJARIDEA All Rights Reserved

Christo Ananth et al., International Journal of Advanced Research in Innovative Discoveries in Engineering and Applications[IJARIDEA] Vol.2, Issue 1,27 February 2017, pg. 18-26

Ananth et al. [5] discussed about Positioning Of a Vehicle in a Combined Indoor-Outdoor Scenario, The development in technology has given us all sophistications but equal amounts of threats too. This has brought us an urge to bring a complete security system that monitors an object continuously. Consider a situation where a cargo vehicle carrying valuable material is moving in an area using GPS (an outdoor sensor) we can monitor it but the actual problem arises when its movement involves both indoor (within the industry) and outdoor because GPS has its limitations in indoor environment. Hence it is essential to have an additional sensor that would enable us a continuous monitoring /tracking without cutoff of the signal. In this paper we bring out a solution by combining Ultra wide band (UWB) with GPS sensory information which eliminates the limitations of conventional tracking methods in mixed scenario(indoor and outdoor) The same method finds application in mobile robots, monitoring a person on grounds of security, etc. Properties Some properties of nonlinear dynamic systems are: • They do not follow the principle of superposition (linearity and homogeneity). • They may have multiple isolated equilibrium points. • They may exhibit properties such as limit-cycle, bifurcation, chaos. • Finite escape time: Solutions of nonlinear systems may not exist for all times. III. QUAD ROTOR HELICOPTERS

A quad rotor, likewise called a quad rotor helicopter or quadrocopter, is a flying machine that is lifted and pushed by four rotors. Quad rotors are delegated rotorcraft, rather than settled wing flying machine, on the grounds that their lift is gotten from four rotors. They can likewise be delegated helicopters, however not at all like standard helicopters, quad rotors utilize settled pitch sharp edges, whose rotor pitch does not change as the cutting edges pivot. Control of vehicle movement can be accomplished by fluctuating the relative speed of every rotor to change the push and torque created by each. A quad-rotor helicopter is an air ship whose lift is created by four rotors. Control of such an art is refined by shifting the velocities of the four engines with respect to each other. Quad-rotor makes normally request a modern control framework keeping in mind the end goal to take into account adjusted flight. Uncontrolled flight of a quad-rotor would be essentially incomprehensible by one administrator, as the elements of such a framework request steady alteration of four engines at the same time. There are two eras of quad rotor outlines. The original quad rotors were intended to convey at least one travelers. These vehicles were among the principal fruitful heavier-than-air vertical take off and landing (VTOL) vehicles. Be that as it may, early models experienced poor execution, and last models required a lot of pilot work stack, because of poor steadiness growth. The later era of quad rotors are regularly intended to be unmanned flying vehicles (UAVs). These vehicles utilize an electronic control framework and electronic sensors to balance out the air ship. With their little size and nimble mobility, these quad rotors can be flown inside and additionally outside. The upsides of the present era of quad rotors, versus similarly scale helicopters, are as per the following. To begin with, quad rotors don't require mechanical linkages to change the rotor edge pitch point as they turn. This disentangles the plan of the vehicle, and diminishes support time and cost. Second, the utilization of four rotors permits every individual rotor to have a littler breadth than the identical helicopter rotor, for a given vehicle estimate, permitting them to store less motor vitality amid flight. This decreases the harm created ought 20 © 2017, IJARIDEA All Rights Reserved

Christo Ananth et al., International Journal of Advanced Research in Innovative Discoveries in Engineering and Applications[IJARIDEA] Vol.2, Issue 1,27 February 2017, pg. 18-26

to the rotors hit any items. For little scale UAVs, this makes the vehicles more secure to communicate with in nearness. At long last, by encasing the rotors inside an edge, the rotors can be ensured amid crashes, allowing flights inside and in impediment thick situations, with generally safe of harming the vehicle, its administrators, or its environment. Every rotor produces both a push and torque about its focal point of turn, and additionally a drag compel inverse to the vehicle's bearing of flight. On the off chance that all rotors are turning at the same rakish speed, with rotors one and three pivoting clockwise and rotors two and four counterclockwise, the net streamlined torque, and subsequently the precise increasing speed about the yaw hub is precisely zero, which suggests that the yaw balancing out rotor of traditional helicopters is not required. Yaw is instigated by befuddling the adjust in streamlined torques (i.e., by balancing the total push orders between the counter-pivoting sharp edge sets). Rakish increasing speeds about the pitch and move tomahawks can be brought on independently without affecting the yaw hub. Each combine of sharp edges turning in a similar bearing controls one pivot, either roll or pitch, and expanding push for one rotor while diminishing push for the other will keep up the torque adjust required for yaw steadiness and instigate a net torque about the roll or pitch tomahawks. Along these lines, settled rotor cutting edges can be made to move the quad rotor vehicle in all measurements. Translational speeding up is accomplished by keeping up a non-zero pitch or move point. Christo Ananth et al. [6] proposed a system about Efficient Sensor Network for Vehicle Security. Today vehicle theft rate is very high, greater challenges are coming from thieves thus tracking/ alarming systems are being deployed with an increasingly popularity .As per as security is concerned today most of the vehicles are running on the LPG so it is necessary to monitor any leakage or level of LPG in order to provide safety to passenger. Also in this fast running world everybody is in hurry so it is required to provide fully automated maintenance system to make the journey of the passenger safe, comfortable and economical. To make the system more intelligent and advanced it is required to introduce some important developments that can help to promote not only the luxurious but also safety drive to the owner. The system “Efficient Sensor Network for Vehicle Security”, introduces a new trend in automobile industry. IV. UNMANNED ARIEL VEHICLE

An unmanned flying vehicle (UAV; otherwise called a remotely steered vehicle or RPV, or Unmanned Aircraft System (UAS)) is a flying machine that is flown by a pilot or a guide (now called Combat Systems Officer ) relying upon the distinctive Air Forces; nonetheless, without a human group on load up the airplane. Their biggest uses are in military applications. To recognize UAVs from rockets, a UAV is characterized as a fueled, flying vehicle that does not convey a human administrator, utilizes streamlined powers to give vehicle lift, can fly self-rulingly or be steered remotely, can be disposable or recoverable, and can convey a deadly or nonlethal payload. In this manner, voyage rockets are not viewed as UAVs, on the grounds that, in the same way as other guided rockets, the vehicle itself is a weapon that is not reused, despite the fact that it is likewise unmanned and at times remotely guided. Unmanned flying vehicles (UAVs) are specialties fit for flight without a locally available pilot. They can be controlled remotely by an administrator, or can be controlled selfgoverningly by means of prearranged flight ways. Such flying machine have as of now been actualized by the military for recognizance flights. Additionally use for UAVs by the military, particularly as instruments for inquiry and safeguard operations, warrant proceeded with improvement of UAV innovation. A. Hereditary Algorithm:

Christo Ananth et al., International Journal of Advanced Research in Innovative Discoveries in Engineering and Applications[IJARIDEA] Vol.2, Issue 1,27 February 2017, pg. 18-26

The hereditary calculation (GA) is a hunt heuristic that imitates the procedure of regular development. This heuristic is routinely used to create helpful answers for improvement and pursuit issues. Hereditary calculations have a place with the bigger class of developmental calculations (EA), which produce answers for improvement issues utilizing procedures roused by regular advancement, for example, legacy, transformation, determination, and hybrid. In a hereditary calculation, a populace of strings (called chromosomes or the genotype of the genome), which encode applicant arrangements (called people, animals, or phenotypes) to an advancement issue, advances toward better arrangements. Generally, arrangements are spoken to in parallel as series of 1s, however different encodings are likewise conceivable. The development as a rule begins from a populace of arbitrarily created people and occurs in eras. In every era, the wellness of each person in the populace is assessed, numerous people are stochastically chosen from the present populace (in light of their wellness), and altered (recombined and perhaps arbitrarily transformed) to shape another populace. The new populace is then utilized as a part of the following cycle of the calculation. Regularly, the calculation ends when either a greatest number of eras has been delivered, or a palatable wellness level has been gone after the populace. In the event that the calculation has ended because of a most extreme number of eras, an acceptable arrangement might possibly have been come to. Hereditary calculations discover application in bioinformatics, phylogenetics, computational science, designing, financial matters, science, fabricating, arithmetic, material science and different fields. A run of the mill hereditary calculation requires: 1. a hereditary portrayal of the arrangement area, 2. a wellness capacity to assess the arrangement area. A standard portrayal of the arrangement is as a variety of bits. Varieties of different sorts and structures can be utilized as a part of basically a similar way. The principle property that makes these hereditary portrayals helpful is that their parts are effortlessly adjusted because of their settled size, which encourages basic hybrid operations. Variable length portrayals may likewise be utilized, however hybrid usage is more mind boggling for this situation. Tree-like portrayals are investigated in hereditary programming and chart shape portrayals are investigated in developmental. The wellness capacity is characterized over the hereditary portrayal and measures the nature of the spoke to arrangement. The wellness capacity is dependably issue subordinate. For example, in the backpack one needs to amplify the aggregate estimation of articles that can be placed in a rucksack of some settled limit. A portrayal of an answer may be a variety of bits, where each piece speaks to an alternate question, and the estimation of the bit (0 or 1) speaks to regardless of whether the protest is in the backpack. Not each such portrayal is substantial, as the span of items may surpass the limit of the rucksack. The wellness of the arrangement is the whole of estimations of all articles in the backpack if the portrayal is legitimate or 0 generally. In a few issues, it is hard or even difficult to characterize the wellness expression; in these cases, intuitive hereditary calculations are utilized. B.

When we have the hereditary portrayal and the wellness work characterized, GA continues to instate a populace of arrangements arbitrarily, then enhance it through dull utilization of transformation, hybrid, reversal and determination administrators.

Christo Ananth et al., International Journal of Advanced Research in Innovative Discoveries in Engineering and Applications[IJARIDEA] Vol.2, Issue 1,27 February 2017, pg. 18-26

C. Neural Network

The term neural system was customarily used to allude to a system or circuit of natural neurons. The cutting edge use of the term frequently alludes to manufactured neural systems, which are made out of counterfeit neurons or hubs. In this way the term has two particular uses: 1. Biological neural systems are comprised of genuine natural neurons that are associated or practically related in the fringe sensory system or the focal sensory system. In the field of neuroscience, they are frequently distinguished as gatherings of neurons that play out a particular physiological capacity in research center examination. 2. Artificial neural systems are comprised of interconnecting fake neurons (programming builds that copy the properties of organic neurons). Counterfeit neural systems may either be utilized to pick up a comprehension of natural neural systems, or for taking care of manmade brainpower issues without fundamentally making a model of a genuine organic framework. The genuine, organic sensory system is profoundly perplexing and incorporates a few elements that may appear to be unnecessary in light of a comprehension of manufactured systems. This article concentrates on the relationship between the two ideas; for point by point scope of the two distinct ideas allude to the different articles: Biological neural system and counterfeit neural system. When all is said in done an organic neural system is made out of a gathering or gatherings of synthetically associated or practically related neurons. A solitary neuron might be associated with numerous different neurons and the aggregate number of neurons and associations in a system might be broad. Associations, called neurotransmitters, are normally shaped from axons to dendrites, however dendrodendritic microcircuits and different associations are conceivable. Aside from the electrical motioning, there are different types of flagging that emerge from neurotransmitter dispersion, which affect electrical flagging. In that capacity, neural systems are amazingly perplexing. Manmade brainpower and psychological displaying attempt to reproduce a few properties of neural systems. While comparable in their strategies, the previous has the point of understanding specific errands, while the last means to construct scientific models of organic neural frameworks. In the manmade brainpower field, fake neural systems have been connected effectively to discourse acknowledgment, picture investigation and versatile control, keeping in mind the end goal to build programming specialists (in PC and computer games) or self-ruling robots. A large portion of the as of now utilized manufactured neural systems for manmade brainpower depend on measurable estimation, improvement and hypothesis. Neural systems, as utilized as a part of counterfeit consciousness, have customarily been seen as rearranged models of neural preparing in the mind, despite the fact that the connection between this model and cerebrum organic design is discussed, as meager is thought about how the cerebrum really functions. A subject of ebb and flow inquire about in hypothetical neuroscience is the issue encompassing the level of unpredictability and the properties that individual neural components ought to need to imitate something looking like creature insight. Neural is worried with how tangible and other data is spoken to in the cerebrum by neurons. The fundamental objective of concentrate neural coding is to describe the relationship between the boost and the individual or outfit neuronal reactions and the relationship among electrical action of the neurons in the troupe. It is believed that neurons can encode both advanced and simple data. A neural system (NN), on account of counterfeit neurons called manufactured 23 ÂŠ 2017, IJARIDEA All Rights Reserved

Christo Ananth et al., International Journal of Advanced Research in Innovative Discoveries in Engineering and Applications[IJARIDEA] Vol.2, Issue 1,27 February 2017, pg. 18-26

neural system (ANN) or recreated neural system (SNN), is an interconnected gathering of normal or fake neurons that uses a numerical or computational model for data handling in view of a connectionist way to deal with calculation. By and large an ANN is a versatile framework that progressions its structure in light of outer or inner data that courses through the system. D. Lyapunov hypothesis

Lyapunov hypothesis is an accumulation of results with respect to the soundness of dynamical frameworks. This hypothesis is named after the Russian mathematician Aleksandra Mikhailovich Lyapunov. The essential aftereffect of the hypothesis is the idea of Lyapunov steadiness. Lyapunov's second (or direct) technique gives devices to concentrate (asymptotic) strength properties of a harmony purpose of a dynamical framework (or frameworks of differential conditions). The natural picture is that of a scalar yield work, regularly considered as a summed up vitality that is limited beneath, and diminishing along arrangements. On the off chance that this capacity has just a solitary nearby least, and it is entirely diminishing along all non balance arrangements, then one expects that all arrangements tend to that balance where the yield work has a base. This is in reality redress. In the continuation we state and demonstrate hypotheses, including some that unwind the necessity of entirely or internationally diminishing, and furthermore examine banter hypotheses that assurance the presence of such capacities. A great part of the force of the technique originates from its straightforwardness {one does not have to know any arrangements:Knowing only the deferential (or difference) equation one can easily establish whether such an output function is decreasing along solutions. However, while it is easy to see that for every asymptotically stable system there exists many, even smooth, such Lyapunov functions, in many cases it is almost impossible to get one's hands onto one such Lyapunov function. They are easy to construct for e.g. linear systems, and many strategies are available for special classes {in general it is a true art to come up with explicit formulas for good candidate Lyapunov functions. V. NEURAL NETWORK OUTPUT FEEDBACK TRACKING CONTROL

Fig.1. Neural Network Output Feedback Tracking Control

Christo Ananth et al., International Journal of Advanced Research in Innovative Discoveries in Engineering and Applications[IJARIDEA] Vol.2, Issue 1,27 February 2017, pg. 18-26

The general control objective for the UAV is to track a sought direction and a fancied yaw while keeping up a steady flight setup. The entire learning of the UAV flow and speed data is required to finish the control objective; notwithstanding, in this work, the translational and precise speeds are thought to be not quantifiable and full information of the flow is not accessible while the steady mass and snapshots of inactivity of the UAV are expected known comparative. In this manner all inclusive guess property of NN is used in the outline of the onlooker, virtual controller, and the dynamical controller. Learning of the mass is required for the dynamic control law though the mass and snapshots of dormancy are required for the eyewitness. Future exertion will try to unwind these suppositions. The proposed NN eyewitness appraises the UAV speed vector which is required by the control circle. The control circle, which comprises of a kinematic controller, NN virtual controller, and a NN dynamical controller, utilizes the data gave by the eyewitness to produce the proper summons to finish the control objective. To start the NN yield input controller Advancement, the NN onlooker configuration is viewed as first. A. NN Virtual Control Development

In this segment, the data gave by the kinematic controller inferred in used to compute the sought rakish speed utilizing a NN virtual controller. To start the advancement, we improve to watch the progression of the proposed virtual controller when the all flow are known. In this manner, it can be finished up utilizing standard augmentations of Lyapunov hypothesis that is under zero outside a conservative set, uncovering the virtual controller estimation blunders and the NN weight estimation mistakes to be limited. Looking at the disparities plainly the mistake bound sweep be made self-assertively little by appropriate choice of the additions. Furthermore, the underlying smaller set can be made subjectively extensive by appropriate choice of the increases, and the strength result gets to be SGUUB .Christo Ananth et al.[8] discussed about E-plane and H-plane patterns which forms the basis of Microwave Engineering principles.

Fig.2.UAV Tracking Errors

Christo Ananth et al., International Journal of Advanced Research in Innovative Discoveries in Engineering and Applications[IJARIDEA] Vol.2, Issue 1,27 February 2017, pg. 18-26

VI. CONCLUSION

Another NN yield criticism control law was produced for an under incited quad rotor UAV which uses the characteristic limitations of the under impelled framework to produce virtual control contributions to ensure the UAV tracks a fancied direction. Utilizing the versatile back venturing method, each of the six DOF are effectively followed utilizing just four control inputs while within the sight of un demonstrated flow and limited aggravations. Flow and speed vectors were thought to be inaccessible, in this way a NN eyewitness was intended to recuperate the unlimited states. At that point, a novel NN virtual control structure which permitted the coveted translational speeds to be controlled utilizing the pitch and the move of the UAV. At long last, a NN was used in the count of the real control inputs for the UAV dynamic framework. Utilizing Lyapunov strategies, it was demonstrated that the estimation mistakes of each NN, the onlooker, Virtual controller, and the position, introduction, and speed following blunders were all SGUUB while unwinding the detachment Principle. [1] [2] [3]

[4]

[5]

[6]

[7] [8]

[9]

REFERENCES D. Timothy, T. Burg, B. Xian, and D. Dawson, “Output feedback tracking control of an under actuated quad-Rotor UAV. J. Dunfied, M. Tarbouchi, and G.Labonte, “Neural network based control of a four rotor helicopter” Christo Ananth, S. Dinesh, "Area power and speed optimized serial type daisy chain memory using modified CPG with SSASPL," 2015 International Conference on Control, Instrumentation, Communication and Computational Technologies (ICCICCT), Kumaracoil, India, 2015, pp. 344-349, IEEE Data retrieved from http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7475302&isnumber=7475237 Christo Ananth, R.K. Shunmuga Priya, T.Rashmi Anns, S.Kadhirunnisa, “NANOROBOTS CONTROL ACTIVATION FOR STENOSED CORONARY OCCLUSION”, International Journal of Advanced Research in Management, Architecture, Technology and Engineering (IJARMATE), Volume 2, Special Issue 13, March 2016, pp: 60-76 Christo Ananth, S.Silvia Rachel, E.Edinda Christy, K.Mala, “Probabilistic Framework for the Positioning Of a Vehicle in a Combined Indoor-Outdoor Scenario”, International Journal of Advanced Research in Management, Architecture, Technology and Engineering (IJARMATE), Volume 2, Special Issue 13, March 2016, pp: 46-59 Christo Ananth, I.Uma Sankari, A.Vidhya, M.Vickneshwari, P.Karthiga, “Efficient Sensor Network for Vehicle Security”, International Journal of Advanced Scientific and Technical Research (IJASR), Volume 2, Issue 4, March-April 2014,pp – 871-877 E. Kim, “Output feedback tracking control of robot manipulators with model uncertainty via adaptive fuzzy logic,” Christo Ananth, S.Esakki Rajavel, S.Allwin Devaraj, M.Suresh Chinnathampy. "RF and Microwave Engineering (Microwave Engineering).", ACES Publishers, Tirunelveli, India, ISBN: 978-81-910-747-5-8, Volume 1,June 2014, pp:1-300. Dr. K. Madhavi, N. Ushasree, "A Fuzzy Based Dynamic Queue Management Approach to Improve QOS in Wireless sensor Networks.", International Journal of Advanced Research in Innovative Discoveries in Engineering and Applications[IJARIDEA], Volume 1,Issue 1,October 2016, pp:16-21.