Nagendran Perumal

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Ant colony optimization (ACO) technique is proposed to solve the mobile robot path planning (MRPP) problem. In order to demonstrate the effectiveness of ACO in solving the MRPP problem, several maps of varying complexity used by an earlier researcher is used for evaluation. Each map consists of static obstacles in different arrangements. Besides that, each(More)
A computationally-efficient systematic procedure to design an Optimal Type-2 Fuzzy Logic Controller (OT2FLC) is proposed. The main scheme is to optimize the gains of the controller using Particle Swarm Optimization (PSO), then optimize only two parameters per type-2 membership function using Genetic Algorithm (GA). The proposed OT2FLC was implemented in(More)
This paper presents a compensating system for the harmonics and the reactive power using four-leg shunt active power filter (SAPF) in a three-phase four-wire distribution network and aims to minimize the harmonics and neutral current. Two control approaches p-q theory based hysteresis current control and load current detection based hysteresis current(More)
This paper presents the design of linear permanent magnet generator for wave energy conversion. The main focus is to design a linear generator which is simple, lightweight and produce 1000 W electric power. Various types of linear generators are studied such as; Transverse flux, vernier-hybrid and iron-cored. The air-cored linear permanent magnet generator(More)
This paper presents the modeling and simulation of three and seven-level cascade multilevel converter (CMC) based dynamic voltage restorer (DVR) and distribution static compensator (D-STATCOM), aimed at correcting the supply voltage sag/swell and interruption in low voltage distribution networks. The proposed design models of CMC based DVR and D-STATCOM are(More)
This paper proposes a novel custom power controller named as generalized unified power quality conditioner (GUPQC) based on cascade multilevel converter (CMC) for power quality improvement of a distribution system by using both five-level and three-level CMC. In a multi-bus, three independent feeders distribution system, the load reactive power and current(More)
This paper proposes a new method to detect voltage imperfections such as balanced/unbalanced voltage sag/swell, voltage flicker, and voltage disturbance in a single or three-phase electrical systems with excellent performance characteristics. The proposed method is based on single-phase synchronous d-q reference frame transformation. In contrast to the(More)
In the construction of robot applications, controller is very important in producing good performance the robot system. This paper presents the modeling and simulation of multi fingered robot hand (MFRH) with the conventional and modern controllers where the output responses have been analyzed. A swarm algorithm known as Particle Swarm Optimization (PSO)(More)
Traditional rehabilitation suffers from aplenty downfalls; they are costly and time consuming. Robotic rehabilitation has the potential to be a better substitute. Recent evidence suggests that there is a pressing need to employ the patient muscle effort to control the assistive robot, otherwise the patient may fully depend on the robot, and this leads to(More)
This paper proposes a novel convertible unified power quality conditioner (CUPQC) by employing three voltage source converters (VSCs) which are connected to a multi-bus/multi-feeder distribution system to mitigate current and voltage imperfections. The control performance of the VSCs is characterized by a minimum of six circuit open/close switches(More)