Department Publications

Solar photovoltaic (PV) systems have become a trend as a sustainable energy source on a global scale. However, the dirt accumulated on solar panels often reduces their efficiency, considerably. Existing cleaning methods have limitations such as requiring manual labour, low efficiency, limited to single cleaning method or single operational mode. As a solution, this research study describes the design and implementation of a semi-autonomous solar panel cleaning robot for both dry and wet cleaning. The robot can autonomously navigate on solar panels safely, or user can manually control it using a mobile app. The robot is capable of functioning for around 75 minutes on a single charge on solar panels tilted up to 20°, facilitated by image processing algorithms achieving an accuracy surpassing 96%. The orientation estimation is accomplished through the implementation of three parallel Kalman filters running on …

This study aims to check the behaviour of various controllers that can successfully control a catamaran vessel on the ocean surface for trajectory tracking. Unlike on the ground, the ocean surface has disturbances from water currents, wind forces and ocean waves. Therefore, trajectory tracking is challenging work. A 3D model of a catamaran vessel was simulated to check the vessel’s behaviour with the controllers: Polynomial recurrent neural network-based adaptive PID controller, first and second-order sliding mode controllers, and first-order adaptive controller are among them. The control system is a combination of two controllers. The primary controller controls the vessel’s surge and yaw according to the velocity error. The secondary controller controls the velocity errors required by the primary controller, according to the displacement error of the catamaran vessel from the trajectory and the required forward …

The ability to accurately localize vehicles is essential for driver assistance applications. Existing modern localization systems, while sophisticated, often come with considerable costs and limitations in accessibility. Recognizing the need for a more accessible solution, there is a growing demand for user-friendly and cost-effective alternatives. One such alternative lies in leveraging mobile devices for localization. However, relying solely on Global Positioning System (GPS), Wi-Fi, or cellular networks, the most commonly used technologies in mobile device localization, often suffer from issues with accuracy. Addressing these drawbacks is crucial to ensuring its effectiveness and widespread adoption. Map matching is a commonly pursued and well-researched approach taken to rectify these erroneous location data. This paper presents the implementation of a hybrid of two map-matching implementations on a mobile …