Robot-assisted surgical procedures have gained much coverage in recent years and favored over manually conducted operations. The medical robots are comprised of manipulators arm that is the multi-degree of freedom positioning devices with a highly non-linear nature to perform various surgical tasks. Due to non-linear effects, robots offer a severe challenge to the control system. Therefore, the control techniques are required for controlling the robots that should be fast enough to accommodate the rapid changes in the system parameters. In this article, the Proportional-Integral-Derivative (PID) controller’s performance has been investigated in trajectory control of the Two-Link Robotic Manipulator (TLRM) for reliable functioning of these robots. Tracking error and Control input factors have been used to investigate the PID controller’s robustness in trajectory control of ‘TLRM.’ Euler’s-lagrange approach has been used for dynamic analysis of ‘TLRM’. This work has been accomplished in the MATLAB®/ Simulink environment.

DC-DC converters preserve or control the output DC voltage. Due to parasitic constituents such as leakage capacitance of both diode and inductor, and transformer leakage inductance, DC-DC converters mostly operate on rigid switching conditions which result in high switching losses. These parasitic constituents affect the dc-dc converter’s operational reliability, instigate electromagnetic interference issues and limit the converter’s operation at higher frequency operations. In this paper, resonant or soft-switch approach has been employed to improve the operating performance and design-oriented principle investigations have been carried out for overcoming the issues of parasitic constituents in 24-12V DC-DC step-down (buck) converter. This paper divulges the analysis and Matlab Simulation results for 24-12V buck converter based on resonant or soft-switching approach.

A novel coronavirus disease (COVID-19) is transmitting throughout the globe. During this Pandemic situation, medical robots are playing an important role in protecting front line medical staff from this disease. The flexible robotic manipulator has mechanical flexibility, due to that fluctuation or oscillations can be seen either during or after the movement of a manipulator and can create uncertainty in medical operations. During this pandemic situation, reliable operations of these robots are necessary that depend upon the stability of flexible manipulators. In this article, Linear Quadratic Regulator (LQR), Pole Placement, and Proportional-Integral-Derivatives (PID) control methods have been used to investigate the robust control method for controlling the position of manipulator with flexible link in medical robots. To carry out this research, an effective variant of the flexible Link robotic manipulator has been used as a framework to analyze the robust control method. The Matlab®/Simulink result shows that the LQR control method provides better control response compared to PID and pole placement method and thus provides reliable operation to Medical Robots.

Solar insolation is sun radiation converted to electrical energy and injected into the utility network using grid-connected solar power plants. Recently, in many nations’ electricity grids, the share of power generated using solar photovoltaic (PV) power plants is rapidly increasing. In this case study, solar insolation levels on different latitudes with fix & two seasonal tilt angles have been measured using Meteonorm ^® software. For these latitudes, fourteen airport locations have been chosen across the globe. From the case study, it has been evident that a double seasonal tilt angle provides more global insolation as compared to fix tilt angle with a suitable azimuth angle. There is also a reduction in insolation level at fixed and two seasonal tilt angles if going away from the equator. Further, up to three seasonal tilt angles, there is sufficient enhancement has been observed in solar insolation. It is also analyzed that for multiple seasonal tilt angle based solar PV Plant, month-wise tilt angle selection is more important. Further Average, Rectangular, and Trapezoidal methods have been used for estimation of cumulative inclined insolation for a specific period and compared. From the comparison, the trapezoidal method has been found optimal for accurate estimation of cumulative inclined insolation.