A robust trajectory tracking control scheme for quadrotor unmanned aircraft vehicles under uncertainties is proposed herein. A tracking controller combined with the sliding mode and integral backstepping is performed for position and attitude tracking. The stability of the trajectory tracking controller of the quadrotor is investigated via Lyapunov stability analysis. By incorporating force and torque disturbances into numerical simulations, the results demonstrate the effectiveness of the proposed quadrotor trajectory controller. Finally, the experiments validate the feasibility of the proposed controller.

Electromagnetic interference is a serious and increasing form of environmental pollution, creating many issues in the areas of health care and industrial manufacturing. The performance of high-precision measurement equipment used in health care and the manufacturing industry is sensitive to electromagnetic interference. However, extremely low-frequency magnetic fields (ELFMF), with a frequency range from 3 to 30 Hz, generated by high-power lines have become the main interference source in high-tech foundries. This paper presents a magnetic cancelling system that works by combining active cancelling technology and passive cancelling technology to reduce the ELFMF around high-precision measurement equipment. The simulation and experimental results show the validity and feasibility of the proposed system.

In this paper, a detail design procedure of the real-time trajectory tracking for the nonholonomic wheeled mobile robot (NWMR) is proposed. A 9-axis micro electro-mechanical systems (MEMS) inertial measurement unit (IMU) sensor is used to measure the posture of the NWMR, the position information of NWMR and the hand-held device are acquired by global positioning system (GPS) and then transmit via radio frequency (RF) module. In addition, in order to avoid the gimbal lock produced by the posture computation from Euler angles, the quaternion is utilized to compute the posture of the NWMR. Furthermore, the Kalman filter is used to filter out the readout noise of the GPS and calculate the position of NWMR and then track the object. The simulation results show the posture error between the NWMR and the hand-held device can converge to zero after 3.928 seconds for the dynamic tracking. Lastly, the experimental results show the validation and feasibility of the proposed results.

There are many high-power electrical cables around and within semiconductor foundries. These cables are the source of extremely low-frequency (ELF < 300 Hz) magnetic fields that affect the tools which operate by the function of electronic beams. Miss operation (MO) happens because the ELF magnetic fields induce beam shift during the measurement or process for cutting-edge chips below 40 nm. We present the optimal permutation of power transmission lines to reduce electromagnetic influence in high-technology nano fabs. In this study, the magnetic field was reduced using a mirror array power cable system, and simulation results predicted the best permutations to decrease the electromagnetic interference (EMI) value to below 0.4 mG in a working space without any shielding. Furthermore, this innovative method will lower the cost of high-technology nano fabs, especially for the 28 nm process. The motivation behind this paper is to find the ideal permutation of power transmission lines with a three-phase, four-cable framework to decrease the EMI in high-technology nano fabs. In this study, the electromagnetic interference was diminished using the ideal-permutation methodology without investing or using additional energy, labor, or apparatus. Moreover, this advanced methodology will help increase the effectiveness and reduce the costs of nano fabs. The mathematical and experimental results of the study are presented with analysis.