Quadrotor parameters.
\r\n\tHydrogen gas is the key energy source for hydrogen-based society. Ozone dissolved water is expected as the sterilization and cleaning agent that can comply with the new law enacted by the US Food and Drug Administration (FDA). The law “FDA Food Safety Modernization Act” requires sterilization and washing of foods to prevent food poisoning and has a strict provision that vegetables, meat, and fish must be washed with non-chlorine cleaning agents to make E. coli adhering to food down to “zero”. If ozone dissolved water could be successively applied in this field, electrochemistry would make a significant contribution to society.
\r\n\r\n\t
\r\n\tOxygen-enriched water is said to promote the growth of farmed fish. Hydrogen dissolved water is said to be able to efficiently remove minute dust on the silicon wafer when used in combination with ultrasonic irradiation.
\r\n\tAt present researches on direct water electrolysis have shown significant progress. For example, boron-doped diamonds and complex metal oxides are widely used as an electrode, and the interposing polymer electrolyte membrane (PEM) between electrodes has become one of the major processes of water electrolysis.
\r\n\t
\r\n\tThe purpose of this book is to show the latest water electrolysis technology and the future of society applying it.
In recent years, research on the control of Unmanned Aerial Vehicles (UAVs) has been growing due to its simplicity in design and low cost. Quadrotor helicopters have several advantages over fixed-wing air crafts, such as taking off and landing vertically in a limited space and hovering easily over fixed or dynamic targets, which gives them efficiency in applications that fixed-wing air crafts cannot do, in addition to being safer [1, 2, 3]. Based on its structure the UAV offers the power of sensing and computing in many applications. Quadrotor UAVs can be used to perform several tasks in the applications of dangerous areas for a manned aircraft in a high level of accuracy. They can be utilised in different applications, such as inspection of power lines, oil platforms, search and rescue operations, and surveillance [4, 5, 6]. Increasing the applications of quadrotors encourages the growth in their technologies and raises the requirements on autonomous control protocols. Moreover, using swarm robotics has advantages over individual robots in that they perform their tasks faster with high accuracy and use a minimum number of sensors by distributing them to the robots [7]. Researchers are focusing on the design and implementation of many types of controllers to control the take-off, landing and hovering of individual quadrotor UAVs with some applications which require the creation of a trajectory and tracking in three dimensions, benefiting from the wide developments in sensors.
Research in the field of control of individual and multi-robot quadrotor team formation is still facing some challenges. Challenges of individual quadrotor control come from the complexity of modelling its dynamic system because of its complex structure and the design issue. The dynamic model equations present four input forces with six output states, which mean that the system is in under-actuated range [5, 7]. Further challenges of multi-robot control come from evaluating the control architecture and communication network limitations.
The formation problem of quadrotors has had a vast area of interesting research in the past few years. Researchers have been motivated to contribute to this field of research by the development of materials, sensors and electronics used in designing quadrotors, which consequently has an effect on minimising their size, weight and cost. Working as a team of quadrotors has many benefits over using a single quadrotor in several applications.
Team formation control includes many problems to be addressed, including communication loss, delay between the robots or packet drop problems [8, 9, 10, 11]. Simultaneous localization and mapping is another problem in team formation control, in which the vehicle builds up its maps and estimates its location precisely at the same time; this problem has also been addressed in [12, 13, 14]. The third problem is the collision and obstacle avoidance, which includes avoiding collisions with both other robots and static or moving unknown obstacles while flying to their destination and maintaining their positions. Solutions to this problem have been handled by [12, 15]. Now, team formation control adopts a combination of some functions; the first is to perform the mission between two points, the second is to preserve the comparative positions of the robots over the formation and maintain the shape consequently, the third is to avoid obstacles and the forth is to divide the formation. In this chapter, we focus on designing only a control law for the leader-follower team formation problem with collision avoidance between team members by maintaining the distance between the leader and the follower.
In the leader-follower approach, at least one vehicle performs as a leader and the other robots are followers. The leader vehicle tracks a predefined path, whereas the followers maintain a certain distance with the leader and among themselves to obtain the desired shape. Each robot has its own controller and the robots keep the desired relative distance between themselves. However, two types of control architecture may be used to control the vehicle: one loop control scheme and two loop control scheme. If a two loop control scheme is used to control each vehicle, the outer loop is used for position control and its
Abundant literature exists on the subject of attitude stabilisation, path tracking and leader-follower team formation control. Several control techniques have been demonstrated to control a group of quadrotors varying between the linear PID, PD or LQR controllers to more complex nonlinear controllers as neural networks and BS controllers. These controllers achieved good results and some of them guaranteed the performance, such as the LQR controller, and some of them guaranteed their stability. The performance of an individual quadrotor or a group of quadrotors in formation control is often affected by external disturbances such as payload changes (or mass changes), wind disturbance, inaccurate model parameters, etc. Therefore, the IBS controller was proposed to reject the effect of disturbances and handle the change in model parameter uncertainties. On the other hand, improving the control performance is another aspect.
Dynamic model representation of the quadrotors is a major demand for designing these controllers. In this chapter, Euler angles technique was used to represent the quadrotors.
In this section, Euler angles are used to represent the quadrotor dynamical model. External disturbances and model parameter uncertainties change are considered as well. An IBS controller is derived and tested in simulation. The stability analysis is obtained via a selected Lyapunov function. The full quadrotor dynamic model including the gyroscope effects
and the rotational matrix
where
Assuming that
The full dynamic model based on Euler angles (1) of a quadrotor can be written as:
where
The leader-follower formation control problem to be solved in this chapter is a distributed control scheme of one leader and one follower. The leader control problem is formulated as a trajectory tracking, and the follower control problem is also formulated as a tracking problem, but with a different tracking target.
The follower keeps its yaw angle the same as the leader when it maintains the formation pattern. It moves to a desired position
Body frames in formation.
Assume both the leader and the follower are able to obtain their own pose information and the follower is able to obtain the leader’s pose information via wireless communication. The design goal of the controllers is to find the state feedback control law for the thrust and torque inputs for both the leader and the follower. The leader-follower formation control problem is solved if both conditions (6) and (7) are satisfied.
and
The communication among the robots is assumed to be available. The position
Integral backstepping control is one of the popular control approaches for both individual and multiple quadrotors. In this section, the integral backstepping control is applied for the individual quadrotor path tracking and leader-follower formation problems. This nonlinear control technique divide the control into two loops, the inner loop is for the attitude stabilisation and the outer loop is for the position control as shown in Figure 2.
Two-loop control block diagram.
In this case, the leader and the follower desired roll and pitch angles are assumed to be
Backstepping is a recursive design mechanism to asymptotically stabilise a controller for the following system [16]:
This system is described as an initial system in Figure 3, where
Initial system.
where
where
which is the backstepping, since
Backstepping system.
This system is equivalent to the initial system (8), where
Then
Let
Then
This signifies that the origin
The IBS controller for the follower is to track the leader and maintain a desired distance between them with desired incidence and bearing angles.
In this subsection, we derive the IBS controller for the follower. Let us use the follower translational part (17):
where
where
Then the position tracking error between the leader and the follower can be calculated as:
and its derivative is
where
where the integration of the follower position error is added to minimise the steady-state error.
Now, consider the linear velocity error between the leader and the follower as:
By substituting (24) into (25) we obtain
and its time derivative becomes
Then from (24) and (25) we can rewrite (23) in terms of the linear velocity error as:
By substituting (17) and (28) into (27), the time derivative of the linear velocity error can be rewritten as:
The desirable time derivative of the linear velocity error is supposed to be
Now, the total thrust
For the attitude stability, the following nonlinear
where
Next, we show the stability of the follower’s translational part.
The following candidate Lyapunov function is chosen for the stability analysis for the follower’s translational part with the IBS controller:
and its time derivative is
By substituting
Finally, (37) is less than zero provided
The leader is to track a desired trajectory
The result is that the total force and horizontal position control laws
The torque vector applied to the leader quadrotor
In order to determine the efficiency of the proposed controller, a MATLAB quadrotor simulator is used to test it numerically. The design parameters of the quadrotor used in the simulator are listed in Table 1. Two paths were presented in the simulation to show the performance of using the proposed controller with four different circumstances for quadrotors team formation. The first desired path to be tracked by the leader was.
Symbol | Definition | Value | Units |
---|---|---|---|
Roll Inertia | |||
Pitch Inertia | |||
Yaw Inertia | |||
m | Mass | 0.5 | kg |
Gravity | 9.81 | ||
Arm Length | 0.17 | ||
Rotor Inertia |
Quadrotor parameters.
The IBS controllers were tested in simulation to track a desired path by the leader and maintain the desired distance, desired incidence angle and desired bearing angle between them for the follower. The parameters chosen for both paths were
The leader initial positions were
The second desired path to be tracked by the leader was
The leader initial positions were
The four circumstances included: (17) no disturbance, (32) force disturbance
Figures 5 and 6 indicate the response of the IBS controller while the leader was tracking the first and second desired path, respectively. Figure 7 shows the distance between the leader and the follower via the two paths, and Figures 8–11 illustrate the yaw angles’ behaviour for the leader and the follower via the two paths respectively.
Leader-follower formation in first path.
Leader-follower formation in second path.
The distance between the leader and the follower in (a) the first path, (b) the second path.
Leader yaw angle in first path.
Follower yaw angle in first path.
Leader yaw angle in second path.
Follower yaw angle in second path.
It can be noticed from these figures that not only the overshoot but also the error in distance between the leader and the follower was low. It was also rejecting the disturbances in the two paths.
Table 2 demonstrates the RMSE values of the two paths positions and yaw angle. It is clear that the RMSE values of the IBS controller were almost the same when using the IBS controller in normal conditions and with
Path 1 | Path 2 | |||||||
---|---|---|---|---|---|---|---|---|
RMSE | ||||||||
0.0005 | 0.0040 | 0.0936 | 0.0004 | 0.0030 | 0.0248 | 0.0936 | 0 | |
0.0112 | 0.0772 | 0.0943 | 0.0004 | 0.0804 | 0.1018 | 0.0910 | ||
0.0005 | 0.0040 | 0.0936 | 0.0004 | 0.0030 | 0.0248 | 0.0936 | 0 | |
0.0005 | 0.0040 | 0.0936 | 0.0004 | 0.0030 | 0.0248 | 0.0936 | 0 |
Position and
In conclusion, it is obvious that the proposed IBS controller maintained the distance between the leader and the follower and keep them in the desired formation.
This chapter presented an IBS controller derived based on the Backstepping controller for quadrotor UAVs leader-follower team formation problem. Two loops control scheme was used in simulation to find the total thrust and torques. A
It is well-known that IBS control is a methodical approach to build the Lyapunov function ahead with the control input design. Thus by the cancellation of the indefinite error terms, the stability of the derivative of the Lyapunov function can be secured. Although the stability of the Lyapunov function is guaranteed, this does not guarantee the performance of the system. In this work, a suitable Lyapunov function was used to derive the controller stability conditions.
The simulation results prove that the performance by using the IBS controller had significantly small errors. It is also obvious that using the IBS controller led to a smooth and fast performance with small overshoot. Moreover, the response of using the proposed controller in rejecting the external disturbances was fast enough.
As a result, the proposed IBS controller indeed produced good control performance in all circumstances.
Authors are listed below with their open access chapters linked via author name:
",metaTitle:"IntechOpen authors on the Global Highly Cited Researchers 2018 list",metaDescription:null,metaKeywords:null,canonicalURL:null,contentRaw:'[{"type":"htmlEditorComponent","content":"New for 2018 (alphabetically by surname).
\\n\\n\\n\\n\\n\\n\\n\\n\\n\\nJocelyn Chanussot (chapter to be published soon...)
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\\n\\nJunhong Chen 2017, 2018
\\n\\nZhigang Chen 2016, 2018
\\n\\nMyung-Haing Cho 2016, 2018
\\n\\nMark Connors 2015-18
\\n\\nCyrus Cooper 2017, 2018
\\n\\nLiming Dai 2015-18
\\n\\nWeihua Deng 2017, 2018
\\n\\nVincenzo Fogliano 2017, 2018
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\\n\\nJaakko Kangasjärvi 2015-18
\\n\\nHamid Reza Karimi 2016-18
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\\n\\nJose Luiszamorano 2015-18
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\\n\\nJoachim Maier 2014-18
\\n\\nAndrea Natale 2017, 2018
\\n\\nAlberto Mantovani 2014-18
\\n\\nMarjan Mernik 2017, 2018
\\n\\nSandra Orchard 2014, 2016-18
\\n\\nMohamed Oukka 2016-18
\\n\\nBiswajeet Pradhan 2016-18
\\n\\nDirk Raes 2017, 2018
\\n\\nUlrike Ravens-Sieberer 2016-18
\\n\\nYexiang Tong 2017, 2018
\\n\\nJim Van Os 2015-18
\\n\\nLong Wang 2017, 2018
\\n\\nFei Wei 2016-18
\\n\\nIoannis Xenarios 2017, 2018
\\n\\nQi Xie 2016-18
\\n\\nXin-She Yang 2017, 2018
\\n\\nYulong Yin 2015, 2017, 2018
\\n"}]'},components:[{type:"htmlEditorComponent",content:'New for 2018 (alphabetically by surname).
\n\n\n\n\n\n\n\n\n\nJocelyn Chanussot (chapter to be published soon...)
\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\nYuekun Lai
\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\nPrevious years (alphabetically by surname)
\n\nAbdul Latif Ahmad 2016-18
\n\nKhalil Amine 2017, 2018
\n\nEwan Birney 2015-18
\n\nFrede Blaabjerg 2015-18
\n\nGang Chen 2016-18
\n\nJunhong Chen 2017, 2018
\n\nZhigang Chen 2016, 2018
\n\nMyung-Haing Cho 2016, 2018
\n\nMark Connors 2015-18
\n\nCyrus Cooper 2017, 2018
\n\nLiming Dai 2015-18
\n\nWeihua Deng 2017, 2018
\n\nVincenzo Fogliano 2017, 2018
\n\nRon de Graaf 2014-18
\n\nHarald Haas 2017, 2018
\n\nFrancisco Herrera 2017, 2018
\n\nJaakko Kangasjärvi 2015-18
\n\nHamid Reza Karimi 2016-18
\n\nJunji Kido 2014-18
\n\nJose Luiszamorano 2015-18
\n\nYiqi Luo 2016-18
\n\nJoachim Maier 2014-18
\n\nAndrea Natale 2017, 2018
\n\nAlberto Mantovani 2014-18
\n\nMarjan Mernik 2017, 2018
\n\nSandra Orchard 2014, 2016-18
\n\nMohamed Oukka 2016-18
\n\nBiswajeet Pradhan 2016-18
\n\nDirk Raes 2017, 2018
\n\nUlrike Ravens-Sieberer 2016-18
\n\nYexiang Tong 2017, 2018
\n\nJim Van Os 2015-18
\n\nLong Wang 2017, 2018
\n\nFei Wei 2016-18
\n\nIoannis Xenarios 2017, 2018
\n\nQi Xie 2016-18
\n\nXin-She Yang 2017, 2018
\n\nYulong Yin 2015, 2017, 2018
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USA, CRC Press Taylor & Francis, Asia Pacific, Trans Tech Publications Ltd., Switzerland, and Materials Science Forum, USA. He is a member of various editorial boards serving as associate editor for journals such as Environmental Chemistry Letter, Applied Water Science, Euro-Mediterranean Journal for Environmental Integration, Springer-Nature, Scientific Reports-Nature, and the editor of Eurasian Journal of Analytical Chemistry.",institutionString:"King Abdulaziz University",institution:{name:"King Abdulaziz University",country:{name:"Saudi Arabia"}}},{id:"99002",title:"Dr.",name:null,middleName:null,surname:"Koontongkaew",slug:"koontongkaew",fullName:"Koontongkaew",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:{name:"Thammasat University",country:{name:"Thailand"}}},{id:"156647",title:"Dr.",name:"A K M Mamunur",middleName:null,surname:"Rashid",slug:"a-k-m-mamunur-rashid",fullName:"A K M Mamunur Rashid",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:"MBBS, DCH, MD(Paed.), Grad. Cert. P. Rheum.(UWA, Australia), FRCP(Edin.)",institutionString:null,institution:{name:"Khulna Medical College",country:{name:"Bangladesh"}}},{id:"234696",title:"Prof.",name:"A K M Mominul",middleName:null,surname:"Islam",slug:"a-k-m-mominul-islam",fullName:"A K M Mominul Islam",position:null,profilePictureURL:"https://intech-files.s3.amazonaws.com/a043Y00000cA8dpQAC/Co2_Profile_Picture-1588761796759",biography:"Prof. Dr. A. K. M. Mominul Islam received both of his bachelor's and Master’s degree from Bangladesh Agricultural University. After that, he joined as Lecturer of Agronomy at Bangladesh Agricultural University (BAU), Mymensingh, Bangladesh, and became Professor in the same department of the university. Dr. Islam did his second Master’s in Physical Land Resources from Ghent University, Belgium. He is currently serving as a postdoctoral researcher at the Department of Horticulture & Landscape Architecture at Purdue University, USA. Dr. Islam has obtained his Ph.D. degree in Plant Allelopathy from The United Graduate School of Agricultural Sciences, Ehime University, Japan. The dissertation title of Dr. Islam was “Allelopathy of five Lamiaceae medicinal plant species”. Dr. Islam is the author of 38 articles published in nationally and internationally reputed journals, 1 book chapter, and 3 books. He is a member of the editorial board and referee of several national and international journals. He is supervising the research of MS and Ph.D. students in areas of Agronomy. Prof. Islam is conducting research on crop management, bio-herbicides, and allelopathy.",institutionString:"Bangladesh Agricultural University",institution:{name:"Bangladesh Agricultural University",country:{name:"Bangladesh"}}},{id:"214531",title:"Mr.",name:"A T M Sakiur",middleName:null,surname:"Rahman",slug:"a-t-m-sakiur-rahman",fullName:"A T M Sakiur Rahman",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:{name:"University of Rajshahi",country:{name:"Bangladesh"}}},{id:"66545",title:"Dr.",name:"A. F.",middleName:null,surname:"Omar",slug:"a.-f.-omar",fullName:"A. F. Omar",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:"Dr. A. F. Omar obtained\nhis Bachelor degree in electrical and\nelectronics engineering from Universiti\nSains Malaysia in 2002, Master of Science in electronics\nengineering from Open University\nMalaysia in 2008 and PhD in optical physics from Universiti\nSains Malaysia in 2012. His research mainly\nfocuses on the development of optical\nand electronics systems for spectroscopy\napplication in environmental monitoring,\nagriculture and dermatology. He has\nmore than 10 years of teaching\nexperience in subjects related to\nelectronics, mathematics and applied optics for\nuniversity students and industrial engineers.",institutionString:null,institution:{name:"Universiti Sains Malaysia",country:{name:"Malaysia"}}},{id:"191072",title:"Prof.",name:"A. K. M. Aminul",middleName:null,surname:"Islam",slug:"a.-k.-m.-aminul-islam",fullName:"A. K. M. Aminul Islam",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/191072/images/system/191072.jpg",biography:"Prof. Dr. A. K. M. Aminul Islam received both of his bachelor and Master’s degree from Bangladesh Agricultural University. After that he joined as Lecturer of Genetics and Plant Breeding at Bangabandhu Sheikh Mujibur Rahman Agricultural University (BSMRAU), Gazipur, Bangladesh and became Professor in the same department of the university. He is currently serving as Director (Research) of Bangabandhu Sheikh Mujibur Rahman Agricultural University (BSMRAU), Gazipur, Bangladesh. Dr. Islam has obtained his Ph D degree in Chemical and Process Engineering from Universiti Kebangsaan Malaysia. The dissertation title of Dr. Islam was “Improvement of Biodiesel Production through Genetic Studies of Jatropha (Jatropha curcas L.)”. Dr. Islam is the author of 98 articles published in nationally and internationally reputed journals, 11 book chapters and 3 books. He is a member of editorial board and referee of several national and international journals. He is also serving as the General Secretary of Plant Breeding and Genetics Society of Bangladesh, Seminar and research Secretary of JICA Alumni Association of Bangladesh and member of several professional societies. Prof. Islam acted as Principal Breeder in the releasing system of BU Hybrid Lau 1, BU Lau 1, BU Capsicum 1, BU Lalshak 1, BU Baromashi Seem 1, BU Sheem 1, BU Sheem 2, BU Sheem 3 and BU Sheem 4. He supervised 50 MS and 3 Ph D students. Prof. Islam currently supervising research of 5 MS and 3 Ph D students in areas Plant Breeding & Seed Technologies. Conducting research on development of hybrid vegetables, hybrid Brassica napus using CMS system, renewable energy research with Jatropha curcas.",institutionString:"Bangabandhu Sheikh Mujibur Rahman Agricultural University",institution:{name:"Bangabandhu Sheikh Mujibur Rahman Agricultural University",country:{name:"Bangladesh"}}},{id:"322225",title:"Dr.",name:"A. K. M. Aminul",middleName:null,surname:"Islam",slug:"a.-k.-m.-aminul-islam",fullName:"A. K. M. Aminul Islam",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/no_image.jpg",biography:"Prof. Dr. A. K. M. Aminul Islam received both of his bachelor's and Master’s degree from Bangladesh Agricultural University. After that he joined as Lecturer of Genetics and Plant Breeding at Bangabandhu Sheikh Mujibur Rahman Agricultural University (BSMRAU), Gazipur, Bangladesh, and became Professor in the same department of the university. He is currently serving as Director (Research) of Bangabandhu Sheikh Mujibur Rahman Agricultural University (BSMRAU), Gazipur, Bangladesh. Dr. Islam has obtained his Ph.D. degree in Chemical and Process Engineering from Universiti Kebangsaan Malaysia. The dissertation title of Dr. Islam was 'Improvement of Biodiesel Production through Genetic Studies of Jatropha (Jatropha curcas L.)”. Dr. Islam is the author of 99 articles published in nationally and internationally reputed journals, 11 book chapters, 3 books, and 20 proceedings and conference paper. He is a member of the editorial board and referee of several national and international journals. He is also serving as the General Secretary of Plant Breeding and Genetics Society of Bangladesh, Seminar, and research Secretary of JICA Alumni Association of Bangladesh and a member of several professional societies. Prof. Islam acted as Principal Breeder in the releasing system of BU Hybrid Lau 1, BU Lau 1, BU Capsicum 1, BU Lalshak 1, BU Baromashi Seem 1, BU Sheem 1, BU Sheem 2, BU Sheem 3 and BU Sheem 4. He supervised 50 MS and 3 PhD students. Prof. Islam currently supervising the research of 5 MS and 3 PhD students in areas Plant Breeding & Seed Technologies. Conducting research on the development of hybrid vegetables, hybrid Brassica napus using CMS system, renewable energy research with Jatropha curcas.",institutionString:"Bangabandhu Sheikh Mujibur Rahman Agricultural University",institution:{name:"Bangabandhu Sheikh Mujibur Rahman Agricultural University",country:{name:"Bangladesh"}}},{id:"91977",title:"Dr.",name:"A.B.M. Sharif",middleName:null,surname:"Hossain",slug:"a.b.m.-sharif-hossain",fullName:"A.B.M. Sharif Hossain",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:{name:"University of Malaya",country:{name:"Malaysia"}}},{id:"97123",title:"Prof.",name:"A.M.M.",middleName:null,surname:"Sharif Ullah",slug:"a.m.m.-sharif-ullah",fullName:"A.M.M. Sharif Ullah",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/97123/images/4209_n.jpg",biography:"AMM Sharif Ullah is currently an Associate Professor of Design and Manufacturing in Department of Mechanical Engineering at Kitami Institute of Technology, Japan. He received the Bachelor of Science Degree in Mechanical Engineering in 1992 from the Bangladesh University of Engineering and Technology, Dhaka, Bangladesh. In 1993, he moved to Japan for graduate studies. He received the Master of Engineering degree in 1996 from the Kansai University Graduate School of Engineering in Mechanical Engineering (Major: Manufacturing Engineering). He also received the Doctor of Engineering degree from the same institute in the same field in 1999. He began his academic career in 2000 as an Assistant Professor in the Industrial Systems Engineering Program at the Asian Institute of Technology, Thailand, as an Assistant Professor in the Industrial Systems Engineering Program. 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