In modern robotic field, many challenges have been appeared, especially in case of a multi-robot system that used to achieve tasks. The challenges are due to the complexity of the multi-robot system, which make the modeling of such system more difficult. The groups of animals in real world are an inspiration for modeling of a multi- individual system such as aggregation of Artemia. Therefore, in this paper, the multi-robot control system based on external stimuli such as light has been proposed, in which the feature of tracking Artemia to the light has been employed for this purpose. The mathematical model of the proposed design is derived and then Simulated by V-rep software. Several experiments are implemented in order to evaluate the proposed design, which is divided into two scenarios. The first scenario includes simulation of the system in situation of attraction of robot to fixed light spot, while the second scenario is the simulation of the system in the situation of the robots tracking of the movable light spot and formed different patterns like a straight-line, circular, and zigzag patterns. The results of experiments appeared that the mobile robot attraction to high-intensity light, in addition, the multi-robot system can be controlled by external stimuli. Finally, the performance of the proposed system has been analyzed.
This paper presents a design of a low cost, low loss 31-level multilevel inverter (MLI) topology with a reduce the number of switches and power electronic devices. The increase in the levels of MLI leads to limiting the THD to the desired value. The 31-level output voltage is created using four PV sources with a specific ratio. The SPWM is used to control the gating signals for the switches of MLI. The PV system is integrated into the MLI using a boost converter to maximize the power capacity of the solar cells and the Incremental Conductance (IC) algorithm is employed for maximum power point tracking (MPPT) of the PV system. Simulation results of 31-level MLI indicate the THD of voltage and current waveforms are 3.73% within an acceptable range of IEEE standards.