Mathematical Modelling And Simulation Of RoboticDynamic Systems Using An Intelligent TutoringSystem Based On Fuzzy Logic And Fractal Theory

Abstract

We describe in this paper a computer program for Mathematical Modelling and Simulation of Robotic Dynamic Systems using Fuzzy Logic Techniques and Fractal Theory. The computer program combines Artificial Intelligence (AI) techniques with mathematical methods and can be considered an Intelligent Tutoring System (ITS) for the domain of modelling and simulation of robotic systems. This domain is quite complex because robotic systems can be viewed as non-linear dynamical systems, and it is a well known fact that even very simple non-linear dynamical systems can exhibit chaotic behavior. The computer program simulates the reasoning of a human expert in the process of teaching how to develop mathematical models of Robotic Dynamic Systems (RDS). The program contains the knowledge of the human experts expressed as fuzzy rules (in the knowledge base) for Mathematical Modelling and Simulation (MMS) of robotic systems. The ITS also contains knowledge about teaching methodologies for this domain (in the knowledge base). The ITS uses efficiently AI techniques to teach MMS of RDS, and also to monitor the learning process of students of this domain. Mathematical Modelling and Simulation of Robotic Systems is very important because it can help in the control of an actual system or in the design of a new system using the results of the simulations.