Problem Statement: This paper presents a dynamic model and control strategies for a two-wheeled self-balancing robot. The dynamic model of the under study two-wheeled self-balancing robot is calculated based on Newtonian method and the control strategies is designed based on the calculated dynamic model which is constructed for this paper. The parameters of the proposed robot which are used for controlling the proposed robot are tilt angle and displacement of the proposed robot. Based on the system zeroes and poles location which are calculated based on transfer functions of the under study robot, proportional derivative and proportional integral derivative controllers are designed. The controllers parameters are tuned with the Genetic algorithm. Fuzzy logics are used to improve the balance ability especially under external forces. The experimental results of implementing the proportional derivative controller represented that a slight vibration is appeared on the body of the proposed robot and it fell down after few seconds. The proportional integral derivative controller improved the stability of the proposed robot but the robot fell down when an external force is applied on the body of it. After implementing the designed Fuzzy-PID controller on the under study two-wheeled self-balancing robot, the stability of the under study two wheel self-balancing robot under external forces is improved impressively.

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Problem Statement: —Stadium maintenance staff are one of those people who work hard to maintain the court correctly. One of the items that often require rework is the lines drawn on the court for maintenance of track or boundaries or even the entire court when it is football stadium etc. Besides, for indoor stadiums that host volleyball, basketball, tennis, etc., lines need to be drawn. Redrawing the court after each match is one of the major problems of concern. In such a scenario, a system is proposed that can draw the court lines autonomously. The objective of this research work is to present a design of an autonomous sports court drawing bot that can draw the linear lines automatically which can aid in the maintenance work of the sports stadium.

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