Kaitwanidvilai, Somyot

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Preferred name
Kaitwanidvilai, Somyot
Alternative Name
Kaitwanidvilai, S.
Main Affiliation
Email
somyot.ka@kmitl.ac.th

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    Item type:Publication,
    Decentralised and Centralised Fixed Structure H∞ Robust Loop Shaping for the MIMO Microsurgical Manipulation Based on PSOGSA
    (2026-01-01)
    Kaitwanidvilai, Somyot
    ;
    Konghuayrob, Poom
    ;
    Aoyama, Hisayuki
    This paper presents decentralised and centralised fixed-structure H∞ robust control methods optimised by the Particle Swarm Optimisation and Gravitational Search Algorithm (PSOGSA) for a coupled multi-input multi-output (MIMO) microsurgical manipulator. The design framework explicitly considers uncertainties and disturbance constraints. Conventional H∞ loop-shaping controllers are typically of high order, complex, and difficult to implement in practice. To address this limitation, Proportional-Integral-Derivative (PID)-structured decentralised and centralised H∞ controllers are proposed, providing compact structures while retaining robustness. The novelty of this work lies in embedding H∞ robustness criteria into practical PID-based frameworks, bridging the gap between theoretical robust design and experimental implementation in microsurgical applications. The proposed controllers are evaluated against a reduced-order H∞ controller derived from Hankel norm approximation and a Ziegler–Nichols tuned PID controller, using both simulation and experimental studies. Results demonstrate that the proposed controllers achieve improved stability margins (0.449–0.521 compared with 0.436 for the reduced-order design), maintain low root-mean-square errors (≈0.067–0.089) and remain robust under voltage disturbances where conventional PID control fails. These findings confirm the contribution of a practical and efficient robust control strategy for enhancing the precision and reliability of microsurgical manipulators.
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    Item type:Publication,
    Robot arm structure design using polyamide evaluated by finite element analysis
    (2020-01-01)
    Kaitwanidvilai, Somyot
    ;
    Buthgate, Siwawong
    ;
    Aoyama, Hisayuki
    ;
    Konghuayrob, Poom
    Robots have increasingly replaced humans for many jobs, including 24 h work, routine tasks, and dangerous jobs. However, the robot operating system has high power consumption in many processes. This has led to energy efficiency being the main focus. We have opted to build a robot with high strength, light weight, and low power consumption by reducing the weight of its components. Presently, we know that the structure of most robots in the world is made of metals, plastics, and composite materials. In this research, we designed the mechanical structure of robot arms with three different materials (cast iron, polyamide, and aluminum) using the finite element method to analyze and evaluate the possibilities of these materials. The dynamic load, power consumption, and mechanical characteristics were compared. It was found that polyamide could help lighten the weight by 40% and increase energy efficiency along with cost effectiveness by 41%. Although polyamide is particularly easy to find, cast iron is stronger than polyamide.
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