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This Author published in this journals
All Journal International Journal of Power Electronics and Drive Systems (IJPEDS) IAES International Journal of Robotics and Automation (IJRA) Bulletin of Electrical Engineering and Informatics Journal of Robotics and Control (JRC) International Journal of Robotics and Control Systems Control Systems and Optimization Letters
Salah, Wael A.
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Aerospace Engineering Automotive Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Engineering Mechanical Engineering

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Journal : International Journal of Robotics and Control Systems

 1 
Development of a Sensor-Based Glove-Controlled Mobile Robot for Firefighting and Rescue Operations Sneineh, Anees Abu; Salah, Wael A.
International Journal of Robotics and Control Systems Vol 4, No 4 (2024)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v4i4.1553

Abstract

Robots are important in preventing hazards. This paper presents the construction and testing of a mobile robot equipped with a sensor-based glove for firefighting and rescue operations. The main idea is based on the ability to control the mobile robot through the movement of a gloved hand. The glove circuit is connected to the robot circuit through Bluetooth. The MPU6050 gyroscope sensor detects the movement of a gloved hand and sends the direction of the hand’s inclination to the microcontroller, which in turn uses this information to direct the mobile robot’ movement in the desired direction. Experiments were conducted to test the mobile robot and its control system. Results showed that the robot prototype works effectively with satisfactory response to the intended direction of robot movement. An increase in safety level and a reduction in firefighting risks were also observed. The proposed robot can assist effectively in rescue operations, creating opportunities for future improvements.
A Comparative Study of PID, FOPID, ISF, SMC, and FLC Controllers for DC Motor Speed Control with Particle Swarm Optimization Setiawan, Muhammad Haryo; Ma'arif, Alfian; Saifuddin, Much. Fuad; Salah, Wael A.
International Journal of Robotics and Control Systems Vol 5, No 1 (2025)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v5i1.1764

Abstract

Direct Current (DC) motors are extensively used in various applications due to their versatile and precise control capabilities. However, they face operational challenges such as speed instability and sensitivity to load variations and external disturbances. This study compares the performance of several advanced control methods—Proportional Integral Derivative (PID), Fractional Order PID (FOPID), Integral State Feedback (ISF), Sliding Mode Control (SMC), and Fuzzy Logic Controller (FLC) for DC motor control. Particle Swarm Optimization (PSO) is employed to optimize the tuning parameters of PID, FOPID, ISF, and SMC controllers, while FLC is implemented without optimization. The simulation results indicate that the PSO-FOPID controller exhibits the best overall performance, characterized by the fastest rise and settling times and the lowest ITSE, despite a minor overshoot. The PSO-PID controller also performs well, with fast response times, although it is less efficient in terms of settling time and ITSE compared to PSO-FOPID. The OBL/HGSO-PID controller, while stable and overshoot-free, has a slower response. The PSO-ISF controller shows the highest stability with the lowest SSE values, making it suitable for applications requiring high stability. The PSO-SMC controller demonstrates good stability but is slightly slower than PSO-ISF. The FLC controller, however, performs the worst, with significant overshoot and long recovery times, making it unsuitable for fast and precise control applications.  The robustness analysis under varying motor parameters further confirms the superiority of the PSO-FOPID controller, which outperforms OBL/HGSO and OBL-MRFO-SA optimizations across both PID and FOPID controllers, making it the most effective solution for applications requiring high precision and rapid response.
Co-Authors Abu Sneineh, Anees Abuhelwa, Mai Alfian Ma’arif Elnaggar, Mohamed Much. Fuad Saifuddin Purwono Purwono, Purwono Setiawan, Muhammad Haryo Shabaneh, Arafat A. A. Sneineh, Anees Abu Wulandari, Annastasya Nabila Elsa