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All Journal International Journal of Power Electronics and Drive Systems (IJPEDS) Journal of Robotics and Control (JRC)
Aboulfatah, Mohamed
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Aerospace Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Mechanical Engineering

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A New Method for Improving the Fairness of Multi-Robot Task Allocation by Balancing the Distribution of Tasks Msala, Youssef; Hamed, Oussama; Talea, Mohamed; Aboulfatah, Mohamed
Journal of Robotics and Control (JRC) Vol 4, No 6 (2023)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v4i6.18650

Abstract

This paper presents an innovative task allocation method for multi-robot systems that aims to optimize task distribution while taking into account various performance metrics such as efficiency, speed, and cost. Contrary to conventional approaches, the proposed method takes a comprehensive approach to initialization by integrating the K-means clustering algorithm, the Hungarian method for solving the assignment problem, and a genetic algorithm specifically adapted for Open Loop Travel Sales Man Problem (OLTSP). This synergistic combination allows for a more robust initialization, effectively grouping similar tasks and robots, and laying a strong foundation for the subsequent optimization process. The suggested method is flexible enough to handle a variety of situations, including Multi-Robot System (MRS) with robots that have unique capabilities and tasks of varying difficulty. The method provides a more adaptable and flexible solution than traditional algorithms, which might not be able to adequately address these variations because of the heterogeneity of the robots and the complexity of the tasks. Additionally, ensuring optimal task allocation is a key component of the suggested method. The method efficiently determines the best task assignments for robots through the use of a systematic optimization approach, thereby reducing the overall cost and time needed to complete all tasks. This contrasts with some existing methods that might not ensure optimality or might have limitations in their ability to handle a variety of scenarios. Extensive simulation experiments and numerical evaluations are carried out to validate the method's efficiency. The extensive validation process verifies the suggested approach's dependability and efficiency, giving confidence in its practical applicability.
Innovative GMPPT searching algorithm and precise backstepping control for grid-connected PV system in challenging shading environments Bahri, Mohamed; Talea, Mohamed; Bahri, Hicham; Aboulfatah, Mohamed
International Journal of Power Electronics and Drive Systems (IJPEDS) Vol 15, No 3: September 2024
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijpeds.v15.i3.pp1537-1546

Abstract

Photovoltaic (PV) systems encounters different problems of weather conditions that lowers their generated power. For this reason, maximum power point tracking (MPPT) have been designed to track the maximum power at all times and thus minimize these losses. However, under complexes partial shading condition (PSC) these losses are even higher. Classical MPPT algorithms fails to track the global MPP (GMPP) which further augment the power losses. Alternately, a grid connected topology of the PV system is chosen but needs a control method to phase the inverter current with the grid. This paper introduces a novel algorithm named power search algorithm (PSA) that memorizes the highest peak as it scans the PV curve then returns and locks it. Due to its simplicity, this proposed method is suitable for practical use and manages to track the GMPP with high efficiency of 99.5% and a mean response time of 0.04 s. Comparison was made with a gray wolf optimization (GWO) technique. Simulation was done in MATLAB/Simulink. Results shows that the proposed algorithm performed better than the GWO in all aspect of efficiency, tracking time and oscillations around GMPP. Also, a backstepping control was used to inject a good synchronized power to the grid.
Co-Authors Bahri, Hicham Bahri, Mohamed Hamed, Oussama Msala, Youssef Talea, Mohamed