International Journal of Robotics and Control Systems
International Journal of Robotics and Control Systems is open access and peer-reviewed international journal that invited academicians (students and lecturers), researchers, scientists, and engineers to exchange and disseminate their work, development, and contribution in the area of robotics and control technology systems experts. Its scope includes Industrial Robots, Humanoid Robot, Flying Robot, Mobile Robot, Proportional-Integral-Derivative (PID) Controller, Feedback Control, Linear Control (Compensator, State Feedback, Servo State Feedback, Observer, etc.), Nonlinear Control (Feedback Linearization, Sliding Mode Controller, Backstepping, etc.), Robust Control, Adaptive Control (Model Reference Adaptive Control, etc.), Geometry Control, Intelligent Control (Fuzzy Logic Controller (FLC), Neural Network Control), Power Electronic Control, Artificial Intelligence, Embedded Systems, Internet of Things (IoT) in Control and Robot, Network Control System, Controller Optimization (Linear Quadratic Regulator (LQR), Coefficient Diagram Method, Metaheuristic Algorithm, etc.), Modelling and Identification System.
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<![CDATA[An Intelligent Color Image Recognition and Mobile Control System for Robotic Arm ]]>
<![CDATA[Albert Wen Long Yao]]>;
<![CDATA[H. C. Chen]]>
<![CDATA[ International Journal of Robotics and Control Systems Vol 2, No 1 (2022) ]]>
Publisher : <![CDATA[Association for Scientific Computing Electronics and Engineering (ASCEE) ]]>
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DOI: 10.31763/ijrcs.v2i1.557
<![CDATA[The aim of this study is to develop intelligent color recognition, mobile control, and monitoring system for a pick-and-place robotic arm for manufacturing systems. The demand for smart manufacturing factories with real-time control of fabricating processes and traceability of production information is increasing urgently. Generally speaking, a smart manufacturing facility is usually composed of sensing, computing, control, and communication technologies together. In this study, the three-tier architecture of the Internet of things (IoT) was adopted as a guideline to design mobile devices to control and monitor a color image recognition and alarm monitoring system by using Raspberry Pi and a web page database. The practical results and contributions of this study are as follows: With integrating the techniques of advanced BR PLC, mobile devices and APP, color image recognition, Raspberry Pi microcomputer, and MySQL database technologies together, (1) the mobile control and monitoring system is able to supervise a real-time manufacturing plant anywhere and anytime with mobile devices easily; (2) the color identification system can identify and classify different color work-piece precisely, and the identification results are recorded for remote database platform; (3) the collected data are analyzed and displayed on mobile devices through the web database for field operators and engineers promptly. It provides a very successful practical paradigm to promote conventional factories to meet industry 4.0.]]>
<![CDATA[Turning Point and Free Segments Strategies for Navigation of Wheeled Mobile Robot ]]>
<![CDATA[Imen Hassani]]>;
<![CDATA[Islem Ergui]]>;
<![CDATA[Chokri Rekik]]>
<![CDATA[ International Journal of Robotics and Control Systems Vol 2, No 1 (2022) ]]>
Publisher : <![CDATA[Association for Scientific Computing Electronics and Engineering (ASCEE) ]]>
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DOI: 10.31763/ijrcs.v2i1.586
<![CDATA[The basic idea of the developed work is to solve the problem of mobile robot navigation with obstacle avoidance and the trajectory tracking problem in simple and complex environments. The research contribution aims to develop a strategy of navigation based on the turning point and the free segments algorithms. Indeed, a turning point method is developed in order to solve the problem of navigation in a simple environment. Then, the free segments approach is applied in order to solve the problem of obstacle avoidance in a complex environment. The second part of this paper aims to solve the problem of trajectory tracking. For this reason, a sliding mode controller is proposed as a solution to control the stability of the mobile robot. Finally, some simulation results which are developed using Matlab software are given to prove the validity of the developed work.]]>
<![CDATA[Effect of Joints’ Configuration Change on the Effective Mass of the Robot ]]>
<![CDATA[Abdel-Nasser Sharkawy]]>
<![CDATA[ International Journal of Robotics and Control Systems Vol 2, No 1 (2022) ]]>
Publisher : <![CDATA[Association for Scientific Computing Electronics and Engineering (ASCEE) ]]>
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DOI: 10.31763/ijrcs.v2i1.564
<![CDATA[Effective mass of robot is considered of great significance in enhancing the safety of human-robot collaboration. In this paper, the effective mass of the robot is investigated using different joint configurations. This investigation is executed in two steps. In the first step, the position of each joint of the robot is changing alone, whereas the positions of the other joints of the robot are fixed and then the effective mass is determined. In the second step, the positions of all joints of the robot are changing together, and the effective mass of the robot is determined. From this process, the relation between the effective mass of the robot and the joint configurations can be presented. This analysis is implemented in MATLAB and using two collaborative robots; the first one is UR10e robot which is a 6-DOF robot and the second one is KUKA LBR iiwa 7 R800 robot which is a 7-DOF robot. The results from this simulation prove that the change in any joint position of the robot except the first and the last joint affect the effective mass of the robot. In addition, the change in all joints’ positions of the robot affect the effective mass. Effective mass can thus be considered as one of the criteria in optimizing the robot kinematics and configuration.]]>
<![CDATA[A Comparative Study of Nonlinear Control Schemes for Induction Motor Operation Improvement ]]>
<![CDATA[Yassine Zahraoui]]>;
<![CDATA[Mohamed Akherraz]]>;
<![CDATA[Alfian Ma’arif]]>
<![CDATA[ International Journal of Robotics and Control Systems Vol 2, No 1 (2022) ]]>
Publisher : <![CDATA[Association for Scientific Computing Electronics and Engineering (ASCEE) ]]>
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DOI: 10.31763/ijrcs.v2i1.521
<![CDATA[In the objective of improving the performance of induction motor operation and ensuring a robust control against different uncertainties and external disturbances, especially at low-speed regions, this research highlights the main features of two nonlinear control techniques. First, the control design is based on the backstepping approach (BSA) with integral action, and then the sliding mode control (SMC) theory. The BSA principle is to define successive causal relations in order to construct the control law in a recursive and systematic way. This allows overcoming the obstacle of the higher-order system's dimension. SMC is designed to drive and then constrain the system state to lie within a neighborhood of the switching surface, this provides very strong and inherent robustness to the resulting controllers. The main reason behind developing the nonlinear control techniques is to ensure a decoupled control of the machine. Besides, it guarantees the stability of the overall system by tracking the speed reference with the fewest static error. Moreover, as the sensorless control increases the reliability and decreases the cost of the control system, an extended Kalman filter is implemented to improve speed and flux observation. The simulations of all the discussed results have been obtained by MATLAB/Simulink.]]>
<![CDATA[Syngas Generation Process Simulation: A Comparative Study ]]>
<![CDATA[Reyner P. P. de Oliveira]]>;
<![CDATA[Maria E. K. Fuziki]]>;
<![CDATA[Priscila M. L. Z. Costa]]>;
<![CDATA[Angelo Marcelo Tusset]]>;
<![CDATA[Giane G. Lenzi]]>
<![CDATA[ International Journal of Robotics and Control Systems Vol 2, No 1 (2022) ]]>
Publisher : <![CDATA[Association for Scientific Computing Electronics and Engineering (ASCEE) ]]>
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DOI: 10.31763/ijrcs.v2i1.584
<![CDATA[Methane reforming processes are of great importance for both the reduction of this greenhouse gas concentration in the atmosphere and for hydrogen production for energetic or chemical synthesis purposes. The use of Biogas in substitution for methane in reforming processes still provides a solution for the recovery of organic waste capable of producing Biogas. However, an in-depth analysis of the advantages of this substitution from the point of view of process yield is still lacking. Thus, the main contribution of the present research is the focus given to the comparison between methane and biogas as a reactant for the dry and steam reforming processes. In this work, a computational comparison of syngas production processes was performed, considering the system within the open-loop control. The software Aspen Hysys was used based on the minimization of Gibbs free energy in equilibrium. The parameters studied were: molar ratio of reagents (1-5), temperature (600-1000 °C), and pressure (1-5 bar). Dry methane reforming and steam methane reforming units were simulated, as well as both units using Biogas as a methane source. The plant was built in the simulator, and the results obtained indicated that high values in the molar ratio of CO2/CH4, CO2/Biogas, H2O/CH4, and H2O/Biogas, high temperatures, and low pressures favor the maximum conversion of methane. The use of Biogas in replacement of pure methane in the reform process proved to be advantageous for favoring the synthesis gas production reaction, besides adding value to a residue.]]>
