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Alfian Ma'arif
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International Journal of Robotics and Control Systems
Published by Association for Scientific Computing Electronics and Engineering
ISSN : -     EISSN : 27752658     DOI : https://doi.org/10.31763/ijrcs
Core Subject : Engineering,
Control & Systems Engineering Electrical & Electronics Engineering
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.
Arjuna Subject : Teknik (semua kategori) - Teknik Kontrol dan Sistem
Articles 15 Documents
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Search results for , issue "Vol 3, No 3 (2023)" : 15 Documents clear
Fractional Order Fault Tolerant Control - A Survey Samir Ladaci; Hamza Benchaita
International Journal of Robotics and Control Systems Vol 3, No 3 (2023)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v3i3.1093

Abstract

In this paper, a comprehensive review of recent advances and trends regarding Fractional Order Fault Tolerant Control (FOFTC) design is presented. This novel robust control approach has been emerging in the last decade and is still gathering great research efforts mainly because of its promising results and outcomes. The purpose of this study is to provide a useful overview for researchers interested in developing this interesting solution for plants that are subject to faults and disturbances with an obligation for a maintained performance level. Throughout the paper, the various works related to FOFTC in literature are categorized first by considering their research objective between fault detection with diagnosis and fault tolerance with accommodation, and second by considering the nature of the studied plants depending on whether they are modelized by integer order or fractional order models. One of the main drawbacks of these approaches lies in the increase in complexity associated with introducing the fractional operators, their approximation and especially during the stability analysis. A discussion on the main disadvantages and challenges that face this novel fractional order robust control research field is given in conjunction with motivations for its future development. This study provides a simulation example for the application of a FOFTC against actuator faults in a Boeing 747 civil transport aircraft is provided to illustrate the efficiency of such robust control strategies.
Integrated Modelling and Control of Linear Actuator Based Automatic Pedal Pressing Mechanism for Low-Speed Driving in a Road Traffic Delay Azrul Azim Abdullah Hashim; Salmiah Ahmad; Nor Maniha Abd Ghani; Ahmad Nor Kasruddin Nasir
International Journal of Robotics and Control Systems Vol 3, No 3 (2023)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v3i3.1058

Abstract

Sitting in traffic congestion for hours in a posture that requires recurrent actions of manually pressing the pedal and braking excessively can result in fatigue, especially on the driver's leg and back. This fatigue can have long-term implications and adversely affect the driver's health. Thus, this paper aims to model and develop a control system that utilizes a linear actuator to replace the leg activities involved in pressing and releasing the brake pedal. This approach, combined with the implementation of a PID controller, offers a novel solution to control the vehicle speed by integration with the linear actuator that focus on low-speed driving condition. The design process begins with creating a 3D model using SolidWorks to visualize the movement of the linear actuator and Pedal subsystem. This model is then connected to Matlab-Simulink, where a PID controller is implemented and integrated into the electrical circuit to control the actuator's movement. Integration with the vehicle dynamic model enables a comprehensive analysis of the system's behavior on the vehicle dynamics. This research compares the trial and error method with the Matlab tuner for implementing the PID controller. The performance of the system will be evaluated based on the steady state error, overshoot, rise time, and settling time. The results demonstrate that the Matlab tuner outperforms trial and error method by achieving a faster response and significantly reducing steady state error during robustness testing. With the integration of the linear actuator, the system is capable of tracking the desired speed and has the potential to replace the leg activities involved in pressing and releasing the brake pedal. For future work, validating the proposed mechanism with a physical prototype of the linear actuator and pedal using hardware-in-the-loop techniques poses a challenge, as hardware constraints may vary with different environments.
Evaluation of Stochastic Gradient Descent Optimizer on U-Net Architecture for Brain Tumor Segmentation Purwono Purwono; Iis Setiawan Mangkunegara
International Journal of Robotics and Control Systems Vol 3, No 3 (2023)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v3i3.1104

Abstract

A brain tumor is a type of disease that is quite dangerous in the world. This disease is one of the main causes of human death and has a high risk of recurrence. There are several types of brain tumor locations such as edema, necrosis to elevation. Segmenting the location of this disease is important to do to support faster recovery efforts. The Convolutional Neural Network (CNN) algorithm, which is part of the deep learning method, can be an alternative to this segmentation effort. The U-Net architecture is part of the CNN algorithm which specifically works on medical image segmentation. This study experimented to build a special U-Net architecture for medical image segmentation that had been optimized with SGD. The data used is BraTS2020O which contains a collection of MRI data. This optimization aims to improve the performance of the U-net architecture for segmenting brain tumor images. The results of the study show that the SGD optimization carried out has succeeded in providing better performance than previous studies. This can be seen from the performance value obtained at 0.9879. This accuracy value indicates an increase in accuracy from previous studies. High accuracy indicates that the SGD-optimized model has good segmentation prediction performance.
Comparison of Feature Extraction with PCA and LTP Methods and Investigating the Effect of Dimensionality Reduction in the Bat Algorithm for Face Recognition Azita Mousavi; Hadis Arefanjazi; Mona Sadeghi; Ali Mojarrad Ghahfarokhi; Fatemehalsadat Beheshtinejad; Mahsa Madadi Masouleh
International Journal of Robotics and Control Systems Vol 3, No 3 (2023)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v3i3.1057

Abstract

Face recognition is one of the challenging subjects of image processing. Facial recognition is often a biometric method that basically uses faces to recognize people. The face recognition system consists of three main steps: finding the face in the image, feature extraction and classification. The face recognition system faces challenges such as changes in lighting, changes in age, changes in facial expressions, etc. One of the important issues in this system is the algorithm execution speed. For this purpose, the dimensions of the feature vectors should be small enough, especially when the database is large. Since the face recognition system must be performed on a wide range of databases, dimensionality reduction techniques are required to reduce time and increase accuracy. Dimension reduction methods are used for this purpose. Two methods of dimensionality reduction, including LTP and PCA, are given in this research. In this research, first, the LTP feature vectors are extracted from the face image, and then the effective features are selected using the Bat algorithm. Therefore, this algorithm has three main phases of feature extraction, feature selection and classification. This algorithm is implemented on the ORL database, which contains 400 images of 40 different people with a size of 112×92 pixels. In addition to reducing the time required for testing, the proposed method has provided a very good accuracy of 99%.
Optimizing Three-Tank Liquid Level Control: Insights from Prairie Dog Optimization Davut Izci; Serdar Ekinci
International Journal of Robotics and Control Systems Vol 3, No 3 (2023)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v3i3.1116

Abstract

The management of chemical process liquid levels poses a significant challenge in industrial process control, affecting the efficiency and stability of various sectors such as food processing, nuclear power generation, and pharmaceutical industries. While Proportional-Integral-Derivative (PID) control is a widely-used technique for maintaining liquid levels in tanks, its efficacy in optimizing complex and nonlinear systems has limitations. To overcome this, researchers are exploring the potential of metaheuristic algorithms, which offer robust optimization capabilities. This study introduces a novel approach to liquid level control using the Prairie Dog Optimization (PDO) algorithm, a metaheuristic algorithm inspired by prairie dog behavior. The primary objective is to design and implement a PID-controlled three-tank liquid level system that leverages PDO to regulate liquid levels effectively, ensuring enhanced stability and performance. The performance of the proposed system is evaluated using the ZLG criterion, a time domain metric-based objective function that quantifies the system's efficiency in maintaining desired liquid levels. Several analysis techniques are employed to understand the behavior of the system. Convergence curve analysis assesses the PDO-controlled system's convergence characteristics, providing insights into its efficiency and stability. Statistical analysis determines the algorithm's reliability and robustness across multiple runs. Stability analysis from both time and frequency response perspectives further validates the system's performance. A comprehensive comparison study with state-of-the-art metaheuristic algorithms, including AOA-HHO, CMA-ES, PSO, and ALC-PSODE, is conducted to benchmark the performance of PDO. The results highlight PDO's superior convergence, stability, and optimization capabilities, establishing its efficacy in real-world industrial applications. The research findings underscore the potential of PDO in PID control applications for three-tank liquid level systems. By outperforming benchmark algorithms, PDO demonstrates its value in industrial control scenarios, contributing to the advancement of metaheuristic-based control techniques and process optimization. This study opens avenues for engineers and practitioners to harness advanced control solutions, thereby enhancing industrial processes and automation.

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