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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 35 Documents
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Search results for , issue "Vol 5, No 1 (2025)" : 35 Documents clear
Effect of Different Hinge Angles on Control Performance Metrics and Disturbance Rejection in Swashplateless Micro Aerial Robots Karasahin, Ali Tahir
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.v5i1.1676

Abstract

Micro Aerial Robots (MARs) have demonstrated outstanding performance in autonomous applications, making the performance of their controllers critical. The development of controllers for aerial robots using alternative designs rather than standard ones requires that their performance be investigated using different approaches prior to flight. Hence, this paper presents a 2-degree-of-freedom (DOF) test platform designed to evaluate both controller performance and the swashplateless mechanism that generates orientation and position changes. Recent studies have indicated a need to determine the relationship between the hinge angle and controller performance in the context of swashplateless mechanisms. This paper found that the different hinge angles and controller performance relationships on the 2-DOF test platform are investigated through reference tracking and wind disturbance tests. The swashplateless mechanism with a hinge angle of 30â—¦ showed better performance in terms of control sensitivity and wind disturbance rejection compared to 45â—¦ and 60â—¦ hinge angles. Disturbance rejection performance has been tested at a wind speed of 3.3 m/s simulating moderate outdoor wind conditions. The results show that different hinge angles affect controller performance in terms of rise and settling time, overshoot and integral of time absolute of error (ITAE). It has been shown that the choice of hinge angle in the swashplateless mechanism should be such to improve flight performance according to specific application and performance requirements. In addition to advancing the design and control of MARs, these results are expected to contribute to improvements in potential application areas of aerial robots, such as inspection and sensing.
Modeling the Structural Dynamics of Carbon Fiber Composites for Robotic Systems Under Sinusoidal Load Al-Sabur, Raheem; Ameen, Yahya Muhammed; Khalaf, Hassanein I.; Mishra, Akshansh; Sharkawy, Abdel-Nasser
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.v5i1.1693

Abstract

The demand for robotic systems employing composite materials is steadily improving due to their high bending stiffness, favorable strength-to-weight ratio, and durability under dynamic loading. It is still challenging to guarantee dynamic stability and precise frequency response in composite robotic components. This study addresses these issues by conducting a simulation-based 3D bending analysis and frequency response modeling of carbon/epoxy and carbon/PPS composites under sinusoidal loading. The remarkable mechanical and thermal properties of carbon/epoxy and carbon/PPS composites, such as their high specific strength, stiffness, and excellent fatigue resistance, align well with the requirements of robotic systems. The model comparison involved analyzing three-dimensional bending stresses, displacements, and free vibration dynamics for both materials under a sinusoidal load applied to their inner surfaces. The sinusoidal load was selected to simulate periodic dynamic forces commonly encountered in robotic applications, such as oscillating arms, vibrating components, and cyclic loading during operation. The thick shell (S=4) of axial length (L=4S) and circumferential span (α=45°) comprises cross-ply laminate [90°/0°/90°] with supported boundary conditions. The transverse displacement of the carbon PPS composite cylindrical shell was 0.719 nm, which was lower than that of the carbon epoxy composite (0.746 nm). The same behavior was observed for the stress values. Conversely, the PPS composite cylindrical shell yielded a higher natural frequency. The obtained eigenvalues indicated a similar behavior when comparing the shape modes with a relative increase in their values in the carbon PPS composite.
Improving Efficiency and Effectiveness of Wheeled Mobile Robot Pathfinding in Grid Space Using a Genetic Algorithm with Dynamic Crossover and Mutation Rates Lestari, Dyah; Sendari, Siti; Zaeni, Ilham Ari Elbaith; Arifin, Samsul; Sari, Rina Dewi Indah
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.v5i1.1573

Abstract

Incorrect parameter tuning of crossover and mutation rates in Genetic Algorithms (GA) can negatively impact their effectiveness and efficiency in mobile robot pathfinding. This study focuses on improving the performance of wheeled mobile robots in grid-based environments by introducing a Dynamic Crossover and Mutation Rates (DCMR) strategy within the GA framework. The primary contribution of this research is enhancing the efficiency and effectiveness of mobile robot pathfinding, resulting in shorter average path lengths and faster convergence times. Additionally, this method addresses the challenge of selecting appropriate GA parameters while increasing the algorithm's adaptability to different phases of the search process. The DCMR approach involves linearly increasing the crossover rate by 10% (from 0% to 100%) and decreasing the mutation rate by 10% (from 100% to 0%) over every 10 generations during the GA's evolution. Unlike fixed parameter tuning or exponential and sigmoid parameter tuning—both of which require trial and error to determine optimal values—the DCMR method provides a systematic and efficient solution without additional computational cost. Experiments were conducted across eight scenarios featuring varying distances between the start and target points, with two obstacles randomly placed in the robot's environment. The results showed that implementing the DCMR method consistently identified the optimal path, reduced average path lengths by 0.99%, and accelerated algorithm convergence by 48.39% compared to fixed parameter tuning. These findings demonstrate that the DCMR method significantly enhances the performance of GAs for mobile robot pathfinding, offering a reliable and efficient approach for navigating complex environments.
Enhanced Human Hitting Movement Recognition Using Motion History Image and Approximated Ellipse Techniques Diyasa, I Gede Susrama Mas; P, Made Hanindia; Zamri, Mohd; Agussalim, Agussalim; Humairah, Sayyidah; A, Denisa Septalian; Umam, Faikul
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.v5i1.1599

Abstract

Recognition of human hitting movement in a more specific context of sports like boxing is still a hard task because the existing systems use manual observation which could be easily flawed and highly inaccurate. However, in this study, an attempt is made to present an automated system designed for this purpose to detect a specific hitting movement commonly known as a punch using video input and image processing techniques. The system employs Motion History Image (MHI) to model trajectories of motions and combine them with other parameters to reconstruct movements which tend to have a temporal component. Thus, CCTV cameras set at different positions (front, back, left and right) enable the system to identify several types of punches including Jab, Hook, Uppercut and Combination punches. The most important aspect of this work is the proposal of MHI and the Ellipse approximation which is quicker in the integration of both than other sophisticated systems which take a considerable duration in computations. Therefore, the system classifies C_motion, Sigma Theta, and Sigma Rho parameters to distress hitting from non-hitting movements. Evaluation on a dataset captured from multiple viewpoints establishes that the system performs well achieving the goal of 93 percent when detecting both the hitting and the non-hitting motion. These results demonstrate the system’s superiority to the system based such detection methods. This study paves the way for other applications in real-time such as sports analysis, security surveillance, and healthcare requiring greater efficiency in and accuracy of human movement assessment. The focus of future work may be in the direction of improving the recognition of slower movements, also modifying the system for more dynamic conditions in the future.
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.

Page 4 of 4 | Total Record : 35

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