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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 361 Documents
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Population Dynamics on Fractional Tumor System Using Laplace Transform and Stability Analysis Dhanalakshmi Palanisami; Shrilekha Elango
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.v3i3.940

Abstract

Modeling is an effective way of using mathematical concepts and tools to represent natural systems and phenomena. Fractional calculus is an essential part of modeling a biological system. Recently, many researchers have been interested in modeling real-time problems mathematically and analyzing them. In this paper, the tumor system under fractional order is considered, and it comprises normal cells, tumor cells and effector-immune cells. By taking chemotherapy drugs into account, the toxicity of the drug and concentration of the drug is also studied in the model. The main objective of this work is to establish the solution for the model using Laplace transform and analyze the stability of the model. Laplace transform, a simple and efficient method, is used in solving the system that proves the existence and uniqueness of the solution. The boundedness of the system is also verified using the Lipschitz condition. Further, the system is solved for numerical values, and the population dynamics of cells are provided for different values of $\alpha$ as a graphical representation. Also, after analyzing the effect of chemotherapy drugs on tumor cells for different $\alpha$'s, which signifies that $\alpha$ = 0.9 provides a sufficient decrease in the dynamics of tumor cells. The main and significant part of this work is presenting that the usage of chemotherapy drugs reduces the number of tumor cells. The importance of the work is that apart from the immune system, chemotherapy drugs play a significant role in destroying tumor cells. The Hyers Ulam stability has a significant application that one need not find the exact solution to when analyzing a Hyers Ulam stable system. Thus, the stability of this tumor model under Caputo fractional order is presented using Hyers-Ulam stability and Hyers-Ulam-Rassias stability.
Future Potential of E-Nose Technology: A Review Furizal Furizal; Alfian Ma'arif; Asno Azzawagama Firdaus; Wahyu Rahmaniar
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.v3i3.1091

Abstract

Electronic Nose (E-Nose) technology unlocks the fascinating world of electronic detection, identification, and analysis of scents and odors, paving the way for innovative research and promising applications.  E-Nose mimics the human sense of smell and has gained significant attention and is applied in various fields, including the food, health and drug industries, safety and crime, and the environmental and agricultural sectors. This technology has the potential to improve quality control, medical diagnostics, and hazardous material detection processes. The E-Nose consists of a combination of gas sensors that mimic the olfactory receptors of the human nose. These sensors detect and respond to different scent molecules, resulting in unique response patterns that can be interpreted and analyzed. E-Nose has found application in the food industry to assess food quality, detect contamination, and monitor fermentation processes. In the health field, it has been used for disease diagnosis, monitoring patient health, and detecting cancerous tissue. In addition, E-Nose has been used for security purposes, such as detection of explosives and prohibited substances, as well as identification of counterfeit products. In addition, it has been used in environmental monitoring for air quality assessment and agriculture for disease detection in crops.  Despite its promising potential, widespread adoption of E-Nose faces challenges related to sensor sensitivity, data analysis algorithms (complex data interpretation), response diversity, regulatory considerations, implementation complexity, and cost. This article reviews the latest developments in E-Nose technology, explores its applications and future potential, and highlights challenges that need to be addressed.  This is considered important because E-Nose opens up a world of electronic scent identification, and analysis with the potential to improve quality control, diagnosis, and detection.
Power Quality Improvement using a New DPC Switching Table for a Three-Phase SAPF Bouchaib Essoussi; Ahmed Moutabir; Bahloul Bensassi; Abderrahmane Ouchatti; Yassine Zahraoui; Bouchaib Benazza
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.v3i3.1042

Abstract

This research focuses on the analysis and design of robust direct power control (DPC) for a shunt active power filter (SAPF). The study proposes a novel switching table design based on an analysis of the impact of inverter switching vectors on the derivatives of instantaneous reactive and active powers. The goal is to reduce the number of commutations by eliminating null vectors while maintaining the desired DC-bus voltage using a PI regulator-based anti windup technique. Additionally, a robust PLL structure-based band pass multivariate filter (BPMVF) is utilized to enhance the network voltage. The research demonstrates the effectiveness of the suggested power control through extensive simulation results, showing high performance in both transient and steady-state conditions. The proposed approach offers the advantages of sinusoidal network current, and unitary power factor, and eliminates the need for current regulators and coordinate transformations or PWM generators. Further research directions could explore the practical implementation and real-world performance of this technique in power systems.
Exploring Blockchain Data Analysis and Its Communications Architecture: Achievements, Challenges, and Future Directions: A Review Article Hamzah M. Marhoon; Noorulden Basil; Alfian Ma'arif
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.v3i3.1100

Abstract

Blockchain technology is relatively young but has the potential to disrupt several industries. Since the emergence of Bitcoin, also known as Blockchain 1.0, there has been significant interest in this technology. The introduction of Ethereum, or Blockchain 2.0, has expanded the types of data that can be stored on blockchain networks. The increasing popularity of blockchain technology has given rise to new challenges, such as user privacy and illicit financial activities, but has also facilitated technical advancements. Blockchain technology utilizes cryptographic hashes of user input to record transactions. The public availability of blockchain data presents a unique opportunity for academics to analyze it and gain a better understanding of the challenges in blockchain communications. Researchers have never had access to such an opportunity before. Therefore, it is crucial to highlight the research problems, accomplishments, and potential trends and challenges in blockchain network data analysis and communications. This article aims to examine and summarize the field of blockchain data analysis and communications. The review encompasses the fundamental data types, analytical techniques, architecture, and operations related to blockchain networks. Seven research challenges are addressed: entity recognition, privacy, risk analysis, network visualization, network structure, market impact, and transaction pattern recognition. The latter half of this section discusses future research directions, opportunities, and challenges based on previous research limitations.
Finding and Tracking Automobiles on Roads for Self-Driving Car Systems Wael Farag; Mohamed Abouelela; Magdy Helal
International Journal of Robotics and Control Systems Vol 3, No 4 (2023)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v3i4.1022

Abstract

Road-object detection, recognition, and tracking are vital tasks that must be performed reliably and accurately by self-driving car systems in order to achieve the automation/autonomy goal. Other vehicles are one of the main objects that the egocar must accurately detect and track on the road. However, deep-learning approaches proved their effectiveness at the expense of very demanding computational power and low throughput. They must be deployed on expensive CPUs and GPUs. Thus, in this work, a lightweight vehicle detection and tracking technique (LWVDT) is suggested to fit low-cost CPUs without sacrificing robustness, speed, or comprehension. The LWVDT is suitable for deployment in both advanced driving assistance systems (ADAS) functions and autonomous-car subsystems. The implementation is a sequence of computer-vision techniques fused together and merged with machine-learning procedures to strengthen each other and streamline execution. The algorithm details and their execution are revealed in detail. The LWVDT processes raw RGB camera pictures to generate vehicle boundary boxes and tracks them from frame to frame. The performance of the proposed pipeline is assessed using real road camera images and video recordings under different circumstances and lighting/shading conditions. Moreover, it is also tested against the well-known KITTI database, achieving an average accuracy of 87%.
Performance Enhancement of a Variable Speed Permanent Magnet Synchronous Generator Used for Renewable Energy Application Rasha Mohamed; Mahmoud A. Mossa; Ahmed El-Gaafary
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.v3i3.1031

Abstract

The paper aims to develop an improved control system to enhance the dynamics of a permanent magnet synchronous generator (PMSG) operating at varying speeds. The generator dynamics are evaluated based on lowing current, power, and torque ripples to validate the effectiveness of the proposed control system. The adopted controllers include the model predictive power control (MPPC), model predictive torque control (MPTC), and the designed predictive voltage control (PVC). MPPC seeks to regulate the active and reactive power, while MPTC regulates the torque and flux. MPPC and MPTC have several drawbacks, like high ripple, high load commutation, and using a weighting factor in their cost functions. The methodology of designed predictive voltage comes to eliminate these drawbacks by managing the direct voltage by utilizing the deadbeat and finite control set FCS principle, which uses a simple cost function without needing any weighting factor for equilibrium error issues. The results demonstrate several advantages of the proposed PVC technique, including faster dynamic response, simplified control structure, reduced ripples, lower current harmonics, and decreased computational requirements when compared to the MPPC and MPTC methods. Additionally, the study considers the integration of blade pitch angle and maximum power point tracking (MPPT) controls, which limit wind energy utilization when the generator speed exceeds its rated speed and maximize wind energy extraction during wind scarcity. In summary, the proposed PVC enhanced control system exhibits superior performance in terms of dynamic response, control simplicity, current quality, and computational efficiency when compared to alternative methods.
A Review on Microgrids for Remote Areas Electrification-Technical and Economical Perspective Erona Khatun; Md. Momin Hossain; Md. Sumon Ali; Md. Abdul Halim
International Journal of Robotics and Control Systems Vol 3, No 4 (2023)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v3i4.985

Abstract

The main objective of this study is to review microgrids from both a technical and financial standpoint in order to electrify rural places. Making a microgrid in rural area is challenging due to its technical and economical perspective. Technical and Economic analysis could investigate power quality and system stability for a local community in a nation. The technical and economic aspects of microgrid design and operation are covered, along with a number of other parts such power sources, energy storage, and control systems. Installation and maintenance cost has been discussed with respect to technological and economical view point in this paper. The report ends with a review of the prospects and problems for implementing microgrids in remote locations. Various challenges of microgrid and prospective solutions have also been discussed for the betterment of microgrid technically and economically. Microgrid planning has also been explained in this paper in rural regions entails the process of creating, developing, and deploying microgrid systems to provide dependable and sustainable power. Some influential factors such as technological factors, economic factors, socio-political factors and environmental factors on which microgrid depends have been discussed in this paper. The study offers a thorough discussion of microgrids as a potential method for electrifying rural areas. The study shows that microgrid is economically more beneficial to be developed in any rural area, as well as complying the minimum technical requirement of local grid code. Therefore, it can be said that any locality of a nation is a more viable and economic location to implement microgrid for the development. This review will assist the decision-makers in adopting microgrids for the electrification of rural areas and hold establishing regulations that are helpful and clear for the operation and integration of microgrids. System effectiveness, energy storage, and grid management breakthroughs may result from research and development of microgrid technology.
Fish Swarmed Kalman Filter for State Observer Feedback of Two-Wheeled Mobile Robot Stabilization Ahmad Fahmi; Marizan bin Sulaiman; Indrazno Siradjuddin; Anindya Dwi Risdhayanti
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.v3i3.1087

Abstract

Over the past few decades, there have been significant technological advancements in the field of robots, particularly in the area of mobile robots. The performance standards of speed, accuracy, and stability have become key indicators of progress in robotic technology. Self-balancing robots are designed to maintain an upright position without toppling over. By continuously adjusting their center of mass, they can maintain stability even when disturbed by external forces. This research aims to achieving and maintaining balance is a complex task. Self-balancing robots must accurately sense their orientation, calculate corrective actions, and execute precise movements to stay upright. Eliminating disturbances and measurement noise in self-balancing robot can enhance the accuracy of their output. One common technique for achieving this is by using Kalman filters, which are effective in addressing non-stationary linear plants with unknown input signal strengths that can be optimized through filter poles and process covariances. Additionally, advanced Kalman filter methods have been developed to account for white measurement noise. In this research, state estimation was conducted using the Fish Swarm Optimization Algorithm (FSOA) to provide feedback to the controller to overcome the effects of disturbances and noise in the measurements through the designed filter. FSOA mimics the social interactions and coordinated movements observed in fish groups to solve optimization problems. FSOA is primarily used for optimization tasks where finding the global optimal solution is desired. The results show that the use of an optimized Kalman filter with FSOA on a two-wheeled mobile robot to handle system stability reduces noise values by 38.37%, and the system reaches a steady state value of 3.8 s with a steady error of 0.2%. In addition, by using the proposed method, filtering disturbances and measurement noise in self-balancing robot can help improve the accuracy of the self balancing robot’s output. System response becomes faster towards stability compared to other methods which are also applied to two-wheeled mobile robots.
Self-Tuning PID Controller for Quadcopter using Fuzzy Logic A'dilah Baharuddin; Mohd Ariffanan Mohd Basri
International Journal of Robotics and Control Systems Vol 3, No 4 (2023)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v3i4.1127

Abstract

Tracking has become a necessary feature of a drone. This is due to the demand for drones, especially quadcopters, to be used for activities such as surveillance, monitoring, and filming. It is crucial to ensure the quadcopters perform the tracking with stable flight. Despite the advantages of having VTOL ability and great maneuverability, quadcopters require an effective controller to overcome their under-actuation and instability behavior. Even though a PID controller is commonly used and promising with its simple mechanism, it requires very proper tuning to ensure the stability of the system is not affected. In this paper, a simple Fuzzy algorithm is proposed to be incorporated into a PID controller to form a self-tuning Fuzzy PID controller. The Fuzzy logic controller works as the self-adjuster to the PID parameters. A mathematical model of the DJI Tello quadcopter is derived with position and attitude control loops that are designed to track a variety of trajectories with stable flight. The proposed method uses a simple architecture where the ranges of PID parameters are used as scaling factors for Fuzzy controller outputs. The results of the simulations show the tracking error performance metrics, which are IAE, ISE, and RMSE, are smaller compared to the values of the PID controller. Beyond its impact on quadcopter control, the proposed self-tuning approach holds promise for broader applications in nonlinear systems.
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.

Page 13 of 37 | Total Record : 361

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