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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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Utilize the Prediction Results from the Neural Network Gate Recurrent Unit (GRU) Model to Optimize Reactive Power Usage in High-Rise Buildings Rofii, Ahmad; Soerowirdjo, Busono; Irawan, Rudi; Caesarendra, Wahyu
International Journal of Robotics and Control Systems Vol 4, No 2 (2024)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v4i2.1351

Abstract

The growing urbanization and the construction sector, efficient use of electric energy becomes important, especially the use of reactive power. If excessive use causes decreased efficiency and increased operational costs. Decreased efficiency contributes to increasing exhaust gas volumes and greenhouse emissions. Efficient energy can achieved if planning and predictions are correct. This research applies the GRU neural network method with grid search initialization as a novelty predictive model for energy-use high-rise buildings in form fast training without multiple iterations because optimal hyperparameters are obtained. Experimental show the MAE and RMSE performance metrics of the GRU better than LSTM in predicting energy consumption data peak loads, off-peak loads and reactive power. The accuracy of GRU predictions can optimize the use of energy to contribute to saving the environment from exhaust emissions and the greenhouse effect in urban systems. Experimental results demonstrate the superiority of GRU over LSTM, proof of the much lower MAE and RMSE values. This metric shows the accuracy of GRU in generalizing data both during peak and off-peak hours, as well as in reactive power usage. By Utilizing GRU's capabilities, building management can manage reactive power usage effectively, allocate reactive power resources appropriately, and mitigate peak load times and the power factor within the threshold, thus avoiding additional costs and electrical system efficiency and contributing to reducing the carbon footprint and gas emissions greenhouse. Research on GRU is widely open in the high-rise building sector, including its integration with sensors to automatically control energy use.
The Utilization of Fuzzy Logic Controllers in Steering Control Systems for Electric Ambulance Golf Carts Chotikunnan, Rawiphon; Chotikunnan, Phichitphon; Imura, Pariwat; Pititheeraphab, Yutthana; Thongpance, Nuntachai
International Journal of Robotics and Control Systems Vol 4, No 1 (2024)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v4i1.1333

Abstract

This study investigates methods to improve steering control for electric ambulance golf carts by conducting a comparative analysis of fuzzy logic controllers. The research assesses four control systems, PD controller, fuzzy PD controller, fuzzy PD+I controller, and PBC and PD+I type fuzzy logic controller, to determine their effectiveness in enhancing steering control. Simulink simulations are employed to evaluate the performance of these controllers under various conditions. Results indicate that the PBC and PD+I type fuzzy logic controller demonstrates superior performance, showing significant reductions in both rise time and settling time with minimal overshoot compared to other controllers. The findings underscore the potential of fuzzy logic controllers in enhancing steering control for electric vehicles. Future research should explore alternative control strategies and assess controller robustness under diverse operating conditions.
Experimental Validation of the Generation of Direct and Quadratic Reference Currents by Combining the Ant Colony Optimization Algorithm and Sliding Mode Control in PMSM using the Process PIL Najem, Adil; Moutabir, Ahmed; Ouchatti, Abderrahmane; Haissouf, Mohammed El
International Journal of Robotics and Control Systems Vol 4, No 1 (2024)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v4i1.1286

Abstract

This article aims to enhance the control efficiency of the Permanent Magnet Synchronous Motor (PMSM) by generating optimal reference currents  and using Ant Colony Optimization (ACO), while ensuring a minimal absorbed current condition to reduce energy consumption and optimize PMSM performance. The ACO algorithm is chosen for its ability to find global solutions and robustness in complex environments, while Sliding Mode Control (SMC) provides advantages in terms of robustness against disturbances and the ability to maintain the system in a desired state. The implementation of the processor-in-the-loop (PIL) technique using MATLAB software with code composer and the LAUNCHXL- F28069M board enables the controller to be implemented in real hardware (LAUNCHXL-F28069M) to test the simulation environment (inverter and PMSM). Our results demonstrate the efficiency of ACO compared to the analytical method (AM) in terms of response time and minimizing absorbed current for different load values. Artificial intelligence (AI) has successfully and efficiently addressed the non-linearity between torque and reference currents, thus reducing energy consumption. This has allowed for the optimization of PMSM performance in a straightforward and efficient manner.
Design and Manufacturing Using 3D Printing Technology of A 5-DOF Manipulator for Industrial Tasks Sharkawy, Abdel-Nasser; Nazzal, Jamal Mahmoud
International Journal of Robotics and Control Systems Vol 4, No 2 (2024)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v4i2.1456

Abstract

Robotic manipulators have become very necessary in industrial applications all over the world. In this paper, a 5-DOF robotic manipulator is designed and manufactured to simulate a real industrial task. The manipulator is intended to transfer an object with a weight of 30 grams from a known place to another known one, which is a pick and place task. Firstly, all parts of the manipulator are designed using SolidWorks software. During the design, all parts’ dimensions are considered. The end-effector of the manipulator is designed based on gear system. Secondly, 3D printing technology is used to manufacture these designed parts. The manufacturing process is very accurate and efficient. Servo motors are considered to do the motion of the manipulator, which are easily and directly connected to the control circuit. As, 5-DOF manipulator is manufactured, five servo motors are used: one motor for every joint. The motion of the motors is controlled by Arduino Uno unit which is a cheap and easy programming unit. Experiments are executed with the developed robot to show its effectiveness and success by preparing three boxes which the robot effectively transfers from one place to another. Eventually, the challenges during the design and manufacturing of this robot are mentioned in this paper. 
Robust Voltage Vector-Controlled Three-Phase SAPF-based BPMVF and SVM for Power Quality Improvement Bouchaib Essoussi; Ahmed Moutabir; Bahloul Bensassi; Abderrahmane Ouchatti; Yassine Zahraoui; Bouchaib Benazza
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.v3i4.1160

Abstract

The multiplication of nonlinear loads leads to significant degradation of the energy quality, thus the interconnection network is subject to being polluted by the generation of harmonic components and reactive power, which causes a weakening efficiency, especially for the power factor. In three-phase systems, they can cause imbalances by causing excessive currents at the neutral. This research treats the operation of robust voltage-oriented control (VOC) for a shunt active power filter (SAPF). The main benefit of this technique is to guarantee a decoupled control of the active and reactive input currents, as well as the input reference voltage. To sustain the DC voltage, a robust PI-structure-based antiwindup is inserted to ensure active power control. Besides, a robust phase-locked loop (PLL)-based bandpass multivariable filter (BPMVF) is used to improve the network voltage quality. Furthermore, a space vector modulation (SVM) is designed to replace the conventional one. A sinusoidal network current and unitary power factor are achieved with fewer harmonics. The harmonics have been reduced from 27.98% to 1.55% which respects the IEEE 519-1992 standard. Expanded simulation results obtained from the transient and steady-state have demonstrated the high performance of the suggested control scheme.
Bifurcation Analysis of a Non-Linear Vehicle Model Under Wet Surface Road Condition Kumar, Abhay; Verma, Suresh Kant; Dheer, Dharmendra Kumar
International Journal of Robotics and Control Systems Vol 4, No 2 (2024)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v4i2.1346

Abstract

The vehicles are prone to accidents during cornering on a wet or low friction coefficient roads if the longitudinal velocity (Vx) and steering angle (δ) are increased beyond a certain limit. Therefore, it is of major concern to analyze the behaviour and define the stability boundary of the vehicle for such scenarios. In this paper, stability analysis of a 2 degrees of freedom nonlinear bicycle model replicating a car model including lateral (sideslip angle β) and yaw (yaw rate r) dynamics only operating on a wet surface road has been performed. The stability is analysed by utilizing the phase plane method and bifurcation analysis. The obtained converging and diverging nature of the trajectories (β, r) depicts the stable and unstable equilibrium points in the phase plane. The movement of these points results in the transition of the stability known as bifurcation due to the change in the control parameters (Vx, δ). The Matcont/Matlab is utilized to obtain the bifurcation diagrams and the nature of bifurcations. The obtained results show that a saddle node (SNB) and a subcritical Hopf bifurcation (HB) exists for steering angle (±0.08 rad) and higher than (±0.08 rad) with Vx = (10-40) m/s respectively. The SNB and HB denotes the spinning of the vehicle and sliding of the vehicle respectively, thus generating a unstable behaviour. A stability boundary is obtained representing the stable and unstable range of parameters.
Comparison between Compensated and Uncompensated PD with Cascade Controller Design of PMDC Motor: Real Experiments Sopheak Yean; Sarot Srang
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.v3i4.1183

Abstract

In this paper, we compare two different kinds of position controllers, namely PD (both compensated and uncompensated PD) and Cascade controller (both compensated and uncompensated Cascade).  SIMULINK software is used to implement lumped parameters estimation with UKF. The Proportional-Derivative (PD) controller design by root locus and Cascade controller design have been chosen for our feedback system, and coulomb friction as disturbance is taken into account in the estimation model. The aim of this paper is to find out which controller is better (both compensated and uncompensated PD controller vs. both compensated and uncompensated Cascade controller). Therefore, the objective is to show how useful the parameter estimation for controller design with compensation. Through comparing two position controller designs, the experiment results show that both Compensated Proportional Derivative (PD) controller and Cascade controller Design have much better performance than the Uncompensated ones.
Optimization Combining with Digital Transformation of the Men's Shirts Processing at Small and Medium-Sized Garment Enterprises in Vietnam Le, Tieu-Thanh; Bui, Phuong-Thao Thi; La, Ngoc-Anh Thi; Dang, Thai-Viet
International Journal of Robotics and Control Systems Vol 4, No 2 (2024)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v4i2.1313

Abstract

Industry 4.0 has become a hype among the manufacturing industries across the globe. Recent developments require significant capital investments, but these technologies are yet to be established in developing countries such as Vietnam, especially the apparel industry.  Based on a survey of the current situation at small and medium-sized enterprises in Vietnam's textile industry, the paper proposes to apply technology, test and evaluate the effectiveness of applying and coordinating digital systems in management and chain supply. Multifaceted applications have been specifically explored including automatic equipment and digital systems, spanning the domains of automation, robotics, artificial intelligence, data analytics, and the Internet of Things (IoT). These technologies are posited as catalysts for transformative improvements in production efficiency and resource utilization. Furthermore, experimental results point out the symbiotic relationship between technology adoption and effective management strategies to achieve holistic operational enhancements.  As the Vietnamese textile industry strives for competitive excellence in the global arena, this research offers actionable insights for industry practitioners, policymakers, and researchers.
Conceptualization and Topology Optimization of Ampheel: An Integration of Rolling Wheel and Turtle-Inspired Mechanism for Amphibious Mobile Robot Mehta, Vishal; Chauhan, Mihir
International Journal of Robotics and Control Systems Vol 4, No 1 (2024)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v4i1.1303

Abstract

The primary distinguishing feature of mobile robots is the ability to traverse various environments, setting them apart in the realm of robotics. The mobility of a robot hinges primarily on its locomotion mechanism, which dictates how it moves. The existing unimodal mobile robots are limited to work within the environment for which they are designed for and hence lack a scope to adapt the change in the terrain especially when they put to work in a mixed environment like land and water. Many applications like land and underwater search/rescue, shore infrastructure inspection, coastal area defence and security, offshore energy harvesting, space exploration, etc. demand a mobile robot that can traverse in both terrestrial and aquatic environments with the help of dual or multimodal locomotion mechanism, something like an amphibious animal. Most of the available amphibious robotic solutions have different appendages for both the environment, need human intervention to changeover the mechanism for transition, require different driving system for land and water locomotion and have fragile structures that limit the manoeuvrability. The proposed conceptual design called “Ampheel” is a novel amphibious locomotion mechanism inspired by the biomechanics of freshwater turtles. Ampheel incorporates a rigid wheel, enabling the robot to move on land, integrating soft actuators within it which emulate the turtle's leg-like extensions and enable the aquatic locomotion. Unlike the existing amphibious robots, the Ampheel utilizes the rotational motion of itself as a common driving system for both the environments. This reduces the need of multiple driving systems and also simplifies the control system. Ampheel is designed for safe travelling on land considering the maximum payload of robot as 20 kg including self-weight. Topology optimization of Ampheel is also carried out using ANSYS software for reduction of weight. Additionally, a unique interfacing shaft is designed that transmits the required torque to Ampheel for rotation and also channelise the compressed air to soft pneumatic actuators for inflation during rotation of Ampheel in aquatic setting. The fabricated Ampheel assembly is experimentally checked for failure under the applicable loading condition and found safe.
Comparative Study of ANN and SVM Model Network Performance for Predicting Brake Power in SI Engines Using E15 Fuel Hofny, Mohamed S.; Ghazaly, Nouby M.; Shmroukh, Ahmed N.; Abouelsoud, Mostafa
International Journal of Robotics and Control Systems Vol 4, No 3 (2024)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v4i3.1429

Abstract

Currently, artificial neural networks (ANNs) and support vector machines (SVMs) are the most common applications of machine learning approaches.  In this study, a comparative study of ANN and SVM is presented to evaluate the performance of each model in predicting the brake power (BP) of GX35-OHC 4-stroke, air-cooled, single cylinder gasoline engine with E15 (15% ethanol + 85% gasoline) fuel. Two models are compared based on experimental dataset that has single output (BP) and five inputs, engine speed (S), engine torque (T), intake air temperature (Tair), intake air flow (Qair), and fuel consumption (ṁ). The samples were split into three sets: Training set (70%), Validation set (15%), and the Test set (15%) based on 60 samples. The results are compared through different graphs such as target vs actual values, regression plots, histograms of prediction errors, residual plots, learning curves, and error distributions. The results showed that SVM model is indicated to have lower RMSE (0.0044) and higher EVS (0.9953), while ANN is shown to have lower value of MAPE (1.51%). These results have significant implications for the use of ANN and SVM models in real-world applications that need gradual comprehensibility and model generalization. In addition, work done with the models outlined above should try and test them in other engines and operating conditions to demonstrate the model’s and performance.

Page 18 of 37 | Total Record : 361

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