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Alfian Ma'arif
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ijrcs@ascee.org
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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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Performance Analysis of PSO DFFP Based DC-DC Converter with Non Isolated CI using PV Panel C. Nagarajan; K. Umadevi; S. Saravanan; M. Muruganandam
International Journal of Robotics and Control Systems Vol 2, No 2 (2022)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v2i2.628

Abstract

This article presents the modeling and development of a DC-DC converter with Partial Swarm Optimization with Distinctive Feed Forward Propagation (PSO-DFFP) controller for hybrid power systems, including photovoltaic panels. The transient and dynamic analysis of the proposed controller has been presented. The PSO-DFFP controller has been designed to improve the operating efficiency and reduces the input converter current ripple. The ANFIS and PSO DFFP controllers are developed, and the performance of the system is compared. The proposed system reduces the switching losses and voltage drops in switching modes. The proposed system is demonstrated and developed with a 200W, 100kHz model. From the experimental results, it can be exposed that the proposed system is acceptable for PV applications.
Real-Time Underground Plastic Pipeline Water Leakage Detection and Monitoring System Muhammad Haziq Hakim Rosman; Rozaimi Ghazali; Gowdie Palmer Derai; Hazriq Izzuan Jaafar; Chong Chee Soon; Dirman Hanafi; Zulfatman Has
International Journal of Robotics and Control Systems Vol 2, No 2 (2022)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v2i2.582

Abstract

The leaking of the water pipeline increasingly influences the quality of life and threatens the water supplier in developing countries. Proper method is required to effectively detecting the source for replacement to reduce the loses. Therefore, a water leakage detection with monitoring system is developed to detecting the precise leaking location of a buried plastic pipeline. The real-time pressure data obtained from the pressurized pipeline are transferred to the monitoring system with GUI (graphical User Interface), developed using LabVIEW software. In the experimental execution, a leaking pipeline is designed. Then, few pressure sensors are installed on the pipeline as a primary segment for the detection process. To prevent a false non-leak alarm and malfunction of the pressure sensors, the pressure threshold value and malfunction alarm is set using LabVIEW. Cross-correlation method is implemented that increase the accuracy of the leaking distance estimation. The processing and control unit in this article are manipulated using LabVIEW software and NI myRIO-1900 respectively.
A Simple Method for Stator Inductance and Resistance Estimation for PMSM at Standstill Justas Dilys; Voitech Stankevic
International Journal of Robotics and Control Systems Vol 2, No 3 (2022)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v2i3.741

Abstract

An accurate stator resistance and inductance are necessary for high-performance permanent magnet synchronous motor (PMSM) control. The stator resistance and inductance can be estimated during motor standstill operation. This study proposes a standstill estimation method for the determination of dq-axis inductances and resistance of a PMSM drive system fed by a conventional voltage source inverter (VSI). The proposed method estimates both inductance and the rotor's position using the same algorithm, and knowledge of its initial position is not required. The d- and q-axis inductances were estimated by applying three short-time voltage pulses and measuring phase current peak values. The stator's resistance is estimated by monitoring the exponential decay process of the direct axis current. The method was verified by simulation and experiments conducted on two different PM synchronous motors. A good agreement of simulation and experimental results was obtained. Moreover, the proposed method is relatively simple and can identify stator resistance and inductance at any motor load condition. Compared to the existing parameter estimation strategies, the proposed estimation scheme has a relatively faster estimation time. Additionally, it is shown that the method accounts for the dead-time effect as well.
Concept of Operations as a Boundary Object for Knowledge Sharing in the Design of Robotic Swarms Jari Laarni; Hanna Koskinen; Antti Väätänen
International Journal of Robotics and Control Systems Vol 2, No 4 (2022)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v2i4.834

Abstract

Designing a swarm of autonomous robots for commercial, military, or other purposes is a challenging engineering and human factors design effort. The challenges argue in favor of practices and tools for better integration of different engineering disciplines and for the advancement of communication between stakeholders with different interests. The Concept of Operations (ConOps) approach is widely used in Systems Engineering for this purpose. A ConOps is a high-level description of how the elements of a system and entities in its environment interact in order to achieve their stated goals. This paper will present the development of a ConOps for a swarm of autonomous robotic vehicles in the military domain to demonstrate how autonomic robotic swarms can be deployed in different military branches in the future. The proposed ConOps can be considered as a boundary object in the design, validation, or procurement of an autonomous robotic swarm system. We also propose that the ConOps should be maintained throughout the system life-cycle as an overview description and definition of overall goals and policies.
Comparison and Review of Face Recognition Methods Based on Gabor and Boosting Algorithms Taraneh Kamyab; Alireza Delrish; Haitham Daealhaq; Ali Mojarrad Ghahfarokhi; Fatemehalsadat Beheshtinejad
International Journal of Robotics and Control Systems Vol 2, No 4 (2022)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v2i4.759

Abstract

The face plays an essential role in identifying people and showing their emotions in society. The human ability to recognize faces is remarkable. But face recognition is a fundamental problem in many computer programs. Due to the inherent complexities of the face and the many changes in its features, different algorithms for face recognition have been introduced in the last 20 years. Face recognition methods that are based on the structure of the face are unsupervised methods that produce good results compared to the linear changes that occur in the image. In this article, the Gabor algorithm, which is the origin of face recognition algorithms, has been described. Over the past decade, most of the research in the area of pattern classification has emphasized the use of the Gabor filter bank for extracting features. Because the Gabor algorithm has shortcomings, researchers have introduced a new method that is a combination of Gabor and PCA. After the introduction of the Gabor method, more complete and accurate algorithms have been introduced, such as Boosting algorithms, which we have briefly explained in this article. Also, here are the results of the comparison made by the researchers between Boosting and Gabor algorithms. The results show that Boosting-based algorithms have performed better compared to Gabor-based algorithms.
A Survey of Control Methods for Quadrotor UAV Muhammad Maaruf; Magdi Sadek Mahmoud; Alfian Ma'arif
International Journal of Robotics and Control Systems Vol 2, No 4 (2022)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v2i4.743

Abstract

Flight control design of unmanned aerial vehicles UAVs is becoming increasingly important due to advances in computational power of computers with lower cost. The control algorithms are mainly employed for the attitude and position control of the UAVs. In the past decades, quadrotors have become the most popular UAVs, their adaptability and small size. They are employed to carry out tasks such as delivery, exploration,  fumigation, mapping, surveillance, rescue mission, traffic monitoring, and so on. While carrying out these tasks, quadrotor UAVs face various challenges, such as environmental disturbances, obstacles, and parametric and non-parametric perturbations. Therefore, they require robust and effective control to stabilize them and enhance their performance. This paper provides a survey of recent developments in control algorithms applied to attitude and position loops of quadrotor UAVs. In addition, the limitations of the previous control approaches are presented. In order to overcome the relative drawbacks of the previous control techniques and enhance the performance of the quadrotor, researchers are combining various control approaches to obtain the hybrid control architecture. In this study, a review of the recent hybrid control schemes is presented.
Inertia Reduction using Interaction Control Approach for Mecanum Wheeled Vehicle on Cornering Road Norsharimie Mat Adam; Addie Irawan
International Journal of Robotics and Control Systems Vol 2, No 3 (2022)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v2i3.774

Abstract

The paper presents a dynamic control approach using impedance control to reduce inertia factors acting on a Mecanum Wheeled Vehicle (MWV) on cornering roads. Inertia in a mobile vehicle is one of the issues that affect the safety and energy efficiencies of the vehicle, especially when maneuvering on cornering and confined paths. With reference to the problem statements in the dynamics analyses, velocity-based impedance control was proposed where the derived interaction translational forces on the vehicle that consider friction and touching forces on vehicle-terrain are controlled through the velocities of the vehicle. This study emphasized shaping the axial velocities input of the MWV for both longitudinal and latitude motions to control the sensitivity of the vehicle during cornering periods. The verification was done through several simulations on the proposed velocity-based impedance control on the MWV plant. The results show that the different forces on MWV axial motion were capable of reducing inertia via velocity input during the cornering period of maneuvering by increasing the stiffness and damping ratio of the controller at about 2 and 9 for stiffness x-axis and y-axis, respectively, and 15 and 10 for damping ration of the x-axis and y-axis respectively. Moreover, with the proposed controller, inertia on MWV can be controlled on the slippery road such as asphalt roads. This scenario has influenced the overall kinetic energy of the vehicle down to about 26%, thus, able to control the overdriven occurred on cornering road.
Numerical Simulation of Non-toxic ZnSe Buffer Layer to Enhance Sb2S3 Solar Cell Efficiency Using SCAPS-1D Software Md. Abdul Halim; Sunirmal Kumar Biswas; Md. Shafiqul Islam; Md. Mostak Ahmed
International Journal of Robotics and Control Systems Vol 2, No 4 (2022)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v2i4.757

Abstract

The use of renewable energy, especially solar photovoltaic, has grown more and more necessary in the context of the diversification of the use of natural resources. Sb2S3 is emerged as an attractive candidate for today's thin-film solar cells due to its band gap of 1.65 eV and high absorption coefficient greater than 105 cm-1. Cadmium Sulfide is the most commonly used buffer layer material in thin film solar cells, but cadmium is a metal that causes severe toxicity in humans and the environment. This article tried to avoid cadmium for solar cell generation. This paper presents the findings of a computer simulation analysis of a thin film solar cell based on a p-type Sb2S3 absorber layer and an n-type ZnSe buffer layer in a structure of (Sb2S3/ZnSe/i-ZnO/ZnO: Al) utilizing simulation software (SCAPS-1D). The simulation included detailed configuration optimization for the thickness of the absorber layer, buffer layer, defect density, temperature, and series-shunt resistance. In this work, the Efficiency (η), Fill Factor (FF), Open-circuit Voltage (Voc), and short-circuit current (Jsc) have been measured by varying thickness of absorber layer in the range of 0.5µm to 4 µm and by varying thickness of buffer layer in the range of 0.05 µm to 0.1µm. The optimized solar cell shows an efficiency of 20.03% when the absorber layer thickness is 4µm and the buffer layer thickness is 0.08µm.
NB Theory with Bargaining Problem: A New Theory Noorulden Basil Mohamadwasel; Alfian Ma'arif
International Journal of Robotics and Control Systems Vol 2, No 3 (2022)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v2i3.798

Abstract

A new theory is proposed to achieve desired set of values for an engineering system based on a single algorithm that consists of all optimization algorithms. This algorithm considers an engineering system's main variables, dimensions, and functions; all these parameters will be set and tuned by a systematic search in the main library. This single algorithm automatically selects an optimization algorithm suitable for a particular optimization problem. Additionally, this theory, which was inspired by the idea of bargaining theory and Noorulden Basil theory, referred to as NB Theory, can be done using MATLAB Software.
Robotic Motion Planning in Dynamic Environments and its Applications M. G. Mohanan; Ambuja Salgaonkar
International Journal of Robotics and Control Systems Vol 2, No 4 (2022)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v2i4.816

Abstract

The fundamental problem of robot motion planning in a dynamic environment (RMPDE) is to find an optimal collision-free path from the start to the goal in a dynamic environment. Our literature survey of over 100 papers from the last four decades reveals that there are more than 30 models of RMPDE, and there is no benchmarking criterion to select one that is the best in a given situation. In this context, generating a regression-based model with 10 attributes is the first and foremost contribution of our research. Given a highly human-interactive environment like a cafeteria or a bus stand, the gross hidden Markov model has special importance for modeling a robot path. A variant of the growing hidden Markov model for a serving robot in a cafeteria is the second contribution of this paper. We simulated the behavior of GHMM in a cafeteria with static and dynamic obstacles (static obstacles were both convex and concave) and with three different arrangements of the tables and obstacles. Robots have been employed in mushroom harvesting. A novel proposition discussed in this paper is probabilistic road map planning for a robot that finds an optimum path for reaching the ripened mushrooms in a randomly planted mushroom farm and a dexterous hand to pluck the selected mushrooms by employing inverse kinematics. Further, two biologically inspired meta-heuristic algorithms, ant colony optimization, and firefly has been studied for their application to latex collection. The simulation results with this environment show that the firefly algorithm outperforms ant colony optimization in the general case. Finally, we have proposed a few pointers for future research in this domain.  The compilation and comparison of various approaches to robot motion planning in highly dynamic environments, and the simulation of a few models for some typical scenarios, have been the contributions of this paper.

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