International Journal of Robotics and Control Systems最新文献

{"title":"Performance Enhancement of a Variable Speed Permanent Magnet Synchronous Generator Used for Renewable Energy Application","authors":"Rasha Mohamed, Mahmoud A. Mossa, A. El-Gaafary","doi":"10.31763/ijrcs.v3i3.1031","DOIUrl":"https://doi.org/10.31763/ijrcs.v3i3.1031","url":null,"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.","PeriodicalId":409364,"journal":{"name":"International Journal of Robotics and Control Systems","volume":"101 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114864035","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Power Quality Improvement using a New DPC Switching Table for a Three-Phase SAPF","authors":"Bouchaib Essoussi, A. Moutabir, B. Bensassi, A. Ouchatti, Yassine Zahraoui, Bouchaib Benazza","doi":"10.31763/ijrcs.v3i3.1042","DOIUrl":"https://doi.org/10.31763/ijrcs.v3i3.1042","url":null,"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.","PeriodicalId":409364,"journal":{"name":"International Journal of Robotics and Control Systems","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116323934","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Comparison of Feature Extraction with PCA and LTP Methods and Investigating the Effect of Dimensionality Reduction in the Bat Algorithm for Face Recognition","authors":"Azita Mousavi, Hadis Arefanjazi, Mona Sadeghi, Ali Mojarrad Ghahfarokhi, Fatemehalsadat Beheshtinejad, Mahsa Madadi Masouleh","doi":"10.31763/ijrcs.v3i3.1057","DOIUrl":"https://doi.org/10.31763/ijrcs.v3i3.1057","url":null,"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%.","PeriodicalId":409364,"journal":{"name":"International Journal of Robotics and Control Systems","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114895589","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Integrated Modelling and Control of Linear Actuator Based Automatic Pedal Pressing Mechanism for Low-Speed Driving in a Road Traffic Delay","authors":"Azrul Azim Abdullah Hashim, Salmiah Ahmad, N. M. Abd Ghani, A. Nasir","doi":"10.31763/ijrcs.v3i3.1058","DOIUrl":"https://doi.org/10.31763/ijrcs.v3i3.1058","url":null,"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.","PeriodicalId":409364,"journal":{"name":"International Journal of Robotics and Control Systems","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130382372","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Fish Swarmed Kalman Filter for State Observer Feedback of Two-Wheeled Mobile Robot Stabilization","authors":"Ahmad Fahmi, M. Sulaiman, I. Siradjuddin, Anindya Dwi Risdhayanti","doi":"10.31763/ijrcs.v3i3.1087","DOIUrl":"https://doi.org/10.31763/ijrcs.v3i3.1087","url":null,"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.","PeriodicalId":409364,"journal":{"name":"International Journal of Robotics and Control Systems","volume":"124 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128121181","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Future Potential of E-Nose Technology: A Review","authors":"Furizal Furizal, A. Ma’arif, Asno Azzawagama Firdaus, Wahyu Rahmaniar","doi":"10.31763/ijrcs.v3i3.1091","DOIUrl":"https://doi.org/10.31763/ijrcs.v3i3.1091","url":null,"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.","PeriodicalId":409364,"journal":{"name":"International Journal of Robotics and Control Systems","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127798890","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Population Dynamics on Fractional Tumor System Using Laplace Transform and Stability Analysis","authors":"Dr. Palanisami, Shrilekha Elango","doi":"10.31763/ijrcs.v3i3.940","DOIUrl":"https://doi.org/10.31763/ijrcs.v3i3.940","url":null,"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.","PeriodicalId":409364,"journal":{"name":"International Journal of Robotics and Control Systems","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117112904","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Stability Analysis of Cyber-physical System Under Transmission Delay","authors":"Nezar M. Alyazidi, Yousif Ahmed Al-Wajih, M. Mahmoud, Mutaz M. Hamdan","doi":"10.31763/ijrcs.v3i3.928","DOIUrl":"https://doi.org/10.31763/ijrcs.v3i3.928","url":null,"abstract":"With the intimate integration of power grids and cyber networks, limited bandwidth and packet delay have a rapidly expanding negative impact on power system performance. The presented multi-area interconnected power system consists of four areas, each including thermal and hydro-generation plants. This paper investigates the stability analysis problem for cyber-physical systems with a round-robin communication protocol under mixed cyberattacks and load changes. The objective is to stabilize a multi-area interconnected power system (MAIPS) using a static feedback controller while minimizing the defined performance function. Then, the stability of the MAIPS is characterized when the system is subjected to a transmission delay while considering predetermined limits for the duration and the frequency of the delay. Our findings indicate that time delays can influence system stability and that choosing an appropriate sampling interval is necessary to ensure the stability of the system. Finally, an illustrative example of three areas of interconnected power systems with several scenarios is presented to verify the effectiveness of the proposed method.","PeriodicalId":409364,"journal":{"name":"International Journal of Robotics and Control Systems","volume":"85 18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130847660","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Magnetometer-Only Kalman Filter Based Algorithms for High Accuracy Spacecraft Attitude Estimation (A Comparative Analysis)","authors":"T. Habib","doi":"10.31763/ijrcs.v3i3.988","DOIUrl":"https://doi.org/10.31763/ijrcs.v3i3.988","url":null,"abstract":"Kalman Filter (KF) based algorithms are the most frequently employed attitude estimation algorithms. Typically, a fully observable system necessitates the use of two distinct sensor types. Therefore, relying on a single sensor, such as a magnetometer, for spacecraft attitude estimation is deemed to be a challenge. The present investigation centers on utilizing magnetometers as the exclusive sensor. Several KF based estimation algorithms have been designed and evaluated to give the designer of spacecraft Attitude and Orbit Control System (AOCS) the choice of a suitable algorithm for his mission based on quantitative measures. These algorithms are capable of effectively addressing nonlinearity in both process and measurement models. The algorithms under examination encompass the Extended Kalman Filter (EKF), Sequential Extended Kalman Filter (SEKF), Pseudo Linear Kalman Filter (PSELIKA), Unscented Kalman Filter (USKF), and Derivative Free Extended Kalman Filter (DFEKF). The comparison of the distinct algorithms hinges on key performance metrics, such as estimation error for each axis, computation time, and convergence rate. The resulting algorithms provide numerous benefits, such as diverse levels of high estimation accuracy (with estimation errors ranging from 0.014o to 0.14o), varying computational demands (execution time ranges from 0.0536s to 0.0584s), and the capability to converge despite large initial attitude estimation errors (which reached 170o). These properties render the algorithms appropriate for utilization by spacecraft designers in all operational modes, supplying high-precision attitude estimations better than (0.5o) despite high magnetometer noise levels, which reached (200 nT).","PeriodicalId":409364,"journal":{"name":"International Journal of Robotics and Control Systems","volume":"359 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133868900","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Technical and Economic Evaluation and Optimization of an Off-Grid Wind/Hydropower Hybrid System","authors":"Reza Alayi, Yaser Ebazadeh, H. Monfared, Salamollah Mohammadi-Aykar, Laveet Kumar, A. Ma’arif, Eskandar Jamali","doi":"10.31763/ijrcs.v3i3.996","DOIUrl":"https://doi.org/10.31763/ijrcs.v3i3.996","url":null,"abstract":"Owing to global population growth, more fossil fuels are being used to meet the energy demand, which has led to increases in environmental pollution. Therefore, alternative sources such as renewable energy can be employed to meet some of the needs. Renewable energy has been criticized for its related problems such as downtime and high investment costs. In this study, a system was proposed to address these two problems by integrating wind and hydropower turbines, in Khalkhal, Ardabil, Iran as a case study. To appraise the system, an economic model was generalized, and an Ant Colony Optimization (ACO) method aiming to reduce investment costs was, implemented. The results show that to cover 100% of the required energy demand with a hybrid system of wind and hydropower turbines, the total cost of this system will be $ 202138. Also, the Cost of Energy (COE) per unit of generated power with the hydropower system, wind, and battery storage is gauged at 0.261 $/kWh. For the case study, to supply the required energy demand, 10 wind turbines and 23 kVA batteries, as well as a 14.6 kW hydropower turbine are required.","PeriodicalId":409364,"journal":{"name":"International Journal of Robotics and Control Systems","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124605812","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}