International Journal of Robotics and Control Systems最新文献_第10页

Soft Pneumatic Exoskeleton for Wrist and Thumb Rehabilitation 用于手腕和拇指康复的软性气动外骨骼

International Journal of Robotics and Control Systems Pub Date : 2021-10-26 DOI: 10.31763/ijrcs.v1i4.447

Sa’aadat Syafeeq Lone, Norsinnira Zainul Azlan, Norhaslinda Kamarudzaman

{"title":"Soft Pneumatic Exoskeleton for Wrist and Thumb Rehabilitation","authors":"Sa’aadat Syafeeq Lone, Norsinnira Zainul Azlan, Norhaslinda Kamarudzaman","doi":"10.31763/ijrcs.v1i4.447","DOIUrl":"https://doi.org/10.31763/ijrcs.v1i4.447","url":null,"abstract":"A huge population of the world is suffering from various kinds of disabilities that make basic daily activities to be challenging. The use of robotics for limb rehabilitation can assist patients to recover faster and reduce therapist to patient ratio. However, the main problems with current rehabilitation robotics are the devices are bulky, complicated, and expensive. The utilization of pneumatic artificial muscles in a rehabilitation system can reduce the design complexity, thus, making the whole system light and compact. This paper presents the development of a new 2 degree of freedom (DOF) wrist motion and thumb motion exoskeleton. A light-weight 3D printed Acrylonitrile Butadiene Styrene (ABS) material is used to fabricate the exoskeleton. The system is controlled by an Arduino Uno microcontroller board that activates the relay to open and close the solenoid valve to actuate the wrist. It allows the air to flow into and out of the pneumatic artificial muscles (PAM) based on the feedback from the sliding potentiometer. The mathematical model of the exoskeleton has been formulated using the Lagrange formula. A Proportional Integral Derivative (PID) controller has been implemented to drive the wrist extension-flexion motion in achieving the desired set-points during the exercise. The results show that the exoskeleton has successfully realized the wrist and thumb movements as desired. The wrist joint tracked the desired position with a maximum steady-state error of 10% for 101.45ᵒ the set point.","PeriodicalId":409364,"journal":{"name":"International Journal of Robotics and Control Systems","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127105260","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}

引用次数: 6

Maximum Torque per Ampere Control of Permanent Magnet Assisted Synchronous Reluctance Motor: An Experimental Study 永磁辅助同步磁阻电机每安培最大转矩控制的实验研究

International Journal of Robotics and Control Systems Pub Date : 2021-10-23 DOI: 10.31763/ijrcs.v1i4.451

Yasmine Ihcene Nadjai, H. Ahmed, N. Takorabet, Peyman Haghgooei

{"title":"Maximum Torque per Ampere Control of Permanent Magnet Assisted Synchronous Reluctance Motor: An Experimental Study","authors":"Yasmine Ihcene Nadjai, H. Ahmed, N. Takorabet, Peyman Haghgooei","doi":"10.31763/ijrcs.v1i4.451","DOIUrl":"https://doi.org/10.31763/ijrcs.v1i4.451","url":null,"abstract":"In recent times, permanent magnet assisted synchronous reluctance motors (PMaSRM) have been considered as suitable traction motors for electric vehicle applications. In this type of machine, where the share of reluctance torque is more significant than the excitation torque, it is more appropriate to use a control strategy that can fully utilize the reluctance torque. This paper deals with a new structure of permanent magnet-assisted synchronous reluctance motors that was designed and manufactured in a previous study. This paper suggests applying, in a first study, a constant parameter maximum torque per ampere (MTPA) strategy to make a contribution towards the control of such structure that is becoming increasingly attractive in the field of electric transportation. This method is usually used to control interior permanent magnet synchronous motors to minimize the copper losses of the system. Before implementing and simulating this method, the mathematical models of the suggested motor and the inverter are given. An experimental study is conducted on a small-scale 1 kW prototype PMaSRM using a MicrolabBox Dspace to test and examine the proposed control. Simulation and experimental results are presented in this article in order to verify the validity of the developed control strategy.","PeriodicalId":409364,"journal":{"name":"International Journal of Robotics and Control Systems","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132306711","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}

引用次数: 3

A New Approach to Fault Detection in the Power Converter in Wind Turbine Conversion Systems 风电机组变流器故障检测新方法

International Journal of Robotics and Control Systems Pub Date : 2021-10-23 DOI: 10.31763/ijrcs.v1i4.443

Abada Zhour, Ghoudelbourk Sihem, D. Djalel

{"title":"A New Approach to Fault Detection in the Power Converter in Wind Turbine Conversion Systems","authors":"Abada Zhour, Ghoudelbourk Sihem, D. Djalel","doi":"10.31763/ijrcs.v1i4.443","DOIUrl":"https://doi.org/10.31763/ijrcs.v1i4.443","url":null,"abstract":"The detection of faults in a wind turbine chain is of prime importance in order to maintain safety, enhance reliability and improve economic performance. In addition, wind systems have to ensure a continuity of service for a considerable period of time in the event of an electrical fault in the network or a fault in one of the elements of the electromechanical conversion system. This paper presents a fault detection methodology of the power converter within a wind turbine chain, equipped with a Doubly-Fed Induction Generator (DFIG). A configurable, fast, and accurate scheme is developed, the basis of which is the reliable identification of the failed switch. The solution proposed in this work involves the deployment of a redundant arm in the event of a fault; the replacement arm is utilized while waiting for a maintenance or repair operation to be carried out. The approach developed in this paper provides continuity of service after the occurrence of a fault in the network system and fault detection time is reduced. The validity of the proposed identification methodology is assessed by means of simulation of the model of a wind turbine conversion system.","PeriodicalId":409364,"journal":{"name":"International Journal of Robotics and Control Systems","volume":"345 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116128584","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}

引用次数: 1

Continuous Passive Motion Machine for Elbow Rehabilitation 肘部连续被动运动康复机

International Journal of Robotics and Control Systems Pub Date : 2021-10-22 DOI: 10.31763/ijrcs.v1i3.446

Hamzah Hussein Mohammed Al-Almoodi, Norsinnira Zainul Azlan, Ifrah Shahdad, Norhaslinda Kamarudzaman

{"title":"Continuous Passive Motion Machine for Elbow Rehabilitation","authors":"Hamzah Hussein Mohammed Al-Almoodi, Norsinnira Zainul Azlan, Ifrah Shahdad, Norhaslinda Kamarudzaman","doi":"10.31763/ijrcs.v1i3.446","DOIUrl":"https://doi.org/10.31763/ijrcs.v1i3.446","url":null,"abstract":"Continuous Passive Machines (CPM) facilitate patients in eliminating joint stiffness after surgery and lead to a faster and more efficient recovery. However, many previous CPM machined are mechanically complicated, expensive, and lack a user interface. This paper presents a new CPM machine for elbow flexion-extension and forearm pronation-supination. The machine is simple, low-cost, and equipped with Graphical User Interface (GUI). Its mechanism is designed so that it can be used on the left or right arms interchangeably. It is developed using aluminum, perspex, and steel rods. The electrical part of the machine consists of Arduino Uno to drive the motors and a potentiometer to measure the patients’ Range of Motion (ROM). The GUI for setting the exercise parameters and monitoring the patients’ progress has been developed using MATLAB software. The experimental results show that the machine has successfully provided the repetitive desired motions. The machine realizes elbow flexion-extension and forearm pronation-supination movements with 0ᵒ-135ᵒ and 0ᵒ-90ᵒ ranges of motion (ROM), respectively. The machine is also capable of increasing the elbow joint’s ROM by 5ᵒ increments for the therapy. The results show that the machine has the potential to be used in hospitals and rehabilitation centers.","PeriodicalId":409364,"journal":{"name":"International Journal of Robotics and Control Systems","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121171618","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}

引用次数: 3

Stirring System Design for Automatic Coffee Maker Using OMRON PLC and PID Control 采用欧姆龙PLC和PID控制的自动咖啡机搅拌系统设计

International Journal of Robotics and Control Systems Pub Date : 2021-10-19 DOI: 10.31763/ijrcs.v1i3.457

Ashadi Setiawan, A. Ma’arif

{"title":"Stirring System Design for Automatic Coffee Maker Using OMRON PLC and PID Control","authors":"Ashadi Setiawan, A. Ma’arif","doi":"10.31763/ijrcs.v1i3.457","DOIUrl":"https://doi.org/10.31763/ijrcs.v1i3.457","url":null,"abstract":"The implementation of the use of PLC in this study was designed for a small scale in the process of stirring coffee drinks at a speed of 600 RPM. To get a stable speed so that the water does not overflow, a control system is needed. To get optimal results, a system design that can control the stirring speed is arranged automatically using a Programmable Logic Controller (PLC). This system is designed using a rotary encoder sensor C38S6G5-600B-G24N as a speed reader obtained from the movement of the motor, DC Motor JGA25-370 12V as an actuator or stirrer. PLC OMRON CP1E-NA20DR-A is used as a motor speed control device using the Proportional Integral Derivative (PID) algorithm to control the system according to the setpoint entered. The motor speed control system with the PID algorithm shows a system response that works well according to the researchers' expectations. The response of the system obtained is fast enough to achieve a stable speed with a small overshoot value. Thus this system was successfully designed to control the stirring process of coffee drinks automatically and produce stable stirring by giving a set point of 600 RPM at the parameter constant Proportional band is 720%; Integral time is 1.6s; and Derivative time is 0.2s with a rise time value is 1.3s; settling time is 11s; overshoot is 1.1%; and steady-state error is 0.5%.","PeriodicalId":409364,"journal":{"name":"International Journal of Robotics and Control Systems","volume":"125 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134145139","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}

引用次数: 4

Synchronization of Active Power Filter under Distorted Grid Conditions 畸变电网条件下有源电力滤波器的同步

International Journal of Robotics and Control Systems Pub Date : 2021-10-11 DOI: 10.31763/ijrcs.v1i3.464

I. Ullah

引用次数: 2

A New Architecture of Autonomous Vehicles: Redundant Architecture to Improve Operational Safety 自动驾驶汽车的新架构:冗余架构以提高运行安全性

International Journal of Robotics and Control Systems Pub Date : 2021-09-26 DOI: 10.31763/ijrcs.v1i3.437

A. Boubakri, Sonia Mettali Gamar

引用次数: 2

Intelligent Observer-Based Controller Design for Nonlinear Type-1 Diabetes Model via Adaptive Neural Network Method

International Journal of Robotics and Control Systems Pub Date : 2021-09-26 DOI: 10.31763/ijrcs.v1i3.442

Elham Rahimi khoygani, Mohammad Reza Rahimi khoygani, R. Ghasemi

引用次数: 1

Robust Fuzzy Adaptive Control with MRAC Configuration for a Class of Fractional Order Uncertain Linear Systems 一类分数阶不确定线性系统的MRAC鲁棒模糊自适应控制

International Journal of Robotics and Control Systems Pub Date : 2021-09-14 DOI: 10.31763/ijrcs.v1i3.426

Bachir Bourouba, S. Ladaci, R. Illoul

引用次数: 2

Enhanced Low Voltage Ride Through Capability for Grid Connected Wind Energy Conversion System 并网风能转换系统的低压穿越能力增强

International Journal of Robotics and Control Systems Pub Date : 2021-09-09 DOI: 10.31763/ijrcs.v1i3.441

M. Alsumiri, R. Althomali

引用次数: 2