International Journal of Robotics and Control Systems最新文献_第2页

Optimal Pneumatic Actuator Positioning and Dynamic Stability using Prescribed Performance Control with Particle Swarm Optimization: A Simulation Study 基于粒子群优化性能控制的气动执行机构最优定位与动态稳定性仿真研究

International Journal of Robotics and Control Systems Pub Date : 2023-05-29 DOI: 10.31763/ijrcs.v3i3.1002

A. Irawan, M. S. Ramli, M. Sulaiman, M. Azahar, A. H. Adom

{"title":"Optimal Pneumatic Actuator Positioning and Dynamic Stability using Prescribed Performance Control with Particle Swarm Optimization: A Simulation Study","authors":"A. Irawan, M. S. Ramli, M. Sulaiman, M. Azahar, A. H. Adom","doi":"10.31763/ijrcs.v3i3.1002","DOIUrl":"https://doi.org/10.31763/ijrcs.v3i3.1002","url":null,"abstract":"This paper introduces an optimal control strategy for pneumatic servo systems (PSS) positioning using Finite-time Prescribed Performance Control (FT-PPC) with Particle Swarm Optimization (PSO). Pneumatic servo systems are widely used in industrial automation, as well as medical and cybernetics systems that involve robotics applications. Precision in pneumatic control is crucial not only for the sake of efficiency but also safety. The primary goal of the proposed control strategy is to optimize the convergence rate and finite time of the prescribed performance function in error transformation of the FT-PPC, as well as the Proportional, Integral and Derivative (PID) controller as the inner-loop controller for this system. The study utilizes a dynamic model of a pneumatic proportional valve with a double-acting cylinder (PPVDC) as the targeted plant and performs simulations with a multi-step input trajectory. This offline tuning method is essential for such nonlinear systems to be safely optimized, avoiding major damage to the real-time fine-tuned works on the controller. The results demonstrate that the proposed control strategy surpasses the performance of FT-PPC with a PID controller alone, significantly improving the system's performance, including suppressing overshoot and oscillation in the responses. Further validation through the actual system of PPVDC using the fine-tuned values of FT-PPC and PID with PSO is a future task and more challenging to come, as hardware constraints may vary with different environments such as temperatures.","PeriodicalId":409364,"journal":{"name":"International Journal of Robotics and Control Systems","volume":"148 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131983377","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: 0

Forward and Inverse Kinematics Solution of A 3-DOF Articulated Robotic Manipulator Using Artificial Neural Network 基于人工神经网络的三自由度关节式机械臂正逆解

International Journal of Robotics and Control Systems Pub Date : 2023-05-09 DOI: 10.31763/ijrcs.v3i2.1017

Abdel-Nasser Sharkawy, S. S. Khairullah

{"title":"Forward and Inverse Kinematics Solution of A 3-DOF Articulated Robotic Manipulator Using Artificial Neural Network","authors":"Abdel-Nasser Sharkawy, S. S. Khairullah","doi":"10.31763/ijrcs.v3i2.1017","DOIUrl":"https://doi.org/10.31763/ijrcs.v3i2.1017","url":null,"abstract":"In this research paper, the multilayer feedforward neural network (MLFFNN) is architected and described for solving the forward and inverse kinematics of the 3-DOF articulated robot. When designing the MLFFNN network for forward kinematics, the joints' variables are used as inputs to the network, and the positions and orientations of the robot end-effector are used as outputs. In the case of inverse kinematics, the MLFFNN network is designed using only the positions of the robot end-effector as the inputs, whereas the joints’ variables are the outputs. For both cases, the training of the proposed multilayer network is accomplished by Levenberg Marquardt (LM) method. A sinusoidal type of motion using variable frequencies is commanded to the three joints of the articulated manipulator, and then the data is collected for the training, testing, and validation processes. The experimental simulation results demonstrate that the proposed artificial neural network that is inspired by biological processes is trained very effectively, as indicated by the calculated mean squared error (MSE), which is approximately equal to zero. The resulted in smallest MSE in the case of the forward kinematics is 4.592×10^(-8) in the case of the inverse kinematics, is 9.071×10^(-7). This proves that the proposed MLFFNN artificial network is highly reliable and robust in minimizing error. The proposed method is applied to a 3-DOF manipulator and could be used in more complex types of robots like 6-DOF or 7-DOF robots.","PeriodicalId":409364,"journal":{"name":"International Journal of Robotics and Control Systems","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116622921","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

Indonesian Waste Database: Smart Mechatronics System 印度尼西亚废物数据库:智能机电一体化系统

International Journal of Robotics and Control Systems Pub Date : 2023-05-09 DOI: 10.31763/ijrcs.v3i2.999

H. I. K. Fathurrahman, Ahmad Azhari, T. Sutikno, Li-yi Chin, Prasetya Murdaka Putra, Isro Dwian Yunandha, Gralo Yopa Rahmat Pratama, B. Purnomo

{"title":"Indonesian Waste Database: Smart Mechatronics System","authors":"H. I. K. Fathurrahman, Ahmad Azhari, T. Sutikno, Li-yi Chin, Prasetya Murdaka Putra, Isro Dwian Yunandha, Gralo Yopa Rahmat Pratama, B. Purnomo","doi":"10.31763/ijrcs.v3i2.999","DOIUrl":"https://doi.org/10.31763/ijrcs.v3i2.999","url":null,"abstract":"Waste management is an essential component of urban management. As a waste solution, waste management is critical. The goal of this research is to develop a waste management database that is coupled with a mechatronic robot system. Compiling and gathering data on the sorts of garbage found in Indonesia is the starting point for this research. Indonesian waste is classified into six groups: cardboard, paper, metal, plastic, medical, and organic. The total images of the six groups are estimated at 1880 pictures. According to this picture database, Artificial Intelligence (AI) training was used to create the classification system. In the final AI process, the test method was performed using DenseNet121, DenseNet169, and DenseNet201. Testing using artificial intelligence DenseNet201 across 40 epochs yields the best 92,7% accuracy rate. Simultaneously with Artificial Intelligence testing, a mechatronic system is created as a direct implementation of the Artificial Intelligence output model. A four-servo arm robot with dc motor wheel mobility is included in the mechatronic system. According to these findings, the Indonesian waste database can be categorized correctly using Artificial Intelligence and the mechatronics system. This higher accuracy of the artificial intelligence model may be used to create a waste-sorting robot prototype.","PeriodicalId":409364,"journal":{"name":"International Journal of Robotics and Control Systems","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125959864","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: 0

Dynamic Model of a Robotic Manipulator with One Degree of Freedom with Friction Component 含摩擦分量的单自由度机械臂动力学模型

International Journal of Robotics and Control Systems Pub Date : 2023-05-03 DOI: 10.31763/ijrcs.v3i2.984

J. A. G. L. Junior, J. Balthazar, M. Ribeiro, F. C. Janzen, Â. Tusset

引用次数: 0

Proportional Derivative – Type Iterative Learning Algorithm for a Motion Control System 运动控制系统的比例导数型迭代学习算法

International Journal of Robotics and Control Systems Pub Date : 2023-04-28 DOI: 10.31763/ijrcs.v3i2.975

Duong Thi Thanh Huyen, Vu Van Hoc, N. T. T. Hoa

{"title":"Proportional Derivative – Type Iterative Learning Algorithm for a Motion Control System","authors":"Duong Thi Thanh Huyen, Vu Van Hoc, N. T. T. Hoa","doi":"10.31763/ijrcs.v3i2.975","DOIUrl":"https://doi.org/10.31763/ijrcs.v3i2.975","url":null,"abstract":"In this paper, Iterative Learning Control (ILC) combined with a Proportional Derivative (PD) regulator is proposed to deal with the problem of designing a control signal for motion control systems. The main idea in iterative learning control is to gradually improve the performance of the system by exploiting data from the previous iterations. The learning control algorithm can obtain a better tracking control performance for the next run and hence outperforms conventional control approaches such as Proportional Integral Derivative (PID) controller and feedforward control. The main area of application for ILC is control of industrial robots and CNC machine tool, printing, and other industrial applications. The learning algorithms can also be used in combination with other control techniques. For example, learning feedforward control is designed in the first iteration. Then iterative learning control is applied to improve performance in the subsequent iterations. In addition, the conventional feedback regulator is designed in combination with iterative control to deal with uncertainty. Simulation results demonstrate the potential benefits, sensitivity and robustness of the proposed method.","PeriodicalId":409364,"journal":{"name":"International Journal of Robotics and Control Systems","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130463257","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: 0

Ball and Beam Control: Evaluating Type-1 and Interval Type-2 Fuzzy Techniques with Root Locus Optimization 球梁控制:用根轨迹优化评价1型和区间2型模糊技术

International Journal of Robotics and Control Systems Pub Date : 2023-04-27 DOI: 10.31763/ijrcs.v3i2.997

Rawiphon Chotikunnan, Phichitphon Chotikunnan, A. Ma’arif, N. Thongpance, Yutthana Pititheeraphab, A. Srisiriwat

{"title":"Ball and Beam Control: Evaluating Type-1 and Interval Type-2 Fuzzy Techniques with Root Locus Optimization","authors":"Rawiphon Chotikunnan, Phichitphon Chotikunnan, A. Ma’arif, N. Thongpance, Yutthana Pititheeraphab, A. Srisiriwat","doi":"10.31763/ijrcs.v3i2.997","DOIUrl":"https://doi.org/10.31763/ijrcs.v3i2.997","url":null,"abstract":"This study evaluates the performance of three control systems, namely the root locus method, type-1 Mamdani fuzzy logic system (FLS), and interval type-2 Mamdani FLS, in noise-free and noisy ball and beam systems. The main contribution of this study is enabling improved design and implementation of control systems in real-world applications by offering a comprehensive understanding of each control system's performance. The methodology involves conducting four tests focusing on various input types, including a 0.8-meter step input and sine wave function, and assessing the presence of noise in the system. The performance of each control system is analyzed using parameters such as rise time, setting time, and percentage overshoot, with the interval type-2 Mamdani FLS further examined by varying footprint of uncertainty values. Results from noise-free tests reveal that the root locus method has shorter rise and setting times, but a higher percentage overshoot compared to the type-1 Mamdani FLS and type-2 Mamdani FLS. In noisy environments, the type-2 Mamdani FLS with varying Footprint of Uncertainty values outperforms the type-1 Mamdani FLS with reduced rise time, setting time, and percentage overshoot. The root locus method shows a significantly higher percentage overshoot in noisy conditions compared to the other two control systems. In conclusion, the type-2 Mamdani FLS control system demonstrates superior capability under changing conditions compared to the type-1 Mamdani FLS, with its performance varying based on footprint of uncertainty values. This study highlights the importance of selecting the appropriate control system depending on specific needs and environmental factors.","PeriodicalId":409364,"journal":{"name":"International Journal of Robotics and Control Systems","volume":"67 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123900790","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

Bridge Crack Detection Based on Attention Mechanism 基于注意机制的桥梁裂缝检测

International Journal of Robotics and Control Systems Pub Date : 2023-04-10 DOI: 10.31763/ijrcs.v3i2.929

Geng Chuang, Cao Li-jia

引用次数: 0

Comparison of PCB Based Actuator Coils for Untethered Actuation 基于PCB的非系留驱动线圈的比较

International Journal of Robotics and Control Systems Pub Date : 2023-04-10 DOI: 10.31763/ijrcs.v3i2.936

Erdem Dogus Akkus, L. Çetin

{"title":"Comparison of PCB Based Actuator Coils for Untethered Actuation","authors":"Erdem Dogus Akkus, L. Çetin","doi":"10.31763/ijrcs.v3i2.936","DOIUrl":"https://doi.org/10.31763/ijrcs.v3i2.936","url":null,"abstract":"Recently magnetic actuation has become a versatile tool for manipulation on both the micro and macro scale. Due to the problems arising from scale, conventional electromagnet production methods are insufficient to produce the desired electromagnets to be used for this purpose. To solve the problems arising from this situation, researchers have been forced to work in alternative electromagnet production and application areas and paved the way for PCB-based electromagnetic actuators. For this reason, this article will explain the design principles of PCB planar coils for electromagnetic actuator applications and will provide the basis for later studies to create a coil matrix using this coil design and an actuator that can move ferromagnetic particles or magnets in the plane with this 2D coil matrix. The presented project design steps can be listed as follows; First of all, to be able to design a coil that consists of copper paths on the PCB and can meet expectations (homogeneous magnetic field, high magnetic force/current ratio). PCB coils consisting of square, circular and hexagonal coils are manufactured and various measurements are made. The measured results are consistent with the simulated results proving the accuracy and applicability of PCB coil actuators, and they are highly suitable for a new actuator version. In the tests carried out, coils energized with 1A can provide a maximum field strength of 1400 (A/m) and an average of 900 (A/m) and due to the lack of magnetic core, the created magnetic field has the shape of a bell. In order to overcome this situation, it is foreseen that making studies to increase the working current and, as a more important development, switching from the planar single-layer structure to the structure of two or more layers can increase the magnetic field produced by this type of coils, but this layer increase should take into account the cost and PCB production and application capabilities. should be made available.","PeriodicalId":409364,"journal":{"name":"International Journal of Robotics and Control Systems","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114892544","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: 0

Design and Application of PLC-based Speed Control for DC Motor Using PID with Identification System and MATLAB Tuner 基于plc的直流电动机PID辨识系统及MATLAB调谐器的调速设计与应用

International Journal of Robotics and Control Systems Pub Date : 2023-04-07 DOI: 10.31763/ijrcs.v3i2.775

Dodi Saputra, A. Ma’arif, H. Maghfiroh, Phichitphon Chotikunnan, Safinta Nurindra Rahmadhia

{"title":"Design and Application of PLC-based Speed Control for DC Motor Using PID with Identification System and MATLAB Tuner","authors":"Dodi Saputra, A. Ma’arif, H. Maghfiroh, Phichitphon Chotikunnan, Safinta Nurindra Rahmadhia","doi":"10.31763/ijrcs.v3i2.775","DOIUrl":"https://doi.org/10.31763/ijrcs.v3i2.775","url":null,"abstract":"Industries use numerous drives and actuators, including DC motors. Due to the wide-ranged and adjustable speed, DC motor is widely used in many industries. However, the DC motor is prone to external disturbance and parameter changes, causing its speed to be unstable. Thus, a DC motor requires an appropriate controller design to obtain a fast and stable speed with a small steady-state error. In this study, a controller was designed based on the PID control method, with the controller gains tuned by trial-and-error and MATLAB Tuner with an identification system. The proposed controller design was implemented using PLC OMRON CP1E NA20DRA in the hardware implementation. Each tuning method was repeated five times so that the system performances could be compared and improved. Based on hardware implementation results, the trial-error method gave acceptable results but had steady-state errors. On the other hand, the use of MATLAB Tuner provided fast system responses with no steady-state error but still had oscillations with high overshoot during the transition. Therefore, the PID controller gains acquired from MATLAB Tuner must be tuned finely to get better system responses.","PeriodicalId":409364,"journal":{"name":"International Journal of Robotics and Control Systems","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125047419","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: 2

Improving the Recognition Percentage of the Identity Check System by Applying the SVM Method on the Face Image Using Special Faces 将支持向量机方法应用于特殊人脸图像，提高身份检测系统的识别率

International Journal of Robotics and Control Systems Pub Date : 2023-03-27 DOI: 10.31763/ijrcs.v3i2.939

{"title":"Improving the Recognition Percentage of the Identity Check System by Applying the SVM Method on the Face Image Using Special Faces","authors":"","doi":"10.31763/ijrcs.v3i2.939","DOIUrl":"https://doi.org/10.31763/ijrcs.v3i2.939","url":null,"abstract":"Face recognition has attracted tremendous attention during the last three decades because it is considered a simple pattern recognition and image analysis method. Also, many facial recognition patterns have been introduced and used over the years. The SVM algorithm has been one of the successful models in this field. In this article, we have introduced the special faces first. In the following, we have fully explained the SVM method and its subsets, including linear and non-linear support vector machines. Suggestions for improving the recognition percentage of a person's identity check system by applying the SVM method on the face image using special faces are presented. For this test, 10 face images of 40 people (400 face images in total) have been selected from the ORL database. In this way, by choosing the optimal parameter C, determining the most suitable training samples, comparing more accurately with training images and using the distance with the closest training sample instead of the average distance, the proposed method has been implemented and tested on the famous ORL database. The obtained results are FAR=0.23% and FRR=0.48%, which shows the very high accuracy of the operation following the application of the above suggestions.","PeriodicalId":409364,"journal":{"name":"International Journal of Robotics and Control Systems","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129323090","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: 2