International Journal of Robotics and Control Systems最新文献_第5页

Robotic Motion Planning in Dynamic Environments and its Applications 动态环境下机器人运动规划及其应用

International Journal of Robotics and Control Systems Pub Date : 2022-10-17 DOI: 10.31763/ijrcs.v2i4.816

M. Mohanan, Ambuja Salgaonkar

{"title":"Robotic Motion Planning in Dynamic Environments and its Applications","authors":"M. Mohanan, Ambuja Salgaonkar","doi":"10.31763/ijrcs.v2i4.816","DOIUrl":"https://doi.org/10.31763/ijrcs.v2i4.816","url":null,"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.","PeriodicalId":409364,"journal":{"name":"International Journal of Robotics and Control Systems","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114241442","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

A Survey of Control Methods for Quadrotor UAV 四旋翼无人机控制方法综述

International Journal of Robotics and Control Systems Pub Date : 2022-09-22 DOI: 10.31763/ijrcs.v2i4.743

Muhammad Maaruf, M. Mahmoud, A. Ma’arif

{"title":"A Survey of Control Methods for Quadrotor UAV","authors":"Muhammad Maaruf, M. Mahmoud, A. Ma’arif","doi":"10.31763/ijrcs.v2i4.743","DOIUrl":"https://doi.org/10.31763/ijrcs.v2i4.743","url":null,"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.","PeriodicalId":409364,"journal":{"name":"International Journal of Robotics and Control Systems","volume":"265 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-09-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130865869","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: 12

Design of Hybrid Controller using Qualitative Simulation Internal Modeling for Inverted Pendulum 基于定性仿真内部建模的倒立摆混合控制器设计

International Journal of Robotics and Control Systems Pub Date : 2022-09-22 DOI: 10.31763/ijrcs.v2i4.777

Chunrong Xia, Irfan Qaisar, M. S. Aslam

{"title":"Design of Hybrid Controller using Qualitative Simulation Internal Modeling for Inverted Pendulum","authors":"Chunrong Xia, Irfan Qaisar, M. S. Aslam","doi":"10.31763/ijrcs.v2i4.777","DOIUrl":"https://doi.org/10.31763/ijrcs.v2i4.777","url":null,"abstract":"Multiple model methods for nonlinear dynamical system control are appealing because local models can be simple and obvious, and global dynamics can be studied in terms of transitions between small operating zones. In this study, we propose that using qualitative models strengthens the multiple model method even more by enabling each local model to explain a huge class of effective nonlinear dynamical systems. Furthermore, reasoning using qualitative models reveals weak necessary conditions sufficient to verify qualitative features like stability analysis. The authors show the method by creating a global controller for the free pendulum. In addition, local controllers are specified and validated by comparing their patterns to basic general qualitative models. Our proposed procedure establishes qualitative limitations on controller designs that are sufficient to ensure the necessary local attributes and to establish feasible transitions between local areas for the existing problems. As a result, the continuous phase picture may be reduced to a simple transitional graph. The degrees of freedom in the system that are not bound by the qualitative description are still accessible to the designer for optimization for any other purpose. An example of a pendulum plant illustrates the effectiveness of the proposed method.","PeriodicalId":409364,"journal":{"name":"International Journal of Robotics and Control Systems","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-09-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114175338","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

Spectrum Sensing Utilizing Power Threshold and Artificial Intelligence in Cognitive Radio 基于功率阈值和人工智能的认知无线电频谱感知

International Journal of Robotics and Control Systems Pub Date : 2022-09-20 DOI: 10.31763/ijrcs.v2i4.771

Z. Abbood, Noor Alhuda F. Abbas, Basma Makki

{"title":"Spectrum Sensing Utilizing Power Threshold and Artificial Intelligence in Cognitive Radio","authors":"Z. Abbood, Noor Alhuda F. Abbas, Basma Makki","doi":"10.31763/ijrcs.v2i4.771","DOIUrl":"https://doi.org/10.31763/ijrcs.v2i4.771","url":null,"abstract":"The purpose of this paper was to take a preventative approach to predict the transmission status of the primary user (PU) on the white spectrum throughout the duration of the simulation. We intend to reduce the computational simulation budget to eliminate user interference by precise spectrum sensing handoff. We develop PU behaviors to use a time waiting estimate methodology that gives band occupancy time intervals. The proposed strategy may also lessen risks associated with flexible clients and adapt to changing channels. Real-time applications will use ANN range sharing, which reduces transmission delay, while high-throughput applications will use PTHD range sharing. Since noise as well as obscuring effects after each transmission plan, their proximity in the channel can influence range detection. This finding is in line with published investigations. Most range detection systems compare frequency test results with the operating channel's control scope thickness. The paper met design objectives by developing a noise-independent sensing methodology with proactive time estimation. The trial is accomplished with reduced cost and latency.","PeriodicalId":409364,"journal":{"name":"International Journal of Robotics and Control Systems","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114938231","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

An Examination of the Secure Chaos of 5G Wireless Communication Based on the Intelligent Internet of Things 基于智能物联网的5G无线通信安全混沌研究

International Journal of Robotics and Control Systems Pub Date : 2022-09-19 DOI: 10.31763/ijrcs.v2i4.769

Jan Yonan

{"title":"An Examination of the Secure Chaos of 5G Wireless Communication Based on the Intelligent Internet of Things","authors":"Jan Yonan","doi":"10.31763/ijrcs.v2i4.769","DOIUrl":"https://doi.org/10.31763/ijrcs.v2i4.769","url":null,"abstract":"The implementation of an intelligent system for network control and monitoring that is built on an Internet of Things (IoT) is a focus of this line of research, with the end objective of improving the level of precision inside the network and its applications. You did indeed read it correctly; the system that is being referred to here is a deep neural network. The manner that it is constructed makes it possible for the layer that cannot be seen to contain more data. The application of element-modified deep learning and network buffer capacity control helps to improve the overall service quality that is provided by each sensor node. One method that can be applied to the process of instructing a machine to pay more attention includes deep learning in its various incarnations. The team was able to do calculations with a precision of 96.68 percent and the quickest execution time, thanks to the usage of wireless sensors. Using a sensor-based technique that has a brief implementation period, this piece has a degree of accuracy of 97.69 % when it comes to detecting and classifying proxies, and it does so using a method that is very efficient. On the other hand, our research represents a significant leap forward in comparison to earlier studies due to the fact that we were able to accurately identify and categorize a wide variety of invasions and real-time proxies.","PeriodicalId":409364,"journal":{"name":"International Journal of Robotics and Control Systems","volume":"106 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123234138","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

NB Theory with Bargaining Problem: A New Theory 具有议价问题的NB理论:一个新理论

International Journal of Robotics and Control Systems Pub Date : 2022-09-19 DOI: 10.31763/ijrcs.v2i3.798

N. B. Mohamadwasel, A. Ma’arif

引用次数: 1

Comparison and Review of Face Recognition Methods Based on Gabor and Boosting Algorithms 基于Gabor和Boosting算法的人脸识别方法比较与综述

International Journal of Robotics and Control Systems Pub Date : 2022-09-18 DOI: 10.31763/ijrcs.v2i4.759

Taraneh Kamyab, Alireza Delrish, H. Daealhaq, Ali Mojarrad Ghahfarokhi, Fatemehalsadat Beheshtinejad

{"title":"Comparison and Review of Face Recognition Methods Based on Gabor and Boosting Algorithms","authors":"Taraneh Kamyab, Alireza Delrish, H. Daealhaq, Ali Mojarrad Ghahfarokhi, Fatemehalsadat Beheshtinejad","doi":"10.31763/ijrcs.v2i4.759","DOIUrl":"https://doi.org/10.31763/ijrcs.v2i4.759","url":null,"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.","PeriodicalId":409364,"journal":{"name":"International Journal of Robotics and Control Systems","volume":"91 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130890737","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

Induction Motor Torque Measurement using Prony Brake System and Close-loop Speed Control 基于proony制动系统和闭环速度控制的异步电机转矩测量

International Journal of Robotics and Control Systems Pub Date : 2022-09-10 DOI: 10.31763/ijrcs.v2i3.782

H. Maghfiroh, Arthur Joshua Titus, A. Sujono, F. Adriyanto, Joko Slamet Saputro

引用次数: 2

Active Control System Applied to Vibration Level Control in High-Speed Elevators 主动控制系统在高速电梯振动水平控制中的应用

International Journal of Robotics and Control Systems Pub Date : 2022-09-05 DOI: 10.31763/ijrcs.v2i3.768

M. Gonçalves, J. Balthazar, Clivaldo Oliveira, M. Fuziki, G. Lenzi, Â. Tusset

{"title":"Active Control System Applied to Vibration Level Control in High-Speed Elevators","authors":"M. Gonçalves, J. Balthazar, Clivaldo Oliveira, M. Fuziki, G. Lenzi, Â. Tusset","doi":"10.31763/ijrcs.v2i3.768","DOIUrl":"https://doi.org/10.31763/ijrcs.v2i3.768","url":null,"abstract":"This work presents an active control system applied to vibration level reduction in high-performance vertical transport, aiming at improving the passengers’ comfort in high-speed elevators. The control system design includes the use of a Proportional Integral Derivative (PID) control. Three strategies were proposed in order to achieve a 90% reduction in the vibration amplitudes: (I) the consecutive reduction of 90% of the displacements, (II) the consecutive reduction of 90% of the velocity, and (III) the consecutive reduction of 90% of the acceleration. The presentation of these three proposals allows their application for the use of different sensors. The performance of each strategy was evaluated through mathematical modeling and numerical simulations of a vertical transport with 4 degrees of freedom, submitted to excitations arising from rail deformations. Vibration and comfort levels in the cabin were numerically analyzed, taking into account ISO 2631 and BS 6841 standards for elevator lateral acceleration level and comfort level felt by passengers. Numerical simulations showed that the force required to reduce the vibration levels is practically the same for the three proposed strategies. However, strategy (III) – the successive reduction of 90% of acceleration – proved to be more efficient at improving passengers’ comfort level when compared to the other two strategies.","PeriodicalId":409364,"journal":{"name":"International Journal of Robotics and Control Systems","volume":"106 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124223928","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

Short-Term Solar PV Power Generation Day-Ahead Forecasting Using Artificial Neural Network: Assessment and Validation 基于人工神经网络的短期太阳能光伏发电日前预测:评估与验证

International Journal of Robotics and Control Systems Pub Date : 2022-09-03 DOI: 10.31763/ijrcs.v2i3.780

Abdel-Nasser Sharkawy, Mustafa M. Ali, Hossam H. H. Mousa, Ahmed S. Ali, G. Abdel-Jaber

{"title":"Short-Term Solar PV Power Generation Day-Ahead Forecasting Using Artificial Neural Network: Assessment and Validation","authors":"Abdel-Nasser Sharkawy, Mustafa M. Ali, Hossam H. H. Mousa, Ahmed S. Ali, G. Abdel-Jaber","doi":"10.31763/ijrcs.v2i3.780","DOIUrl":"https://doi.org/10.31763/ijrcs.v2i3.780","url":null,"abstract":"Solar photovoltaics (PV) is considered an auspicious key to dealing with energy catastrophes and ecological contamination. This type of renewable energy is based on climatic conditions to produce electrical power. In this article, a multilayer feedforward neural network (MLFFNN) is implemented to predict and forecast the output power for a solar PV power station. The MLFFNN is designed using the module temperature and the solar radiation as the two main only inputs, whereas the expected power is its output. Data of approximately one week (6-days) are obtained from a real PV power station in Egypt. The data of the first five days are used to train the MLFFNN. The training of the designed MLFFNN is executed using two types of learning algorithms: Levenberg-Marquardt (LM) and error backpropagation (EBP). The data of the sixth day, which are not used for the training, are used to check the efficiency and the generalization capability of the trained MLFFNN by both algorithms. The results provide evidence that the trained MLFFNN is running very well and efficiently to predict the power correctly. The results obtained from the trained MLFFNN by LM (MLFFNN-LM) are compared with the corresponding ones obtained by the MLFFNN trained by EBP (MLFFNN-EBP). From this comparison, the MLFFNN-LM has slightly lower performance in the training stage and slightly better performance in the stage of effectiveness investigation compared with the MLFFNN-EBP. Finally, a comparison with other previously published approaches is presented. Indeed, predicting the power correctly using the artificial NN is useful to avoid the fall of the power that maybe happen at any time.","PeriodicalId":409364,"journal":{"name":"International Journal of Robotics and Control Systems","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-09-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131554491","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