Journal of Robotics and Control (JRC)最新文献_第4页

Flower Pollination Algorithm to Tune PID Controller of TCP/AQM Wireless Networks TCP/AQM无线网络中PID控制器调优的花授粉算法

Journal of Robotics and Control (JRC) Pub Date : 2023-04-01 DOI: 10.18196/jrc.v4i2.17533

Suad Ali Eissa, S. W. Shneen, Ekbal Hussain Ali

{"title":"Flower Pollination Algorithm to Tune PID Controller of TCP/AQM Wireless Networks","authors":"Suad Ali Eissa, S. W. Shneen, Ekbal Hussain Ali","doi":"10.18196/jrc.v4i2.17533","DOIUrl":"https://doi.org/10.18196/jrc.v4i2.17533","url":null,"abstract":"The current study aims to conduct a simulation that is useful in developing an appropriate design that addresses the problem of congestion in the Internet network through controlling the queue of the router. The simulation is conducted through the proposed model for simulation with different control systems that help in raising the quality of performance such as traditional Proportional Integral Derivative (PID) and advanced optimal by Flower Pollination Algorithm (FPA). It depends for Transmission Control Protocol/ Active Queue Management( TCP/AQM )simulation model for a linear system and another non-linear system. To adjust the network work and raise the level of performance, different control systems were chosen, taking into account all the things that appear through conducting experiments and for different purposes. One of the most important things that must be taken into consideration is the system disturbances as a result of the volume and values of the data, causing congestion . It was shown through the results of the experiments that were conducted considering the cases of the linear and nonlinear system to pass data traffic in the network and by adopting the different techniques of the control units, the preference of optimizasion systems over the traditional ones, as well as the preference of the traditional over without control in close loop, is the improvement of the performance of linear systems compared to the open and closed system without control. The simulation results showed that very clear the superiority of the optimization by FPA-PID controller over the conventional system (PID) , as well as very clear the superiority of the traditional system (PID)over closed system without control and open loop system.","PeriodicalId":443428,"journal":{"name":"Journal of Robotics and Control (JRC)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123063589","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

Synthesis of Hybrid Fuzzy Logic Law for Stable Control of Magnetic Levitation System 磁悬浮系统稳定控制的混合模糊逻辑律综合

Journal of Robotics and Control (JRC) Pub Date : 2023-04-01 DOI: 10.18196/jrc.v4i2.17537

N. X. Chiem, Le Tran Thang

引用次数: 0

A New Self-Tuning Nonlinear PID Motion Control for One-Axis Servomechanism with Uncertainty Consideration 考虑不确定性的单轴伺服机构非线性自整定PID运动控制

Journal of Robotics and Control (JRC) Pub Date : 2023-03-31 DOI: 10.18196/jrc.v4i2.17433

Mohamed A. Shamseldin, Mohamed A. Abdelghany

引用次数: 1

Optimizing Membership Function Tuning for Fuzzy Control of Robotic Manipulators Using PID-Driven Data Techniques 基于pid驱动数据技术的机器人模糊控制优化隶属函数整定

Journal of Robotics and Control (JRC) Pub Date : 2023-03-30 DOI: 10.18196/jrc.v4i2.18108

Phichitphon Chotikunnan, Rawiphon Chotikunnan, Anuchit Nirapai, Anantasak Wongkamhang, Pariwat Imura, M. Sangworasil

{"title":"Optimizing Membership Function Tuning for Fuzzy Control of Robotic Manipulators Using PID-Driven Data Techniques","authors":"Phichitphon Chotikunnan, Rawiphon Chotikunnan, Anuchit Nirapai, Anantasak Wongkamhang, Pariwat Imura, M. Sangworasil","doi":"10.18196/jrc.v4i2.18108","DOIUrl":"https://doi.org/10.18196/jrc.v4i2.18108","url":null,"abstract":"In this study, a method for optimizing membership function tuning for fuzzy control of robotic manipulators using PID-driven data techniques is presented. Traditional approaches for designing membership functions in fuzzy control systems often rely on the experience and knowledge of the system designer, which can lead to suboptimal performance. By utilizing data collected from a PID control system, the proposed method aims to enhance the precision and controllability of robotic manipulators through improved fuzzy logic control. A Mamdani-type fuzzy logic controller was developed and its performance was simulated in Simulink, demonstrating the effectiveness of the proposed optimization technique. The results indicate that the method can outperform conventional P control systems in terms of overshoot reduction while maintaining comparable transient response specifications. This research highlights the potential of the PID-driven data-based approach for optimizing membership function tuning in fuzzy control systems and offers valuable insights for the development and evaluation of fuzzy logic control in robotic manipulators. Future work may focus on further optimization of the tuning process, evaluation of system robustness under various operating conditions, and exploring the integration of other artificial intelligence techniques for improved control performance.","PeriodicalId":443428,"journal":{"name":"Journal of Robotics and Control (JRC)","volume":"358 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122741930","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

Design of Multivariate PID Controller for Power Networks Using GEA and PSO 基于GEA和粒子群算法的电网多变量PID控制器设计

Journal of Robotics and Control (JRC) Pub Date : 2023-03-30 DOI: 10.18196/jrc.v4i1.15682

Mahmoud Zadehbagheri, A. Ma’arif, R. Ildarabadi, Mehdi Ansarifard, Iswanto Suwarno

{"title":"Design of Multivariate PID Controller for Power Networks Using GEA and PSO","authors":"Mahmoud Zadehbagheri, A. Ma’arif, R. Ildarabadi, Mehdi Ansarifard, Iswanto Suwarno","doi":"10.18196/jrc.v4i1.15682","DOIUrl":"https://doi.org/10.18196/jrc.v4i1.15682","url":null,"abstract":"The issue of proper modeling and control for industrial systems is one of the challenging issues in the industry. In addition, in recent years, PID controller design for linear systems has been widely considered. The topic discussed in some of the articles is mostly speed control in the field of electric machines, where various algorithms have been used to optimize the considered controller, and always one of the most important challenges in this field is designing a controller with a high degree of freedom. In these researches, the focus is more on searching for an algorithm with more optimal results than others in order to estimate the parameters in a more appropriate way. There are many techniques for designing a PID controller. Among these methods, meta-innovative methods have been widely studied. In addition, the effectiveness of these methods in controlling systems has been proven. In this paper, a new method for grid control is discussed. In this method, the PID controller is used to control the power systems, which can be controlled more effectively, so that this controller has four parameters, and to determine these parameters, the optimization method and evolutionary algorithms of genetics (EGA) and PSO are used. One of the most important advantages of these algorithms is their high speed and accuracy. In this article, these algorithms have been tested on a single-machine system, so that the single-machine system model is presented first, then the PID controller components will be examined. In the following, according to the transformation function matrix and the relative gain matrix, suitable inputs for each of the outputs are determined. At the end, an algorithm for designing PID controller for multivariable MIMO systems is presented. To show the effectiveness of the proposed controller, a simulation was performed in the MATLAB environment and the results of the simulations show the effectiveness of the proposed controller.","PeriodicalId":443428,"journal":{"name":"Journal of Robotics and Control (JRC)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121138271","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

Internet of Things Wearable Healthcare System for Monitoring the Challenges of COVID-19 Pandemic 监测COVID-19大流行挑战的物联网可穿戴医疗系统

Journal of Robotics and Control (JRC) Pub Date : 2023-03-13 DOI: 10.18196/jrc.v3i6.16393

Thuria Saad Znad, I. A. A. Sayed, Saif Saad Hameed, I. Al-Barazanchi, P. S. JosephNg, A. Khalaf

{"title":"Internet of Things Wearable Healthcare System for Monitoring the Challenges of COVID-19 Pandemic","authors":"Thuria Saad Znad, I. A. A. Sayed, Saif Saad Hameed, I. Al-Barazanchi, P. S. JosephNg, A. Khalaf","doi":"10.18196/jrc.v3i6.16393","DOIUrl":"https://doi.org/10.18196/jrc.v3i6.16393","url":null,"abstract":"During the COVID-19 situation, various application-based work has to be studied and deployed to enable an IoT-based health framework. This work-based study may guide professionals in envisaging solutions to related problems and fighting against the COVID-19 type pandemic. Therefore, it identifies various technologies of IoT-based systems for monitoring pandemic situations. The mechanisms included in IoT like actuators, sensors, and the cloud-based network serves to help people from home rather than visiting the hospital occasionally. It uses optimizers to train the “noise” and “cough” target classes. Mel Frequency Cepstral Coefficients (MFCCs) were initially employed in several speech processing approaches, but as the discipline of Music Information Retrieval (MIR) advanced alongside machine learning, it was discovered that MFCCs could accurately capture timbre. Overall, the study finds different IoT applications for the medical area during the pandemic situation with detailed descriptions. In this present condition, advanced methodologies have given way to innovation in day-to-day life. The IoT-based model provides an enhancement of 98.8% with a minimum training loss of 0.15. The framework depicts the excellent working of the proposed framework, and a true positive value of around 96.6% is shown in the confusion matrix and a true negative rate of around 97% was illustrated using this model. By making it possible for the cost-effective fabrication of wearable sensors through printing on a variety of flexible polymeric substrates, the rapid advancements in solution-based nanomaterials presented a hopeful viewpoint to the field of wearable sensors. This review focuses on the most recent significant advancements in the field of wearable sensors, including novel nanomaterials, manufacturing techniques, substrates, sensor types, sensing mechanisms, and readout circuits. It concludes with difficulties in the subject's future application.","PeriodicalId":443428,"journal":{"name":"Journal of Robotics and Control (JRC)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115671720","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

Modelling and Simulation of a Redundant Agricultural Manipulator with Virtual Prototyping 基于虚拟样机的冗余农业机械臂建模与仿真

Journal of Robotics and Control (JRC) Pub Date : 2023-03-08 DOI: 10.18196/jrc.v4i1.17121

A. Reddy, V. V. M. J. S. Chembuly, V. Rao

{"title":"Modelling and Simulation of a Redundant Agricultural Manipulator with Virtual Prototyping","authors":"A. Reddy, V. V. M. J. S. Chembuly, V. Rao","doi":"10.18196/jrc.v4i1.17121","DOIUrl":"https://doi.org/10.18196/jrc.v4i1.17121","url":null,"abstract":"The development of autonomous robots for agricultural applications includes motion planning, fruit picking, and collision avoidance with surrounding environments, and these become challenging tasks. For harvesting applications, robust control of the manipulator is needed for the effective motion of the robot. Several combinations of Proportional(P)- Integrative(I)- Derivative(D) controllers are modelled and a simulation study was performed for trajectory tracking of a redundant manipulator in virtual agricultural environments. The article presents a comprehensive study on kinematic modelling and dynamic control of redundant manipulator for fruit-picking applications in virtual environments. The collisions with surrounding environment were eliminated using ‘bounding box technique’. The joint variables are obtained by constructing Inverse Kinematics (IK) problem and are determined using a classical optimization technique. Different controllers are modelled in the ‘Simulink’ environment and are tuned to generate error-free trajectory tracking during harvesting. The task space locations (TSLs) are considered as via-points, and joint variables at each TSLs are obtained by Sequential Quadratic Programming (SQP) technique. Joint-level trajectories are generated using Quintic and B-spline polynomials. For effective trajectory tracking, torque variations are controlled using the PID and Feedforward (FF) controller. The dynamic simulations of the robot manipulator are performed in Simscape Multibody software. Results show that the during the trajectory tracking of the manipulator, the Feed-forward controller performs best with Quintic polynomial trajectory.","PeriodicalId":443428,"journal":{"name":"Journal of Robotics and Control (JRC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131151825","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 Construction of Electric Wheelchair with Mecanum Wheel 机械轮电动轮椅的设计与制造

Journal of Robotics and Control (JRC) Pub Date : 2023-03-08 DOI: 10.18196/jrc.v4i1.17095

N. Thongpance, Phichitphon Chotikunnan

{"title":"Design and Construction of Electric Wheelchair with Mecanum Wheel","authors":"N. Thongpance, Phichitphon Chotikunnan","doi":"10.18196/jrc.v4i1.17095","DOIUrl":"https://doi.org/10.18196/jrc.v4i1.17095","url":null,"abstract":"This research aimed to design and construct an electric wheelchair with mecanum wheels that can move in any desired direction and speed based on the joystick controller. This represents a significant improvement over traditional electric wheelchairs, which are limited to linear movement in a single direction. The research contribution of this study is the development of an electric wheelchair with mecanum wheels that allows for improved mobility and independence for wheelchair users. The design includes a joystick controller and the use of an average filter to improve the processing of the joystick. This represents a significant improvement over traditional electric wheelchairs, which are limited to linear movement in a single direction. The design and construction of the electric wheelchair followed the ISO 2570-2555 guidelines and utilized Arduino DUE as the main processor for controlling the rotation of the wheels. The gain of speed and angle of the analog joystick were determined using the technique of finding the resultant vector to control the direction and speed of the wheels. The resulting electric wheelchair had a standard structure and was able to move in the desired direction and speed based on the movement of the joystick controller, demonstrating the success of the design and construction in achieving its objective. In conclusion, the development of joystick control for electric wheelchairs is important and allows for the creation of significantly novel and improved designs such as the electric wheelchair with mecanum wheels presented in this research. ","PeriodicalId":443428,"journal":{"name":"Journal of Robotics and Control (JRC)","volume":"79 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131745664","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

IoT-Based Smart Air Conditioner as a Preventive in the Post-COVID-19 Era: A Review 后新冠肺炎时代的物联网智能空调预防研究综述

Journal of Robotics and Control (JRC) Pub Date : 2023-02-22 DOI: 10.18196/jrc.v4i1.17090

Dhanar Intan, Surya Saputra, Putu Dody Suarnatha, Fajar Mahardika, Andik Wijanarko, Sitaresmi Wahyu Handani

{"title":"IoT-Based Smart Air Conditioner as a Preventive in the Post-COVID-19 Era: A Review","authors":"Dhanar Intan, Surya Saputra, Putu Dody Suarnatha, Fajar Mahardika, Andik Wijanarko, Sitaresmi Wahyu Handani","doi":"10.18196/jrc.v4i1.17090","DOIUrl":"https://doi.org/10.18196/jrc.v4i1.17090","url":null,"abstract":"The Internet of Things (IoT) refers to physical objects with sensors, computing power, software, and other technologies that communicate and exchange data with other devices, platforms, and systems over the Internet or other communication networks. Remarkable developments in IoT have paved the way for new possibilities, enabling the creation and automation of innovative services and advanced applications and constituting a collection of crucial enabling technologies for smart homes. In this New-Normal Era, the concept of an IoT-based Smart Air Conditioner (AC) as a Preventive Effort against COVID-19 is a proposed innovation and application. The Smart AC is designed based on the analysis of existing problems and is equipped with literature obtained in the study. The purpose of this study is to review the research literature on IoT-enabled Smart AC to emphasize the main trends and open problems of integrating IoT technology to create sustainable and efficient Smart homes. The IoT-based Smart AC was designed and equipped with air quality filter features, human sensors, temperature control, voice control, Cloud Storage, and Solar Panel services that can be controlled via smartphone devices. From the framework and study results, the IoT offers many benefits. The IoT-based Smart AC concept is one step ahead of existing AC products.","PeriodicalId":443428,"journal":{"name":"Journal of Robotics and Control (JRC)","volume":"100 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114814021","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

Simulation Model of PID Controller for DC Servo Motor at Variable and Constant Speed by Using MATLAB 基于MATLAB的直流伺服电机变、恒转速PID控制器仿真模型

Journal of Robotics and Control (JRC) Pub Date : 2023-02-22 DOI: 10.18196/jrc.v4i1.15866

Z. Abdullah, S. W. Shneen, Hashmia S. Dakheel

引用次数: 1