Journal of Robotics and Control (JRC)最新文献_第8页

Development of Multi-Robotic Arm System for Sorting System Using Computer Vision 基于计算机视觉的分拣系统多机械臂系统的开发

Journal of Robotics and Control (JRC) Pub Date : 2022-09-01 DOI: 10.18196/jrc.v3i5.15661

Cong Duy Vo, D. A. Dang, P. Le

{"title":"Development of Multi-Robotic Arm System for Sorting System Using Computer Vision","authors":"Cong Duy Vo, D. A. Dang, P. Le","doi":"10.18196/jrc.v3i5.15661","DOIUrl":"https://doi.org/10.18196/jrc.v3i5.15661","url":null,"abstract":"This paper develops a multi-robotic arm system and a stereo vision system to sort objects in the right position according to size and shape attributes. The robotic arm system consists of one master and three slave robots associated with three conveyor belts. Each robotic arm is controlled by a robot controller based on a microcontroller. A master controller is used for the vision system and communicating with slave robotic arms using the Modbus RTU protocol through an RS485 serial interface. The stereo vision system is built to determine the 3D coordinates of the object. Instead of rebuilding the entire disparity map, which is computationally expensive, the centroids of the objects in the two images are calculated to determine the depth value. After that, we can calculate the 3D coordinates of the object by using the formula of the pinhole camera model. Objects are picked up and placed on a conveyor branch according to their shape. The conveyor transports the object to the location of the slave robot. Based on the size attribute that the slave robot receives from the master, the object is picked and placed in the right position. Experiment results reveal the effectiveness of the system. The system can be used in industrial processes to reduce the required time and improve the performance of the production line.","PeriodicalId":443428,"journal":{"name":"Journal of Robotics and Control (JRC)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115414964","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

Design and Implementation of a Reliable and Secure Controller for Smart Home Applications Based on PLC 基于PLC的智能家居安全可靠控制器的设计与实现

Journal of Robotics and Control (JRC) Pub Date : 2022-09-01 DOI: 10.18196/jrc.v3i5.15972

S. S. Khairullah, Abdel-Nasser Sharkawy

{"title":"Design and Implementation of a Reliable and Secure Controller for Smart Home Applications Based on PLC","authors":"S. S. Khairullah, Abdel-Nasser Sharkawy","doi":"10.18196/jrc.v3i5.15972","DOIUrl":"https://doi.org/10.18196/jrc.v3i5.15972","url":null,"abstract":"Programmable logic controllers (PLCs) are increasingly being used to realize modern safety-critical instrumentation and control (IC) applications. Examples of these applications are industrial automation and control systems, plant process safety protection systems, smart home systems and digital IC systems embedded in nuclear power plants (NPPs) that require high levels of performance, reliability, and flexibility. The PLC is a flexible, programmable, and robust digital device that can execute all logical and mathematical runtime functions of the IC application and operate in harsh-critical environments. This paper proposes a PLC-based home security controller based on the ladder logic programming model. The design, analysis, and hardware implementation of this controller are presented in this paper. The designed system consists of three basic modules which are a sensing module used for reading the data of the input field devices for the smart home application, a computation-based decisional module used for executing the programming model, and an actuating module used for sending the control commands to the output field devices. The proposed home security system utilized different types of sensors such as a laser photoelectric sensor, a motion or proximity sensor, and a limit switch. In addition, a siren speaker, a light tower including three lights red, yellow, and green, two push-pull switches and emergency push-pull buttons were used as control inputs and output indicators in the implementation of this work This designed system is implemented on the Allen-Bradley CompactLogix PLC controller and Human Machine Interface (HMI) panel programmed as the graphical user interface. The experimental simulation results of the real hardware connection demonstrate that the proposed system is reliable, safe, and feasible for smart home security applications.","PeriodicalId":443428,"journal":{"name":"Journal of Robotics and Control (JRC)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126074910","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

Methodology for the Development of Radar Control Systems for Flying Targets with an Artificially Reduced RCS 人工减小RCS的飞行目标雷达控制系统的发展方法

Journal of Robotics and Control (JRC) Pub Date : 2022-07-01 DOI: 10.18196/jrc.v3i4.15440

I. Parkhomey, J. Boiko, O. Eromenko

{"title":"Methodology for the Development of Radar Control Systems for Flying Targets with an Artificially Reduced RCS","authors":"I. Parkhomey, J. Boiko, O. Eromenko","doi":"10.18196/jrc.v3i4.15440","DOIUrl":"https://doi.org/10.18196/jrc.v3i4.15440","url":null,"abstract":"The article explores methods for detecting and tracking air targets in radar with an artificially reduced radar cross-section (RCS). A technique for control the radar antenna system using an adaptive method is presented, which is based on adapting the system to the conditions of information uncertainty due to fluctuations in the excitation signal of the radar target's radar-absorbing coating. Known methods of radar aircraft (active and passive, which do not take into account the structure of the coating of the aircraft) do not allow obtaining information about an air target with an artificially reduced RCS. The main contribution of this article is the development of radar and control methods based on the resonant frequency-phase interaction of the microwave electromagnetic field with the crystal structure of the radar absorbing coating of the aircraft. The stages of antenna system control based on the \"frequency-phase detection method\", \"passive-active\" tracking method, and \"adaptive method\" of antenna control have been studied. To test the proposed methods, an experiment was conducted to determine the transient process in the control system under conditions of information uncertainty. As a result of the experiment, the probability of tracking the target is increased by 14-19%. The findings will be useful for developers of radar and control systems for modern air facilities with an artificially reduced RCS.","PeriodicalId":443428,"journal":{"name":"Journal of Robotics and Control (JRC)","volume":"194 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115311282","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

Design and Fabrication of a Low-Cost System for Smart Home Applications 低成本智能家居应用系统的设计与制造

Journal of Robotics and Control (JRC) Pub Date : 2022-07-01 DOI: 10.18196/jrc.v3i4.15413

A. A. Sahrab, Hamzah M. Marhoon

{"title":"Design and Fabrication of a Low-Cost System for Smart Home Applications","authors":"A. A. Sahrab, Hamzah M. Marhoon","doi":"10.18196/jrc.v3i4.15413","DOIUrl":"https://doi.org/10.18196/jrc.v3i4.15413","url":null,"abstract":"Smart systems and security got impressive attention and development in recent years, which have been appeared in the terms of smart homes, intelligent security, and the Internet of Things (IoT). Home automation comprises the controlling of the electrical appliances in the home wirelessly or automatically. Many different integrated circuits, sensors, modules, and embedded systems are available to be compatible to integrate with smart homes. In order to apply the concept of smart homes, many issues should be considered like as providing a user-friendly, reliable, secure, and cost-effective. In this paper, an effective and low-cost smart home system is designed and implemented based on the Arduino microcontroller boards with its compatible modules. The proposed work employed many types of sensors to carry out the tasks for the smart home for a couple of the essential segments, the first one is home security and the latter one is home automation. The antitheft home segment is based on the laser source directed on the light-dependent resistor and infrared sensor; once the thief tries to cut the laser or passes beside the sensor, the alarm will be switched on. The later segment aims to detect the fire occurring by the means of the flame sensor, gas leakage detection by the MQ-05 sensor, servo motor to opening/closing the garage door, LCD to display the status of the all-utilised sensors, and finally, the Bluetooth module to controlling the garage door wirelessly. To increase the system performance and reliability the Arduino Nano and the Arduino Leonardo board are utilised. ","PeriodicalId":443428,"journal":{"name":"Journal of Robotics and Control (JRC)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125573561","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

Robust Flux and Speed State Observer Design for Sensorless Control of a Double Star Induction Motor 双星感应电机无传感器控制鲁棒磁链和速度状态观测器设计

Journal of Robotics and Control (JRC) Pub Date : 2022-07-01 DOI: 10.18196/jrc.v3i4.15667

Mahmoud A. Mossa, H. Khouidmi, A. Ma’arif

{"title":"Robust Flux and Speed State Observer Design for Sensorless Control of a Double Star Induction Motor","authors":"Mahmoud A. Mossa, H. Khouidmi, A. Ma’arif","doi":"10.18196/jrc.v3i4.15667","DOIUrl":"https://doi.org/10.18196/jrc.v3i4.15667","url":null,"abstract":"In this paper, a robust flux and speed observer for sensorless control of a double star induction motor is presented. Proper operation of vector control of the double star induction motor requires reliable information from the process to be controlled. This information can come from mechanical sensors (rotational speed, angular position). Furthermore, mechanical flux and speed sensors are generally expensive and fragile and affect the reliability of the system. However, the control without sensors must-have performance that does not deviate too much from that which we would have had with a mechanical sensor. In this framework, this work mainly deals with the estimation of the flux and speed using a robust state observer in view of sensorless vector control of the double star induction motor. The evaluation criteria are the static and dynamic performances of the system as well as the errors between the reference values and those estimated. Extensive simulation results and robustness tests are presented to evaluate the performance of the proposed sensorless control scheme. Furthermore, under the same test conditions, a detailed comparison between the proposed state observer and the sliding mode-MRAS technique is carried out where the results of its evaluation are investigated in terms of their speed and flux tracking capability during load and speed transients and also with parameter variation. It is worth mentioning that the proposed state observer can obtain both high current quality and low torque ripples, which show better performance than that in the MRAS system.","PeriodicalId":443428,"journal":{"name":"Journal of Robotics and Control (JRC)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131149330","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

An Efficient Approach for Line-Following Automated Guided Vehicles Based on Fuzzy Inference Mechanism 一种基于模糊推理机制的自动导引车循线的有效方法

Journal of Robotics and Control (JRC) Pub Date : 2022-07-01 DOI: 10.18196/jrc.v3i4.14787

Sy-Hung Bach, S. Yi

引用次数: 1

Survey Paper Artificial and Computational Intelligence in the Internet of Things and Wireless Sensor Network 物联网和无线传感器网络中的人工智能和计算智能

Journal of Robotics and Control (JRC) Pub Date : 2022-07-01 DOI: 10.18196/jrc.v3i4.15539

Galang Persada Nurani Hakim, Diah Septiyana, Iswanto Suwarno

引用次数: 5

Investigation of the Effects of Fuel Cells on V-Q & V-P Characteristics 燃料电池对V-Q和V-P特性影响的研究

Journal of Robotics and Control (JRC) Pub Date : 2022-07-01 DOI: 10.18196/jrc.v3i4.14855

Mahmoud Zadehbagheri, M. J. Kiani, T. Sutikno

{"title":"Investigation of the Effects of Fuel Cells on V-Q & V-P Characteristics","authors":"Mahmoud Zadehbagheri, M. J. Kiani, T. Sutikno","doi":"10.18196/jrc.v3i4.14855","DOIUrl":"https://doi.org/10.18196/jrc.v3i4.14855","url":null,"abstract":"In this paper, the use of a FC system connected to the network is proposed as a source of DG with high reliability, and for this purpose, the dynamic model of the fuel cell has been simulated. A hybrid system of fuel cell distributed generation (FCDG) is presented to provide electrical energy for a small isolated area. Boost converter (DC/DC), in order to increase the voltage level of the system and stabilize the DC link voltage has been used, which provides the possibility of connecting several different scattered production sources in parallel. Voltage stability is concerned with the ability of a power system to maintain acceptable bus voltages under normal conditions and after being subjected to a disturbance. The use of DG sources has many advantages, including meeting peak load needs, reducing network losses, providing reactive power locally, and regulating network voltage. Among all sources of distributed production, fuel cells are of special importance due to their high efficiency, high energy density, the ability to simultaneously produce heat and electric power, and low emission of pollutants. Using fuel cells (FCs) have several advantages and in this paper we investigate the effects of FCs on power systems via simulation a single machine (DG as small gas turbine coupled with a FC) in the Dig Silent area for different PF of FC. Different PF for FC obtained with control the DC to AC inverter. We found that by control the PF of FCs, we can increase the limitation of reactive generation of overall system and improve the V-P V-Q characteristics of overall system. With the grid-connected inverter's switching control, the active and reactive power injected into the grid is controlled independently.","PeriodicalId":443428,"journal":{"name":"Journal of Robotics and Control (JRC)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129192768","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

Semi Wireless Underwater Rescue Drone with Robotic Arm 带机械臂的半无线水下救援无人机

Journal of Robotics and Control (JRC) Pub Date : 2022-07-01 DOI: 10.18196/jrc.v3i4.14867

Ishrat Jacy Meem, Safwat Osman, Khadem Md Habibul Bashar, Nazrul Islam Tushar, R. Khan

{"title":"Semi Wireless Underwater Rescue Drone with Robotic Arm","authors":"Ishrat Jacy Meem, Safwat Osman, Khadem Md Habibul Bashar, Nazrul Islam Tushar, R. Khan","doi":"10.18196/jrc.v3i4.14867","DOIUrl":"https://doi.org/10.18196/jrc.v3i4.14867","url":null,"abstract":"Wireless communication with underwater drones plays a vital role in rescuing an after-ship accident, and it is considered one of the most challenging technologies nowadays. The wireless underwater drone also contributes significantly to navy, gas and oil companies, underwater infrastructure, aquaculture industry, commercial diving, and deep archeological investigations. Bangladesh, a developing country with many rivers and seashores used by many water transport vehicles, faces boat and ship accidents as a typical scenario every year. Many lives, dead bodies, ships, boats, and valuable objects do not get rescued because of the lifetime risk of the divers or the rescue team. The rescue operation is exceptionally troublesome because of the absence of wireless underwater drone technology at the cheapest cost, whose innovation and function are very challenging for Bangladesh. Considering these problematic situations, in this paper, we have proposed a prototype of a semi wireless underwater drone designed and structured with the best quality PVC pipe of 6mm diameter, considering the weight as lowest as possible, maintaining its buoyancy properly. In this prototype, we have used three propellers, each connected with three servo motors, to move it up, down, back, and forth. A robotic arm is also utilized to rescue objects from under the water, and a 4K HD EKEN camera and two waterproof fog lights to search and visualize underwater objects on the mobile screen from the land. For wireless communication between the controller and the drone, we have used two nRF24L01 modules; one is for the controller, and the other is for the drone’s receiver to send and obtain the signals from the controller to the drone. 12V and 24V lithium-ion batteries are employed as power sources for the controller and receiver, respectively. Finally, real experimental tests of the proposed underwater device were performed in a swimming pool facility.","PeriodicalId":443428,"journal":{"name":"Journal of Robotics and Control (JRC)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121955138","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

Research and Development of the Pupil Identification and Warning System using AI-IoT 基于AI-IoT的瞳孔识别预警系统的研究与开发

Journal of Robotics and Control (JRC) Pub Date : 2022-07-01 DOI: 10.18196/jrc.v3i4.14978

Trinh Luong Mien, Vo Van An, T. Huong

引用次数: 1