International Journal of Robotics and Control Systems

Journal Information
EISSN : 2775-2658
Published by: ASCEE Publications (10.31763)
Total articles ≅ 58
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, Miguel Herrera,
International Journal of Robotics and Control Systems, Volume 2, pp 253-261; https://doi.org/10.31763/ijrcs.v2i2.636

Abstract:
Due to the possible shortage of oil and gas, increasing the number of cars, global warming, air pollution, and outages, there is a special need for renewable energy sources and electric vehicles (EVs). The new battery-electric vehicles BEVs can be charged by the power grid. However, the existing fossil fuel power plant cannot provide enough power for this purpose, and the only choice is renewable energy sources (RECs). Comparing RECs, solar energy is abundant and accessible in any part of the world. Needless to state that a maximum power point tracking (MPPT) system is required in order to extract maximum power from solar modules. In this paper, a charging strategy is proposed via using a solar system, a boost converter, and a fuzzy tracking algorithm. The main research contribution of the presented paper is to charge an EV without putting stress on the power grid. The effectiveness of this approach is demonstrated by the MATLAB Simulink and LTSPICE results.
, Radhwan A. A. Saleh,
International Journal of Robotics and Control Systems, Volume 2, pp 230-239; https://doi.org/10.31763/ijrcs.v2i2.594

Abstract:
The Inverted Pendulum is a highly nonlinear, unstable, and fast dynamic system. These characteristics make it a popular benchmark for building and testing novel controllers. Therefore, in this study, a sliding mode controller is proposed and tested on the inverted pendulum system. According to the results of the simulation experiments with a sine signal as a reference, the proposed controller can stabilize the system well and has so fast response. Moreover, we have tuned the parameters of the proposed sliding mode controller in order to eliminate the chattering effect, the overshoot, and the steadystate error.
International Journal of Robotics and Control Systems, Volume 2, pp 240-252; https://doi.org/10.31763/ijrcs.v2i2.574

Abstract:
This study proposes a fractional adaptive control scheme design for a longitudinal pitch angular motion control of a military F15 aircraft. The aircraft behavior will be forced to follow a chosen model reference in an MRAC (Model Reference Adaptive Control) configuration combined with dynamics inversion technique such that the transient response becomes invariant even in the presence of uncertainties or variations for a reference input by introducing a fractional-order transfer function pre-filter. Based on Lyapunov theory, the updating control law minimizes the error between the plant output and the model reference one. This controller is set in a cascade with a linear dynamic compensator. Simulation results on a military aircraft model with comparison to preceding results illustrate the effectiveness and the superiority of the proposed control strategy.
Albert Wen Long Yao, H. C. Chen
International Journal of Robotics and Control Systems, Volume 2, pp 97-104; https://doi.org/10.31763/ijrcs.v2i1.557

Abstract:
The aim of this study is to develop intelligent color recognition, mobile control, and monitoring system for a pick-and-place robotic arm for manufacturing systems. The demand for smart manufacturing factories with real-time control of fabricating processes and traceability of production information is increasing urgently. Generally speaking, a smart manufacturing facility is usually composed of sensing, computing, control, and communication technologies together. In this study, the three-tier architecture of the Internet of things (IoT) was adopted as a guideline to design mobile devices to control and monitor a color image recognition and alarm monitoring system by using Raspberry Pi and a web page database. The practical results and contributions of this study are as follows: With integrating the techniques of advanced BR PLC, mobile devices and APP, color image recognition, Raspberry Pi microcomputer, and MySQL database technologies together, (1) the mobile control and monitoring system is able to supervise a real-time manufacturing plant anywhere and anytime with mobile devices easily; (2) the color identification system can identify and classify different color work-piece precisely, and the identification results are recorded for remote database platform; (3) the collected data are analyzed and displayed on mobile devices through the web database for field operators and engineers promptly. It provides a very successful practical paradigm to promote conventional factories to meet industry 4.0.
International Journal of Robotics and Control Systems, Volume 2, pp 140-171; https://doi.org/10.31763/ijrcs.v2i1.599

Abstract:
The current study aims to present a detailed analysis of a hybrid renewable energy system used for standalone operation. The hybrid system consists of a wind-driven synchronous generator, a photovoltaic solar system, and a battery storage system. The modeling of each system component is presented and described in detail. To achieve optimal energy exploitation, the maximum power point tracking algorithm is adopted. The management of synchronous generator operation is achieved through controlling the machine-side converter using a newly formulated predictive control scheme. To visualize the advantages of the proposed control algorithm, its performance is compared with the other two traditional predictive control approaches, mainly the model predictive direct power control and model predictive direct torque control systems. An effective control scheme is also adopted to manage the power storage in the battery using a bi-directional DC/DC converter. To maintain a balanced power flow between the system units, an energy management strategy is presented. Extensive tests are carried out to evaluate the performance of the hybrid system considering variable wind speed, variable sun irradiation, and variable load profiles. The obtained results for the synchronous generator performance visualize the validity and superiority of the proposed control scheme over the other two classic controllers. The results are also validating the effectiveness of the battery storage control system and confirming the validity of the constructed energy management strategy in achieving the energy balance between the system units.
International Journal of Robotics and Control Systems, Volume 2, pp 201-229; https://doi.org/10.31763/ijrcs.v2i1.532

Abstract:
This paper presents an overview of the methodologies and applications of artificially intelligent systems (AIS) in different engineering disciplines with the objective of unifying the basic information and outlining the main features. These are knowledge-based systems (KBS), artificial neural networks (ANN), and fuzzy logic and systems (FLS). To illustrate the concepts, merits, and demerits, a typical application is given from each methodology. The relationship between ANN and FLS is emphasized. Two recent developments are finally presented: one is intelligent and autonomous systems (IAS) with particular emphasis on intelligent vehicle and highway systems, and the other is the very large scale integration (VLSI) systems design, verification, and testing.
International Journal of Robotics and Control Systems, Volume 2, pp 79-86; https://doi.org/10.31763/ijrcs.v2i1.538

Abstract:
In a variety of low-power applications, a step-down dc-dc converter is used to reduce the voltage from a higher level. The two types of dc-dc converters are a regular buck and synchronous buck. The synchronous buck utilizes two switches and one diode, whereas the regular buck uses one switch and one diode. Many converters rely on the power components' switching qualities to work. A second MOSFET is required due to the diode's higher conduction losses. Because of the diode's conduction losses, the converter's efficiency may be reduced. The use of a synchronous buck converter improves efficiency by reducing diode losses. The main goal of this study is to compare and contrast these two low-power step-down converters. The simulation in this work was performed using the LTSPICE program.
International Journal of Robotics and Control Systems, Volume 2, pp 1-17; https://doi.org/10.31763/ijrcs.v2i1.521

Abstract:
In the objective of improving the performance of induction motor operation and ensuring a robust control against different uncertainties and external disturbances, especially at low-speed regions, this research highlights the main features of two nonlinear control techniques. First, the control design is based on the backstepping approach (BSA) with integral action, and then the sliding mode control (SMC) theory. The BSA principle is to define successive causal relations in order to construct the control law in a recursive and systematic way. This allows overcoming the obstacle of the higher-order system's dimension. SMC is designed to drive and then constrain the system state to lie within a neighborhood of the switching surface, this provides very strong and inherent robustness to the resulting controllers. The main reason behind developing the nonlinear control techniques is to ensure a decoupled control of the machine. Besides, it guarantees the stability of the overall system by tracking the speed reference with the fewest static error. Moreover, as the sensorless control increases the reliability and decreases the cost of the control system, an extended Kalman filter is implemented to improve speed and flux observation. The simulations of all the discussed results have been obtained by MATLAB/Simulink.
International Journal of Robotics and Control Systems, Volume 2, pp 187-200; https://doi.org/10.31763/ijrcs.v2i1.584

Abstract:
Methane reforming processes are of great importance for both the reduction of this greenhouse gas concentration in the atmosphere and for hydrogen production for energetic or chemical synthesis purposes. The use of Biogas in substitution for methane in reforming processes still provides a solution for the recovery of organic waste capable of producing Biogas. However, an in-depth analysis of the advantages of this substitution from the point of view of process yield is still lacking. Thus, the main contribution of the present research is the focus given to the comparison between methane and biogas as a reactant for the dry and steam reforming processes. In this work, a computational comparison of syngas production processes was performed, considering the system within the open-loop control. The software Aspen Hysys was used based on the minimization of Gibbs free energy in equilibrium. The parameters studied were: molar ratio of reagents (1-5), temperature (600-1000 °C), and pressure (1-5 bar). Dry methane reforming and steam methane reforming units were simulated, as well as both units using Biogas as a methane source. The plant was built in the simulator, and the results obtained indicated that high values in the molar ratio of CO2/CH4, CO2/Biogas, H2O/CH4, and H2O/Biogas, high temperatures, and low pressures favor the maximum conversion of methane. The use of Biogas in replacement of pure methane in the reform process proved to be advantageous for favoring the synthesis gas production reaction, besides adding value to a residue.
International Journal of Robotics and Control Systems, Volume 2, pp 115-123; https://doi.org/10.31763/ijrcs.v2i1.480

Abstract:
The usage of robots has been due to cost reduction and increasing operation accuracy. Furthermore, employing robots in farming can decrease human tasks in hard and dangerous duties such as plowing, spraying pesticides, etc. Spraying chemicals is a common operation in agriculture crop protection. This operation is essential, but it can create some problems such as human and environmental damages by overdosing using pesticides. Recently, researchers focused on precision agriculture to make this smart. Sensors are employed to detect leaves of plants on the ground and spray them as much as required. Thus, pesticide dose will be under control. The current paper aims to introduce a wheeled robot that is developed to detect plants by color sensor and spray them. This robot can move between planting rows and detect weeds based on the leave color. A microcontroller-based board was used as the main controller, which sends spray commands to the sprayer nozzle. Outdoor and indoor tests were carried out to study the accuracy of this system. Results of experiments showed that this robot could work with acceptable accuracy in identifying weeds in the field. Thus, this robot can be commercialized for applying in the field to spray pesticides.
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