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IAES International Journal of Robotics and Automation (IJRA)

IJRA
Website

Published by Institute of Advanced Engineering and Science

ISSN : 20894856 EISSN : 27222586 DOI : -

Core Subject : Engineering,

Automotive Engineering Electrical & Electronics Engineering

Robots are becoming part of people's everyday social lives and will increasingly become so. In future years, robots may become caretaker assistants for the elderly, or academic tutors for our children, or medical assistants, day care assistants, or psychological counselors. Robots may become our co-workers in factories and offices, or maids in our homes. The IAES International Journal of Robotics and Automation (IJRA) is providing a platform to researchers, scientists, engineers and practitioners throughout the world to publish the latest achievement, future challenges and exciting applications of intelligent and autonomous robots. IJRA is aiming to push the frontier of robotics into a new dimension, in which motion and intelligence play equally important roles. Its scope includes (but not limited) to the following: automation control, automation engineering, autonomous robots, biotechnology and robotics, emergence of the thinking machine, forward kinematics, household robots and automation, inverse kinematics, Jacobian and singularities, methods for teaching robots, nanotechnology and robotics (nanobots), orientation matrices, robot controller, robot structure and workspace, robotic and automation software development, robotic exploration, robotic surgery, robotic surgical procedures, robotic welding, robotics applications, robotics programming, robotics technologies, robots society and ethics, software and hardware designing for robots, spatial transformations, trajectory generation, unmanned (robotic) vehicles, etc.

Arjuna Subject : Ilmu Komputer (semua kategori) - Ilmu Komputer (Lain-Lain)

Articles 7 Documents

Search results for , issue "Vol 6, No 4: December 2017" : 7 Documents clear

Efficacy of GWO Optimized PI and Lead-lag Controller for Design of UPFC based Supplementary Damping Controller Narayan Nahak; Ranjan Kumar Mallick
IAES International Journal of Robotics and Automation (IJRA) Vol 6, No 4: December 2017
Publisher : Institute of Advanced Engineering and Science

On line tuning of FACTS based damping controller is a vital decisive task in power system. In this regard two things need to be addressed, one is selection of a proper controller and another one is selection of a powerful optimization technique. In this work Grey Wolf Optimizer (GWO) technique is proposed to tune parameters of PI and lead lag controller based on UPFC to damp intra plant and inter area electromechanical oscillations with single and multi machine power system. A broad comparison has been performed with eigen value analysis between optimized PI and lead lag damping controller subject to different disturbances in power system. The recently revealed GWO, standard PSO and DE techniques are explicitly employed to tune UPFC based PI and lead-lag controller parameters. The system response predicts that performance of GWO is much better than PSO and DE techniques, and also lead lag controller is a better choice than PI controller pertaining to design of UPFC based damping controller.

A Discrete Delay N-decomposition Approach for Delay-Dependent Stability of Generator Excitation Control System with Constant Communication Delays S. Manikandan; Priyanka Kokil
IAES International Journal of Robotics and Automation (IJRA) Vol 6, No 4: December 2017
Publisher : Institute of Advanced Engineering and Science

This paper deals with problem of delay in stability analysis of network controlled generator excitation system. Delays exist in communication channel in network based control between system and controller. A discrete delay N-decomposition is used to compute delay margin for generator excitation system with constant delay which is easier when compared to analytical method. A Lyapunov krasovskii function is constructed for given time delay generator excitation system and linear matrix inequalities techniques are used. Generator excitation system is employed with proportional integral controller, delay margin calculated for various values of gain of proportional integral controller. Theoretically obtained results are verified using simulation studies.

Application of Unified Power Flow Controller to Improve Steady State Voltage Limit Samina. E. Mubeen; Baseem Khan; R. K. Nema
IAES International Journal of Robotics and Automation (IJRA) Vol 6, No 4: December 2017
Publisher : Institute of Advanced Engineering and Science

This paper utilizes the voltage source model of Unified Power Flow Controller (UPFC) and examines its abilities in mitigating the steady state stability margins of electric power system. It analyzes its behavior for different controls strategies and proposes the most efficient mode of controlling the controller for voltage stability enhancement. A systematic analytical methodology based on the concept of modal analysis of the modified load flow equations is employed to identify the area in a power system which is most prone voltage instability. Also to identify the most effective point of placement for the UPFC, a computer program has been developed using MATLAB. The results of analysis on 14 bus system is presented here as a case study.

Identifying the Optimal Controller Strategy for DC Motors M. R. Qader
IAES International Journal of Robotics and Automation (IJRA) Vol 6, No 4: December 2017
Publisher : Institute of Advanced Engineering and Science

The aim of this study is to design a control strategy for the angular rate (speed) of a DC motor by varying the terminal voltage. This paper describes various designs for the control of direct current (DC) motors. We derive a transfer function for the system and connect it to a controller as feedback, taking the applied voltage as the system input and the angular velocity as the output. Different strategies combining proportional, integral, and derivative controllers along with phase lag compensators and lead integral compensators are investigated alongside the linear quadratic regulator. For each controller transfer function, the step response, root locus, and bode plot are analysed to ascertain the behaviour of the system, and the results are compared to identify the optimal strategy. It is found that the linear quadratic controller provides the best overall performance in terms of steady-state error, response time, and system stability. The purpose of the study that took place was to design the most appropriate controller for the steadiness of DC motors. Throughout this study, analytical means like tuning methods, loop control, and stability criteria were adopted. The reason for this was to suffice the preconditions and obligations. Furthermore, for the sake of verifying the legitimacy of the controller results, modelling by MATLAB and Simulink was practiced on every controller.

Improving Transient Stability in Power Systems by Using Fuzzy Logic Controlled SVC Reaza Ashrafi Habib Abadi; Amir Nekoubin
IAES International Journal of Robotics and Automation (IJRA) Vol 6, No 4: December 2017
Publisher : Institute of Advanced Engineering and Science

This paper presents the capability of a fuzzy logic based stabilizer used for generating the supplementary control signal to voltage regulator of static VAR compensator (SVC) for improving damping oscillations in power systems. Generator speed deviation and line active power were chosen as input signals for the fuzzy logic controller (FLC). The quantity of reactive power supplied/absorbed by SVC is determined based on the two input signal and deviation of terminal voltage at each sampling time. The effectiveness and feasibility of the proposed control is demonstrated with Single Machine Infinite Bus (SMIB) system and multi machine system which show improvement over the use of a fixed parameter controller. It has been observed that a robust controller is obtained with fuzzy logic controller.

On the Design of a 4 Degrees-of-freedom Pick and Place Cable Suspended Parallel Manipulator F. J. Castillo-Garcia; P. Rea; A. Gonzalez-Rodriguez; E. Ottaviano
IAES International Journal of Robotics and Automation (IJRA) Vol 6, No 4: December 2017
Publisher : Institute of Advanced Engineering and Science

This paper proposes the design and control strategy for a four degrees-of-freedom spatial cable-suspended parallel robot for pick and place operations. Pick and place is a repetitive task requiring payload changes for the movement to pick-up the object, and the movement to the nal pose to release the manipulated object. In this paper, a new robust control strategy has been proposed, together with proper trajectories for the required operation. The control strategy consists on the system decoupling and linearization by means of a feedforward term and a cascade PD controller. The main advantage of the proposed solution is that its design can be scalable in size spanning from centimeters to meters with a relatively good positioning accuracy. Finally, simulations are reported to show the overall performances of the proposed con guration for pick and place operations with a medium size manipulator.

Design and Implementation of Swam Robotics using Flood Fill Algorithm Mary swarna latha gade; GAjitha GAjitha; Deepthi. S
IAES International Journal of Robotics and Automation (IJRA) Vol 6, No 4: December 2017
Publisher : Institute of Advanced Engineering and Science

Swam Intelligence provides a basis with which it is possible to explore collective (or distributed) problem solving without centralized control or the provision of a global model. This paper presents design and implementation of swam robotics in a multi-agent environment. At the beginning, robot agents are ignorant of the maze. The robots are programmed with Flood fill algorithm to solve maze. The robot scans maze and stores the values in EEPROM. The robot agent shares the information to other robot agents through wireless communication. The proposed flood fill algorithm is found to be effective tool for solving maze of moderate size.

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Reviewer

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Contact Name
Tae Jin Park

Contact Email
iaes.ijra@gmail.com

Phone
-

Journal Mail Official
iaes.ijra@gmail.com

Editorial Address
-

Location
Kota yogyakarta,

Daerah istimewa yogyakarta

INDONESIA

Abstract

Abstract

Abstract

Abstract

Abstract

Abstract

Abstract

Home Page

OAI Link

Editorial Team

Contact

Reviewer

Google Scholar

Contact Name Tae Jin Park

Contact Email iaes.ijra@gmail.com

Phone -

Journal Mail Official iaes.ijra@gmail.com

Editorial Address -

Location Kota yogyakarta, Daerah istimewa yogyakarta INDONESIA

Abstract

Abstract

Abstract

Abstract

Abstract

Abstract

Abstract

Contact Name
Tae Jin Park

Contact Email
iaes.ijra@gmail.com

Phone
-

Journal Mail Official
iaes.ijra@gmail.com

Editorial Address
-

Location
Kota yogyakarta,

Daerah istimewa yogyakarta

INDONESIA