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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 7, No 4: December 2018" : 7 Documents clear

Self-tuning Fuzzy Task Space Controller for Puma 560 Robot Azita Azarfar
IAES International Journal of Robotics and Automation (IJRA) Vol 7, No 4: December 2018
Publisher : Institute of Advanced Engineering and Science

Since in most robot applications the desired paths are determined in task space or Cartesian space, it is important to control the robot arm in task space. In this paper a fuzzy controller with modifiable scaling factors is proposed to control the robot end-effector in task space. The controller is a fuzzy system with a mechanism to change the scaling factors when the error is bounded under a predetermined value. The controller is designed in joint space and is developed to work space by using inverse Jacobian strategy. The simulations results on Puma 560 robot manipulator illustrate the high performance of presented control method.

Analytically Modeling, Design and Analysis a Nonlinear Controller for a STATCOM operations J. K. Moharana
IAES International Journal of Robotics and Automation (IJRA) Vol 7, No 4: December 2018
Publisher : Institute of Advanced Engineering and Science

The concept of H Control is extended, in principle, to the SVPWM (Space Vector Pulse Width Modulation) based inverter switching of a STATCOM (STATic synchronous COMpensator) device. The SVPWM assures a greater value of modulation factor in the undermodulation as well as the overmodulation range compared to SPWM (Sine Pulse Width Modulation) i.e. a much higher fundamental content. In the present work, the STATCOM has been modeled and its model is nonlinear in (phase angle between fundamental of system voltage and output voltage of STATCOM. The effect of increased modulation index and lower harmonic distortion has been studied through simulation w.r.t. different performance indices and dynamic response of relevant variables. A PI and an H Controller have been designed for closed-loop control of the system. It is found through simulation that H controller gives better response than PI controller for nonlinear system.

Backstepping Control for MPPT and UPF of a Three Phase Single Stage Grid Connected PV System M. El malah; A. Ba-razzouk; M. Guisser; E. Abdelmounim; M. Madark
IAES International Journal of Robotics and Automation (IJRA) Vol 7, No 4: December 2018
Publisher : Institute of Advanced Engineering and Science

This paper presents a new control methodology of a three phase grid connected photovoltaic system without using the intermediary DC/DC converter. Based on the synchronized nonlinear model of the whole photovoltaic system, two controllers have been proposed for the three-phase inverter in order to ensure the operation of the PV system at the maximum power point with unity power factor and minimum grid disturbance. Grid synchronization has been ensured by a three-phase 2nd order PLL (Phase-Locked Loop). The stability of each controller is demonstrated by means of Lyapunov analysis and evaluated under changing atmospheric conditions using the Matlab/Simulink environment, the simulation results clearly demonstrate the performance provided by each controller.

Smart Home Automation System based on Arduino Bouzid Mohamed Amine; Chaib Fatima Zohra; Hamani Ilyes; Aid Lahcen; Allaoui Tayeb
IAES International Journal of Robotics and Automation (IJRA) Vol 7, No 4: December 2018
Publisher : Institute of Advanced Engineering and Science

Intelligent home environments are environments that attempt to ease the user's life in different ways and make it more comfortable using the technology. This paper present the principle of realizing a home control interface based on an. Arduino UNO R3 board equipped with a programmable ATmega328 microcontroller. The sketch to be uploaded to the Arduino is written in C language. A desktop application was created in C # language to communicate with the Arduino via the serial port, thus facilitating repetitive tasks such as lighting control, opening / closing doors. A temperature / humidity sensor, an alarm (motion sensor + buzzer), garden lighting and automatic control of the TV via an IR receiver + IR transmitter have been added without forgetting manual control

Design of Robust Controller for Higher Order Interval System using Differential Evolutionary Algorithm D. Srinivasa Rao; M. Siva Kumar; M. Ramalinga Raju
IAES International Journal of Robotics and Automation (IJRA) Vol 7, No 4: December 2018
Publisher : Institute of Advanced Engineering and Science

This paper describes the design of the robust PI/PID controller for the higher order interval system via its reduced order model using the differential evolution (DE) algorithm. A stable reduced interval model is generated from a higher order interval system using the DE in order to minimize the cost and reduce the complexity of the system. This reduced order interval numerator and denominator polynomials are determined by minimizing the Integral Squared Error (ISE) using the DE. Then, using reduced order interval model, a robust PI/PID controller is designed based on the stability conditions for determining robust stability of interval system. Finally, using these stability conditions, a set of inequalities in terms of controller parameters is obtained from the reduced order closed loop characteristic polynomial. Then these inequalities are solved to obtain robust controller parameters with the help of a DE algorithm. The designed, robust controller from the reduced order interval model will be attributed to the higher order interval system. The designed PI/PID controller from our proposed method not only stabilizes the reduced order model, but also stabilizes the original higher order system. The viability of the proposed methodology is illustrated through the numerical example of its successful implementation. The efficacy of the proposed methodology is also evaluated against the available approaches presented in the literature and the results were successfully implemented.

Study of Grid Connected Wind Energy System with Fuzzy Logic Based MPPT Controller Jayalakshmi N. S; Sachin S
IAES International Journal of Robotics and Automation (IJRA) Vol 7, No 4: December 2018
Publisher : Institute of Advanced Engineering and Science

Renewable energy sources (RESs) are gaining more importance due to depleting fossil fuel sources in few decades. When compared to other RESs wind energy system is widely available and user friendly in nature. This paper presents modelling and simulation of grid connected PMSG based wind energy conversion system with P&O maximum power point tracking (MPPT) control technique. The PQ controller is used for grid tied inverter to exchange real and reactive power with DC bus voltage regulation. The fuzzy logic controller (FLC) is used for MPPT implementation as it provides better performance as compared to the traditional PID controllers. The various case studies are considered for power management between wind system and the utility grid and the results are evaluated in MATLAB/ Simulink platform.

Hierarchical Inspection System Using Visual and MFL Probe Robots Uvais Qidwai; Muhammad Akbar; Muhammad Maqbool; Mohammed Jahanshahi
IAES International Journal of Robotics and Automation (IJRA) Vol 7, No 4: December 2018
Publisher : Institute of Advanced Engineering and Science

Structural Health Monitoring (SHM) represents a critical appurtenance to modern engineering that amalgamates the skills and techniques from various disciplines of engineering and computational science. Modern civil architectures, involving high-rise buildings, complex structural designs, and innovative shapes, on one hand represent the urban development, but at the same time is a challenge from sustainability perspective. In order to ensure the tenability of such structures, advanced SHM procedures need to be developed. The presented work in this paper is an effort on these lines. The wear and tear in the buildings related to weather, as well as other natural disasters, needs to be monitored regularly and systematically in order to prevent any serious structural damage. In current SHM practices, human experts are deployed at various structurally critical places on these buildings to perform specific measurements and analyze them to decide on the structural health condition. This simple approach is becoming more and more complicated as well as perilous for the human personnel involved, due to the modern architecture that involves greater heights, and complex structures. The proposed system utilizes flying and crawling/roving robots for this purpose. The flying robots, first, scan the surface of the building to any height needed, and then the custom-designed algorithms analyze the images from these scans in order to discern the possible defects/anomalies in the structure. Using these defect pointers, the custom-designed rover robot on top of the structure lowers a robotic probe that scans only those areas for substantiating the anomalies and the degree of defects present.

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Contact Name
Tae Jin Park

Contact Email
iaes.ijra@gmail.com

Phone
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Journal Mail Official
iaes.ijra@gmail.com

Editorial Address
-

Location
Kota yogyakarta,

Daerah istimewa yogyakarta

INDONESIA

Abstract

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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