Article
Engineering, Chemical
Huma Khan, Shahida Khatoon, Prerna Gaur, Mohamed Abbas, Chanduveetil Ahamed Saleel, Sher Afghan Khan
Summary: Mobile robots are automatic vehicles with wheels that can be moved automatically. They are controlled by PID controllers, where kinematic modeling is used to design appropriate robots. The PID controller adjusts the motor speed based on the proportional, integral, and derivative gains. To avoid variations in robot speed due to changes in direction, the Social Spider Optimization (SSO) algorithm is utilized. This paper aims to demonstrate the effectiveness of the proposed approach in achieving precise speed control of the robot, even in the presence of disturbances and uncertainties.
Article
Automation & Control Systems
Chih-Hung Gilbert Li, Long-Ping Zhou, Yu-Hua Chao
Summary: This article introduces a self-balancing wheeled robot called J4.alpha, equipped with intelligent navigation modules and automatic balancing system. Utilizing RGB-D camera and deep convolutional neural network for navigation, combined with topological localization scheme for automatic navigation, the experimental result confirms the effectiveness of the intelligent navigation modules.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2021)
Article
Engineering, Multidisciplinary
Gang Peng, Zezao Lu, Zejie Tan, Dingxin He, Xinde Li
Summary: A novel algorithm is proposed for both internal and external parameter calibration to ensure the accuracy of robot positioning and pose estimation. This algorithm, utilizing principal component analysis and nonlinear optimization, operates based on existing equipment without the need for additional calibration aids.
APPLIED MATHEMATICAL MODELLING
(2021)
Article
Automation & Control Systems
Amir Panah, Homayun Motameni, Ali Ebrahimnejad
Summary: The autonomous wheeled mobile robot (AWMR) performs diverse processes in unknown environments, with sample impoverishment being a major issue in FastSLAM. The Hybrid filter SLAM improves accuracy and efficiency by utilizing Intuitionistic Fuzzy Logic System (IFLS) and Cuckoo Search (CS), showing better performance than FastSLAM.
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
(2021)
Article
Computer Science, Interdisciplinary Applications
Yagmur Olmez, Gonca Ozmen Koca, Zuhtu Hakan Akpolat
Summary: In this study, adaptive control approaches based on optimization were proposed for a two-wheeled mobile robot. The effectiveness of the proposed optimization-based control approaches and optimization method were demonstrated through analyses and simulation studies, comparing them with other optimization methods. This study contributes to improving the balancing control and trajectory tracking control performance of the two-wheeled vehicle.
SIMULATION MODELLING PRACTICE AND THEORY
(2022)
Article
Automation & Control Systems
Yuanlong Xie, Xiaolong Zhang, Wei Meng, Shiqi Zheng, Liquan Jiang, Jie Meng, Shuting Wang
Summary: By using a new coupled fractional-order sliding mode control and obstacle avoidance scheme, more control flexibilities and higher accuracy can be achieved; Novel fractional-order sliding surfaces are proposed to handle nonlinear interconnected states and achieve non-oscillating avoidance in dynamic environments.
Article
Computer Science, Information Systems
G. A. Munoz-Hernandez, J. Diaz-Tellez, Jaime Estevez-Carreon, R. S. Garcia-Ramirez
Summary: This investigation focuses on designing a ROS-based robust attitude control for a two-wheeled self-balancing mobile robot using the ADRC technique. The open architecture of the designed ROS framework allows for the integration of sensors, actuators, and processors, enabling communication between topics for robot commands. The low-cost robot, designed for educational purposes, utilizes Arduino Mega and Raspberry Pi 4 for processing, MPU6050 sensor for measurement, and DC motors with quadrature encoders for control.
Article
Automation & Control Systems
Gokhan Bayar, Goktug Hambarci
Summary: In this study, an efficient ultra-wideband technology based indoor positioning system was developed to improve the measurement accuracy of a mecanum wheeled mobile robot. The data processing structure of the system was created using the Monte Carlo - Latin Hypercube Sampling based machine learning algorithm. Experimental studies showed that the proposed algorithm improved the position estimation by over 20% compared to methods presented in the literature.
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
(2023)
Article
Automation & Control Systems
Zhijun Zhang, Siyuan Chen, Jinhua Xie, Song Yang
Summary: Two hybrid multiobjective motion planning schemes have been proposed in this study to enable wheeled mobile robot manipulators to maintain end-effector posture, avoid obstacles, and joint physical limits during executing end-effector tasks. Computer simulations show the effectiveness, accuracy, safety, and practicability of the proposed schemes. Comparisons with other schemes and simulations demonstrate that the proposed hybrid PM-OA schemes are more suitable for applications.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2021)
Article
Biochemical Research Methods
Rui Xue, Wenshang Guo, Ye Tao, Yukun Ren
Summary: This study designs a wheeled mobile robot completely driven by liquid metal, controlling the movement of the robot through the Marangoni surface flow and eccentric torque generated by the change in droplet shape and position caused by an electrochemical reaction. This research is of great significance for the development and application of liquid metal actuators.
Article
Automation & Control Systems
Ernesto C. Orozco-Magdaleno, Fernando Gomez-Bravo, Eduardo Castillo-Castaneda, Giuseppe Carbone
Summary: This article discusses a specific hybrid locomotion configuration that combines legs and Mecanum omniwheels into a six-legged hexapod robot, addressing theoretical backgrounds and open issues such as gait planning, modeling omnidirectional motion, and designing control architecture. The article showcases the suitability, feasibility, and successful performance of the proposed locomotion strategies, presenting experimental results and novel scientific contributions in the field of hybrid mobile robots.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2021)
Article
Automation & Control Systems
Weihua Li, Junlong Guo, Liang Ding, Jianfeng Wang, Haibo Gao, Zongquan Deng
Summary: This article presents a new bilateral teleoperator for wheeled mobile robots (WMR) with dynamic longitudinal slippage. By augmenting the traditional dynamic model and determining the slippage-induced unstable elements through passivity analysis, a conservative slippage-dependent local controller is proposed to compensate for the active energy at the slave site without online estimation of wheel slippage. The teleoperator is designed by guaranteeing the passivity of the entire teleoperation system. Experiments confirm the stability and good performance of the proposed methods on soft terrains.
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
(2023)
Article
Automation & Control Systems
Jacky Baltes, Guilherme Christmann, Saeed Saeedvand
Summary: This paper proposes a deep reinforcement learning algorithm to learn the steering control of a two-wheeled scooter. The algorithm is compared with a classical PID controller and achieves better results in balancing the scooter. The evaluation on a real robot and scooter shows the effectiveness of the proposed method in different control scenarios and speeds.
ENGINEERING APPLICATIONS OF ARTIFICIAL INTELLIGENCE
(2023)
Article
Robotics
Guoteng Zhang, Shugen Ma, Jinguo Liu, Xianwu Zeng, Lingyu Kong, Yibin Li
Summary: This paper presents the design and control of Q-Whex, an untethered, quasi-wheeled hexapod robot. Q-Whex has a simple mechanical design with only six actuators, achieving reliable and robust operation in real-world tasks. It is capable of smooth rides over flat ground with a tripod gait, preventing trunk fluctuations in legged-wheel robots, and can traverse height variations exceeding its trunk clearance. The performance of Q-Whex is evaluated in various scenarios, demonstrating its capability in different terrains and tasks.
JOURNAL OF FIELD ROBOTICS
(2023)
Article
Computer Science, Hardware & Architecture
Manal Alqarni, Asma Cherif, Entisar Alkayyal
Summary: Computational task offloading is important for real-time applications on constrained mobile devices. Mobile Edge Computing (MEC) brings computing resources closer to the user for offloading heavy tasks and reducing computations on the mobile side. The proposed Offloading Decision-Making Framework based on the Binary Cuckoo Search Algorithm for Mobile Edge Computing (ODM-BCSA) optimizes offloading decisions considering time, energy, and payment costs.
Article
Engineering, Electrical & Electronic
Ajay Rawat, Rama Sushil, Amit Agarwal, Afzal Sikander, Robin Singh Bhadoria
Summary: This study proposes a Threshold-Based Adaptive Fault Tolerance (TBAFT) approach in the cloud by combining proactive and reactive methods to address reliability and availability issues in cloud services caused by virtual machine failures.
IETE JOURNAL OF RESEARCH
(2023)
Article
Telecommunications
N. Uniyal, G. Dobhal, A. Rawat, A. Sikander
Summary: With the advancement of technology, the importance of encryption technology in modern life is becoming increasingly prominent. This study proposes a novel encryption method based on the Vigenere cipher, utilizing decomposition in the key space for encryption, along with a strange substitution cipher key to enhance complexity in the encrypted text. A comparison with traditional matrix methods validates the perfect secrecy of the proposed encryption approach.
WIRELESS PERSONAL COMMUNICATIONS
(2021)
Article
Engineering, Electrical & Electronic
Nafees Ahamad, Afzal Sikander, Gagan Singh
Summary: A novel system reduction approach utilizing ant lion optimization (ALO) for system approximation is proposed in this study. The suggested approach shows high efficiency and accuracy in reducing integral square error (ISE) between high-order and proposed approximated systems. The approximated system characteristics achieved by the proposed approach closely resemble those of the higher-order system, while preserving transient, steady-state, and frequency response characteristics.
CIRCUITS SYSTEMS AND SIGNAL PROCESSING
(2022)
Article
Computer Science, Interdisciplinary Applications
Ram Kumar, Afzal Sikander
Summary: This study proposes a parameter identification method for load frequency controller in power systems using fuzzy logic to design a fractional order controller. Simulation tests show the superior performance of this controller in terms of time response specifications and quantifiable indicators.
COMPEL-THE INTERNATIONAL JOURNAL FOR COMPUTATION AND MATHEMATICS IN ELECTRICAL AND ELECTRONIC ENGINEERING
(2021)
Article
Computer Science, Interdisciplinary Applications
Rahul Bisht, Afzal Sikander
Summary: This study introduces a novel optimization technique for accurate estimation of parameters in solar PV systems, which shows better results with minimum errors and fast convergence. It has been successfully applied to different PV panels under varying environmental conditions, demonstrating its effectiveness and applicability.
COMPEL-THE INTERNATIONAL JOURNAL FOR COMPUTATION AND MATHEMATICS IN ELECTRICAL AND ELECTRONIC ENGINEERING
(2022)
Article
Engineering, Multidisciplinary
Nafees Ahamad, Afzal Sikander, Gagan Singh
Summary: This paper presents a novel order reduction technique based on Salp Swarm Optimization, applied to various time-delay systems, successfully reducing an 84th order system with great time savings achieved through designing an H-infinity controller. The obtained results are comparable or superior to existing order reduction techniques in the literature.
INTERNATIONAL JOURNAL OF SYSTEM ASSURANCE ENGINEERING AND MANAGEMENT
(2022)
Article
Optics
Rahul Bisht, Afzal Sikander
Summary: This paper presents a technique based on fuzzy logic maximum power point tracking to maintain the output power of photovoltaic panels close to the maximum power point under varying environmental conditions. By introducing a third input parameter beta, the technique is able to cover a broad range of operating conditions. Experimental results demonstrate that the proposed technique outperforms other fuzzy logic control models in terms of accuracy and efficiency, providing stable power output under various conditions.
Article
Engineering, Multidisciplinary
Sunil Kumar, Afzal Sikander
Summary: This paper proposes a novel probabilistic roadmap algorithm to address the shortcomings of conventional mobile robot path planning algorithms. By reducing nodes and utilizing a decision-making strategy, path efficiency is improved, and comparative analysis with other algorithms demonstrates the effectiveness of the proposed algorithm.
ENGINEERING OPTIMIZATION
(2023)
Article
Engineering, Electrical & Electronic
Sunil Kumar, Afzal Sikander
Summary: In this study, an improved Particle Swarm Optimization approach with different strategies is proposed to tackle the challenges faced by conventional methods in path planning. Results from experiments show that the proposed approach outperforms other traditional methods in different complex terrains.
MICROSYSTEM TECHNOLOGIES-MICRO-AND NANOSYSTEMS-INFORMATION STORAGE AND PROCESSING SYSTEMS
(2023)
Article
Engineering, Electrical & Electronic
Afzal Sikander, Ajay Dheeraj, Abhi Chatterjee, Nafees Ahamad
Summary: This study proposes a simple and effective control strategy for improving voltage stability in energy storage systems of DC microgrids. By using a low-pass filter design, the proposed controller shows better performance and increases battery life in different connection scenarios.
MICROSYSTEM TECHNOLOGIES-MICRO-AND NANOSYSTEMS-INFORMATION STORAGE AND PROCESSING SYSTEMS
(2022)
Article
Computer Science, Artificial Intelligence
Sunil Kumar, Afzal Sikander
Summary: This research introduces a novel hybrid framework combining ABC, PRM, and EP methods to address the path planning issue for single and multiple robots in partially known or unknown industrial environments. Comparative studies in various test scenarios have validated the efficiency and performance of the proposed framework.
JOURNAL OF INTELLIGENT MANUFACTURING
(2022)
Article
Engineering, Electrical & Electronic
Priyajit Dash, Girish Parmar, Afzal Sikander
Summary: A novel strategy using Bonobo Optimizer (BO) approach is proposed for order abatement of large scale linear time-invariant (LTI) systems. The algorithm, inspired by the social and reproductive behaviors of bonobos, effectively solves the optimization problem and achieves comparable results with other well-known techniques.
MICROSYSTEM TECHNOLOGIES-MICRO-AND NANOSYSTEMS-INFORMATION STORAGE AND PROCESSING SYSTEMS
(2023)
Article
Engineering, Multidisciplinary
Ram Kumar, Afzal Sikander
Summary: This article proposes a novel PID control design approach based on fuzzy logic to minimize the frequency deviation of a two area non-reheated type thermal power system. The presented approach constructs a new adequate control law using fuzzy logic and calculates the unknown parameters of the PID controller using an optimization technique. Multiple simulation tests demonstrate the effectiveness of the suggested design approach in balancing the required parameters.
SADHANA-ACADEMY PROCEEDINGS IN ENGINEERING SCIENCES
(2023)
Article
Multidisciplinary Sciences
Sunil Kumar, Afzal Sikander
Summary: This research investigates the use of artificial bee colony and evolutionary programming algorithms to solve path planning problems in unknown or partially known environments. A novel strategy based on improved ABC-EP is proposed to overcome the issues of path length, search cost, and path smoothness. Comparative analyses demonstrate that the improved ABC-EP outperforms conventional ABC-EP with improvements in path length, search cost, and path smoothness.
ARABIAN JOURNAL FOR SCIENCE AND ENGINEERING
(2022)
Article
Multidisciplinary Sciences
Rahul Bisht, Afzal Sikander
Summary: This paper discusses the estimation of actual characteristics of solar panels and parameter estimation using a new algorithm, which provides PV characteristics very close to actual characteristics.
ARABIAN JOURNAL FOR SCIENCE AND ENGINEERING
(2022)
