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31,456 Article Results

A simulated risk assessment of human-robot interaction in the domestic environment

10.11591/ijra.v9i4.pp300-310
Tamanna E Kaonain , Mohd Azizi Abdul Rahman , Mohd Hatta Mohammed Ariff , Kuheli Mondal
In human-robot interaction, the use of collaborative robots or cobots in many industries is of major importance to researchers in human-robot interaction (HRI). The interaction between human robot carries several challenges, the greatest being the risk of human injury. In addition to reducing the proximity between robots and humans, increased difficulty of human-robot encounters raises the likelihood of accidents only. This paper proposes a virtual collaborative robot in the simulated non-industrial workspace. The safety during human-robot interaction using simulation software was investigated by measuring the risks for planning and control. A reactive robot controller was formulated to minimize the risk during human-robot interaction. A Gazebo software is used in this article, written in Python language, to replicate complex environments that a robot can face. This paper also investigated the robot’s speed. It can be reduced before a collision with a human about to happen, and it minimized the risk of the collision or reduced the damage of the risk. After the successful simulation, this can be applied to the real robot in a practical domestic environment.
Volume: 9
Issue: 4
Page: 300-310
Publish at: 2020-12-01

The quadrotor dynamic modeling and study of meta-heuristic algorithms performance on optimization of PID controller index to control angles and tracking the route

10.11591/ijra.v9i4.pp256-270
Ata Jahangir Moshayedi , Mahyar Gheibollahi , Liefa Liao
In the last decade, because of the unique specification of vertical fliers, scientists and researchers had a special focus on them. The particular abilities of these fliers can be mentioned such as: high maneuver ability, low expenses, decrease in radar identifier and low threat for the human life. They also have no limitation in dimension. Moreover, because of some applications like photography, topography, news coverage, study of power lines and aerology analysis, they can be notable for using. These fliers also are significantly important because of monitoring in urban regions, agricultural harvest and spray poison, illegal imports, exports administration and fire distinction in order to control the fire. Besides, seek and rescue missing people and also natural disasters can be pre-determined which causes stimulus investigators to act and put different topics in front of them. One of these fields is using meta-heuristic algorithms with the capability of using in control systems. The PID controller as a classic model has some limitations, but by optimization of special index through meta-heuristic algorithms, it has shown acceptable results. In this study, first, the history of vertical fliers and quadrotor are investigated. Then, after a review of overused methods, the quadrotor control has been done. Afterward, the cinematic and dynamic of quadrotor is presented. Next by designing of PID controller, PID index optimization by nature inspired algorithm, particle swarm optimization (PSO), genetic algorithms (GA), and firefly algorithms (FA) have been studied. Dynamic system, controller and mentioned optimization methods of PID controller index have also been implemented in MATLAB software. Also, with due attention to the comparison criteria the PID-PSO controller has shown the best performance. Next, by applying challenging routes, the stability of controller in the simulation is evaluated. Then, making quadrotor is done in practice along with introducing the used implementation of PID-PSO controller results on the real robot, and its stability is evaluated practically.
Volume: 9
Issue: 4
Page: 256-270
Publish at: 2020-12-01

Steam turbine controllers design based on soft-computing techniques

10.11591/ijra.v9i4.pp281-291
Nasir Ahmed Alawaad
Steam turbine is viewed as a standout among hotspots for control age in the most recent decades, its elements examination end up being dynamically more basic. For this investigation, the model chose is of turbine speed control framework. The purpose behind this is that model is regularly experienced in refineries in a type of steam turbine that utilization hydraulic governor to control the speed of the turbine. To suit plan prerequisites, a mathematical model for the turbine was determined in light of transfer function and state space definition. There are two sorts of controllers for steam turbines which are traditional and modern controllers. Internal mode control with proportional integral derivative (IMC-PID) and linear quadratic controller (LQR) are classical type. Fuzzy logic controller (FLC) and intelligent optimization techniques like, ant colony algorithm (ACOA) and genetic algorithm (GA) are modern type. The proposed work centers on classical verses modern controllers. Results got demonstrate that embracing such a controller (GA) improves the design requirements and transient stability. The system control was actualized in simulation utilizing MATLAB/Simulink.
Volume: 9
Issue: 4
Page: 281-291
Publish at: 2020-12-01

Application of thermal imaging for detecting cold air leak location in cold storage

10.11591/ijaas.v9.i4.pp294-301
P. Pathmanaban , Shanmuga Sundaram Anandan , B. K. Gnanavel , C. P. Murigan
Nowadays Cold storage has been playing an important role in preserving the perishable food products like fruits, vegetables, dairy products, fish, and meat etc. The major problem of cold storage is unwanted energy transmission during the operation. It is necessary to maintain the constant temperature during storing the products. There are different kinds of energy loss happening during the operation. One of the major causes is cold air leaking from the inside of the cold room to outside. It is due to poor insulation and improper maintenance of cold storage. It is very difficult to identify the exact location of the leak by the naked eye. In this research work, the cold storage was inspected with the thermal imaging system. Thermal cameras are highly sensitive to temperature and it can detect the variation of temperature ranging from 0.1°C. The measured temperatures are further converted into a colour based pattern. It is known as thermogram. These colour-based thermal patterns are further processed for identifying energy transmission location. It is done by applying various image processing methods such as histogram equalization, diffusion error, otsu thresholding and morphologic function. These techniques were applied to images of cold storages and exact cold air transmission locations were identified.
Volume: 9
Issue: 4
Page: 294-301
Publish at: 2020-12-01

Stable and robust control strategy using interval-valued fuzzy systems

10.11591/ijape.v9.i3.pp205-217
Nadia Bounouara , Mouna Ghanai , Ali Medjghou , Kheireddine Chafaa
In this paper we propose an adaptive interval valued fuzzy controller for high performance direct vector-controlled induction motor drive. Interval valued controller compared with type-1 fuzzy controller has the advantage that it can take into account the linguistic uncertainties present in the rules of the estimated models. The proposed control framework consists of a mixture of two controllers: an interval valued fuzzy controller and a supervisory controller. The supervisory controller is used when thesystem starts to become unstable. The free parameters for the proposed controller are changed according to some learning rules based on Lyapunov stability. Simulation results on an induction motor show the effectiveness ofthe introduced method.
Volume: 9
Issue: 3
Page: 205-217
Publish at: 2020-12-01

Real-time simulation of static synchronous condenser (STATCOM) for compensation of reactive power

10.11591/ijece.v10i6.pp5599-5608
Abdellatif Hinda , Mounir Khiat
This paper presents a real time simulation stability of power system by static synchronous condenser (STATCOM) in modern platform real-time simulator named (RT-LAB) using the latest INTEL quad-core processors to simulate a relatively large power system In our work, We have to study the problem of controlling voltage and reactive power in electric system by static synchronous condenser (STATCOM). All the simulations for the above work have been carried out using MATLAB /Simulink and RT-LAB Various simulations have given very satisfactory results and we have successfully improved the voltage by injecting a FACTS device, which is the STATCOM, the Studies and Comparisons of real-time simulation results of the power system with and without STATCOM connected illustrate the effectiveness and capability of STATCOM in improving voltage stability in power system.
Volume: 10
Issue: 6
Page: 5599-5608
Publish at: 2020-12-01

Performance evaluation and load demand management of grid connected hybrid wind-solar-battery system

10.11591/ijape.v9.i3.pp223-244
K. M. Venkatachalam , V. Saravanan
In this paper, Performance of the grid connected hybrid wind-solar energy system and load demand response of the battery integrated single phase voltage source inverter is presented. The wind energy conversion system is generating AC power and the solar PV system is generating DC power and both are integrating with battery in the common DC bus. The output voltage of the wind and solar system are controlling using dc-dc converters and it achieved more than the battery voltage. P&O algorithm used MPPT based voltage controller is driving the dc-dc converter with a reference voltage value of the battery. The single-phase full-bridge converter is converting DC to AC power and feeding into the standalone AC loads and distribution grid with IEEE 519 standard. The bi-directional converter is controlling the directions of power flow and it operates two modes namely inverter mode and rectifier mode based on a voltage level of the battery. In this bi-directional converter is controlling by the PI controller with the reference value of the DC bus voltage and load current. The power quality and demandresponse of the inverter is observing at various types of load conditions in standalone mode and grid-connected mode using experimental results.
Volume: 9
Issue: 3
Page: 223-244
Publish at: 2020-12-01

Power loss reduction by chaotic based predator-prey brain storm optimization algorithm

10.11591/ijape.v9.i3.pp218-222
Kanagasabai Lenin
In this paper chaotic predator-prey brain storm optimization (CPB) algorithm is proposed to solve optimal reactive power problem. In this work predator-prey brain storm optimization position cluster centers to perform as predators, consequently it will move towards better and better positions, while the remaining ideas perform as preys; hence get away from their adjacent predators. In the projected CPB algorithm chaotic theory has been applied in the modeling of the algorithm. In the proposed algorithm main properties of chaotic such as ergodicity and irregularity used to make the algorithm to jump out of the local optimum as well as to determine optimal parameters CPB algorithm has been tested in standard IEEE 57 bus test system and simulation results show the projected algorithm reduced the real power loss considerably.
Volume: 9
Issue: 3
Page: 218-222
Publish at: 2020-12-01

Role of location of household and its socio-economic status on energy consumption dynamics in rural Nepal: a categorical data analysis

10.11591/ijape.v9.i3.pp193-204
Jyoti U. Devkota
This study is based on data collected from two sample surveys. They are namely survey of 300 households of national grid energy users and 400 households of biogas users. It was conducted in three different rural settings of Nepal. The responses to questions were classified into multiple choice options. This generated categorical data and reduced ambiguity and confusion between interviewer and interviewee. Such data were classified into ordinal scale and modelled. As the dependent variable had more than two categories, polytomous and not dichotomous models are developed and fitted. Ten different hypotheses assessing and measuring the energy consumption dynamics are tested. Values of parameters of these model and odds ratio are used in quantifying the impact of change with respect to energy consumption. The variables considered were namely time spent in the collection of firewood, type of house, amount of firewood saved, time saved, employer and school located within 15 min distance. Such data based studies are very crucial for country like Nepal which lacks a strong backbone of accurate and regularly updated official records. They can be generalized to other counties of Asia and Africa. Such results provide guidelines to policy makers and planners regarding formulation of realistic energy policies for such countries.
Volume: 9
Issue: 3
Page: 193-204
Publish at: 2020-12-01

Automatic amyotrophic lateral sclerosis detection using tunable Q-factor wavelet transform

10.11591/ijai.v9.i4.pp744-756
Abdelouahad Achmamad , Abdelali Belkhou , Atman Jbari
Early diagnosis of amyotrophic lateral sclerosis (ALS) based on electromyography (EMG) is crucial. The processing of a non-stationary EMG signal requires powerful multi-resolution methods. Our study analyzes and classifies the EMG signals. In the present work, we introduce a novel flexible method for classification of EMG signals using tunable Q-factor wavelet transform (TQWT). Different sub-bands generated by the TQWT technique were served to extract useful information related to energy and then the calculated features were selected using a filter selection (FS) method. The effectiveness of the feature selection step resulted not only in the improvement of classification performance but also in reducing the computation time of the classification algorithm. The selected feature subsets were used as inputs to multiple classifier algorithms, namely, k-nearest neighbor (k-NN), least squares support vector machine (LS-SVM) and random forest (RF) for automated diagnosis. The experimental results show better classification measures with k-NN classifier compared with LS-SVM and RF. The robustness of the classification task was tested using a ten-fold cross-validation method. The outcomes of our proposed approach can be exploited to aid clinicians in neuromuscular disorders detection.
Volume: 9
Issue: 4
Page: 744-756
Publish at: 2020-12-01

Design and analysis of an OFDM-based orthogonal multilevel code-shifted differential chaos shift keying

10.11591/ijeecs.v20.i3.pp1369-1378
Fadhil S. Hasan , Hayder F. Fahad
In this paper, a new non-coherent chaos-based communication that combined orthogonal multilevel code-shifted differential chaos shift keying with orthogonal frequency division multiplexing named (OFDM-OMCS-DCSK) modulation system. New orthogonal chaotic signal sets are generated by hybrid gram-schmidt algorithm and walsh code function and used it to carry high data rate in the same time slot. The bandwidth efficiency of the OFDM-OMCS-DCSK system is comparing with conventional system. Also, the BER analytic expressions are derived under (AWGN) and multipath Rayleigh fading channels and comparing with the simulation results. Furthermore, the BER performance is compared with OFDM-DCSK to found that the proposed system has the best BER performance with high data rate feature.
Volume: 20
Issue: 3
Page: 1369-1378
Publish at: 2020-12-01

New control scheme for synchronization of a photovoltaic system to a three-phase grid to attenuate the harmonics of currents caused by distorted grid voltage

10.11591/ijape.v9.i3.pp256-266
Ismail Boukhechem , Ahcen Boukadoum , Lahcene Boukelkoul , Houssam Eddine Medouce , Rima Lebied
This study presents a new scheme of control for the synchronization ofa photovoltaic (PV) system with a three-phase grid without a line sensor.The approach of the proposed synchronization technique is developed to extract the maximum of PV energy and inject it in the network for various conditions of voltage, and to ensure that the currents injected into the three-phase network emulate the wished sinusoidal forms even when the mains grid voltage is no longer ideal. This paper introduces a new technique of synchronization and elimination of the disturbances created by the distorted tension based on the direct power control without voltage sensors (VF_DPC) with the help of second-order generalized integrator (SOGI) associated with a self-tuning filter (STF) to extract the fundamental virtual flux. The simulation of the proposed system is realized in MATLAB/Simulink environment.
Volume: 9
Issue: 3
Page: 256-266
Publish at: 2020-12-01

Diminution of factual power loss by enhanced bacterial foraging optimization algorithm

10.11591/ijape.v9.i3.pp245-249
Kanagasabai Lenin
This paper presents an enhanced bacterial foraging optimization (EBFO)algorithm for solving the optimal reactive power problem. Bacterial foraging optimization is based on foraging behaviour of Escherichia coli bacteria which present in the human intestine. Bacteria have inclination to congregate the nutrient-rich areas by an action called as Chemo taxis. The bacterial foraging process consists of four chronological methods i.e. chemo taxis, swarming and reproduction and elimination-dispersal. In this work rotation angle adaptively and incessantly modernized, which augment the diversity of the population and progress the global search capability. The quantum rotation gate is utilized for chemo taxis to modernize the state of chromosome projected EBFO algorithm has been tested in standard IEEE 14,300 bus test system and simulation results show the projected algorithm reduced the real power loss extensively.
Volume: 9
Issue: 3
Page: 245-249
Publish at: 2020-12-01

Effect of renewable energy sources integration on the optimal coordination of directional over-current relays in distribution system

10.11591/ijape.v9.i3.pp250-255
Lazhar Bougouffa , Abdelaziz Chaghi
The demand for power electricity is growing fast and one of the main tasks for power engineers is to generate electricity from renewable energy sources (RES). Nevertheless, problems arise when the new generation is integrated in the power distribution network. Under this condition, the main purpose in this paper, an investigation of the effect of RES integration on the optimal coordination of directional over-current relays in distribution system, a dual simplex optimization algorithm has been presented to determine the coordination of directional over-current relays (DOCRs). The system used to check the efficiency of the optimization algorithm which is IEEE 33-bus models. The analysis is performed in MATLAB software environment.
Volume: 9
Issue: 3
Page: 250-255
Publish at: 2020-12-01

Developing an assessment framework of multidimensional scientific competencies

10.11591/ijere.v9i4.20542
Sasima Intasoi , Putcharee Junpeng , Keow Ngang Tang , Jatuphum Ketchatturat , Yidan Zhang , Mark Wilson
The study aimed to develop and validate an assessment framework of multidimensional scientific competencies for seventh-grade students in the northeastern region of Thailand. A total of 289 samples with three different scientific competency levels were randomly selected to participate as testtakers. The design-based research encompassing four phases of the construct modelling approach, namely construct maps, item design, outcome space, and Wright map. Multidimensional Random Coefficient Multinomial Logit model was employed to examine the quality of the created assessment framework of multidimensional scientific competencies. The results showed that scientific competence is comprised of three dimensions, namely explain phenomena scientifically, evaluate and design scientific inquiry, and interpret data and evidence scientifically. Each dimension can be further categorized into four levels. The assessment framework consists of 16 items. The results revealed that there is validity evidence regarding internal structure based on the comparison of the model fit and Wright map. Moreover, results also indicated that the reliability evidence and item fit are compliance with the quality of the assessment framework as revealed in the analysis of standard error of measurement and infit and outfit of the items. It can be concluded that the assessment framework is currently prevalent to assess the scientific competencies of seventh-grade students.
Volume: 9
Issue: 4
Page: 963-970
Publish at: 2020-12-01
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