Centre of Gravity (C.O.G)-Based Analysis on the Dynamics of the Extendable Double-Link Two-Wheeled Mobile Robot

Rahman, M. T. Abdul; Ahmad, Salmiah; Akmeliawati, Rini; Altalmas, Tareq; Aula, Abqori

doi:10.1088/1757-899x/53/1/012079

Cited by 3 publications

(5 citation statements)

References 10 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…Metode ini digunakan untuk memusatkan aktivitas industri (Shimba, 1994) yang ada di tiap-tiap wilayah dengan menggunakan teknis matematis dalam untuk dapat menemukan lokasi pusat distribusi dengan tetap mempertimbangkan minimisasi biaya distribusi yang ditimbulkan (Rahman, 2013). Pada penelitian ini, objek yang digunakan adalah wilayah yang berada di Provinsi Jawa Timur, yang nantinya akan dibagi ke dalam 8 zona industri berdasar pada jalan nasional yang sudah diatur dalam Rencana Tata Ruang dan Wilayah (RTRW) Provinsi Jawa Timur (Badan Pusat Statistik Provinsi Jawa Timur, 2018).…”

Section: Metode Centre Of Gravity (Cog)unclassified

Evaluation Analysis of Commercial Port Hierarchy in Indonesia: A Case Study of Ports in East Java Province

Khaqiqi

Damara²,

Azuningrum³

et al. 2022

J. Pen. Transla

View full text Add to dashboard Cite

Berdasarkan Peraturan Pemerintah No. 61 Tahun 2009 tentang Penetapan Rencana Induk Pelabuhan Nasional(RIPN), pelabuhan dikelompokkan menjadi 4 hierarki yaitu Pelabuhan Utama, Pelabuhan Pengumpul, PelabuhanPengumpan Regional, dan Pelabuhan Pengumpan Lokal. Pengelompokan pelabuhan dilakukan denganmenggunakan beberapa kriteria dari segi teknis maupun non-teknis. Saat ini terdapat 1.240 pelabuhan yang tersebardi Indonesia, namun belum semua pelabuhan sesuai dengan hierarkinya. Penelitian ini bertujuan untuk mengetahuikesesuaian antara kondisi pelabuhan saat ini dengan kriteria RIPN, khususnya untuk pelabuhan di Provinsi JawaTimur. Indikator yang ditinjau meliputi potensi produksi, kapasitas terpasang, panjang dermaga, kecepatan bongkarmuat dan aliran produksi industri ke pelabuhan di Provinsi Jawa Timur. Hasil analisis menunjukkan bahwaproduksi arus muatan terbesar di Provinsi Jawa Timur adalah Pelabuhan Tanjung Perak sebesar 87,04%.Kesesuaian hierarki pelabuhan saat ini yaitu Pelabuhan Tanjung Perak sebagai Pelabuhan Utama, Pelabuhan Gresikdan Pelabuhan Tanjung Wangi sebagai Pelabuhan Pengumpul, dan Pelabuhan Probolinggo sebagai PelabuhanPengumpan Regional yang mana telah sesuai dengan usulan kriteria baru terkait hierarki pelabuhan pada RIPN.

show abstract

Section: Metode Centre Of Gravity (Cog)unclassified

Evaluation Analysis of Commercial Port Hierarchy in Indonesia: A Case Study of Ports in East Java Province

Khaqiqi

Damara²,

Azuningrum³

et al. 2022

J. Pen. Transla

View full text Add to dashboard Cite

show abstract

“…The condition of the switching mechanism is defined in (11) with the location of the notation being illustrated in Fig. 6.…”

Section: If E I Is Nb and E J Is Z Then U Is Pb If E I Is Nb And E mentioning

confidence: 99%

“…With this, a combined approach of both FLCT1 and PID has further been proposed for the case of the two-wheeled mobile robot. The system is analyzed based on the center of gravity (COG) of the mobile robot's extendable doublelink, where the stability of both Link1 and Link2 is controlled using the FLCT1 approach, while the distance for the extendable link is controlled via the PID controller [11]. The input reference of Link1 is determined using COG for both with and without a mass of the payload.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Movable Payload on Various Conditions of Two-Wheeled Double Links Wheelchair Stability Control Using Enhanced Interval Type-2 Fuzzy Logic

2020

View full text Add to dashboard Cite

This paper presents investigations of control strategies for a two-wheeled wheelchair with a movable payload on various conditions using a double-link inverted pendulum concept. The wheelchair system is modeled in the SimWise 4D (SW4D) with its optimized control parameters determined using the Spiral Dynamic Algorithm (SDA) while being controlled by the proposed Interval Type-2 Fuzzy Logic Controller (IT2FLC). The robustness of the proposed controller in terms of maintaining the system's stability while the wheelchair is standing in an upright position is tested under multiple circumstances. These included utilizing varying directions and applying magnitudes of external disturbances to the developed system with a movable payload (upward and downward) and testing the system's forward and backward motions on a flat surface and the motions on an inclined surface. Ultimately, the two-wheeled wheelchair which adopts the proposed controller had shown a 68% and 77% reduction in the angular positions of Link1 and Link2, a 94% reduction in torques for both Link1 and Link2, and more than 98% reduction in traveling distance compared to the Fuzzy Logic Control Type-1 (FLCT1) controller which was used in the previous design. Moreover, the current work has taken into consideration the heightened nonlinearities and complexity of an additional moving payload on various conditions to represent more degree of freedom (DOF), compared to the fixed payload in the previous design with less DOF. This further rectifies that the enhanced IT2FLC had outperformed FLCT1 in handling nonlinearities and uncertainties, for the case of a two-wheeled wheelchair system with a movable payload. INDEX TERMS Two-wheeled wheelchair, movable payload of a double-link inverted pendulum, optimized interval type-2 fuzzy logic, stability of the two-wheeled system.

show abstract

“…Rahman et al. 7,8 have reported the stability control of a mobile robot with two wheels using the LQR controller in a simulation environment based on state space model of the system. They have achieved good performance in controlling the Link1 and Link2’s stability in an upright position.…”

Section: Introductionmentioning

confidence: 99%

Stabilizing control of two-wheeled wheelchair with movable payload using optimized interval type-2 fuzzy logic

Jamin

Ghani

Ibrahim

et al. 2020

Journal of Low Frequency Noise, Vibration and Active Control

View full text Add to dashboard Cite

The control schemes of a wheelchair having two wheels with movable payload utilizing the concept of a double-link inverted pendulum have been investigated in this article. The proposed wheelchair has been simulated using SimWise 4D software considering the most efficient parameters. These parameters are extracted using the spiral dynamic algorithm while being controlled with interval type-2 fuzzy logic controller (IT2FLC). The robustness and stability of the implemented controller are assessed under different situations including standing upright, forward motion and application of varying directions and magnitudes of outer disturbances to movable (up and down) system payload. It is shown that the two-wheeled wheelchair adopted by the newly introduced controller has achieved a 94% drop in torque for both Link1 and Link2 and more than 98% fall in distance travelled in comparison with fuzzy logic control type-1 (FLCT1) controller employed in an earlier design. The present study has further considered the increased nonlinearity and complexity of the additional moving payload. From the outcome of this study, it is obvious that the proposed IT2FLC-spiral dynamic algorithm demonstrates better performance than FLCT1 to manage the uncertainties and nonlinearities in case of a movable payload two-wheel wheelchair system.

show abstract

Centre of Gravity (C.O.G)-Based Analysis on the Dynamics of the Extendable Double-Link Two-Wheeled Mobile Robot

Cited by 3 publications

References 10 publications

Evaluation Analysis of Commercial Port Hierarchy in Indonesia: A Case Study of Ports in East Java Province

Evaluation Analysis of Commercial Port Hierarchy in Indonesia: A Case Study of Ports in East Java Province

Movable Payload on Various Conditions of Two-Wheeled Double Links Wheelchair Stability Control Using Enhanced Interval Type-2 Fuzzy Logic

Stabilizing control of two-wheeled wheelchair with movable payload using optimized interval type-2 fuzzy logic

Contact Info

Product

Resources

About