IAES International Journal of Robotics and Automation (IJRA)
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.
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<![CDATA[Autonomous navigation system for hexa-legged search and rescue robot using LiDAR ]]>
<![CDATA[Budiyarto, Aris]]>;
<![CDATA[Abadi, Sarosa Castrena]]>;
<![CDATA[Naufaldo, Naufaldo]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 13, No 1: March 2024 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v13i1.pp50-64
<![CDATA[This study proposes an autonomous navigation system for hexapod robots, promising in complex rescue scenarios. The system is tested in simulations under three environments: rocky, cracked flooring, and inclined surfaces. utilizing light detection and ranging (LiDAR) and simultaneous localization and mapping (SLAM), the robot recognizes positions and constructs environmental maps. Implemented via robot operating system, the research successfully applies navigation and mapping using hector_slam. LiDAR mapping yields satisfactory accuracy, with average errors of 0.21% for general mapping and 5.34% for circular paths. Within a 2-meter range, navigation achieves good accuracy, averaging 1.2% error on the x-axis and 0.011% on the y-axis during linear motion. Navigational repeatability improves, with reliable results showing an average error of 4.33 cm on the x-axis and 0.5 cm on the y-axis when returning to starting points. Arena testing with varied obstacles demonstrates successful obstacle traversal. However, in the second test, limitations in hardware, notably the Raspberry Pi 4 CPU usage reaching 97% during navigation, hindered reaching the third target.]]>
<![CDATA[A Lyapunov based posture controller for a differential drive mobile robot ]]>
<![CDATA[Kazed, Boualem]]>;
<![CDATA[Guessoum, Abderrezak]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 13, No 1: March 2024 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v13i1.pp1-10
<![CDATA[Driving a vehicle to a desired position and orientation is one of the most important problems that should be solved in most navigation systems. This paper describes a new complete design and hardware implementation of a two-level controller that will enable a differential drive mobile robot to reach any desired posture starting from any initial position. The first or low-level controller consists of a set of two proportional–integral–derivative (PID) controllers, running on an embedded system on board of the robot. These controllers provide the required voltages to the motors to make the left and right wheels of the robot rotate with the angular speeds computed by the second or high-level controller, running on a stationary PC system. This second controller is based on the Lyapunov stability theorem to derive two control laws for the kinematic model, used to transform the linear and angular speeds of the unicycle model in terms of left and right rotational speeds, required by the motors. As will be shown later, this architecture provides a very flexible way not only to tune the main controller parameters but also to get access and record all the system states.]]>
<![CDATA[A 2D path-planning performance comparison of RRT and RRT* for unmanned ground vehicle ]]>
<![CDATA[Davarzani, Shokufeh]]>;
<![CDATA[Ejaz, Muhammad Talha]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 13, No 1: March 2024 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v13i1.pp105-112
<![CDATA[In recent years, path-planning has gained significant attention as mobile robots are used in various applications. Several factors determine the optimal path for a mobile robot, including accuracy, length of path, execution time, and turns. Among all planners, sampling-based planners such as rapidly exploring random trees (RRT) and rapidly exploring random trees-star (RRT*) are extensively used for mobile robots. The aim of this paper is the review and performance of these planners in terms of step size, execution time, and path length. All planners are implemented on the Jackal robot in a static environment cluttered with obstacles. Performance comparisons have shown that the reduction of step size results in exploring a greater number of nodes in both algorithms, increasing the probability of each extension succeeding. However, this causes the tree to become denser in both algorithms due to the more explored nodes. The RRT planner requires less execution time when the step size and iteration count are equal to RRT* planners. Moreover, performance plots of both algorithms show that RRT* provides an optimal and smooth path than RRT.]]>
<![CDATA[A small payload desktop industry robot design without conventional reducers ]]>
<![CDATA[Han, Xiaolei]]>;
<![CDATA[Liu, Peng]]>;
<![CDATA[Zhang, Jiaqi]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 13, No 1: March 2024 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v13i1.pp31-40
<![CDATA[Designing a compact desktop industrial robot with a small payload capacity, eliminating the use of traditional reducers, poses an intriguing challenge. This innovative approach aims to enhance the robot's cost-efficiency and reduce its overall size. The design focuses on optimizing the mechanical structure and exploring alternative mechanisms to achieve precise control without relying on conventional reducers. This article delves into the design aspects of a 1 kg payload robot. Initially, the paper presents an overview of the robot's mechanism and its kinematic analysis. Subsequently, synchronous belts are proposed as replacements for traditional reducers, accompanied by an introduction to the mechanical structure. Simulation is carried out to calculate the drive forces on the belts. According to the result, a suitable belt scheme has been designed. Ultimately, a prototype of the robot is constructed, and experiments demonstrate that this design achieves a repeatable accuracy comparable to robots employing conventional reducers, all while considerably reducing the overall cost of the robot.]]>
<![CDATA[Script late injection: a framework to introduce JavaScript into web pages ]]>
<![CDATA[Prakash, Bhanu]]>;
<![CDATA[Sampangiramaiah, Sandhya]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 13, No 1: March 2024 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v13i1.pp96-104
<![CDATA[Script injection is one type of fault present in web, which mostly utilizes user data to execute code without applying any type of filters. Script injection can impact both client and server making exposing them to vulnerabilities. Security and related products may need to execute logic on the client-side generally in a browser. In order to achieve this, proxy servers inject appropriate JavaScript code into the responses they proxy. Typically, the injection point is at the end of the body element. The framework introduced in this paper rather uses a stack-based approach to determine the injection point in the web page. Ten kilobytes from the end of a web page are given as a string input to the framework, after tokenization and construction of the vector of tokens. A stack is used to determine the injection point. Along with the position of the injection point, a warning flag is also estimated indicating the correctness of the injection point. Different types of web pages were considered for running the unit tests and fuzzy tests on the framework. These classes of pages are determined by crawling most used web pages. The injected scripts are executed once the body content is completely loaded. Hence, it can retrieve maximum information without affecting end-user performance. It also does the job at a low cost.]]>
<![CDATA[Transport platform stabilization mechanism using controlled suspension ]]>
<![CDATA[Iliushina, Anna]]>;
<![CDATA[Druk, Alexander]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 13, No 1: March 2024 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v13i1.pp11-18
<![CDATA[In this paper the authors present the development of a novel transport mechanism designed to perform gravity survey work on difficult terrain. Thus, in the first part of the paper the authors present review and analysis of existing patents and commercial developments of transport platforms capable of stabilizing loads while travelling in urban environments with potholes and steps. In the second part we present technical solution of a steerable suspension with a torsion bar as an elastic element based on the elimination of the drawbacks of the existing developments. The core feature of this development is the potential ability to adapt the suspension to different types of surfaces by changing the elastic characteristics of the torsion bar. We also propose an alternative to the generally accepted kinematic scheme by using a conical gearbox, which allows to achieve a tight arrangement of suspension mechanisms within the dimensions of the transport platform. In addition, authors propose the stabilization mechanism, that allows to change the clearance of the transport platform and provides stabilization of the gravity exploration research equipment, characterized by sensitivity to deviations from the vertical.]]>
<![CDATA[Robot indoor navigation: comparative analysis of LiDAR 2D and visual SLAM ]]>
<![CDATA[Messbah, Hind]]>;
<![CDATA[Emharraf, Mohamed]]>;
<![CDATA[Saber, Mohammed]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 13, No 1: March 2024 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v13i1.pp41-49
<![CDATA[Robot indoor navigation has become a significant area of research and development for applications such as autonomous robots, smart homes, and industrial automation. This article presents an in-depth comparative analysis of LiDAR 2D and visual sensor simultaneous localization and mapping (SLAM) approaches for robot indoor navigation. The increasing demand for autonomous robots in indoor environments has led to the development of various SLAM techniques for mapping and localization. LiDAR 2D and visual sensor-based SLAM methods are widely used due to their low cost and ease of implementation. The article provides an overview of LiDAR 2D and visual sensor-based SLAM techniques, including their working principles, advantages, and limitations. A comprehensive comparative analysis is conducted, assessing their capabilities in terms of robustness, accuracy, and computational requirements. The article also discusses the impact of environmental factors, such as lighting conditions and obstacles, on the performance of both approaches. The analysis’s findings highlight each approach’s strengths and weaknesses, providing valuable insights for researchers and practitioners in selecting the appropriate SLAM method for robot indoor navigation based on specific requirements and constraints.]]>
<![CDATA[Parametric study of soft pneumatic robot grippers through finite element analysis ]]>
<![CDATA[Jo, Riady S.]]>;
<![CDATA[Ngu, Evans]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 13, No 1: March 2024 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v13i1.pp19-30
<![CDATA[This paper investigates the gripping stress and deformation of pneumatically-actuated fluidic elastomer actuation (FEA)-based soft robotic gripper through ansys finite element analysis software. By varying gripper parameters, i.e. Input pressures and clearance to the object, simulations on the deformation of the soft fingers are performed to achieve gripping of the object. The motivation of this parametric study is to facilitate the design optimization of soft robotic grippers. Results demonstrate that grippers with lesser clearance to the object require lesser input pressure to achieve similar gripping stress on the object although it is evident that grippers with higher clearance are able to cater for wider range of object sizes.]]>
<![CDATA[A novel structure of magnetic geared generator in dual-rotor wind turbine ]]>
<![CDATA[Yousefnejad, Soheil]]>;
<![CDATA[Heidary, Hossein]]>;
<![CDATA[Cirimele, Vincenzo]]>;
<![CDATA[Ro, Jong Suk]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 13, No 1: March 2024 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v13i1.pp80-95
<![CDATA[Variable-speed constant-frequency generating systems are commonly employed in wind turbines to enhance efficiency and minimize losses. Additionally, the utilization of dual-rotor wind turbines enables the capture of a greater amount of wind energy, leading to a significant increase in efficiency. Traditionally, dual-rotor wind turbines are managed by a full-scale power converter, and the rotor current is transmitted through brushes, which substantially raises the system's cost. To address these challenges, this study introduces a novel configuration that enables power control with a smaller power converter. In contrast to conventional dual-rotor wind turbines that generate power using both rotors, the proposed structure designates one rotor as a system controller. Apart from these benefits, the proposed structure greatly enhances conversion performance by notably improving the power factor. A comparison with existing configurations described in literature is conducted to demonstrate the superiority of the proposed structure.]]>
<![CDATA[Analysis of inertia, damping, and synchronization characteristics in grid-connected photovoltaic systems with fuzzy logic control ]]>
<![CDATA[Prakash, Mimmithi Bhanu]]>;
<![CDATA[Sahoo, Pradosh Ranjan]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 13, No 1: March 2024 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v13i1.pp65-79
<![CDATA[The integration of renewable energy sources (RES) into DC-distributed power systems (DC-DPSS) is gaining traction as a sustainable energy solution. However, the inherent variability of RES output can introduce instability into the grid, posing challenges for maintaining system reliability and stability. Fuzzy logic controllers (FLCs) have emerged as a promising approach to mitigate these instability issues, offering a robust and adaptable control strategy that can effectively handle the complexities of DC-DPSS. This paper examines the application of FLCs in DC-DPSS, exploring their effectiveness in addressing instability caused by RES fluctuations. FLCs are a control system that leverages fuzzy logic, a form of logic that utilizes linguistic variables to represent uncertainty, make decisions, and improve the stability of DC-distributed power systems. The research analyzes various system parameters, including inertia, damping, and synchronization characteristics, using a static synchronous generator (SSG) model. The study builds upon prior findings by adding a fuzzy logic controller to the existing system. The results showed better performance which resulted in improved inertia, damping, and synchronization characteristics. The efficiency of the proposed controller is demonstrated using MATLAB/Simulink.]]>
