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IAES International Journal of Robotics and Automation (IJRA)
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 15 Documents
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Search results for , issue "Vol 13, No 4: December 2024" : 15 Documents clear
Experimental results on position and path control of an automated guided vehicle using fixed camera at ceiling and color markers Pungle, Ramesh; Andhare, Atul; Pungle, Durva
IAES International Journal of Robotics and Automation (IJRA) Vol 13, No 4: December 2024
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v13i4.pp391-400

Abstract

This article presents the results of experiments on path planning and control of automated guided vehicles (AGV) using single, fixed ceiling mounted, monocular cameras and colored markers. The camera employed in the system serves as both a sensor and controller. Initially, the working environment is structured using colored markers for given applications. For every new setup, structuring the environment is essential. The image processing algorithm identifies the colored markers and their positions, which are then utilized for path planning and segmentation. The actuation time required to transverse each segment is calculated and then AGV is actuated accordingly. A transformation or inverse mapping matrix (M), predetermined, is employed for calculating world coordinates from given image coordinates. Path planning and AGV control are across various paths, both with and without static obstacles, in real-time applications. The colored marker detection and recognition accuracy for the given setup have been found cent percentage while the AGV reaches the goal point with an error margin of around 3.9% on straight paths, both with and without obstacles.
Faults-as-address simulation Hahanov, Vladimir; Chumachenko, Svetlana; Litvinova, Eugenia; Hahanov, Ivan; Ponomarova, Veronika; Khakhanova, Hanna; Kulak, Georgiy
IAES International Journal of Robotics and Automation (IJRA) Vol 13, No 4: December 2024
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v13i4.pp452-468

Abstract

Fault-as-address-simulation (FAAS) is a simulation mechanism for testing combinations of circuit line faults, represented by the bit addresses of element logical vectors. The XOR relationship between the test set T and the truth table L of the element forms a deductive vector for fault simulation, using truth table addresses or the logic vector bits. Addresses are used in the simulation matrix to mark those n-combinations of input faults detected at the element's output. The columns of the simulation matrix are treated as n-row addresses to generate an element output row via a deductive vector. There is no transport of input faults to the element output, Only the 1-signals written in the non-input row coordinates of the circuit simulation matrix. The simulation matrix is initially filled with 1-signals along the main diagonal. The line faults detected on the test set of circuits are determined by the inverse of lines good values, which have 1-values in the matrix row corresponding to the output circuit element. The deductive vector is obtained by the XOR-relations between the test set and logical vector in three table operations. The advantage of the proposed FAAS mechanism is the predictable complexity of the algorithm and memory consumption for storing data structures when simulating a test set.
Design and development of knee rehabilitation robot Sharma, Devashish; Shaik, Sahil Ahamed; Rajagopal, Saran; Mohan, Manju; Ramanathan, Kuppan Chetty; Lingampally, Pavan Kalyan
IAES International Journal of Robotics and Automation (IJRA) Vol 13, No 4: December 2024
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v13i4.pp423-431

Abstract

This research presents a comprehensive design and analysis of a knee rehabilitation platform aimed at aiding individuals with knee dysfunction. Dysfunction in the knee joint can lead to an imbalance in gait and posture during activities of daily living (ADLs) such as standing, walking, and running. This study focuses on developing a 2-degree-of-freedom (2-DoF) knee rehabilitation device capable of mimicking linear and angular movements. A slider mechanism-based knee rehabilitation device is developed and simulated alongside various other mechanisms. The proposed mechanism achieves 32.5° of flexion for a linear movement of 0.45 m within 6 seconds, outperforming other mechanisms. To validate simulation results, a 3D-printed model is fabricated, and experimental studies are conducted under no-load conditions, showing close alignment with simulation outcomes with a deviation of ±5%. The device’s key features include portability, compliance, compactness, and enhanced stiffness. Future research will involve conducting pilot studies to further evaluate the practical efficacy and potential enhancements of the proposed knee rehabilitation platform.
Analysis of single layer artificial neural network neuromorphic hardware chip Pant, Aruna; Kumar, Adesh; Kuchhal, Piyush
IAES International Journal of Robotics and Automation (IJRA) Vol 13, No 4: December 2024
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v13i4.pp495-505

Abstract

The neuromorphic architectures are hardware network systems designed with neural functions. Neural networks seen in biology serve as an inspiration for network systems. A synapse connects every node or neuron in an artificial neural network (ANN) to every other node. As in biological brains, the amplitude of the linking between nodes referred to as synaptic weights will regulate the connection. In contrast to conventional design, ANN uses many highly organized dealing pieces that work together to solve real-world issues. The design of the neuromorphic hardware chip is discussed in the paper. The target device used is a Virtex-5 Field Programmable Gate Array (FPGA) and the simulation is taken on Xilinx ModelSim software. This chip is designed for 20 neuron inputs, each of the neuron inputs is 8-bit. Each 20-neuron input is multiplied by 20 input weights and each weight is 8-bit so when these 20 input weights are multiplied by 20 neuron inputs in the multiplier it gives 16-bit output. A control logic is used in this neuromorphic hardware chip design which is used to feed multiplier output to each input of the hidden layer. The system-level outcome of the hidden layer is then given to the multiplexer which has 20 inputs and one single output. The multiplexer is used to select any of the 20 outputs of the control logic. Finally, to gain an understanding of the performance of this neuromorphic hardware chip, we have computed the hardware utilization parameters. These parameters include slices, input/output blocks (IOBs), registers used, memory, and the overall propagation delay used by the hardware chip.
Use of artificial intelligence in banknote reconstruction Wu, Yi-Chang; Chiang, Pei-Shan; Liu, Yao-Cheng; Huang, Ru-Yi
IAES International Journal of Robotics and Automation (IJRA) Vol 13, No 4: December 2024
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v13i4.pp410-422

Abstract

Banknotes may be damaged during various events, such as floods, fires, insect infestations, and mechanical or manual shredding. Disaster victims might need to perform banknote reconstruction when applying for currency exchange, or investigative agencies might need to conduct such reconstruction during evidence collection. When the number of banknote fragments is small, they can be manually assembled; however, when this number is large, manual assembly becomes increasingly difficult and time-consuming. Therefore, an automated and effective method is required for banknote reconstruction. The process of banknote reconstruction can be considered similar to solving a large-scale jigsaw puzzle. This study employed an artificial intelligence (AI) system to reconstruct damaged banknotes. A robotic arm was used to replace manual separation and automated digital image processing techniques, and AI image registration technology, deep learning, and logical operations were utilized. A deep convolutional neural network was used to estimate the relative homography between images, and fragmented banknotes were mapped to a reference banknote for image transformation, thereby reconstructing the damaged banknotes. Additionally, a repetitive matching method was established to optimize the matching results to achieve the best possible mapping and enhance validation efficiency.

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