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IAES International Journal of Robotics and Automation (IJRA)

IJRA
Website

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 470 Documents

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Smart Home Automation System based on Arduino Bouzid Mohamed Amine; Chaib Fatima Zohra; Hamani Ilyes; Aid Lahcen; Allaoui Tayeb
IAES International Journal of Robotics and Automation (IJRA) Vol 7, No 4: December 2018
Publisher : Institute of Advanced Engineering and Science

Intelligent home environments are environments that attempt to ease the user's life in different ways and make it more comfortable using the technology. This paper present the principle of realizing a home control interface based on an. Arduino UNO R3 board equipped with a programmable ATmega328 microcontroller. The sketch to be uploaded to the Arduino is written in C language. A desktop application was created in C # language to communicate with the Arduino via the serial port, thus facilitating repetitive tasks such as lighting control, opening / closing doors. A temperature / humidity sensor, an alarm (motion sensor + buzzer), garden lighting and automatic control of the TV via an IR receiver + IR transmitter have been added without forgetting manual control

A Safe Interaction of Robot Assisted Rehabilitation, Based on Model-Free Impedance Control with Singularity Avoidance Iman Sharifi; Ali Doustmohammadi; Heidar Ali Talebi
IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 2: June 2015
Publisher : Institute of Advanced Engineering and Science

In this paper, a singularity-free control methodology for the safe robot-human interaction is proposed using a hybrid control technique in robotic rehabilitation applications. With the use of max-plus algebra, a hybrid controller is designed to guarantee feasible robot motion in the vicinity of the kinematic singularities or going through and staying at the singular configuration. The approach taken in this paper is based on model-free impedance control and hence does not require any information about the model except the upper bounds on the system matrix. The stability of the approach is investigated using multiple Lyapunov function theory. The proposed control algorithm is applied to PUMA 560 robot arm, a six-axis industrial robot. The results demonstrate the validity of the proposed control scheme.

A parameter less stochastic optimization technique for tuning of speed PI controller of DTC induction motor drive Naveen Goel; Saji Chacko; R. N. Patel
IAES International Journal of Robotics and Automation (IJRA) Vol 8, No 2: June 2019
Publisher : Institute of Advanced Engineering and Science

The Direct Torque Controlled (DTC) induction motor (IM) drives over the years have been the work force of industries. The popularity of this motor drive is due to the low cost and low maintenance of induction motor coupled with the fast dynamic response and simple control structure of direct torque control method. The robust performance of the DTC induction motor drive depends on the proper tuning of its speed controller. The proposed paper make use of the stochastic optimization technique namely the popular Harmony Search Algorithm and is compared with the parameter free Jaya Algorithm for tuning the gains of the speed proportional integral controller. Simulation studies in MATLAB/Simulink shows the success of the Jaya Optimization for improving the performance of DTC drive with respect to speed and torque peak over shoot and steady state error under different drive operating conditions.

Integration and Simulations of INS/GNSS System using the Approach of Carrier Phase Measurements Khan Badshah; Qin Yongyuan
IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 4: December 2015
Publisher : Institute of Advanced Engineering and Science

This paper discusses the techniques of attitude, velocity ad position estimation from GNSS carrier phase measurements, and investigates the performance of the lower precision MEMS-based INS/GNSS system based on carrier phase measurements. Double differenced carrier phase measurements provide more accurate velocity and position estimation compared to code and Doppler measurements. However, integer ambiguity is required to be removed for precise positioning. Multiples antennae approach is used to derive the attitude information from carrier phase measurements in order to control the large initial misalignment angles for initialization of the integration process or to utilize during benign dynamics. Lever arm effect is considered to compensate for the separation of GNSS antenna and IMU location. The derived three GNSS observables are used to correct the INS through optimal Kalman filtering in a closed loop. Simulation results indicates the effectiveness of the integrated system for airborne as well as for land navigation vehicles. This paper discusses the techniques of attitude, velocity ad position estimation from GNSS carrier phase measurements, and investigates the performance of the lower precision MEMS based INS/GNSS system based on carrier phase measurements. Double differenced carrier phase measurements provide more accurate velocity and position estimation compared to code and Doppler measurements. However, integer ambiguity is required to be removed for precise positioning. Multiples antennae approach is used to derive the attitude information from carrier phase measurements in order to control the large initial misalignment angles for initialization of the integration process or to utilize during benign dynamics. Lever arm effect is considered to compensate for the separation of GNSS antenna and IMU location. The derived three GNSS observables are used to correct the INS through optimal Kalman filtering in a closed loop. Simulation results indicates the effectiveness of the integrated system for airborne as well as for land navigation vehicles.

GEOMETRICAL MODELLING OF KINEMATICS OF ARTICULATED ROBOTIC ARM Bastawade, Keval Suresh
IAES International Journal of Robotics and Automation (IJRA) Vol 9, No 3: September 2020
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v9i3.pp%p

This paper presents a direct way of modeling the Kinematics of an Articulated Robotic Arm. The range for industrial application of this configuration is wide. Kinematics includes Forward Kinematics and inverse Kinematics. Forward kinematics refers to conversion of joint angles to end effectors position whereas Inverse Kinematics refers to conversion of world co-ordinates of end effector to joint angles of the Arm. The proposed method uses spherical co-ordinate system to model it?s both Forward and Inverse Kinematics. Using this model, path planning for different scenarios can be done. Implementation of different algorithms to evaluate effective path by either avoiding obstacles or by passing through intermediate path points is possible. End effector of Robotic Arm easily follows complex 3D space curves like Circular Helix and Conical Helix, etc. using this algorithm. The above-mentioned algorithm also has been tested in scenarios where real time inputs from user are used for robotic arm actuation using a custom designed software

Design Analysis of a Fish-Shaped PVDF Compliance Microgripper Neeta Sahay
IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 2: June 2016
Publisher : Institute of Advanced Engineering and Science

In this study the design and analysis of compliance microgripper made of piezoelectric PVDF (Poly Vinylidene Fluoride) material is presented. The inverse piezoelectric effect has been used in which the required amount of voltage has been applied at specific points at the base of the structure to produce the force at the tip and thereby the necessary deflection for gripping. The simulated results of frequency response, force-voltage relationship and displacement analysis are presented.

Multi-objective optimization and linear buckling of serial chain of a medical robot tool for soft tissue surgery Ilewicz, Grzegorz; Harlecki, Andrzej
IAES International Journal of Robotics and Automation (IJRA) Vol 9, No 1: March 2020
Publisher : Institute of Advanced Engineering and Science

The slender structures of a medical robot may have a tendency to buckling when a force equal to the critical Euler force and an additional disturbance will work on their structures. In this work, eigenvalue problem that describes the linear buckling is under consideration. The main goal of the article is to check when linear buckling phenomenon appears in construction of a medical robot with serial chain due to the fact that for safety reasons of a robot’s work, it is necessary to answer the question, whether the buckling may occur in the robot’s structure. For this purpose, a numerical calculation model was defined by using the finite element method. The values of load factor coefficients that are eigenvalue are determinated and also the eigenvectors that have shapes of deformation for the next eigenvalues are presented. The multi-criteria optimization model was determined to aim for the minimum mass of the effector and the buckling coefficient, from which the Euler force results, for the maximum. The solution was obtained on the basis of Pareto fronts and the MOGA genetic algorithm.

Structural Analysis and Five-Layered Control Frame Work for Underground Pipe Inspection Robot Satheesh Kumar Gopal; Ajin M
IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 4: December 2016
Publisher : Institute of Advanced Engineering and Science

Design of a robot generally involves various types of analyses that invariably include structural, numerical, kinematic, dynamic and experimental analysis. A robot designed as a solution for social problems would have to undergo all these stages before it is incorporated in-situ. The authors in continuation to their earlier work [1] are presenting the results of structural analysis in this paper. Initially a detailed description of the anatomy of the proposed robot is provided for clarity along with the identified design parameters. The primary design parameter ‘load to power ratio’ establishes certain geometric and structural constrains on the design of links comprising the robot. This relationship is studied in order to improve to the load to power ratio of the robot. A significant reduction in weight is achieved by working on these variables which leads to the improvement in the functional aspects too, viz., reduced torque requirement from the motor. Upon finalizing on the choice of motors and sensors the 5 layered control architecture based on statespace representation is also presented. Fuzzy logic based control algorithm is proposed to unite the layered approach depending on the task allocated to the robot.

Plant Watering Autonomous Mobile Robot Hema Nagaraja; Reema Aswani; Monisha Malik
IAES International Journal of Robotics and Automation (IJRA) Vol 1, No 3: September 2012
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (1134.117 KB)

Now days, due to busy routine life, people forget to water their plants. In this paper, we present a completely autonomous and a cost-effective system for watering indoor potted plants placed on an even surface. The system comprises of a mobile robot and a temperature-humidity sensing module. The system is fully adaptive to any environment and takes into account the watering needs of the plants using the temperature-humidity sensing module. The paper describes the hardware architecture of the fully automated watering system, which uses wireless communication to communicate between the mobile robot and the sensing module. This gardening robot is completely portable and is equipped with a Radio Frequency Identification (RFID) module, a microcontroller, an on-board water reservoir and an attached water pump. It is capable of sensing the watering needs of the plants, locating them and finally watering them autonomously without any human intervention. Mobilization of the robot to the potted plant is achieved by using a predefined path. For identification, an RFID tag is attached to each potted plant. The paper also discusses the detailed implementation of the system supported with complete circuitry. Finally, the paper concludes with system performance including the analysis of the water carrying capacity and time requirements to water a set of plants.DOI: http://dx.doi.org/10.11591/ijra.v1i3.1305

Crowbar Resistance Setting and its Influence on DFIG Low Voltage Based on Characteristics Li Shengqing; Yao Ming; Yuwen Zhang
IAES International Journal of Robotics and Automation (IJRA) Vol 6, No 1: March 2017
Publisher : Institute of Advanced Engineering and Science

In the case of low voltage fault cases,doubly fed induction generator (DFIG) with Crowbar protection circuit to realize low voltage ride through (LVRT),and the choice of crowbar resistance of unit LVRT effects is very large.In this paper, from the DFIG wind power system steady state and transient mathematical model of voltage drop down, using space vector analysis method and Laplace transform, deduced the time domain transient current expressions of voltage drop Put forward the method for calculating the maximum fault current and the rotor side crowbar resistance setting method, solve the crowbar protection circuit for tilting rotor current and DC bus over-voltage problems. Numerical example and simulation shows that, The proposed method, effectively suppress the transient component of fault current, significantly improved the automation level of the wind power system.

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Tae Jin Park

Contact Email
iaes.ijra@gmail.com

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iaes.ijra@gmail.com

Editorial Address
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Location
Kota yogyakarta,

Daerah istimewa yogyakarta

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Abstract

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Home Page

OAI Link

Editorial Team

Contact

Reviewer

Google Scholar

Contact Name Tae Jin Park

Contact Email iaes.ijra@gmail.com

Phone -

Journal Mail Official iaes.ijra@gmail.com

Editorial Address -

Location Kota yogyakarta, Daerah istimewa yogyakarta INDONESIA

Abstract

Abstract

Abstract

Abstract

Abstract

Abstract

Abstract

Abstract

Abstract

Abstract

Contact Name
Tae Jin Park

Contact Email
iaes.ijra@gmail.com

Phone
-

Journal Mail Official
iaes.ijra@gmail.com

Editorial Address
-

Location
Kota yogyakarta,

Daerah istimewa yogyakarta

INDONESIA