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IAES International Journal of Robotics and Automation (IJRA)

IJRA
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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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UAV Controller Based on Adaptive Neuro-Fuzzy Inference System and PID Ali Moltajaei Farid
IAES International Journal of Robotics and Automation (IJRA) Vol 2, No 2: June 2013
Publisher : Institute of Advanced Engineering and Science

ANFIS is combining a neural network with a fuzzy system results in a hybrid neuro-fuzzy system, capable of reasoning and learning in an uncertain and imprecise environment. In this paper, an adaptive neuro-fuzzy inference system (ANFIS) is employed to control an unmanned aircraft vehicle (UAV). First, autopilots structure is defined, and then ANFIS controller is applied, to control UAVs lateral position. The results of ANFIS and PID lateral controllers are compared, where it shows the two controllers have similar results. ANFIS controller is capable to adaptation in nonlinear conditions, while PID has to be tuned to preserves proper control in some conditions. The simulation results generated by Matlab using Aerosim Aeronautical Simulation Block Set, which provides a complete set of tools for development of six degree-of-freedom. Nonlinear Aerosonde unmanned aerial vehicle model with ANFIS controller is simulated to verify the capability of the system. Moreover, the results are validated by FlightGear flight simulator.

Exploration Strategies of Coordinated Multi-Robot System: A Comparative Study Ayman. El shenawy; Khalil. Mohamed; Hany. M. Harb
IAES International Journal of Robotics and Automation (IJRA) Vol 7, No 1: March 2018
Publisher : Institute of Advanced Engineering and Science

Environment Exploration is the basic process that most of Multi Robot Systems applications depend on it. The exploration process performance depends on the coordination strategy between the robots participating in the team. In this paper the coordination of Multi Robot Systems in the exploration process is surveyed, and the performance of different Multi Robot Systems exploration strategies is contrasted and analyzed for different environments and different team sizes.

A Neural Network Approach for Inverse Kinematic of a SCARA Manipulator Panchanand Jha; B. B. Biswal
IAES International Journal of Robotics and Automation (IJRA) Vol 3, No 1: March 2014
Publisher : Institute of Advanced Engineering and Science

Inverse kinematic is one of the most interesting problems of industrial robot. The inverse kinematics problem in robotics is about the determination of joint angles for a desired Cartesian position of the end effector. It comprises of the computation need to find the joint angles for a given Cartesian position and orientation of the end effectors to control a robot arm. There is no unique solution for the inverse kinematics thus necessitating application of appropriate predictive models from the soft computing domain. Artificial neural network is one such technique which can be gainfully used to yield the acceptable results. This paper proposes a structured artificial neural network (ANN) model to find the inverse kinematics solution of a 4-dof SCARA manipulator. The ANN model used is a multi-layered perceptron neural network (MLPNN), wherein gradient descent type of learning rules is applied. An attempt has been made to find the best ANN configuration for the problem. It is found that multi-layered perceptron neural network gives minimum mean square error.

Nonlinear Adaptive Control for Wind Turbine Under Wind Speed Variation Abdelhaq.Amar bensaber; Mustapha Benghanem; Mohammed.Amar bensaber; Abdelmadjid. Guerouad
IAES International Journal of Robotics and Automation (IJRA) Vol 7, No 2: June 2018
Publisher : Institute of Advanced Engineering and Science

Wind turbines components work as nonlinear systems where electromechanical parameters change frequently [1], which makes nonlinear control an interesting solution to prevail good efficiency. SMC has been largely used in electrical power applications because it offers interesting features like robustness to parametric uncertainties and external disturbances, to conquer the biggest drawback of the SMC, adaptation strategy consists on updating the sliding gain and the turbine torque to contribute with some important characteristics such as chatter-free performance, heftiness, robustness and secure power system operation. Matlab tests are introduced and compared.

Dynamic Behavior of a SCARA Robot by using N-E Method for a Straight Line and Simulation of Motion by using Solidworks and Verification by Matlab/Simulink Fernini Brahim; Mustapha Temmar
IAES International Journal of Robotics and Automation (IJRA) Vol 3, No 4: December 2014
Publisher : Institute of Advanced Engineering and Science

SCARA (Selective Compliant Assembly Robot Arm) robot of serial architecture is widely used in assembly operations and operations "pick-place", it has been shown that use of robots improves the accuracy of assembly, and saves assembly time and cost as well. The most important condition for the choice of this kind of robot is the dynamic behavior for a given path, no closed solution for the dynamics of this important robot has been reported. This paper presents the study of the kinematics (forward and inverse) by using D-H notation and the dynamics of SCARA robot by using N-E methods. A computer code is developed for trajectory generation by using inverse kinematics, and calculates the variations of the torques of the links for a straight line (path rest to rest) between two positions for operation "pick-place". SCARA robot is constructed to achieve “pick-place» operation using SolidWorks software. And verification by Matlab/Simulink. The results of simulations were discussed. An agreement between the two softwares is certainly obtained herein

Online Biped Walking Pattern Generation with Contact Consistency Wenqi Hou; Jian Wang; Jianwen Wang; Hongxu Ma
IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 1: March 2015
Publisher : Institute of Advanced Engineering and Science

In this paper, a novel online biped walking gait pattern generating method with contact consistency is proposed. Generally, it’s desirable that there is no foot-ground slipping during biped walking. By treating the hip of the biped robot as a linear inverted pendulum (LIP), a foot placement controller that takes the contact consistency into account is proposed to tracking the desired orbit energy. By selecting the hip’s horizontal locomotion as the parameter, the trajectories in task space for walking are planned. A task space controller without calculating the inversion of inertial matrix is presented. Simulation experiments are implemented on a virtual 5-link point foot biped robot. The results show the effectiveness of the walking pattern generating method which can realize a stable periodic gait cycle without slipping and falling even suffering a sudden disturbance.

Development of alcohol triggered vehicle engine lock system Ighalo Joshua; Uzairue Stanley; Ochonogor Charles; Amaize Peter; Kennedy Okokpujie
IAES International Journal of Robotics and Automation (IJRA) Vol 8, No 1: March 2019
Publisher : Institute of Advanced Engineering and Science

Drunk driving is a very dangerous behavior caused as a result of excessive consumption of alcohol therefore causing distortion in the thought pattern of its victims with a large percentage being drivers of vehicles of all forms. Most of the traffic accidents recorded in recent years are related to drunk driving. Solutions have been proposed, devices developed, all to the sole aim which is to reduce traffic accidents due to drunk driving but none has been quite cable of impairing the driver’s ability to drive. To this end, we model and design an alcohol triggered vehicle engine lock system. This project’s ability to impair the driver’s ability to drive makes it stand out from previous methods or devices developed to reduce road accidents due to drunk driving. The entire system is based on a microcontroller that is used to set an alcohol limit/ threshold which when reached or crossed upon sensing of alcohol in the air by the alcohol sensor, would trigger the buzzer alarm and warning LED of the circuit to alert the driver that his/her blood alcohol concentration at that moment in time wouldn’t be safe for driving. At this point the system automatically locks the ignition system of the vehicle within which it is embedded while an LCD displays information for the driver’s visuals incase the driver’s sight isn’t also impaired while in the drunk state. This project is a prototype to what is proposed with the vehicle’s engine system represented with a DC motor and its ignition system represented with a push button. The overall work was implemented with a constructed work, tested working and perfectly functional.

Kinematic Modelling of Multi-Terrain Pine Needle Collecting Robot (PiNCoR) for the Hilly areas of Uttarakhand Shival Dubey; Manish Prateek; Mukesh Saxena
IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 3: September 2015
Publisher : Institute of Advanced Engineering and Science

Uttarakhand – a northern state of India in the foothills of Himalayas has approximately 64.8% of forest. Pine (Pinus roxburghii) is an important tree species which is because of its numerous uses becomes more prominent in this hilly state. Pine Needle Collecting Robot (PiNCoR) is a machine designed to collect pine needles from the high altitude pine forest regions. The robot is capable to maneuver over rough terrains, can navigate through craters and can stock the collected pine needles. After analyzing the design constraints for navigation on the hilly terrains, a small rover was designed and the kinematics portion is discussed in this paper. With the use of a versatile rocker bogie suspension mechanism, this paper also presents the kinematic modelling of a wheeled mobile robot being the best for hilly areas with super stability and traction control being its assets. It analyzes the different inputs from the information provided by the on-board sensor system for maneuvering. The robot has five degrees of freedom (DoF) providing it the flexibility to work in x and z axes as along with the standard pitch, roll and yaw directions.

Optimization of PID controller parameters using PSO for two area load frequency control Brijesh Kumar Dubey; N. K. Singh; Sameer Bhambri
IAES International Journal of Robotics and Automation (IJRA) Vol 8, No 4: December 2019
Publisher : Institute of Advanced Engineering and Science

In this paper, an evolutionary computing approach for determining the optimal values for the proportional-integral-derivative (PID) controller parameters of load frequency control (LFC) of two area power system is presented. The proposed approach employs a particle swarm optimization technique to find optimum parameters. The state space model of two area power system and an Eigen value based objective function is considered. The effectiveness of the proposed approach is compared with integral control. Simulation results justify the proposed approach in terms of damping the oscillations, improved settling time, less over/under shoots.

Implementation of Human Robot Interaction on UDOO Board Min Raj Nepali; Priyanka C Karthik; Jharna Majumdar
IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 1: March 2016
Publisher : Institute of Advanced Engineering and Science

Advanced Robot for Interactive Application (ARIA) is a Humanoid Robotic Head which is capable of mimicking Various Human Facial Expressions. Much work has been done on Implementation of Humanoid Robotic Head with High end systems and Personal Computers (PCs). This paper presents the essential elements necessary for the implementation of Advanced Robot for Interactive Application (ARIA) on UDOO Board. The main aim of the Project was to develop a control system and Graphical User Interface (GUI) for ARIA to deliver real time human facial expressions using embedded board. Humanoid Robotic Head which is capable of mimicking Human Facial Expressions in Real time. Implementation of ARIA involved careful selection of Embedded Board, actuators, control algorithms, motor drivers, operating system, communication protocols, and programming languages. The Board contains a Quad Core A9 Processor and a Controller embedded on it, which are interconnected. In this project the controller is dedicated to control micro servo motors which are controlling eyes, eyebrows and eyelids movements whereas the Processor Handles the Dynamixel motors, GUI and different communication modules.

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Reviewer

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Contact Name
Tae Jin Park

Contact Email
iaes.ijra@gmail.com

Phone
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Journal Mail Official
iaes.ijra@gmail.com

Editorial Address
-

Location
Kota yogyakarta,

Daerah istimewa yogyakarta

INDONESIA

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