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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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Designing and testing of a smart firefighting device system (LAHEEB) Samkari, Yousef; Guedri, Kamel; Oreijah, Mowffaq; Munshi, Shadi; Azam, Sufyan
IAES International Journal of Robotics and Automation (IJRA) Vol 9, No 2: June 2020
Publisher : Institute of Advanced Engineering and Science

The motivation behind this project is that firefighter's death. Many firefighters are struggling to perform their duty which causes much death while on a mission and the circumstances related to each incident. Firefighters are our heroes and our sense of security in times of trouble. They put themselves on dangerous situations to protect us. At present, the world is moving toward the use of technologies software and hardware. This paper proposed a smart firefighting device system (LAHEEB) which designed to detect the source of fire, extinguish it, and increase the knowledge about fire behavior from incident area. This device can extinguish different types of fire A, B, C, D, F/K, electric and metal fire without spreading in the shortest time. This device will reduce the risk of injury for firefighters and possible victims and decrease the monetary losses which increase considerably as fire duration increases. LAHEEB device is consists of two parts. The first part is called the mid-cap which presented the body of the device that has most of the components such as sensors, relays, battery, servo motor, liquid tank, push-button, and Arduino. The second part is called the bottom-cap which presented the moving part of the device that has the significant components of LAHEEB such as servo motor, sprayer, and thermal camera. It also makes use of liquid-tank and spray mechanism for extinguishing the fire. The spraying nozzle is mounted on a servo motor to cover maximum area. Liquid-extinguisher is pumped from the main tank to the nose with the help of a pump. The whole system is programmed using an Arduino DUE board which forms the brain of the system.

Local Path Planning of Mobile Robot Using Critical-PointBug Algorithm Avoiding Static Obstacles SUBIR KUMAR DAS
IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 3: September 2016
Publisher : Institute of Advanced Engineering and Science

Path planning is an essential task for the navigation of Autonomous Mobile Robot. This is one of the basic problems in robotics. Path planning algorithms are classified as global or local, depending on the knowledge of surrounding environment. In local path planning, the environment is unknown to the robot, and sensors are used to detect the obstacles and to avoid collision. Bug algorithms are one of the frequently used path planning algorithms where a mobile robot moves to the target by detecting the nearest obstacle and avoiding it with limited information about the environment. This proposed Critical-PointBug algorithm, is a new Bug algorithm for path planning of mobile robots. This algorithm tries to minimize traversal of obstacle border by searching few important points on the boundary of obstacle area as a rotation point to goal and end with a complete path from source to goal.

Advanced Agriculture system Shrinivas R. Zanwar; R. D. Kokate
IAES International Journal of Robotics and Automation (IJRA) Vol 1, No 2: June 2012
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (236.306 KB)

This article addresses the advanced system which improves agriculture processes like cultivation on ploughed land, based on robotic platform. We have developed a robotic vehicle having four wheels and steered by DC motor. The advanced autonomous system architecture gives us the opportunity to develop a complete new range of agricultural equipment based on small smart machines. The machine will cultivate the farm by considering particular rows and specific column at fixed distance depending on crop. The obstacle detection problem will also be considered, sensed by infrared sensor. The whole algorithm, calculation, processing, monitoring are designed with motors & sensor interfaced with microcontroller. The result obtained through example activation unit is also presented. The dc motor simulation with feedforward and feedback technique shows precise output. With the help of two examples, a DC motor and a magnetic levitation system, the use of MATLAB and Simulink for modeling, analysis and control is designed.DOI: http://dx.doi.org/10.11591/ijra.v1i2.382

Interval type-2 fuzzy logic controller design for distillation column process Mohammed Y. Hassan; Sebal S. Ezzaten
IAES International Journal of Robotics and Automation (IJRA) Vol 8, No 3: September 2019
Publisher : Institute of Advanced Engineering and Science

Distillation columns are the most units used in oil reﬁneries, and chemical factories. This is a very difficult process and non-linear. Therefore, the development of intelligent control systems for the columns of the distillation is very difficult. In this paper, an intelligent control strategy using Mamdani type Interval Type-2 PI Like Fuzzy Logic Controller (IT2FLC) is used. The controller consists of PD-Like FLC with integrated output. Kernek Mendel (KM) algorithm is used as the type reduction method for the IT2FLC. This controller is applied to control a continuous binary trays distillation column. The controller has three tunable gains to reach minimum overshoot, minimum error and minimum settling time at least variables can be controlled. The controller is a variable of the molar fraction of distillate and the reflex ratio is the manipulated variable. Integral Time Absolute Error (ITAE) is employed as an objective function to measure the improvement in time response where the error is between desired and output product composition. The performance of IT2FLC is compared with Type-1 PI Like FLC (T1FLC). The results of the simulations have shown that the project of IT2FLC works efficiently to no- disturbance and the effects of disturbance. Improve average is of 85% for a constant set-point without a disturbance and 80% with a disturbance. Furthermore, the average improvement for a step set-point is 53% without disturbance and 74% with disturbance. All results of the simulation confirmed the hardiness and control any consistent inaccurate with obvious advantages for the IT2FLC.

Design of Micro Robot for Minimally Invasive Surgery Deiva Ganesh A
IAES International Journal of Robotics and Automation (IJRA) Vol 2, No 1: March 2013
Publisher : Institute of Advanced Engineering and Science

Micro robots for medical applications need to be compatible with human body, remotely controllable, smooth in movement, less painful to the patients and capable of performing the designated functions. In this paper, state of the art in the design, fabrication and control of micro robots are presented. First the benefits of micro robots in medical applications are listed out. Second, the predominantly used micro robot designs are discussed. Third, the various fabrication process used in micro robot construction are presented. Fourth, the different approaches used for its operation and control in micro robot technology are narrated. Next based on the review we have designed a swimming micro robot driven by external magnetic fields for minimally invasive surgery. The advantage of EMA is that it can generate a wireless driving force. Then, the locomotive mechanism of the micro robot using EMA is presented. Using the EMA system setup various experiments have been conducted. Finally, the performance of the swimming micro robot is evaluated.

Implementing 3D Printer to Produce Parts in Medical Applications Roger Johnson; Charles Taylor; G. H. Massiha
IAES International Journal of Robotics and Automation (IJRA) Vol 6, No 3: September 2017
Publisher : Institute of Advanced Engineering and Science

The purpose of this project is to show the ability of a 3D printer to produce temporary parts, molds, and jigs for industrial applications. In the industry, it is common for any replacement parts to be milled by a CNC machine or a large inventory of replacement parts to be kept on standby. This represents an underutilization of company capital. This is because there should either be a CNC machine delegated to remake the part, while the other machine is down, or have capital dumped into parts that will not be utilized until a part breaks. A 3D printer can create a temporary part that can take the place of the broken one until another, more permanent, one can be produced or ordered. Although, if this was the only thing it would be used for it also would be underutilized and not bringing out its full potential. It can also make jigs in a fraction of the time, and cost in materials, it would take for a CNC machine to mill it from metal. This increases flexibility of the 3D printer and does not leave it underutilized, thus not being capital that is underutilized.

Intelligent Mobile Olfaction of Swarm Robots Siti Nurmaini; Bambang Tutuko; Aulia Rahman Thoharsin
IAES International Journal of Robotics and Automation (IJRA) Vol 2, No 4: December 2013
Publisher : Institute of Advanced Engineering and Science

This work presents intelligent mobile olfaction design and experimental results of intelligent swarm robots to detection a gas/odour source in an indoor environment by using multi agent based on hybrid algorithm. We examine the problem for deciding when, how and where the gas/odour sensor should be activated. Simple form of cooperation between Interval Type-2 Fuzzy Logic and Particle Swarm Optimization (IT2FL-PSO) algorithm is implemented in the olfaction strategies. The real experiments performed on smaller five mobile robots equipped with dynamic gas/odour sensor TGS2600 and three infra-red sensors. The results show that single robot-based olfaction system with 5 behaviors capable for searching source of a simulated chemical leak in unknown environment and flooking behavior can be done by 3 robots to find the source of gas/odour.

Identifying the Optimal Controller Strategy for DC Motors M. R. Qader
IAES International Journal of Robotics and Automation (IJRA) Vol 6, No 4: December 2017
Publisher : Institute of Advanced Engineering and Science

The aim of this study is to design a control strategy for the angular rate (speed) of a DC motor by varying the terminal voltage. This paper describes various designs for the control of direct current (DC) motors. We derive a transfer function for the system and connect it to a controller as feedback, taking the applied voltage as the system input and the angular velocity as the output. Different strategies combining proportional, integral, and derivative controllers along with phase lag compensators and lead integral compensators are investigated alongside the linear quadratic regulator. For each controller transfer function, the step response, root locus, and bode plot are analysed to ascertain the behaviour of the system, and the results are compared to identify the optimal strategy. It is found that the linear quadratic controller provides the best overall performance in terms of steady-state error, response time, and system stability. The purpose of the study that took place was to design the most appropriate controller for the steadiness of DC motors. Throughout this study, analytical means like tuning methods, loop control, and stability criteria were adopted. The reason for this was to suffice the preconditions and obligations. Furthermore, for the sake of verifying the legitimacy of the controller results, modelling by MATLAB and Simulink was practiced on every controller.

Filtering Method for Location Estimation of an Underwater Robot Nak Yong Ko; Tae Gyun Kim
IAES International Journal of Robotics and Automation (IJRA) Vol 3, No 3: September 2014
Publisher : Institute of Advanced Engineering and Science

This paper describes an application of extended Kalman filter(EKF) for localization of an underwater robot. For the application, linearized model of robot motion and sensor measurement are derived. Like usual EKF, the method is recursion of two main steps: the time update(or prediction) and measurement update. The measurement update uses exteroceptive sensors such as four acoustic beacons and a pressure sensor. The four beacons provide four range data from these beacons to the robot and pressure sensor does the depth data of the robot. One of the major contributions of the paper is suggestion of two measurement update approaches. The first approach corrects the predicted states using the measurement data individually. The second one corrects the predicted state using the measurement data collectively. The simulation analysis shows that EKF outperforms least squares or odometry based dead-reckoning in the precision and robustness of the estimation. Also, EKF with collective measurement update brings out better accuracy than the EKF with individual measurement update.

Modelling and Passivity-Based Control of a Non Isolated DC-DC Converter in a Fuel Cell System Moutabir Ahmed; Abdelmounim Elhassane; Aboulfatah Mohamed
IAES International Journal of Robotics and Automation (IJRA) Vol 7, No 3: September 2018
Publisher : Institute of Advanced Engineering and Science

This paper presents the model of a fuel cell and the design and simulation of a cascade of two DC-DC converters. First, a detailed mathematical model of fuel cell is presented and simulated. Then, a nonlinear model of the whole controlled system is developed and a robust nonlinear controller of currents is synthesized using a passivity-based control. A formal analysis based on Lyapunov stability and average theory is developed to describe the control currents loops performances. A classical PI controller is used for the voltages loops. The simulation models have been developed and tested in the MATLAB / SIMULINK. Simulated results are displayed to validate the feasibility and the effectiveness of the proposed strategy.

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Tae Jin Park

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Daerah istimewa yogyakarta

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Home Page

OAI Link

Editorial Team

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Contact Name Tae Jin Park

Contact Email iaes.ijra@gmail.com

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Journal Mail Official iaes.ijra@gmail.com

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Location Kota yogyakarta, Daerah istimewa yogyakarta INDONESIA

Abstract

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Abstract

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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