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.
Articles
470 Documents
<![CDATA[Occupancy Grid Mapping Based on DSmT for Dynamic Environment Perception ]]>
<![CDATA[Junjing Zhou]]>;
<![CDATA[Duan Jianmin]]>;
<![CDATA[Yang Guangzu]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 2, No 4: December 2013 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v2i4.pp129-139
<![CDATA[Occupancy grid mapping is an important approach for intelligent vehicle environment perception. In this paper, an occupancy grid mapping approach in Dezert-Smarandache theory (DSmT) framework for the purpose of dynamic environment perception is proposed. To avoid the transformation of the local map from polar to Catersian coordinate, a different inverse sensor model in Cartesian coordinate for laser scanner was proposed. Two different combination rules in DSmT framework, Dempster’s rule of combination and PCR2, are implemented independently for global map update and mobile object detection. The performance of the two combination rules were compared by ways of simulation and experiment. According to the comparisons we find that both of the combination rules are capable of detecting mobile objects. And the former effectively filtered out the noise and make the detection robust, but the latter didn’t, suggesting that the former is more suitable for occupancy grid mapping. Static and mobile objects are extracted from the occupancy grid map using digital image processing technology.]]>
<![CDATA[Discrete-time Inversion Model Control of a Double-damper System with Uncertain Parameters ]]>
<![CDATA[Marwa Hannachi]]>;
<![CDATA[Ikbel Bencheikh Ahmed]]>;
<![CDATA[Dhaou Soudani]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 6, No 3: September 2017 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v6i3.pp168-177
<![CDATA[This paper addresses the control at discrete time of physical complex systems multi-inputs multi-outputs with variables parameters. Classified among the robust control laws the Internal Model Control (IMC) is adopted in this work to ensure the desired performances adjacent to the complexities of the system. However, the application of this control strategy requires that these different building blocks be open loop stable, which invites us, on the one hand, to apply the algebraic approach of Kharitinov for delimiting the summits stability domain’s system. On the other case, the Linear Matrix Inequalities (LMI) approach is applied to determine the corrector’s stability conditions obtained by a specific inversion of the chosen model. It is in this sense that we contribute by this work to execute the command by inversion the discrete-time model in order to ensure the stability and to maintain the performances the stability conditions of required for the double damper system with variable parameters.]]>
<![CDATA[Design of Piano -playing Robotic Hand ]]>
<![CDATA[Lin Jen-Chang]]>;
<![CDATA[Hsin-Cheng Li]]>;
<![CDATA[Kuo-Cheng Huang]]>;
<![CDATA[Shu-Wei Lin]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 3, No 2: June 2014 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v3i2.pp118-130
<![CDATA[Unlike the market slowdown of industrial robots, service & entertainment robots have been highly regarded by most robotics reseach and market research agencies. In this study we developed a music playing robot (which can also work as a service robot) for public performance. The research is mainly focused on the mechanical and electrical control of piano-playing robot, the exploration of correlations among music theory, rhythm and piano keys, and eventually the research on playing skill of keyboard instrument. The piano-playing robot is capable of control linear motor, servo-motor and pneumatic devices in accordance with the notes and rhythm in order to drive the mechanical structure to proper positions for pressing the keys and generating music. The devices used for this robot are mainly crucial components produced by HIWIN Technology Corp. The design of robotic hand is based on the direction of anthropomorphic hand such that five fingers will be used for playing piano. The finger actuations include actions of finger rotation, finger pressing, and finger lifting; time required for these 3 stages must meet the requirement of rhythm. The purpose of entertainment robot can be achieved by playing electric piano with robotic hand, and we hope this research can contribute to the development of domestic entertainment music playing robots.]]>
<![CDATA[Comparative Study Entered New Approach FMV and Control SFR for Active Compensation of Harmonic Currents in Shunt Active Power Filter ]]>
<![CDATA[Loutfi Benyettou]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 7, No 2: June 2018 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v7i2.pp119-128
<![CDATA[In this article, we discuss the problem of degradation of current in electrical installations, which follows directly from the proliferation of non-linear loads, to solve it, we used a two-level inverter as a parallel active filter, which injects current harmonics at the connection point with two compensation methods the method of instantaneous active and reactive power (pq method and pq method with MVF) method binds to the repository synchronization. We will highlight two control strategies by hysteresis and PWM. Simulation results using Blok set Power System (PBS)/ Simulink Matlab show reduced THD in accordance with standard IEEE-519.]]>
<![CDATA[Fuzzy Controlled Routing in a Swarm Robotic Network ]]>
<![CDATA[Navya Manoj]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 3, No 4: December 2014 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v3i4.pp272-276
<![CDATA[Swarm Robotics originated in the research inspired by biology. It is the usual sense of the multi-robot systems which have been given the emerging attributes of swarm intelligence. In nature, ants, termites, wasps, bees and other social insects have inspired surprisingly inspiration of human. These groups of organisms show how to interact with a large number of simple individuals and generate the collective intelligence of systems to cope with complicated tasks. Swarm Robotics is a special robot system which is composed of a group of indiscriminate robots and so it is a typical distributed system. If a task is for only one robot and the robot will be very complex and expensive inefficiently. But if it is for the swarm robotics, the complex task can be done by many more simple robots efficiently. For the Routing problem, the quality of a potential route is determined by the length of the route (i.e. number of links) and the congestion along the route. It is desired to balance the traffic load among links in the network so it is desirable to select routes with a low obstacle rate. In addition, shorter routes are preferred over longer routes because they use fewer network resources]]>
<![CDATA[Design of Robust Controller for Higher Order Interval System using Differential Evolutionary Algorithm ]]>
<![CDATA[D. Srinivasa Rao]]>;
<![CDATA[M. Siva Kumar]]>;
<![CDATA[M. Ramalinga Raju]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 7, No 4: December 2018 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v7i4.pp232-250
<![CDATA[This paper describes the design of the robust PI/PID controller for the higher order interval system via its reduced order model using the differential evolution (DE) algorithm. A stable reduced interval model is generated from a higher order interval system using the DE in order to minimize the cost and reduce the complexity of the system. This reduced order interval numerator and denominator polynomials are determined by minimizing the Integral Squared Error (ISE) using the DE. Then, using reduced order interval model, a robust PI/PID controller is designed based on the stability conditions for determining robust stability of interval system. Finally, using these stability conditions, a set of inequalities in terms of controller parameters is obtained from the reduced order closed loop characteristic polynomial. Then these inequalities are solved to obtain robust controller parameters with the help of a DE algorithm. The designed, robust controller from the reduced order interval model will be attributed to the higher order interval system. The designed PI/PID controller from our proposed method not only stabilizes the reduced order model, but also stabilizes the original higher order system. The viability of the proposed methodology is illustrated through the numerical example of its successful implementation. The efficacy of the proposed methodology is also evaluated against the available approaches presented in the literature and the results were successfully implemented.]]>
<![CDATA[Inverse Kinematic Solution of 5R Manipulator using ANN and ANFIS ]]>
<![CDATA[Panchand Jha]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 2: June 2015 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v4i2.pp109-123
<![CDATA[Inverse kinematics of manipulator comprises the computation required to find the joint angles for a given Cartesian position and orientation of the end effector. There is no unique solution for the inverse kinematics thus necessitating application of appropriate predictive models from the soft computing domain. Artificial neural network and adaptive neural fuzzy inference system techniques can be gainfully used to yield the desired results. This paper proposes structured artificial neural network (ANN) model and adaptive neural fuzzy inference system (ANFIS) to find the inverse kinematics solution of robot 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 ANFIS gives better result and minimum error as compared to ANN.]]>
<![CDATA[Novel algorithms for protective digital privacy ]]>
<![CDATA[Y. N. Prajapati]]>;
<![CDATA[M. K. Srivastava]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 8, No 3: September 2019 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v8i3.pp184-188
<![CDATA[Video is the recording, reproducing, or broadcasting of moving visual images. Visual multimedia source that combines a sequence of images to form a moving picture. The video transmits a signal to a screen and processes the order in which the screen captures should be shown. Videos usually have audio components that correspond with the pictures being shown on the screen. Video compression technologies are about reducing and removing redundant video data so that a digital video file can be effectively sent over a network and stored on computer disks. With efficient compression techniques, a significant reduction in file size can be achieved with little or no adverse effect on the visual quality. The video quality, however, can be affected if the file size is further lowered by raising the compression level for a given compression technique. Security is about the protection of assets. Security, in information technology (IT), is the defense of digital information and IT assets against internal and external, malicious and accidental threats. This defense includes detection, prevention and response to threats through the use of security policies, software tools and IT services. Security refers to protective digital privacy measures that are applied to prevent unauthorized access to computers, databases and websites. Cryptography is closely related to the disciplines of cryptology and cryptanalysis. Cryptography includes techniques such as microdots, merging words with images, and other ways to hide information in storage or transit. However, in today's computer-centric world, cryptography is most often associated with scrambling plaintext (ordinary text, sometimes referred to as clear text into cipher text (a process called encryption), then back again (known as decryption). Cryptography is evergreen and developments. Cryptography protects users by providing functionality for the encryption of data and authentication of other users. Compression is the process of reducing the number of bits or bytes needed to represent a given set of data. It allows saving more data. The project aims to implement security algorithm for data security. The data will be first encrypted using security techniques and that are done at the same time then it takes less processing time and more speed compression techniques will applied. If encryption and compression are done at the same time then it takes less processing time and more speed.]]>
<![CDATA[Review of Vision-Based Robot Navigation Method ]]>
<![CDATA[Budi Rahmani]]>;
<![CDATA[Agfianto Eko Putra]]>;
<![CDATA[Agus Harjoko]]>;
<![CDATA[Tri Kuntoro Priyambodo]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 4: December 2015 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v4i4.pp254-261
<![CDATA[Vision-based robot navigation is a research theme that continues to be developed up to now by the researchers in the field of robotics. There are innumerable methods or algorithms are developed, and this paper described the reviews of the methods. The methods are distinguished whether the robot is equipped with the navigation map (map-based), the map is built incrementally as robot observes the environment (map-building), or the robot navigates using no map (mapless). In this paper will described navigation methods of map-based, map-building, and mapless category.]]>
<![CDATA[Design and development of soft robotic hand for vertical farming in spacecraft ]]>
<![CDATA[Suresh, Aswath]]>;
<![CDATA[Udupa, Ganesha]]>;
<![CDATA[Gaba, Dhruv]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 9, No 1: March 2020 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v9i1.pp6-16
<![CDATA[For colonization in deep space we need to explore the feasibility of a bioregenerative system in microgravity or artificial gravity environments. The process has various complexities form ranging to biological obstacles to engineering limitations of the spacecraft. Concentration of microbes in the confinements of a spacecraft can be fatal for the crew. In this paper, a solution to the elevated microbial levels by farming using robots is discussed. The soft robotic arm is made up of Asymmetric Flexible Pneumatic Actuator (AFPA). The AFPA under internal pressure will curve in the direction of the side having greater thickness as the expansion of the thinner side (outside radius) will be more than thicker side (inside radius) due to differential expansion and moment induced due to eccentricity. Simulation results demonstrate that bending based on AFPA can meet the designed requirement of application. The AFPA is used for five fingers of the robotic hand. The safe, soft touch and gentle motion of the bellow (AFPA) gives the feel of real human hand. The internal pressure of the AFPA is controlled using a solenoid valve which is interfaced using an Arduino microcontroller for hand like moves. The bending of the fingers and degree of freedom (DOF) of the joints of the hand is controlled using an IMU and flex sensor. Wireless connection of the hand and the control system is implemented using XBee pro 60mW with a range of 1 miles. The pneumatic soft robotic hand is made up of solenoid valve, Mini Compressor, AFPA bellow, and Servos. This soft robotic hand has many advantages such as good adaptability, simple structure, small size, high flexibility and less energy loss. As an extension Manual control of the robot using a virtual reality environment and well as some possible aspects of an automated farming systems can be considered as future additions.]]>
