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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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Design and Experiments of Low Cost Teleoperation System Adha Imam Cahyadi; Ng Khin Hooi; Anugrah Persada; Rubiyah Yusof; Yoshio Yamamoto
IAES International Journal of Robotics and Automation (IJRA) Vol 1, No 1: March 2012
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (708.109 KB)

In this work, a teleoperation system consists of two planar SCARA manipulators is developed. The manipulators are constructed using basic low cost aluminum bars as well as cheap electronic circuitry and software. Modeling, system identification, individual control and teleoperation control are proposed. Finally, experiments are also performed to verify the effectiveness of the design.Index Terms—Teleoperation systems, PID control, System identification, position control.DOI: http://dx.doi.org/10.11591/ijra.v1i1.272

Denavit-Hartenberg Coordinate System for Robots with Tree-like Kinematic Structure Alexander Kovalchuk; F. Akhmetova
IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 4: December 2016
Publisher : Institute of Advanced Engineering and Science

The paper presents a modified Denavit-Hartenberg coordinate system resulted from joint application of graph theory and the Denavit-Hartenberg coordinate system, which was developed to describe the kinematics of robot actuators with a linear open kinematic chain. It allows forming mathematical models of actuating mechanisms for the robots with tree-like kinematic structures. The work introduces the concept of primary and auxiliary coordinate systems. It considers an example of making the links’ reachability matrix and reachability graph for the tree-like actuating mechanism of a robotic mannequin. The use efficiency of the proposed modified Denavit-Hartenberg coordinate system is illustrated by the examples giving the mathematical description of the kinematics and dynamics of specific robots’ tree-like actuating mechanisms discussed in the previously published papers. It is shown that the proposed coordinate system can also be successfully applied to describe the actuating mechanisms of robots with a linear open kinematic chain, which is a particular case of the tree-like kinematic structure. The absence of branching joints in it does not require introducing auxiliary coordinate systems and the parameters f(i) and ns(i) are necessary only for the formal notation of equations, which have similar forms for the tree-like and linear chains. In this case, the modified and traditional coordinate systems coincide.

Electromyographic Grasp Recognition for a Five Fingered Robotic Hand Nayan M. Kakoty; Mantoo Kaiborta; Shyamanta M. Hazarika
IAES International Journal of Robotics and Automation (IJRA) Vol 2, No 1: March 2013
Publisher : Institute of Advanced Engineering and Science

This paper presents classification of grasp types based on surface electromyographic signals. Classification is through radial basis function kernel support vector machine using sum of wavelet decomposition coefficients of the EMG signals. In a study involving six subjects, we achieved an average recognition rate of 86%. The electromyographic grasp recognition together with a 8-bit microcontroller has been employed to control a fivefingered robotic hand to emulate six grasp types used during 70% daily living activities.

Designing of Robot Gamelan Music using ATmega 16 Microcontroller Handri Jir Azhar; Ferry Hadary; Syaifurrahman Syaifurrahman
IAES International Journal of Robotics and Automation (IJRA) Vol 6, No 2: June 2017
Publisher : Institute of Advanced Engineering and Science

This paper presents a robot concept which is the robot can play the instrumental Gamelan music. Gamelan is a percussive instrument. Instrumental Gamelan music keys are consist of 2 octaves in 15 tones. Robot Gamelan music is using proportional-derivative (PD) control system. PD control of the robot is by controlling DC gear motor position to desired Gamelan key position. Robot Gamelan music using ATmega 16 microcontroller as a controller. Feedback of PD control is using magnetic rotary encoder (MRE) sensor. PD control is using the constant. The constant functions of PD control are determining the pulse width modulation (PWM) toward DC gear motor velocity in order to reposition a gamelan key position and pushing down the errors.

From CAD to Robot: Undergraduate Capstone Design in Engineering Technology Kuldeep S. Rawat; G.H. Massiha
IAES International Journal of Robotics and Automation (IJRA) Vol 2, No 4: December 2013
Publisher : Institute of Advanced Engineering and Science

A novel senior project in designing and implementing a wheeled platform-based experimental mobile robot is discussed. This mobile robot design project was used as a platform to learn sensor interfacing, microcontroller programming, motor control, and electronic circuit design and troubleshooting. A specially designed proto board was used so that students could experiment with various types of sensors and supporting electronic circuitry. The modules implemented in this project are, servo motor control, infrared (IR)-based obstacle detection and avoidance, temperature sensing, and IR wireless communication. An 8-bit Peripheral Interface Controller (PIC) microcontroller, operating at 20MHz, was used as a programmable controller to monitor external environment through sensors and make appropriate decisions. PIC microcontroller was programmed using PICBasic PRO, a BASIC like high-level language. The implementation was divided into separate experiments, through which the students progressively completed the mobile robot. This progressive experimentation helped students develop their knowledge of interfacing, microcontroller programming, electronic control, circuit design, and troubleshooting in an incremental manner. The robot design experiments, sensor interfacing, electronic control, supporting circuitry, problems faced and troubleshooting during implementation are discussed in the paper.

Improving Transient Stability in Power Systems by Using Fuzzy Logic Controlled SVC Reaza Ashrafi Habib Abadi; Amir Nekoubin
IAES International Journal of Robotics and Automation (IJRA) Vol 6, No 4: December 2017
Publisher : Institute of Advanced Engineering and Science

This paper presents the capability of a fuzzy logic based stabilizer used for generating the supplementary control signal to voltage regulator of static VAR compensator (SVC) for improving damping oscillations in power systems. Generator speed deviation and line active power were chosen as input signals for the fuzzy logic controller (FLC). The quantity of reactive power supplied/absorbed by SVC is determined based on the two input signal and deviation of terminal voltage at each sampling time. The effectiveness and feasibility of the proposed control is demonstrated with Single Machine Infinite Bus (SMIB) system and multi machine system which show improvement over the use of a fixed parameter controller. It has been observed that a robust controller is obtained with fuzzy logic controller.

Multisensor Data Fusion and Integration for Mobile Robots: A Review KS Nagla; Moin Uddin; Dilbag Singh
IAES International Journal of Robotics and Automation (IJRA) Vol 3, No 2: June 2014
Publisher : Institute of Advanced Engineering and Science

One of the most important and useful feature of autonomous mobile robots is their ability to adopt themselves to operate in unstructured environment. Today robots are performing autonomously in industrial floor, office environments, as well as in crowded public places where the robots need to maintain their localization and mapping parameters.The basic requirement of an intelligent mobile robot is to develop and maintain localization and mapping parameters to complete the complex missions. In such situations, several difficulties arise in due to the inaccuracies and uncertainties in sensor measurements. Various techniques are there to handle such noises where the multisensor data fusion is not the exceptional one.From the last two decades, multisensor data fusions in mobile robots become a dominant paradigm due to its potential advantages like reduction in uncertainty, increase in accuracy and reliability and reduction of cost.This paper presents the reviews of autonomous mobile robots and role of multisenosr data fusion.

Implement the Harmonic Search Algorithm with Optimum Location of Capacitors Sizing and Dispatchable DGs to Control the Reactive Power on Interconnected Bus System M. Suneetha; R.Srinivasa Rao; B. Subramanyam
IAES International Journal of Robotics and Automation (IJRA) Vol 7, No 3: September 2018
Publisher : Institute of Advanced Engineering and Science

Power system is combination of generation, transmission and Distribution Network. In modern trends power system operation is very difficulty due to energy storage elements, and variable inductive load. In power system, control the reactive power is essential to maintain the safe and more reliability of power system operation. In this paper, to organize the real power and reactive power by optimizing and sizing of capacitors and Dispatchable Distribution generators in a distribution network with help of Harmonic Search Algorithm. The constraints of power system like voltage, real power and reactive and branch current carrying capacity are included in the evaluation of the objective function. To validate planned development network an IEEE 30 bus investigation system is considered.

Making Humanoid Robots More Acceptable Based on the Study of Robot Characters in Animation Fatemeh Maleki; Zeinab Farhoudi
IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 1: March 2015
Publisher : Institute of Advanced Engineering and Science

In this paper we take an approach in Humanoid Robots are not considered as robots who resembles human beings in a realistic way of appearance and act but as robots who act and react like human that make them more believable by people. Regarding this approach we will study robot characters in animation movies and discuss what makes some of them to be accepted just like a moving body and what makes some other robot characters to be believable as a living human. The goal of this paper is to create a rule set that describes friendly, socially acceptable, kind, cute... robots and in this study we will review example robots in popular animated movies. The extracted rules and features can be used for making real robots more acceptable.

Study of Grid Connected Wind Energy System with Fuzzy Logic Based MPPT Controller Jayalakshmi N. S; Sachin S
IAES International Journal of Robotics and Automation (IJRA) Vol 7, No 4: December 2018
Publisher : Institute of Advanced Engineering and Science

Renewable energy sources (RESs) are gaining more importance due to depleting fossil fuel sources in few decades. When compared to other RESs wind energy system is widely available and user friendly in nature. This paper presents modelling and simulation of grid connected PMSG based wind energy conversion system with P&O maximum power point tracking (MPPT) control technique. The PQ controller is used for grid tied inverter to exchange real and reactive power with DC bus voltage regulation. The fuzzy logic controller (FLC) is used for MPPT implementation as it provides better performance as compared to the traditional PID controllers. The various case studies are considered for power management between wind system and the utility grid and the results are evaluated in MATLAB/ Simulink platform.

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Tae Jin Park

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iaes.ijra@gmail.com

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iaes.ijra@gmail.com

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Location
Kota yogyakarta,

Daerah istimewa yogyakarta

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Abstract

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Abstract

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