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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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Sampled-Data Backstepping Control of a Quadrotor Unmanned Aerial Vehicle Abdul Jabbar; Fahad Mumtaz Malik
IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 2: June 2015
Publisher : Institute of Advanced Engineering and Science

Sampled-data backstepping control of a quadrotor UAV is presented in this paper. The discrete time controllers have been designed on the basis of a continuous time system model and an approximate discrete time equivalent system model (Euler Approximate model) obtained using the Euler method. The performance of the controllers obtained using the two sampled-data approaches has been compared in the presence of wing gusts and modeling uncertainties. Simulations have revealed that the backstepping controller designed on the basis of an approximate discrete time model has better performance in the presence of wind gusts and modeling uncertainties. In addition, the closed loop system has a larger region of attraction.

Artificial pancreas techniques based on robust model predictive controller Waleed Khalid Al-Azzawi
IAES International Journal of Robotics and Automation (IJRA) Vol 8, No 3: September 2019
Publisher : Institute of Advanced Engineering and Science

Diabetes is known as the major cause of death in the world leading to kidney, retinopathy and cardiovascular diseases as well. In this paper, a Robust Model Predictive Controller (RMPC) is introduced to design artificial pancreas that solved the model uncertainty and keep the blood glucose level in the normal range by regulating the size of insulin infusion from pump based on RMPC. The simulation results will present a good performance of the proposed controller to avoid disturbance and robustness against uncertainties.

Design and Development of Leg-Wheel Hybrid Hexapod along with Machine Learning Algorithm implementation Harikrishnan Madhusudanan
IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 4: December 2015
Publisher : Institute of Advanced Engineering and Science

The conventional mobile robotic platforms which either uses wheels or legs are quite familiar and each one of them has its own advantages and disadvantages. The wheeled robot is suitable for only plain and smooth terrain, whereas the legged robot can travel in any kind of terrain but is comparatively slower than the wheeled robot. So, a hybrid of both wheeled and legged platform would be quite suitable for any kind of terrain. The primary focus of this paper is to design and develop a leg-wheel hybrid robotic platform with a concurrent engineering and mechatronics approach to produce results with optimised design metrics at each and every stage of its development. An overall view of the entire mechatronics system is considered for design and development of the robot at each and every stage rather than a sequential engineering approach.

Laboratory environment monitoring and specimen transport robots Yi-Chang Wu; Huan-Chun Wang
IAES International Journal of Robotics and Automation (IJRA) Vol 8, No 4: December 2019
Publisher : Institute of Advanced Engineering and Science

Robots have been used in various areas to replace manpower, reduce costs, and facilitate more effective resource allocation. This study sought to assist the business of the bureau by developing two robots using the Robot Operating System. The developed robots have autonomous intelligent navigation functions and are suited to monitor the environment of the laboratories in the bureau. One robot had a temperature and humidity sensor and an infrared thermal camera, and it could be used to patrol and monitor the laboratory environment. The other robot had drawers in which specimens could be placed; robotic arm in the elevator could coordinate and control elevators, enabling the robot to move and transport specimens autonomously. Plenty of tests were conducted to verify the feasibility and practicality.

Using a Mobile Robot with Interpolation and Extrapolation Method for Chemical Source Localization in Dynamic Advection-diffusion Environment Xiang Gao; Levent Acar
IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 2: June 2016
Publisher : Institute of Advanced Engineering and Science

this paper address the problem of mapping likely particle path derived from a chemical source using interpolation and extrapolation method. Order localization is the problem of finding the source of an odor or other volatile chemical. Most localization method require the robot to follow the odor plume along its entire length, which is time consuming and may be especially difficult in a cluttered environment. In this paper, a map of sensors’ environment was used, together with the path line of airflow, to predict the pattern of air movement. The robot then used the airflow pattern to reason about the probable location of the odor source. This demonstrates that interpolation and extrapolation method can be used to assist odor localization search and indicates that similar techniques have great operating in an unstructured environment to reason about its surroundings. This paper present details of getting the model of particle path using interpolation and extrapolation method, model of particle path surrounding the obstacles and openings, result of practical odor source location simulation.

The Influence of Non-planar (Spatial) Links in the Static Characteristics Behavior of Planar Parallel Manipulator Ganesh Mangavu; Karthikeyan. R; Venkitachalam. P; Guruguhan . G; S. Shrinithi; Kannan. S; Anjan Kumar Dash
IAES International Journal of Robotics and Automation (IJRA) Vol 6, No 3: September 2017
Publisher : Institute of Advanced Engineering and Science

Conventional planar manipulators have all their links in a single plane. Increasing payload at the end-effecter/mobile platform can induce high stress in the links due to cantilever nature of links. Thus it limits the total vertical load that can be applied on the mobile platform. In contrast to the links in conventional planar parallel mechanisms, non-planar links are proposed in this paper, i.e., links are made inclined to the horizontal plane and non planar legs are constructed. Although the links are made non-planar, the rotary (or prismatic) joints axes remain perpendicular (or parallel) to the plane of the base platform, which retains the planar motion of the end-effecter. For studying the application of such non planar links in planar manipulators, new models of inertia, stiffness and leg dynamics have to be developed. In this article, these models are developed and with the developed models, the static analysis is done on the planar manipulators with non-planar links and the performance is compared with the corresponding conventional planar manipulators.

Design Gradient Descent Optimal Sliding Mode Control of Continuum Robots Farzin Piltan; Shahnaz Tayebi Haghighi
IAES International Journal of Robotics and Automation (IJRA) Vol 1, No 4: December 2012
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (311.795 KB)

In this research, a new approach for gradient descent optimal sliding mode controller for continuum robots is proposed. Based on the new dynamic models developed, a novel technique for nonlinear control of continuum manipulators to be employed in various situations has also been proposed and developed. A section of a continuum arm is modeled using lumped model elements (masses, springs and dampers) and control by nonlinear methodology (sliding mode method) and optimization the sliding surface slope by gradient descent method. It is shown that this type of control methodology, although used to a certain model, can be used to conveniently control the dynamics of the arm with suitable tradeoff in accuracy of modeling. This relatively controller is more plausible to implement in an actual real-time when compared to other techniques of nonlinear controller methodology of continuum arms. Principles of sliding mode methodology is based on derive the sliding surface slope and nonlinear dynamic model and applied in the system. Based on the gradient descent optimization method, the sliding surface slope and gain updating factor has been developed in certain and partly uncertain continuum robots. This methodology is represented in certain and uncertain area whose only optimization for certain area and test this optimization for uncertainty. The new techniques proposed and methodologies adopted in this paper supported by MATLAB/SIMULINK results represent a significant contribution to the field of design an optimized nonlinear sliding mode controller for continuum robots.DOI: http://dx.doi.org/10.11591/ijra.v1i4.883

“Nearest Zero-point” Algorithm for Cooperative Robotic Search Missions Vahid Aryai; Mahsa Kharazi; Farid Ariai
IAES International Journal of Robotics and Automation (IJRA) Vol 6, No 1: March 2017
Publisher : Institute of Advanced Engineering and Science

Four path planning and data exchange algorithms for cooperative search and coverage robotic missions are proposed and modified. The introduced methods are simulated using C++ programming environment and the results are discussed in detail for environments with static obstacles. It has been shown that using the “nearest zero-point” algorithm can greatly optimize the mission duration and also overlapping of the search trajectories. Finally, the results are compared with several existing algorithms.

Analysis of Inverse Kinamtics of an Anthropomorphic Robotic hand Pramod Kumar Parida; Bibhuti Bhusan Biswal
IAES International Journal of Robotics and Automation (IJRA) Vol 2, No 3: September 2013
Publisher : Institute of Advanced Engineering and Science

In this paper, a new method for solving the inverse kinematics of the fingers of an anthropomorphic hand is proposed. Solution of inverse kinematic equations is a complex problem, the complexity comes from the nonlinearity of joint space and Cartesian space mapping and having multiple solutions.This is a typical problem in robotics that needs to be solved to control the fingers of an anthropomorphic robotic hand to perform tasks it is designated to do. With more complex structures operating in a 3-dimensional space deducing a mathematical soluation for the inverse kinematics may prove challenging. In this paper, using the ability of ANFIS (Adaptive Neuro-Fuzzy Inference System) to learn from training data, it is possible to create ANFIS network, an implementation of a representative fuzzy inference system using ANFIS structure, with limited mathematical representation of the system. The main advantages of this method with respect to the other methods are implementation is easy, very fast and shorter computation time and better response with acceptable error.

On the Design of a 4 Degrees-of-freedom Pick and Place Cable Suspended Parallel Manipulator F. J. Castillo-Garcia; P. Rea; A. Gonzalez-Rodriguez; E. Ottaviano
IAES International Journal of Robotics and Automation (IJRA) Vol 6, No 4: December 2017
Publisher : Institute of Advanced Engineering and Science

This paper proposes the design and control strategy for a four degrees-of-freedom spatial cable-suspended parallel robot for pick and place operations. Pick and place is a repetitive task requiring payload changes for the movement to pick-up the object, and the movement to the nal pose to release the manipulated object. In this paper, a new robust control strategy has been proposed, together with proper trajectories for the required operation. The control strategy consists on the system decoupling and linearization by means of a feedforward term and a cascade PD controller. The main advantage of the proposed solution is that its design can be scalable in size spanning from centimeters to meters with a relatively good positioning accuracy. Finally, simulations are reported to show the overall performances of the proposed con guration for pick and place operations with a medium size manipulator.

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Contact Name
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

INDONESIA

Abstract

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Abstract

Abstract

Abstract

Abstract

Abstract

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