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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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Self-Tuning Geometric Control for a Quadrotor UAV Based on Lyapunov Stability Analysis Farhad Goodarzi
IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 3: September 2016
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v5i3.pp136-150

A Lyapunov-based self gain tuning geometric nonlinear controller for a quadrotor UAV has been developed on SE(3) in this paper. By designing an adaptive law with Lyapunov stability analysis for the controller gains, the proposed control system can asymptotically follow an attitude and position command while tuning the PID gains online, and it is extended to guarantee boundedness of tracking errors in the presence of unstructured disturbances. This introduce an unprecedented algorithm to autonomously tune the controller gains without need of extra effort or introducing boundary conditions. Proposed controller considers all the coupling effects between rotational and translational dynamics, and it is developed in a coordinate-free fashion to avoid complexities and ambiguities associated with other attitude representations such as Euler angles or quaternions. The desirable features of the proposed controller are illustrated by numerical simulations and juxtaposed with a well-known offline gain tuning method. The proposed algorithm is ultimately validated with an experimental example.

GEMMP - A Google Maps Enabled Mobile Mission Planning Tool for Autonomous Underwater Vehicles Steven Seeley; Ramprasad Balasubramanian
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 (749.455 KB)

Many applications for mobile robotics involve operations in remote, outdoor environments. In these environments, it can be difﬁcult to plan missions dynamically due to the lack of portability of existing mission planning software. Mobile platforms allow access to the Web from nearly anywhere while other features, like touch interfaces, simplify user interaction, and GPS integration allows developers and users to take advantage to location-based services. In this paper, we describe a prototype AUV mission planner developed on the Android platform, created to aid and enhance the capability of an existing AUV mission planner, VectorMap, developed and maintained by OceanServer Technology, by taking advantage of the capabilities of existing mobile computing technology.DOI: http://dx.doi.org/10.11591/ijra.v1i2.351

Orientation Singularity Analysis of Parallel Manipulators Qimin Xu
IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 4: December 2016
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v5i4.pp295-304

In this paper, an approach for orientation singularity analysis of parallel manipulators (PMs) is proposed by introducing several performance indices referred to theunique form of screw based Jacobian in the velocity transmission as well as force transmission. Here, to prove the effectiveness of the approach, an example of 3 degrees of freedom (DOF) prismatic-revolute-spherical (PRS) parallel manipulator (PM) is first presented to illustrate the fact that the distributions of singularity boundary of the proposed approach is consistence with the result referred to nonredunant PMs by Liu et al. [22]. Further, the proposed approach is an appropriate one not only for nonredunant PMs, but also for a class of redunant PMs by providing another example of the redunant variable geometry truss (VGT) PM, since the performance index of orientation singularity for the manipulator can becreated only by determining the unique form of screw based Jacobian.

Flexible Morphogenesis based Formation Control for Multi-Robot Systems Jan Carlo Barca; Eugene Eu-Juin Lee; Ahmet Sekercioglu
IAES International Journal of Robotics and Automation (IJRA) Vol 2, No 1: March 2013
Publisher : Institute of Advanced Engineering and Science

Inspired by how biological cells communicate with each other at a cell-to-cell level; morphogenesis emerged to be an effective way for local communication between homogenous robots in multi-robot systems. In this paper, we present the first steps towards a scalable morphogenesis style formation control technique, which address the drawbacks associated with current morphogenesis type formation control techniques, including their inability to distribute robots evenly across target shapes. A series of experiments, which demonstrate that the proposed technique enables groups of non-holonomic ground moving robots to generate formations in less than 9 seconds with three robots and less than 22 seconds with five robots, is also presented. These experiments furthermore reveal that the proposed technique enables groups of robots to generate formations without significantly increasing the total travel distance when faced with obstacles. This work is an important contribution to multi-robot control theory as history has shown that the success of groups often depends on efficient and robust formation control.

Sensor Fusion of Leap Motion Controller and Flex Sensors using Kalman Filter for Human Finger Tracking Godwin Ponraj Joseph Vedhagiri; Hongliang Ren
IAES International Journal of Robotics and Automation (IJRA) Vol 6, No 3: September 2017
Publisher : Institute of Advanced Engineering and Science

In our daily life, we, human beings use our hands in various ways for most of our day-to-day activities. Tracking the position, orientation and articulation of human hands has a variety of applications including gesture recognition, robotics, medicine and health care, design and manufacturing, art and entertainment across multiple domains. However, it is an equally complex and challenging task due to several factors like higher dimensional data from hand motion, higher speed of operation, self-occlusion, etc. This paper puts forth a novel method for tracking the finger tips of human hand using two distinct sensors and combining their data by sensor fusion technique.

Maximum Wind Energy Extraction by Using Neural Network Estimation and Predictive Control of Boost Converter Mahdi Heidari
IAES International Journal of Robotics and Automation (IJRA) Vol 7, No 1: March 2018
Publisher : Institute of Advanced Engineering and Science

This paper proposes a new method to extract maximum energy from wind turbine systems. The artificial neural network (ANN) is used to estimate the wind speed based on the rotor speed and the output power. In addition to ANN, a predictive controller is used to maximize the efficiency of the boost converter. The method has been developed and analyzed by utilizing a turbine directly driven permanent-magnet synchronous generator (PMSG). The simulation results verify the performance of the proposed method. Results show that this method maximizes wind energy extraction with more accuracy and fastness.

Rolling Path Plan of Mobile Robot Based on Automatic Diffluent Ant Algorithm Zhou Feng
IAES International Journal of Robotics and Automation (IJRA) Vol 3, No 2: June 2014
Publisher : Institute of Advanced Engineering and Science

This paper proposes a new rolling algorithm for path plan of mobile robot based on automatically shunt the ant algorithm.The goal node is mapped to the node nearby the boundary in the eyeshot of the robot, and make out the best partial path, which the robot goes ahead for a step. The algorithm will iterate one time when the robot arrives at the goal node. The robot will reach the destination along the optimal path. Simulation experiments illustrate that the algorithm can be used to plan the optimal path for mobile robot even in the complex and unknown static environment.

Design of Robust Fractional-Order PID Controller for DC Motor Using the Adjustable Performance Weights in the Weighted-Mixed Sensitivity Problem Toufik Amieur; Moussa Sedraoui; Oualid Amieur
IAES International Journal of Robotics and Automation (IJRA) Vol 7, No 2: June 2018
Publisher : Institute of Advanced Engineering and Science

This paper deals with the robust series and parallel fractional-order PID synthesis controllers with the automatic selection of the adjustable performance weights, which are given in the weighted-mixed sensitivity problem. The significant contribution of the paper is to achieve the good trade-off between nominal performances and robust stability for DC motor regardless its nonlinear dynamic behavior, the unstructured model uncertainties and the effect of the sensor noises on the feedback control system. The main goal is formulated as the weighted-mixed sensitivity problem with unknown adjustable performance weight. This problem is then solved using an adequate optimization algorithm and its optimal solution leads to determine simultaneously the robust fractional PID controller, which is proposed by the series and the parallel fractional structures, As well as, the obtained optimal solution determines the corresponding adjustable performance weight. The proposed control technique is applied on DC motor where its dynamic behavior is modeled by unstructured multiplicative model uncertainty. The obtained performances are compared in frequency- and time-domains with those given by both integer controllers such classical PID and H∞ controllers.

Reorganization of intruder Using Ad-Hoc Network And RFID Vishakha Hagawane; Anukriti Anup Shrivastav; Kartiki Tambekar
IAES International Journal of Robotics and Automation (IJRA) Vol 3, No 4: December 2014
Publisher : Institute of Advanced Engineering and Science

This system is to develop a centralized computer application that needs to identify moving person in a specific area using wireless network. In this paper, we develop a new indoor tracking algorithm using received signal strength. The RFID is able to detect the humans and provide information about the direction of the movement. The gathered information from the node is to be given to the base station for processing. . This application is able to detect and track person, and report direction of the intruder to a central base station. In this system we design nodes through which we are able to track the person. The human intruder is detected using Zigbee.

Fuzzy neuro-genetic approach for feature selection and image classification in augmented reality systems Rajendra Thilahar C.; Sivaramakrishnan R.
IAES International Journal of Robotics and Automation (IJRA) Vol 8, No 3: September 2019
Publisher : Institute of Advanced Engineering and Science

In this paper, a new approach for implementing an Augmented Reality system by applying fuzzy genetic neural networks is proposed. It consists of two components namely feature selection and classification modules. For feature detection, extraction and selection, the proposed model uses a fuzzy logic based incremental feature selection algorithm which has been proposed in this work in order to recognize the important features from 3D images. Moreover, this paper explains the implementation and results of the proposed algorithms for an Augmented Reality system using image recognition, feature extraction, feature selection and classification by considering the global and local features of the images. For this purpose, we propose a three layer fuzzy neural network that has been implemented based on weight adjustments using fuzzy rules in the convolutional neural networks with genetic algorithm for effective optimization of rules. The classification algorithm is also based on fuzzy neuro-genetic approach which consists of two phases namely Training phase and testing phase. During the training phase, rules are formed based on objects and these rules are applied during the testing phase for recognizing the objects which can be used in robotics for effective object recognition. From the experiments conducted in this work, it is proved that the proposed model is more accurate in 3D object recognition.

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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

Abstract

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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