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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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Actual Flight Movements of Electric Helicopters for Making a Disaster Area Monitoring System Takuya Saito; Kenichi Mase
IAES International Journal of Robotics and Automation (IJRA) Vol 3, No 2: June 2014
Publisher : Institute of Advanced Engineering and Science

This paper describes the actual flight movements of electric helicopters and how to implement a disaster area monitoring system using electric ground vehicles and electric helicopters. A quad-rotor helicopter and a hex-rotor helicopter were used in the proposed system, specifically, the AR.Drone 2.0 and the DJI Innovations frame kit with an auto pilot system, respectively. We developed a software framework for the AR.Drone 2.0, which makes it possible to obtain flight data and images and to control automatic flight operations by computer. The relationship between the flight parameters and the real flight movements of the AR.Drone 2.0 were experimentally investigated. In conclusion, we found that the AR.Drone 2.0 with a software framework and a developed hex-rotor helicopter are sufficiently effective in implementing a disaster area monitoring system using electric ground vehicles and electric helicopters.

Hierarchical Inspection System Using Visual and MFL Probe Robots Uvais Qidwai; Muhammad Akbar; Muhammad Maqbool; Mohammed Jahanshahi
IAES International Journal of Robotics and Automation (IJRA) Vol 7, No 4: December 2018
Publisher : Institute of Advanced Engineering and Science

Structural Health Monitoring (SHM) represents a critical appurtenance to modern engineering that amalgamates the skills and techniques from various disciplines of engineering and computational science. Modern civil architectures, involving high-rise buildings, complex structural designs, and innovative shapes, on one hand represent the urban development, but at the same time is a challenge from sustainability perspective. In order to ensure the tenability of such structures, advanced SHM procedures need to be developed. The presented work in this paper is an effort on these lines. The wear and tear in the buildings related to weather, as well as other natural disasters, needs to be monitored regularly and systematically in order to prevent any serious structural damage. In current SHM practices, human experts are deployed at various structurally critical places on these buildings to perform specific measurements and analyze them to decide on the structural health condition. This simple approach is becoming more and more complicated as well as perilous for the human personnel involved, due to the modern architecture that involves greater heights, and complex structures. The proposed system utilizes flying and crawling/roving robots for this purpose. The flying robots, first, scan the surface of the building to any height needed, and then the custom-designed algorithms analyze the images from these scans in order to discern the possible defects/anomalies in the structure. Using these defect pointers, the custom-designed rover robot on top of the structure lowers a robotic probe that scans only those areas for substantiating the anomalies and the degree of defects present.

Research and Application on Fractional-Order Darwinian PSO Based Adaptive Extended Kalman Filtering Algorithm Qiguang Zhu; Mei Yuan; Yao-long Liu; Wei-dong Chen; Ying Chen; Hong-rui Wang
IAES International Journal of Robotics and Automation (IJRA) Vol 3, No 4: December 2014
Publisher : Institute of Advanced Engineering and Science

To resolve the difficulty in establishing accurate priori noise model for the extended Kalman filtering algorithm, propose the fractional-order Darwinian particle swarm optimization (PSO) algorithm has been proposed and introduced into the fuzzy adaptive extended Kalman filtering algorithm. The natural selection method has been adopted to improve the standard particle swarm optimization algorithm, which enhanced the diversity of particles and avoided the premature. In addition, the fractional calculus has been used to improve the evolution speed of particles. The PSO algorithm after improved has been applied to train fuzzy adaptive extended Kalman filter and achieve the simultaneous localization and mapping. The simulation results have shown that compared with the geese particle swarm optimization training of fuzzy adaptive extended Kalman filter localization and mapping algorithm, has been greatly improved in terms of localization and mapping.

Mobile Robot Localization: A Review of Probabilistic Map-Based Techniques Salvador Manuel Malagon-Soldara; Manuel Toledano-Ayala; Genaro Soto-Zarazua; Roberto Valentin Carrillo-Serrano; Edgar Alejandro Rivas-Araiza
IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 1: March 2015
Publisher : Institute of Advanced Engineering and Science

This work presents a comprehensive review of current probabilistic developments used to calculate position by mobile robots in indoor environments. In this calculation, best known as localization, it is necessary to develop most of the tasks delegated to the mobile robot. It is then crucial that the methods used for position calculations be as precise as possible, and accurately represent the location of the robot within a given environment. The research community has devoted a considerable amount of time to provide solutions for the localization problem. Several methodologies have been proposed the most common of which are based in the Bayes rule. Other methodologies include the Kalman filter and the Monte Carlo localization filter wich will be addressed in next sections. The major contribution of this review rests in offering a wide array of techniques that researchers can choose. Therefore, method-sensor combinations and their main advantages are displayed.

Optimization and comparative analysis of PID and FOPID controller for BLDC motor P. Vimala; C. R. Balamurugan; A. Subramanian; T. Vishwanath
IAES International Journal of Robotics and Automation (IJRA) Vol 8, No 3: September 2019
Publisher : Institute of Advanced Engineering and Science

The FOPID and PID controller are designed to control the speed of the BLDC motor. The parameters , , , λ and µ of these controller are optimized based on genetic algorithm. The optimized coefficients keep in track with zero error signals. The output of the controller is given to the variable dc source which varies the input voltage to the three phase inverter depending on the input signal. The three phase inverter gives the voltage to the BLDC motor which enhances the stability of the system. The effectiveness of the controller is demonstrated by simulation.

Nonlinear Hybrid Controller for a Quadrotor Based on Sliding Mode and Backstepping Chuan Lian Zhang; Kil To Chong
IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 3: September 2015
Publisher : Institute of Advanced Engineering and Science

In this paper, one nonlinear hybrid controller, based on backstepping and sliding mode, was developed and applied to a quadrotor for waypoint navigation application. After dynamics modeling, the whole quadrotor dynamics system could be divided into two subsystems: rotational system and translational system. Backstepping control law was derived for attitude control whereas sliding mode control law was developed for position control. By using Lyapunov theory and satisfying sliding stable rules, the convergence of system could be guaranteed. A nonlinear equation was proposed to solve the under-actuated problem. To validate the effectiveness of proposed nonlinear hybrid controller, waypoint navigation simulation was performed on the nonlinear hybrid controller. Results showed that the nonlinear hybrid controller finished waypoint navigation successfully.

Environment mapping, map constructing, and path planning for underwater navigation of a low-cost µAUV in a cluttered nuclear storage pond Yibin Peng; Peter N. Green
IAES International Journal of Robotics and Automation (IJRA) Vol 8, No 4: December 2019
Publisher : Institute of Advanced Engineering and Science

This paper presents a novel approach that enables a low-cost µAUV (micro autonomous underwater vehicle) navigate and work safely in an enclosed cluttered underwater environment. In order to achieve a autonomy collision-free navigation in underwater, it requires a reliable approach that would allow a µAUV which equipped with sparse and inaccurate sonar sensors to map the underwater environment, a map constructing algorithm that converts the obtained data to useful information to establish a map, and a path planning algorithm that plans a collision-free path from the start to the desired goal. The proposed approach will integrate environment survey, environment reconstruction, and path planning as a completed task, which involves map acquisition and path planning. A complete simulation of the environment topology acquisition and route planning process is documented in this paper.

Automation in the unloading and loading process of hot rolled coil using workspace simulation software : A Review Kunal Abhay Patil; Santosh Jaju; Babu Achmare
IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 1: March 2016
Publisher : Institute of Advanced Engineering and Science

The aim of this paper is to confirm the importance of unloading and loading process of hot rolled coil and automation in manufacturing industry. This paper describes about the different systems which are used in various ISPAT industries for material handling purpose or lifting the heavy coils. There are six main systems which are used in industries for material handling purpose. After studying all these systems, we will propose one system which is more beneficial than other systems. Later in this paper we will also study the introductory part of the workspace simulation software, its features, benefits and applications. The objective of this project is to overcome the problems at industry by designing and simulating a robot arm to perform the task. By simulating, the process of unloading and loading of hot rolled coil can perform more effectively. Workspace LT is the software used in this project.

Deriving the system equations of unbalanced two-phase induction motor Shousha, Hany Ibrahim; Kotb, Abdelsamie B.
IAES International Journal of Robotics and Automation (IJRA) Vol 9, No 3: September 2020
Publisher : Institute of Advanced Engineering and Science

As there is no system driven especially for the two-phase induction motor fed from unbalanced two-phase supply yet, so we start for derivation the system equations for the said motor to be generally used even for the balanced or unbalanced two-phase supply. In this paper, we will derive a system equation starting from the sequence equivalent circuit for the forward and backwards equivalent circuits, then we will re-arrange the equations with some mathematical assumptions which will lead us to the new system equations. first for the voltage equations then for the current equations and finally for both power and torque equations. Moreover, we will put an example which will cover all cases with specific values and relations charts.

Analysis of M42SP-7P on the Balinese Papyrus Script Printing Control System Made Sudarma
IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 3: September 2016
Publisher : Institute of Advanced Engineering and Science

Script writing art in the lives of Balinese people has a very important function, particularly in terms of writing a sacred script such as writing an inscription on copper plate, bronze, silver, and gold, by using a penknife which required a persistence, patience, skill and experience by itself, since not all Balinese people is able to do this very complicated work. Considering the difficulty in writing a script on papyrus and the rarity of script writer experts, therefore the researcher gives appreciation on papyrus preservation and conservation. In the present time, sophisticated technology has replaced manual equipments which required a lot of manpower to be operated. Maybe also the inscription writing model with ancient language and writing has been done so many times with computer technology by using the printer as the interface for printing. In this research the Balinese script printing tools will be designed namely a penknife using robotic technology which mimicking human hand’s motion when writing a script on papyrus. Thought the script tool printer design through robotic technology in order to write a script on palm leaves is an important role of technology as an innovation strategy that is able to create new thinking, new ideas and inovation creative products. Eventually is also expected to satisfy the user as consumer and a new creative market.

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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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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