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.
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470 Documents
<![CDATA[A crucial study focuses on demand based Indian hotel industry energy efficiency needs by comparing two model theory by Cholesky decomposition ]]>
<![CDATA[Pankaj Aswal]]>;
<![CDATA[Manish Kumar]]>;
<![CDATA[Prateek Negi]]>
<![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.pp211-216
<![CDATA[Hotels operate on a stringent 24/7 operational model, every day operational model. They offer both top notch facilities and various civilities, including nearby workplaces, world-class wellness focuses, spas, warmed swimming pools, 24-hour eateries, and then some. These advantages add to visitor comforts additionally increment add up to vitality cost. While inn vitality utilization can appear to be stunning, the plenty of administrations and conveniences offer various open doors for vitality funds. The test for inn proprietors is choosing the ideal course to vitality reduction. Two methods top the list: energy audits and retro-commissioning To pick the best game-plan for a particular inn property, proprietors must survey the two strategies and recognize which arrangement would have the best effect on their building. The two procedures handle vitality use from various points, so here's a manual for what every involves and how it can enhance inn operations.]]>
<![CDATA[Design of energy efficient four finger robotic hand ]]>
<![CDATA[Bhivraj Suthar]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 1: March 2016 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v5i1.pp1-5
<![CDATA[Future would be the world of robotics. Human arm is the best serial manipulator in the world. End part of manipulator is known as End effector or hand. At the end of serial manipulator we always put gripper just like our hand. Today many mechanisms have been proposed for robotic hand. We proposed a novel mechanical design and we used one motor to operate the gripper mechanism and it consumes less electrical power than other gripper. For energy efficient robot we have to reduce the number of motors and have to look in the mechanical design. In this paper we targeted to make gripper more energy efficient. We used only one motor to operate four fingers symmetrically. Our proposed model has four fingers, each are placed orthogonally to each other. In market, other manufactures use single motor for motion of each finger. Each motor has its own power consumption capacity to manipulate the load on finger. We replaced all four motors with single motor by Geneva mechanism. So electrical power consumption reduced by 1/4th. Energy conservation point of view it is energy efficient system. This paper presents a methodology that has been applied for a design mechanism for energy efficient robotic hand with four fingers. Wide applications of gripper are in automobile industries. Automobile companies are used gripers and serial manipulators in plenty]]>
<![CDATA[General concepts of multi-sensor data-fusion based SLAM ]]>
<![CDATA[Klečka, Jan]]>;
<![CDATA[Horák, Karel]]>;
<![CDATA[Boštík, Ondřej]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 9, No 2: June 2020 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v9i2.pp63-72
<![CDATA[This paper is approaching a problem of Simultaneous Localization and Mapping (SLAM) algorithms focused specifically on processing of data from a heterogeneous set of sensors concurrently. Sensors are considered to be different in a sense of measured physical quantity and so the problem of effective data-fusion is discussed. A special extension of the standard probabilistic approach to SLAM algorithms is presented. This extension is composed of two parts. Firstly is presented general perspective multiple-sensors based SLAM and then thee archetypical special cases are discuses. One archetype provisionally designated as "partially collective mapping" has been analyzed also in a practical perspective because it implies a promising options for implicit map-level data-fusion.]]>
<![CDATA[Load Carrying Assistance Device Pogo Suit ]]>
<![CDATA[Sangram Redkar]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 3: September 2016 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v5i3.pp161-175
<![CDATA[Wearable robots including exoskeletons, powered prosthetics, and powered orthotics must add energy to the person at an appropriate time to enhance, augment, or supplement human performance. Adding energy while not being in sync with the user can dramatically hurt performance. Many human tasks such as walking, running, and hopping are repeating or cyclic tasks and a robot can add energy in sync with the repeating pattern for assistance. A method has been developed to add energy at the appropriate time to the repeating limit cycle based on a phase oscillator. The phase oscillator eliminates time from the forcing function which is based purely on the motion of the user. This approach has been simulated, implemented and tested in a robotic backpack which facilitates carrying heavy loads. The device oscillates the load of the backpack, based on the motion of the user, in order to add energy at the correct time and thus reduce the amount of energy required for walking with a heavy load. Models were developed in Working Model 2-D, a dynamics simulation software, in conjunction with MATLAB to verify theory and test control methods. The control system developed is robust and has successfully operated on different users, each with their own different and distinct gait. The results of experimental testing validated the corresponding models.]]>
<![CDATA[Design and Analysis of a Multifingered Robot Hand ]]>
<![CDATA[Pramod Kumar Parida]]>;
<![CDATA[Bibhuti Bhusan Biswal]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 1, No 2: June 2012 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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<![CDATA[With the advent of new control techniques and development of microactuators, manipulator designers have gained inpetus todevelop manipulators and the related devicesthat is more flexible, responsive, smart and anthropomorphic.Taking cue from the work of a number of researchersover a couple of decades, the present work is a systematic attempt to develop a five fingered anthropomorphic robotic hand with 25 DoFs. The hand closely follows the anatomy of a typical human hand. The paper presents the structure of the proposed hand and its model for kinematic analysis. The kinematic analysis has been carried out using conventional method using MATLab software. The result obtained through the analysis confirmed that the robot hand conforms to the objective.DOI: http://dx.doi.org/10.11591/ijra.v1i2.360]]>
<![CDATA[Wireless Gesture Controlled Semi-Humanoid Robot ]]>
<![CDATA[Toshika Fegade]]>;
<![CDATA[Yogesh Kurle]]>;
<![CDATA[Sagar Nikale]]>;
<![CDATA[Praful Kalpund]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 4: December 2016 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v5i4.pp237-243
<![CDATA[Robotics is a field concerned with the “intelligent connection of perception of action”. The most common manufacturing robot is the robotic arm with different degree of freedoms. Today, these humanoids perform many functions to assist humans in different undertakings such as space missions, driving and monitoring high speed vehicles. They are called semi-humanoids because they resemble to upper part of human body. The idea of this paper is to change perception of controlling robotic arm. This paper provides a way to get rid of old fashioned remote controls and gives an intuitive technique for implementation of Semi-Humanoid Gesture controlled robot. It includes two robot arms which are exactly similar to human arm (5 fingers) increasing sensitivity of the system. It includes motion sensors -flex and accelerometer (used in mobile phones for tilting motion). The system design is divided into 3 parts namely: Robotic Arm, Real time video and Platform. The prime aim of the design is that the robot arm and platform starts the movement as soon as the operator makes hand and leg gesture. The Robotic arm is synchronized with the gestures (hand postures) of the operator and the platform part is controlled by the leg gestures of the operator. The robot and the Gesture device are connected wireless via RF. The wireless communication enables user to interact with the robot in an effortless way.]]>
<![CDATA[Smart Telerobotic Surveillance System via Internet with Reduced Time Delay ]]>
<![CDATA[Ashesh Vasalya]]>;
<![CDATA[Rohit Agrawal]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 2, No 1: March 2013 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v2i1.pp11-16
<![CDATA[This work provides an imperial solution to the problems faced by man while enduring hazardous tasks like handling and disposal of nuclear wastes, monitoring nuclear power plants, mining operations etc .which have to be aborted if expertise group running it is unavailable or on a run. This paper presents a distributed platform that allows the special group of user to control a gadget (possibly a robot) through internet as a medium. An advanced version of this technology is capable of transmitting graphic images and other surrounding information as required, via internet back to the user to facilitate the effective monitoring of the existent situation using appropriate software tools. The project uses the SRV-1 Mobile Surveillance Robot which is a fully integrated system standard designed and other related technology for surveillance purposes. It is driven via web browser using JAVA based control applications with live video feeds. Specialised user group will be given separate account from where they can control and monitor the system even when they are not present at the site. End user will be connected to the gadget (robot) through a central server which acts as a single channel for both sending and receiving information. But the subject of remote control over the internet has some possible anomalies namely network freezing, delay between host and recipient, congested network and many others. This system enables asynchronous object passing so that network bandwidth is used effectively and such parameters as the network condition and server states have less effect on the system. To resolve this issue, a fuzzy logic controller is used to control the robot’s motion along a predefined path with the necessary manipulation of the normal course. The robot was first modelled in Matlab Simulink and the fuzzy logic rules were optimized for the best results possible. In accordance with the fuzzy rules developed the fuzzy interference system generates the output map for operating IR ranger sensor data. This system was developed to actuate as an auxiliary intelligence in the teleoperation system developed for the mobile robot, and the Grid Scanning algorithm was induced to enhance accuracy to cope up with the unexpected delays from the internet data communication. The logic in the internet based controlling of robotics can be expanded to a very large field, like speed control, trajectory control, obstacle avoidance and so on.]]>
<![CDATA[Quadrotor Control System with Hand Movement Sign as an Alternative Remote Control ]]>
<![CDATA[Nur Achmad Sulistyo Putro]]>;
<![CDATA[Andi Dharmawan]]>;
<![CDATA[Tri Kuntoro Priyambodo]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 6, No 2: June 2017 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v6i2.pp131-140
<![CDATA[Quadrotor is an unmanned aerial vehicle which is controlled by remote control. Unfortunately, not all of the remote control are easy to use, especially for people who have lacking abilities in piloting. This study aims to design a prototype system to control quadrotor using hand movements, as an alternative to the conventional remote control that more simple. This system is consists of 2 parts, quadrotor and handheld. Both systems can communicate wirelessly using radio frequency 2.4 GHz. The handheld system will read the orientation angle of the hand by IMU sensor and it will be converted into a command to determine the direction motion of the quadrotor. To get the orientation angle from the IMU sensor data, we used DCM sensor fusion method. Quadrotor needs a control system that can make its respond runs optimally. In this study, the method of the control system that used is PID controller. The PID gain obtained using Ziegler-Nichols oscillation method and then fixed again by fine-tuned method.]]>
<![CDATA[Design Sliding Mode Controller of with Parallel Fuzzy Inference System Compensator to Control of Robot Manipulator ]]>
<![CDATA[Farzin Piltan]]>;
<![CDATA[Ali Hosainpour]]>;
<![CDATA[Sara Emamzadeh]]>;
<![CDATA[Iman Nazari]]>;
<![CDATA[Mina Mirzaie]]>
<![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.pp149-162
<![CDATA[Sliding mode controller (SMC) is a significant nonlinear controller under condition of partly uncertain dynamic parameters of system. This controller is used to control of highly nonlinear systems especially for robot manipulators, because this controller is a robust and stable. Conversely, pure sliding mode controller is used in many applications; it has two important drawbacks namely; chattering phenomenon, and nonlinear equivalent dynamic formulation in uncertain dynamic parameter. The nonlinear equivalent dynamic formulation problem and chattering phenomenon in uncertain system can be solved by using artificial intelligence theorem. However fuzzy logic controller is used to control complicated nonlinear dynamic systems, but it cannot guarantee stability and robustness. In this research parallel fuzzy logic theory is used to compensate the system dynamic uncertainty.]]>
<![CDATA[Harmonic Analysis of Three-phase Fixed Capacitor–thyristor Controlled Reactor under Balanced and Unbalanced Conditions ]]>
<![CDATA[Jayababu Badugu]]>;
<![CDATA[Y. P.Obulesu]]>;
<![CDATA[Ch. Saibabu]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 7, No 1: March 2018 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v7i1.pp67-76
<![CDATA[Three-phase Fixed Capacitor Thyristor Controlled Reactor is widely used for reactive power compensation in power systems because of reduced cost and high reliability. The problem with FC-TCR is that to generate current harmonics when it is partially conducting. When this harmonic current is interacted with system impedance, voltage waveform will distorted. This harmonic pollution is undesirable in power systems. Therefore, it is important to know the harmonic behaviour of three-phase FC-TCR before they can be used in a power system network. This paper presents the harmonic analysis of three-phase FC-TCR operating under balanced and unbalanced conditions. This analysis is useful to design the harmonic filter to reduce the harmonic pollution in power systems.The proposed work is implemented in MATLAB environment.]]>
