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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 Control of Underwater Robots with Rotating Thrusters Ali Jebelli; M. C.E. Yagoub; B. S. Dhillon
IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 4: December 2016
Publisher : Institute of Advanced Engineering and Science

Among other robots, underwater robot design involves critical control issues due to complex non-linear force and turns controlling. In this paper, a robust approach was proposed to efficiently control the behavior of an underwater robot through five degrees of freedom. Also, by designing a new type of a pair of thruster with the ability to 360 degree rotation along with a mass shifter, it gives this possibility to the robot that easily and with a minimal energy, change its depth quickly, preserving its balance best possible at the same time.

Intelligent Vision System for Door Sensing Mobile Robot Jharna Majumdar; R Praveen Kumar Jain; Venkatesh G M; Swaroop R
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 (1098.243 KB)

Wheeled Mobile Robots find numerous applications in the Indoor man made structured environments. In order to operate effectively, the robots must be capable of sensing its surroundings. Computer Vision is one of the prime research areas directed towards achieving these sensing capabilities. In this paper, we present a Door Sensing Mobile Robot capable of navigating in the indoor environment. A robust and inexpensive approach for recognition and classification of the door, based on monocular vision system helps the mobile robot in decision making. To prove the efficacy of the algorithm we have designed and developed a ‘Differentially’ Driven Mobile Robot. A wall following behavior using Ultra Sonic range sensors is employed by the mobile robot for navigation in the corridors. Field Programmable Gate Arrays (FPGA) have been used for the implementation of PD Controller for wall following and PID Controller to control the speed of the Geared DC Motor.DOI: http://dx.doi.org/10.11591/ijra.v1i4.1262

Material Handling and Assembly Process Optimization using Value Stream Mapping Daniel Derrell Forest; G.H. Massiha
IAES International Journal of Robotics and Automation (IJRA) Vol 6, No 1: March 2017
Publisher : Institute of Advanced Engineering and Science

The purpose of this project is to evaluate and optimize an assembly process for ergonomic and productivity considerations. Companies use lean manufacturing as a method for continuous improvement in order to increase throughput and for to reallocate resources for more important tasks. For this project, value stream mapping (VSM) was used to evaluate, analyze, and improve the ergonomic factors of an assembly process and to increasing throughput. With the use of VSM, researchers are able to see the areas of added value, non-added value, and bottlenecks. This project illustrates the implementation of VSM for the minimization of waste, by using the design method to restructure the process of assembly. The results show drastic improvement in assembly time and ergonomic workplace design, while providing a platform for a continuous improvement system.

Modeling and Simulation of Wave Gait of a Hexapod Walking Robot: A CAD/CAE Approach Abhijit Mahapatra; Shibendu Shekhar Roy; Dilip Kumar Pratihar
IAES International Journal of Robotics and Automation (IJRA) Vol 2, No 3: September 2013
Publisher : Institute of Advanced Engineering and Science

In the present paper, an attempt has been made to carry out dynamic analysis of a hexapod robot using the concept of multibody dynamics. A CAD (Computer Aided Design) model of a realistic hexapod robot has been made for dynamic simulation of its locomotion using ADAMS (Automatic Dynamic Analysis of Mechanical Systems) multibody dynamics solver. The kinematic model of each leg of three degrees of freedom has been designed using CATIA (Computer Aided Three Dimensional Interactive Application) and SimDesigner package in order to develop an overall kinematic model of the robot, when it follows a straight path. Joint Torque variation as well as the variation of the aggregate center of mass of the robot was analyzed for the wave tetrapod gait. The simulation results provide the basis for developing the control algorithm as well as an intelligent decision making for the robot while in motion.

Model Predictive Control of Wind-Photovoltaic Hybrid System Connected to Grid Houda Abidi; Abdelkader Mami
IAES International Journal of Robotics and Automation (IJRA) Vol 6, No 3: September 2017
Publisher : Institute of Advanced Engineering and Science

This work focuses on Model based Predictive Control (MPC) for photovoltaic-wind hybrid energy system connected to electrical grid. Several benefits are offered by this method such as robustness against a parameter variations, minimum output current distortion and excellent reference tracking. In order to minimize the cost function or the error between the predicted values and their references, MPC-based algorithm permit to select and apply the optimal voltage vector. Simulation results under Psim environment show a fast dynamic behavior of hybrid system with minimal errors, accuracy and usefulness of the considered control approach.

Distributed Receding Horizon Coverage Control by Multiple Mobile Robots Fatemeh Mohseni; Ali Doustmohammadi; Mohammad Bagher Menhaj
IAES International Journal of Robotics and Automation (IJRA) Vol 3, No 2: June 2014
Publisher : Institute of Advanced Engineering and Science

This paper presents a distributed receding horizon coverage control algorithm to control a group of mobile robots having linear dynamics with the assumption that the robot dynamics are decoupled from each other. The objective of the coverage algorithm considered here is to maximize the detection of the occurrence of the events. First the authors introduce a centralized receding horizon coverage control and then they introduce a distributed version of it. To avoid the common disadvantages that are associated with the centralized approach, the problem is then decomposed into several RHCC problems, each associated with a particular robot, that are solved using distributed techniques. In order to solve each RHCC, each robot needs to know the trajectories of its neighbors during the optimization time interval. Since this information is not available, an algorithm is presented to estimate the trajectory of the neighboring robots. To minimize the estimation error, a compatibility constraint, which is also a key requirement in the closed-loop stability analysis, is considered. Moreover, the proof of the close-loop stability of this distributed version is provided and shows that the location of the robots will indeed converge to the centroids of a Voronoi partition. Simulation results validate the algorithm and the convergence of the robots to the centroidal Voronoi configuration.

Application of Sliding Mode Control Technique to Regulate DC/DC Boost Converters in Systems Exploiting Photovoltaic Power Generation Le Tien Phong; Ngo Duc Minh
IAES International Journal of Robotics and Automation (IJRA) Vol 7, No 2: June 2018
Publisher : Institute of Advanced Engineering and Science

This paper introduces a new method, called IB-SMC method, to control DC/DC boost converters in systems exploiting photovoltaic power generation. This method combines the sliding mode control technique and iterative-bisectional technique in the maximum power point tracker to change operations modes of photovoltaic power generation. The IB-SMC controller uses voltage sliding surface to evaluate the relation of instantaneous voltage at the input converter and instantaneous voltage at the maximum power point. Using information about the power of electromagnetic radiation from a pyranometer and temperature from a temperature sensor, the sliding surface and hyteresis band are changed by practically operational conditions that help improving energy efficiency of the process exploiting PVg. Simulations are carried out by Matlab/Simulink that show the ability to ensure dynamic stability by tracking instaneous maximum power point at any time whenever having any change of the operational condition, static stability by maintaining the operation point at maximum power point whenever not have any change of the operational condition and help to bring out approximately absolute energy efficiency.

A LQR Optimal Method to Control the Position of an Overhead Crane J. Jafari; M. Ghazal; M. Nazemizadeh
IAES International Journal of Robotics and Automation (IJRA) Vol 3, No 4: December 2014
Publisher : Institute of Advanced Engineering and Science

In this paper, a LQR (Linear Quadratic Regulation) optimal method is implemented to control position of an overhead carne. To do this, a tracking formulation of LQR is developed and applied to the system. Hence the dynamic model of the overhead crane is presented, the dynamic of the actuator motor of the trolley is considered. As the parameters of the optimal controller assigned, some simulations are done to show the efficiency of the proposed method.

Robots for search site monitoring, suspect guarding, and evidence identification Wu, Yi-Chang; Lee, Jih-Wei; Wang, Huan-Chun
IAES International Journal of Robotics and Automation (IJRA) Vol 9, No 2: June 2020
Publisher : Institute of Advanced Engineering and Science

As an initial trial and in response to a lack of technological applications in government agencies, we have developed three multifunctional robots in accordance with the work environment and the nature of our tasks. Search site monitoring robot is fitted with a panoramic camera and large wheels for walk-around search site monitoring. Suspect guarding robot follows and guards a suspect by tracking an augmented reality marker worn by the suspect and identifying the human body through an infrared thermal camera. For the evidence identification robot, You Only Look Once (YOLO) is utilized to identify some specific evidence on search site and is equipped with a carrier and a high-torque motor for evidence transportation; it is set to issue warnings and emails to relevant personnel on specific emergencies. We have performed multiple experiments and tests to confirm the robots’ effectiveness, verifying their applicability of technological task support in government agencies.

Particle swarm optimization algorithms with selective differential evolution for AUV path planning Lim, Hui Sheng; Fan, Shuangshuang; Chin, Christopher K.H.; Chai, Shuhong; Bose, Neil
IAES International Journal of Robotics and Automation (IJRA) Vol 9, No 2: June 2020
Publisher : Institute of Advanced Engineering and Science

Particle swarm optimization (PSO)-based algorithms are suitable for path planning of the Autonomous Underwater Vehicle (AUV) due to their high computational efficiency. However, such algorithms may produce sub-optimal paths or require higher computational load to produce an optimal path. This paper proposed a new approach that improves the ability of PSO-based algorithms to search for the optimal path while maintaining a low computational requirement. By hybridizing with differential evolution (DE), the proposed algorithms carry out the DE operator selectively to improve the search ability. The algorithms were applied in an offline AUV path planner to generate a near-optimal path that safely guides the AUV through an environment with a priori known obstacles and time-invariant non-uniform currents. The algorithm performances were benchmarked against other algorithms in an offline path planner because if the proposed algorithms can provide better computational efficiency to demonstrate the minimum capability of a path planner, then they will outperform the tested algorithms in a realistic scenario. Through Monte Carlo simulations and Kruskal-Wallis test, SDEAPSO (selective DE-hybridized PSO with adaptive factor) and SDEQPSO (selective DE-hybridized Quantum-behaved PSO) were found to be capable of generating feasible AUV path with higher efficiency than other algorithms tested, as indicated by their lower computational requirement and excellent path quality.

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Contact Name
Tae Jin Park

Contact Email
iaes.ijra@gmail.com

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Journal Mail Official
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