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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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Dynamics of trunk type robot with spherical piezoelectric actuators Augustaitis, Aistis; Jurėnas, Vytautas
IAES International Journal of Robotics and Automation (IJRA) Vol 9, No 2: June 2020
Publisher : Institute of Advanced Engineering and Science

Trunk type robots (TTRs) are exclusive. These robots can provide a high level of maneuverability and have a potential in medicine or high risk zones. TTRs are determined as a long serial linkage of similar segments. They are usually connected using tendons or small actuators. A spherical actuator is the most appreciable option. The motion of real spherical actuator (RSA) can be easily obtained applying an inverse piezoelectric effect. It has three independent spinning axes. These axes are perpendicular to each other despite the history of excitation. Kinematics and dynamics of RSA almost have no basics regardless of mentioned features. This situation can be explained according to common disadvantages of other SAs: sophisticated structure and complex control. The structures and abilities of TTRs are reviewed in the first section of this article. At the beginning of the fourth section the kinematics of piezoelectric TTR with two different RSAs is introduced. Its results of inverse dynamics using Euler-Lagrange equations are presented at the end of the fourth section. Similar results are derived using an analytical-potential method in the fifth section. It is quite accurate and effective option to determine inverse dynamics of the TTR employing an analytical-potential method.

Forward kinematic analysis of Dobot using closed-loop method Sanjuan De Caro, Javier Dario; Rahman, Mohammad; Rulik, Ivan
IAES International Journal of Robotics and Automation (IJRA) Vol 9, No 3: September 2020
Publisher : Institute of Advanced Engineering and Science

Dobot is a hybrid robot that combines features from parallel and serial robots. Because of this characteristic, the robot excels for is reliability, allowing its implementation in diverse applications. Therefore, researchers have studied its kinematics to improve its capabilities. However, to the extent of our knowledge, no analysis has been reported taking into consideration the closed-loop configuration of Dobot. Thus, this article presents the complete analytical solution for the forward kinematics of Dobot, considering each link. The results are expected to be utilized in the development of a dynamical model that contemplates the dynamics of each element of the robot.

Improvement of an automated CAN packaging system based on modeling and analysis approach through robot simulation tools Srasrisom, Khongsak; Srinoi, Pramot; Chaijit, Seksan; Wiwatwongwana, Fasai
IAES International Journal of Robotics and Automation (IJRA) Vol 9, No 3: September 2020
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v9i3.pp178-189

The application of robot simulation tools for modelling, analysis and improvement of existing industrial manufacturing cells is presented with reference to the development and implementation of the digital factory concept. A real case study of aerosol can packaging and palletizing cell scenario in the metal can manufacturing industry for containing food and products is used as a reference in this paper. For studying manual aerosol can packaging and palletizing conditions of the worker, a detailed time and motion analysis of workers is carried out. On the basis of cycle time analysis results, an alternative to the manual operation, a more sophisticated automated packaging and palletizing system is suggested. A proposed system which uses a robotic manipulator including automated production machine and devices are also developed and tested. The viability of the suggested system is checked through simulation and cycle time analysis. A fuzzy logic software, MATLAB is employed in order to analyse the actual system’s behaviour in terms of productivity, and utilization of the available facilities. The 3D simulation software, DELMIA V6 is additionally employed to perform a detailed design phase of the manufacturing cell. From the simulation results, this gives a rough approximation that the production of one robotized manipulator, and automated packaging and palletizing cell is equal to the production of about 4.3 manual packaging and palletizing cells. These results have shown the need for change to automation in the aerosol can packaging and palletizing system.

Robust control and optimized parallel control double loop design for mobile robot Abougarair, Ahmed J.; Elmolihi, Ali S.
IAES International Journal of Robotics and Automation (IJRA) Vol 9, No 3: September 2020
Publisher : Institute of Advanced Engineering and Science

Robots have been used in many applications in the past few decades. Moreover, due to high nonlinearity behavior of these systems, an optimal and robust control design approaches have been considered to stabilize and improve their performance and robustness. The uncertainties of the time delay on the output states of the mobile robot system have a significant influence on the system nominal performance. As a result, the work becomes here to address the influence of these uncertainties on the robot system performance. In order to achieve this objective, the nonlinear controller via sliding mode control (SMC) is designed by selecting a suitable sliding surface dynamics in which the considered robot displacement and tilt angle are sliding on. The lyapunov function is considered here to accomplish the design of the sliding control signals for robot stabilization. Furthermore, the stability of the considered system is guaranteed due to convergence of the lyapunov functions into zero when the state trajectories tend to desired set points. In addition, we consider the trajectory tracking and stabilization of TWBMR system using parallel double loop PID controllers whose controllers gains are tuning via linear quadratic regulator (LQR) approach. Finally, to demonstrate the effectiveness of SMC and PID-LQR design methods, the comparison is carried out when the nominal and uncertain conditions.

Control system design of duct cleaning robot capable of overcoming L and T-shaped ducts Seo, Myeong In; Jang, Woo Jin; Ha, Junhwan; Park, Kyongtae; Kim, Dong Hwan
IAES International Journal of Robotics and Automation (IJRA) Vol 9, No 2: June 2020
Publisher : Institute of Advanced Engineering and Science

This study introduces the control method of duct cleaning robot that enables real-time position tracking and self-driving over L-shaped and T-shaped duct sections. The developed robot has three legs and is designed to flexibly respond to duct sizes. The position of the robot inside the duct is identified using the UWB communication module and the location estimation algorithm. Although UWB communication has relatively large distance error within the metal, the positional error was reduced by introducing appropriate filters to estimate the robot position accurately. TCP/IP communication allows commands to be sent between the PC and the robot and to receive live images of the camera attached to the robot. Using Haar-like and classifiers, the robot can recognize the type of duct that is difficult to overcome, such as L-shaped and T-shaped duct, and it moves successfully inside the duct according to the corresponding moving algorithms.

Air cloud algorithm for diminution of active power loss Lenin, Kanagasabai
IAES International Journal of Robotics and Automation (IJRA) Vol 9, No 3: September 2020
Publisher : Institute of Advanced Engineering and Science

In this work, air cloud (AC) algorithm is used to solve the optimal reactive power problem. Clouds shape in numerous ways. Convective clouds are created when moist air is warmed and expand into floating. Air raises haulage water vapour and within it expands and gets cooled as it goes. As the temperature and pressure of the air diminish, its saturation point – the equilibrium level of evaporation and condensation – is reduced. Every x is one cloud droplet, and qualitative characteristic of one cloud is explained by the three digital character (Ex, En, He), droplets number n, where Ex (Expected value), En (Entropy) and He (Hyper entropy) of one cloud determine centre position of cloud, cover range of cloud and thickness of cloud equally. Projected AC algorithm has been tested in standard IEEE 14, 57, 300 bus systems and simulations results show the better performance of the proposed algorithm in reducing the real power loss.

Prototype development of tethered underwater robot for underwater vessel anchor release Chukwunazo Joseph, Ezeofor; Oyengiye Moses, Georgewill
IAES International Journal of Robotics and Automation (IJRA) Vol 9, No 3: September 2020
Publisher : Institute of Advanced Engineering and Science

Tethered underwater robot (TUR) for underwater vessel anchor release is presented. In off-shore oil and gas enviromnment, there has been series of reported cases on stuck vessel anchors after mooring operations and divers are sent to release these anchors for the vessels to be in motion. The use of divers to perform such function is very risky because of human limitation and some divers have been reported dead on the process due to high pressure underwater or being attacked by underwater wide animals. This has caused very serious panic to the vessel owners and hence, this work is aimed to develop TUR that would be used by the vessel operators instead of divers to release the stuck anchor without loss. The underwater robot system comprises of three basic sections namely graphical user control interface (GUCI) that would be installed in the operator’s laptop, the WiFi LAN router for network connection, and TUR system hardware and software. Each of these sections was strictly designed. Various high-level programming languages were employed to design the GUCI and code the interface buttons, robot controller program codes etc. The implementation carried out and the prototype system tested in the University of Port Harcourt’s swimming pool of 6m depth for validation. The robot performed extremely good in swimming and release of constructed anchor underwater.

The quadrotor dynamic modeling and study of meta-heuristic algorithms performance on optimization of PID controller index to control angles and tracking the route Moshayedi, Ata Jahangir; Gheibollahi, Mahyar; Liao, Liefa
IAES International Journal of Robotics and Automation (IJRA) Vol 9, No 4: December 2020
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v9i4.pp256-270

In the last decade, because of the unique specification of vertical fliers, scientists and researchers had a special focus on them. The particular abilities of these fliers can be mentioned such as: high maneuver ability, low expenses, decrease in radar identifier and low threat for the human life. They also have no limitation in dimension. Moreover, because of some applications like photography, topography, news coverage, study of power lines and aerology analysis, they can be notable for using. These fliers also are significantly important because of monitoring in urban regions, agricultural harvest and spray poison, illegal imports, exports administration and fire distinction in order to control the fire. Besides, seek and rescue missing people and also natural disasters can be pre-determined which causes stimulus investigators to act and put different topics in front of them. One of these fields is using meta-heuristic algorithms with the capability of using in control systems. The PID controller as a classic model has some limitations, but by optimization of special index through meta-heuristic algorithms, it has shown acceptable results. In this study, first, the history of vertical fliers and quadrotor are investigated. Then, after a review of overused methods, the quadrotor control has been done. Afterward, the cinematic and dynamic of quadrotor is presented. Next by designing of PID controller, PID index optimization by nature inspired algorithm, particle swarm optimization (PSO), genetic algorithms (GA), and firefly algorithms (FA) have been studied. Dynamic system, controller and mentioned optimization methods of PID controller index have also been implemented in MATLAB software. Also, with due attention to the comparison criteria the PID-PSO controller has shown the best performance. Next, by applying challenging routes, the stability of controller in the simulation is evaluated. Then, making quadrotor is done in practice along with introducing the used implementation of PID-PSO controller results on the real robot, and its stability is evaluated practically.

Neural Networks Identification and Control of Mobile Robot Using Adaptive Neuro Fuzzy Inference System Abougarair, Ahmed Jaber
IAES International Journal of Robotics and Automation (IJRA) Vol 9, No 4: December 2020
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v9i4.pp%p

This paper developed and investigates the performance of intelligent algorithms in order to stabilize the robot when it is tracking to the desired reference. One type of robot is a Two Wheeled Balancing Mobile Robot (TWBMR) that requires control for both balancing and maneuvering. Combination artificial intelligence, Neural Networks (NNs) and Fuzzy Logic Control (FLC) have been recognized as the main tools to improve the performance of coupling nonlinear robot system without using any mathematical model. The input-output data of TWBMR generated from closed loop control system is used to develop a neural network model. In this study, neural networks model can be trained offline and then transferred into a process where an adaptive online learning is carried out using Adaptive Network Based Fuzzy Inference System (ANFIS) to improve the system performance. The simulation results verify that the considered identification and control strategies can achieve favorable control performance.The ANFIS control design approach does not require an accurate model of the plant as classical controller. In addition, high-level knowledge of the system is not needed to build a set of rules as a fuzzy controller.

Emotional model for a multi-robot system with emergent behavior Gil, Angel; Aguilar, Jose; Dapena, Eladio; Rivas, Rafael
IAES International Journal of Robotics and Automation (IJRA) Vol 9, No 3: September 2020
Publisher : Institute of Advanced Engineering and Science

This article describes an emotional model for a general-purpose robot operating in a multi-robot system with emergent behavior. The model considers four basic emotions: anger, rejection, sadness and joy, plus a neutral emotional state, which affect the behavior of the robot, both individually and collectively. The emotional state of each robot in the system is constructed through the conjunction of a series of factors related to their individual and collective actions, which are: safety, load, acting and interaction, which serve as input to an emotional process that results in an index of satisfaction of the robot that establishes the emotional state in which it is in a certain moment. The emotional state of a robot influences its interactions with the other robots and with the environment, that is, it determines its emergent behavior in the system. This paper presents the design of this model, and establishes some considerations for its implementation.

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Tae Jin Park

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iaes.ijra@gmail.com

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iaes.ijra@gmail.com

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Location
Kota yogyakarta,

Daerah istimewa yogyakarta

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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