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IAES International Journal of Robotics and Automation (IJRA)
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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Parallel P-PD controller to achieve vibration and position control of a flexible beam Abbas, Ammar N.; Irshad, Muhammad Asad
IAES International Journal of Robotics and Automation (IJRA) Vol 10, No 2: June 2021
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v10i2.pp149-160

Abstract

Robotic arms are considered as a cantilever beam fixed at one end and due to the length-to-weight ratio, it has a significant vibration-induced that needs to be controlled to achieve accurate position, speed control and to increase its efficiency. In this project, a discretized Timoshenko beam model is used to discuss the dynamics of the system. Further, to implement the control on the hardware an experimental setup is fabricated to observe the open-loop and closed-loop responses of the beam made of low-density polyethylene. An accelerometer as a feedback sensor is attached at one end of the flexible beam while another end is fixed at the moving cart having DC motor as an actuator. Simulink is used as the programming tool to perform all of the experimentation. Proportional-integral-derivative (PID) tuning is performed. Following that open-loop responses of the deflection of the beam parallel to the motion are observed with different input waveforms. By applying a proportional control scheme, another experiment is performed to demonstrate the disturbance rejection with an accelerometer as a feedback sensor, while ignoring position control. Finally, a PD and P based parallel control scheme is proposed to obtain simultaneously both position control and vibration reduction.
Missing data handling for machine learning models Erian, Karim H.; Regalado, Pedro H.; Conrad, James M.
IAES International Journal of Robotics and Automation (IJRA) Vol 10, No 2: June 2021
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v10i2.pp123-132

Abstract

This paper discusses a novel algorithm for solving a missing data problem in the machine learning pre-processing stage. A model built to help lenders evaluate home loans based on numerous factors by learning from available user data, is adopted in this paper as an example. If one of the factors is missing for a person in the dataset, the currently used methods delete the whole entry therefore reducing the size of the dataset and affecting the machine learning model accuracy. The novel algorithm aims to avoid losing entries for missing factors by breaking the dataset into multiple subsets, building a different machine learning model for each subset, then combining the models into one machine learning model. In this manner, the model makes use of all available data and only neglects the missing values. Overall, the new algorithm improved the prediction accuracy by 5% from 93% accuracy to 98% in the home loan example.
Wireless stepper motor control and optimization based on robust control theory Al-Azzawi, Waleed Khalid
IAES International Journal of Robotics and Automation (IJRA) Vol 10, No 2: June 2021
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v10i2.pp144-148

Abstract

Stepper motors are broadly utilized in actual systems, which are marked by non-linear parameters such as internal, external noises and uncertainties from wireless network. As well, a suitable controller is required when the problem is to track the target signal. In this paper, robust controller based on model reference are investigated to wireless control and optimize position and time in stepper motors. The core impression to build a robust controller is to use a model reference control system. Furthermore, simulations are implemented to control stepper motor position and time in two cases: first, when the wireless network without any delay and packet dropout. Second, uncertain equations when the wireless network with time delays and packet dropout. Simulation results demonstrate that proposed controller has achieved and enhanced the performance in tracking and robustness.
Control of teleoperation systems in the presence of cyber attacks: A survey Hamdan, Mutaz M.; Mahmoud, Magdi S.
IAES International Journal of Robotics and Automation (IJRA) Vol 10, No 3: September 2021
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v10i3.pp235-260

Abstract

The teleoperation system is often composed of a human operator, a local master manipulator, and a remote slave manipulator that are connected by a communication network. This paper proposes a survey on feedback control design for the bilateral teleoperation systems (BTSs) in nominal situations and in the presence of cyber-attacks. The main idea of the presented methods is to achieve the stability of a delayed bilateral teleoperation system in the presence of several kinds of cyber attacks. In this paper, a comprehensive survey on control systems for BTSs under cyber-attacks is discussed. Finally, we discuss the current and future problems in this field.
Design and development of an irrigation mobile robot Hassan, Ahmed; Asif, Rao M.; Rehman, Ateeq Ur; Nishtar, Zuhaib; Kaabar, Mohammed K. A.; Afsar, Khan
IAES International Journal of Robotics and Automation (IJRA) Vol 10, No 2: June 2021
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v10i2.pp75-90

Abstract

Water plays a significant role among other existing natural resources. The daily demand for water supplies is increasingly on the rise as the population grows. To minimize the consumption of water in irrigation, several proposals were suggested. The currently existing system known as the automated irrigation system for effective water resource use with the prediction of the weather (AISWP) functions with a single farm that lacks the reliability in the precision of weather forecasting. So, a robot-based irrigation system has been proposed to improve the performance of the system. To minimize the water usage for crops, an automated irrigation system has been developed which irrigates the field in acres. An additional characteristic of the system has also been given for the soil pH measurement to allow the use of fertilizers accordingly. The solar-powered robot is managed wirelessly by a designated application. The robot is attached with various sensors and with a high-resolution camera that tests crop conditions and senses the soil state. The application has been created to provide information about the soil’s condition such as temperature level, humidity level, water level, and level of nutrients to the PC/Laptop with the real-time values via the GSM module.
Radio frequency identification based smart parking system using Internet of Things Atiqur, Rahman
IAES International Journal of Robotics and Automation (IJRA) Vol 10, No 1: March 2021
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v10i1.pp41-50

Abstract

The ideas of shrewd urban communities have consistently been a fantasy. There have been headways produced using the recent years to make a shrewd city dream to reality with the advancement of innovation, smart gadgets are getting increasingly normal in regular daily existence. In this paper a radio frequency identification (RFID) based smart parking system using Internet of Things (IoT) innovation is actualized. The ultrasonic sensors are set before the parking spots and speaker is utilized for sign. On the off chance that the parking space is vacant, at that point light emitting diode (LED) will squint and the parking opening is full LED will be OFF. At the point when vehicle is left the RFID will peruse the data and cut the particular sum and by utilizing IoT location will be sent through short message service (SMS) to proprietor using global system for mobile communications (GSM) and global positioning system (GPS) advancements.
Development of a dynamic intelligent recognition system for a real-time tracking robot Salih, Thair Ali; Ghazal, Mohammed Talal; Mohammed, Zaid Ghanim
IAES International Journal of Robotics and Automation (IJRA) Vol 10, No 3: September 2021
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v10i3.pp161-169

Abstract

Nowadays, the development of computer vision technology help to overcome track and identify humans within a location in the complex environment through mobile robots, which gives the motivation to presents a vision-based approach to a mobile security robot. The proposed system utilizes a wireless camera to detect the objects in the field of robot view. Principle component analysis (PCA) algorithm and filters are used to implement and demonstrate the process of the images. This gives the designed system the ability to recognize objects independently from current light conditions. Frame tracking in the images uses an attention system to get an estimate of the position of a person. This estimate helps the applied camera to identify objects with changing background lighting conditions such as a fire inside a building. By using this estimate, the applied camera could identify objects with changing background lighting conditions such as a fire inside premises. The system has been tested using the MATLAB environment, and the empirical performance explains the efficiency and strongness of the suggested device.
Increasing the operating depth of an autonomous underwater vehicle using an intelligent magnetic field Jebelli, Ali; Mahabadi, Arezoo; Chaoui, Hicham; Yagoub, Mustapha C. E.
IAES International Journal of Robotics and Automation (IJRA) Vol 10, No 3: September 2021
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v10i3.pp207-223

Abstract

Designing and manufacturing a suitable body is one of the most effective factors in increasing the efficiency of autonomous underwater vehicles (AUVs). In fact, increasing the propulsive power of an AUV by reducing the frictional drag on its body and increasing its maneuverability will positively affect key parts of the AUV’s hardware and software such as control system, sensors, AUV vision, batteries and thrusters. On the other hand, a suitable body should have features such as lightness, underwater vehicle’s balance, high mechanical strength, and enough space for equipment. Therefore, the design and manufacture of the body requires a lot of analysis in terms of body material, aerodynamic calculations, etc., increases the overall cost. This paper aims to reduce the stress in the body of a Polytetrafluoroethylene (PTFE) underwater robot and to increase its operating depth without changing the body’s structure by using fuzzy logic to intelligently controlling the magnetic force generated by the repulsion between the coil and the cylindrical magnet, which saves energy, reduces battery consumption, and increases system performance. The results show that the robot performance depth increases by more than 50% without changing the robot body structure.
New time delay estimation-based virtual decomposition control for n-DoF robot manipulator Faqihi, Hachmia; Benjelloun, Khalid; Saad, Maarouf; Benbrahim, Mohammed; Kabbaj, M. Nabil
IAES International Journal of Robotics and Automation (IJRA) Vol 10, No 3: September 2021
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v10i3.pp192-206

Abstract

One of the most efficient approaches to control a multiple degree-of-freedom robot manipulator is the virtual decomposition control (VDC). However, the use of the re- gressor technique in the conventionnal VDC to estimate the unknown and uncertaities parameters present some limitations. In this paper, a new control strategy of n-DoF robot manipulator, refering to reorganizing the equation of the VDC using the time delay estimation (TDE) have been investigated. In the proposed controller, the VDC equations are rearranged using the TDE for unknown dynamic estimations. Hence, the decoupling dynamic model for the manipulator is established. The stability of the overall system is proved based on Lyapunov theory. The effectiveness of the proposed controller is proved via case study performed on 7-DoF robot manipulator and com- pared to the conventionnal Regressor-based VDC according to some evalution criteria. The results carry out the validity and efficiency of the proposed time delay estimation- based virtual decomposition controller (TD-VDC) approach.
Steam turbine controllers design based on soft-computing techniques Alawaad, Nasir Ahmed
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.pp281-291

Abstract

Steam turbine is viewed as a standout among hotspots for control age in the most recent decades, its elements examination end up being dynamically more basic. For this investigation, the model chose is of turbine speed control framework. The purpose behind this is that model is regularly experienced in refineries in a type of steam turbine that utilization hydraulic governor to control the speed of the turbine. To suit plan prerequisites, a mathematical model for the turbine was determined in light of transfer function and state space definition. There are two sorts of controllers for steam turbines which are traditional and modern controllers. Internal mode control with proportional integral derivative (IMC-PID) and linear quadratic controller (LQR) are classical type. Fuzzy logic controller (FLC) and intelligent optimization techniques like, ant colony algorithm (ACOA) and genetic algorithm (GA) are modern type. The proposed work centers on classical verses modern controllers. Results got demonstrate that embracing such a controller (GA) improves the design requirements and transient stability. The system control was actualized in simulation utilizing MATLAB/Simulink.

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