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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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Detecting African hoofed animals in aerial imagery using convolutional neural network Fang, Yunfei; Du, Shengzhi; Boubchir, Larbi; Djouani, Karim
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.pp133-143

Abstract

Small unmanned aerial vehicles applications had erupted in many fields including conservation management. Automatic object detection methods for such aerial imagery were in high demand to facilitate more efficient and economical wildlife management and research. This paper aimed to detect hoofed animals in aerial images taken from a quad-rotor in Southern Africa. Objects captured in this way were small both in absolute pixels and from an object-to-image ratio point of view, which were not perfectly suit for general purposed object detectors. We proposed a method based on the iconic Faster region-based convolutional neural networks (R-CNN) framework with atrous convolution layers in order to retain the spatial resolution of the feature map to detect small objects. A good choice of anchors was of prime importance in detecting small objects. The performance of the proposed Faster R-CNN with atrous convolutional filters in the backbone network was proven to be outstanding in our scenario by comparing to other object detection architectures.
Design of a conductive material detection system Silaban, Freddy Artadima; Budiyanto, Setiyo; Silalahi, Lukman Medriavin
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.pp292-299

Abstract

The development of technology and industry development in the 4.0 era is very fast along with these developments in the control of production results such as medicine, food, and safety must be faster and more accurate. To face free trade and global economic competition, every company is required to produce products that have good quality by the standards. By using an experimental method which is the development of this study aims to make a conductive material detector (metal detector) for the pharmaceutical industry, the food industry, and security as compared to using conductive material sensors that are integrated with the Arduino microcontroller. Application testing is carried out to find out whether the Blynk application on an android smartphone with Blynk on a Debian server that has been made previously runs well or not and the alarm system testing uses a buzzer and LED to detect conductive material passing through. Conductive sensor test results showed that the instrument can detect 6 conductivity materials such as stainless steel, aluminum, steel, zinc, copper, and tin. The average response time to detect conductive material is 3 seconds, the average ADC value of the conductive material is 0.55. The test results also successfully send information and data to the Blynk application so that it can be monitored online.
Detection of duplicate and non-face images in the eRecruitment applications using machine learning techniques E., Manjunath K.; Honnavar, Yogeen S.; Pritmani, Rakesh; K., Sethuraman
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.pp114-122

Abstract

The objective of this work is to develop methodologies to detect, and report the noncompliant images with respect to indian space research organisation (ISRO) recruitment requirements. The recruitment software hosted at U. R. rao satellite centre (URSC) is responsible for handling recruitment activities of ISRO. Large number of online applications are received for each post advertised. In many cases, it is observed that the candidates are uploading either wrong or non-compliant images of the required documents. By non-compliant images, we mean images which do not have faces or there is not enough clarity in the faces present in the images uploaded. In this work, we attempt to address two specific problems namely: 1) To recognise image uploaded to recruitment portal contains a human face or not. This is addressed using a face detection algorithm. 2) To check whether images uploaded by two or more applications are same or not. This is achieved by using machine learning (ML) algorithms to generate similarity score between two images, and then identify the duplicate images. Screening of valid applications becomes very challenging as the verification of such images using a manual process is very time consuming and requires large human efforts. Hence, we propose novel ML techniques to determine duplicate and non-face images in the applications received by the recruitment portal.
Analytical design of the fractional order controller and robustness verification Vavilala, Sateesh K.; Thirumavalavan, Vinopraba
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.pp10-23

Abstract

This paper proposes a fractional order controller (FOC) for the level control problem of the coupled tank system, using the desired time domain specifications. The coupled tank system is used in the chemical industries for the storage and mixing of liquids. The FOC is designed analytically using the direct synthesis method. In the direct synthesis method, the Bode's ideal loop transfer function is chosen as the desired transfer function. Bode's loop transfer function has the advantages like robustness to system gain variations, constant phase and very high gain margin. Performance of the proposed controller is compared with the state of the art literature. Simulation results showed that the proposed controller has the least peak overshoot. The robust performance of the proposed controller is also the best. Robust stability of the system with the proposed controller is verified, and the system is found to be robustly stable.
Automation of the design of the cross-section of the manipulator arms profile Mihola, Milan; Zeman, Zdenek; Fojtik, David
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.pp170-181

Abstract

The design of the arms of industrial robots and manipulators is a demanding process both in ter ms of expertise and in terms of the time required. For these reasons, algorithms have been created, with the help of which it is possible to design cross - sections of individual arms of robots and manipulators not only from the point of view of maximum allo wed deflection but also from the point of view of minimizing cross - sectional dimensions or minimizing the weight of arms. These algorithms were subsequently used in the development of the software tool RobotArmDesign, with the help of which it is possible to simplify and shorten the arm design process significantly. This tool also has a connection to the SolidWorks CAD system and its simulation tools through its API interface, making it possible to refine robot arms designs while maintaining significantly s horter design times than would be the case with commonly used procedures. This tool's capabilities were demonstrated in the design of a robot arm with an angular structure and five degrees of freedom.
Adjustment mechanism with sliding mode for adaptive PD controller applied to unmanned fixed-wing MAV altitude Espinoza-Fraire, A.T.; Saenz-Esqueda, A.; Cortes-Martinez, F.
IAES International Journal of Robotics and Automation (IJRA) Vol 10, No 4: December 2021
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v10i4.pp308-318

Abstract

This work presents an adjustment mechanism with the sliding modes technique to de- sign a proportional derivative (PD) controller with adaptive gains. The objective and contribution are to design a robust adjustment mechanism in the presence of unknown and not modeled perturbations in the system; this perturbation can be considered wind gusts. The robust adjustment mechanism is designed with the MIT rule and the gra- dient method with the sliding mode theory. The adaptive PD obtained is applied to regulate unmanned fixed-wing miniature aerial vehicle (MAV’s) altitude.
Adaptive language processing unit for Malaysian sign language synthesizer Maarif, Haris Al Qodri; Gunawan, Teddy Surya; Akmeliawati, Rini
IAES International Journal of Robotics and Automation (IJRA) Vol 10, No 4: December 2021
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v10i4.pp326-339

Abstract

Language processing unit (LPU) is a system built to process text-based data to comply with the rules of the sign language grammar. This system was developed as an important part of the sign language synthesizer system. Sign language (SL) uses different grammatical rules from the spoken/verbal language, which only involves the important words that hearing/impaired speech people can understand. Therefore, it needs word classification by LPU to determine grammatically processed sentences for the sign language synthesizer. However, the existing language processing unit in SL synthesizers suffers time lagging and complexity problems, resulting in high processing time. The two features, i.e., the computational time and success rate, become trade-offs which means the processing time becomes longer to achieve a higher success rate. This paper proposes an adaptive LPU that allows processing the words from spoken words to Malaysian SL grammatical rule that results in relatively fast processing time and a good success r ate. It involves n-grams, natural language processing (NLP) , and hidden Markov models (HMM)/Bayesian networks as the classifier to process the text-based input. As a result, the proposed LPU system has successfully provided an efficient (fast) processing time and a good success rate compared to LPU with other edit distances (mahalanobis, Levenshtein, and soundex). The system has been tested on 130 text-input sentences with several words ranging from 3 to 10 words. Results showed that the proposed LPU could achieve around 1.497ms processing time with an average success rate of 84.23% for a maximum of ten-word sentences.
Internet of robotic things: Design and develop the quality of service framework for the healthcare sector using CoAP Kumar, Arun; Sharma, Sharad
IAES International Journal of Robotics and Automation (IJRA) Vol 10, No 4: December 2021
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v10i4.pp289-295

Abstract

The number of robotics used globally is gradually growing, according to a variety of research. They are becoming more and more popular in different workplaces, like manufacturing, distribution, medical conditions, military, inaccessible areas, etc. The int ernet of things (IoT) and robotics groups have until now been guided by a set of, but somewhat compatible, goals, which are mainly to help knowledge systems in the field of general sensing, tracking, and monitoring. Therefore, the development of an interne t of robotic things (IoRT), which incorporates the outcome from both cultures, is progressively said to have a significant added benefit. Internet of robotic thin gs, the intersection of the Internet of Things and robotics, is where self - sufficient machines will assemble information from various sensors and speak with one another to perform errands including basic reasoning. As the name suggests, IoRT is the combination of two front - line innovations, the internet of things and robotics . People can manage any electronic device in homes with IoT and can also be used in contactless applications in healthcare. The constrained application protocol (CoAP), for the management and control of a community of homogeneous sensor modules, has recently endorsed multicast c ommunications in IoRT. It will boost connectivity performance, less power consumption due to data aggregation, and enhanced security features with DTLS security features for various applications for the internet of things . This paper presents an implementa tion of the CoAP framework on IoRT sky motes using the C ontiki C ooja Simulator that will be a useful healthcare sector that will confirm their potential and therefore, new research directions are outlined.
Realtime autonomous navigation in V-Rep based static and dynamic environment using EKF-SLAM Hani, Umme; Moin, Lubna
IAES International Journal of Robotics and Automation (IJRA) Vol 10, No 4: December 2021
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v10i4.pp296-307

Abstract

Localization in an autonomous mobile robot allows it to operate autonomously in an unknown and unpredictable environment with the ability to determine its position and heading. Simultaneous localization and mapping (SLAM) are introduced to solve the problem where no prior in formation about the environment is available either static or dynamic to achieve standard map-based localization. The primary focus of this research is autonomous mobile robot navigation using the extended Kalman filter ( EKF )-SLAM environment modeling tech nique which provides higher accuracy and reliability in mobile robot localization and mapping result s . In this paper , EKF-SLAM performance is verified by simulations performed in a static and dynamic environment designed in V-REP i.e. , 3D Robot simulation environment. In this work SLAM problem of two-wheeled differential drive robot i.e. , Pioneer 3-DX in indoor static and dynamic environment integrated with Laser range finder i.e. , H okuyo URG-04LX-UG01, LIDAR , and Ultrasonic sensors is solved. EKF-SLAM scripts are developed using MATLAB that is linked to V-REP via r emote API f eature to evaluate EKF-SLAM performance. The reached results confirm the EKF-SLAM is a reliable approach for r eal-time autonomous navigation for mobile robots in comparison to other techniques.
Low-cost SARS-CoV-2 vaccine homogenization system for Pfizer-BioNTech covid-19 vials Lima, Jose; Rocha, Luísa; Rocha, Cláudia; Costa, Paulo
IAES International Journal of Robotics and Automation (IJRA) Vol 10, No 4: December 2021
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v10i4.pp340-352

Abstract

The current SARS-CoV-2 pandemic has been affecting all sectors worldwide, and efforts have been targeting the enhancement of people’s health and labour conditions of collaborators belonging to healthcare institutions. The recent vaccines emerging against covid-19 are seen as a solution to address the problem that has already killed up to two million people. The preparation of the Pfizer-BioNTech covid-19 vaccine requires a specific manipulation before its administration. A correct homogenization with saline solution is needed and, therefore, a manual process with a predefined protocol should be accomplished. This action can endanger the operators’ ergonomics due to the repetitive movement of the process. This paper proposes a low-cost prototype incorporating an arduino based embedded system actuating a servomotor to perform an autonomous vials’ homogenization allowing to redirect these healthcare workers to other tasks. Moreover, a contactless start order process was implemented to avoid contact with the operator and, consequently, the contamination. The prototype was successfully tested and recognised, and is being applied during the preparation of the covid-19 vaccines at the hospital pharmacy of Centro Hospitalar de Vila Nova de Gaia/Espinho, E.P.E., Portugal. It can be easily replicated since the source files to assemble it are provided by the authors.

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