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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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The Mobile Robot HILARE: Dynamic Modeling and Motion Simulation M. Ghazal; A. Talezadeh; M. Taheri; M. Nazemi-Zade
IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 2: June 2015
Publisher : Institute of Advanced Engineering and Science

To perform mission in variant environment, several types of mobile robot has been developed an implemented. The mobile robot HILARE is a known wheeled mobile robot which has two fixed wheels and an off-entered orientable wheel. Due to extended application of this robot, its dynamic analysis has attracted a great deal of interests. This article investigates dynamic modeling and motion analysis of the mobile robot HILARE. As the wheels of the robot have kinematic constraints, the constraints of wheels are taken into consideration and the matrix form of the kinematic model of the robot is derived. Furthermore, dynamic model of the robot is developed by consideration of kinematic constraints. To derive dynamic equations of the robot, the Lagrange multiplier method is employed and the governing equations of the robot in state-pace form are presented. Then, some simulations are presented to show applicability of the proposed formulation for dynamic analysis of the mobile robot HILARE.

Intelligent tuned PID controller for wind energy conversion system with permanent magnet synchronous generator and AC-DC-AC converters T. Muthukumari; T. A. Raghavendiran; R. Kalaivani; P. Selvaraj
IAES International Journal of Robotics and Automation (IJRA) Vol 8, No 2: June 2019
Publisher : Institute of Advanced Engineering and Science

This paper presents the intelligent tuned PID controller-based Single Ended Primary Inductor Converter (SEPIC) for Maximum Power Point Tracking (MPPT) operation of Wind Energy Conversion System (WECS). As the voltage and frequency of the Permanent Magnet Synchronous Generator (PMSG) varies with the wind speed changes, Intelligent controlled SEPIC is utilized to maintain the constant DC link voltage. The intelligent tuned PID controller combines the advantages of both conventional and soft controllers. The 1.5MW variable speed WECS (VSWECS) with AC-DC-AC converter is developed using MATLAB/Simulink software. PMSG delivers a load/utility grid through an uncontrolled diode rectifier, intelligent controlled SEPIC and three phase inverter. The real time implementation of the proposed system is done by the DSP processor MSP430F5529. The performance of the SEPIC is tested in both simulation and experiment at different wind speed conditions. The performance of the proposed Intelligent MPPT control of SEPIC are compared with the conventional PID controller. Intelligent tuning of PID controller such as Fuzzy-PID, and ANFIS-PID is implemented in the proposed system and results are compared. The simulation and experimental results reveals that the proposed ANFIS method provide improved performance than the conventional PID method in terms of power quality.

Using Deep Learning for Human Computer Interface via Electroencephalography Sangram Redkar
IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 4: December 2015
Publisher : Institute of Advanced Engineering and Science

In this paper, several techniques used to perform EEG signal pre-processing, feature extraction and signal classification have been discussed, implemented, validated and verified; efficient supervised and unsupervised machine learning models, for the EEG motor imagery classification are identified. Brain Computer Interfaces are becoming the next generation controllers not only in the medical devices for disabled individuals but also in the gaming and entertainment industries. In order to build an effective Brain Computer Interface, it is important to have robust signal processing and machine learning modules which operate on the EEG signals and estimate the current thought or intent of the user. Motor Imagery (imaginary hand and leg movements) signals are acquired using the Emotiv EEG headset. The signal have been extracted and supplied to the machine learning (ML) stage, wherein, several ML techniques are applied and validated. The performances of various ML techniques are compared and some important observations are reported. Further, Deep Learning techniques like autoencoding have been used to perform unsupervised feature learning. The reliability of the features is presented and analyzed by performing classification by using the ML techniques. It is shown that hand engineered ‘ad-hoc’ feature extraction techniques are less reliable than the automated (‘Deep Learning’) feature learning techniques. All the findings in this research, can be used by the BCI research community for building motor imagery based BCI applications such as Gaming, Robot control and autonomous vehicles.

Two phase motor fed from controlled supply Shousha, H.; Ali, Sara; B. Kotb, A.
IAES International Journal of Robotics and Automation (IJRA) Vol 9, No 1: March 2020
Publisher : Institute of Advanced Engineering and Science

Compared to single phase operation, a good utilization of machine material is achieved by supplying the two-phase stator windings from a controlled supply. It is necessary to start from the known equivalent circuits of both forward and backward components to obtain the relations between the sequence and the phase voltage values. In this method of control, the torque expression is driven in a simple form and the torque speed characteristic are computed and plotted for different values of the time-phase angle. The operation of 2-phase motor from single phase supply carried out by connecting one stator phase directly to the voltages source, with exciting the second stator phase through the phase shifting element. In this method, the starting and the maximum torque values can be controlled by changing the stator field from a pulsating of (0°) to a pure rotating field at (90°).

Mobile Robot Framework Designing and Transferring of Data by PCI Controller Alireza Rezaee
IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 2: June 2016
Publisher : Institute of Advanced Engineering and Science

In this paper, a differential robot is designed and controlled by PCI card. This card connected between personal computer and microcontroller. Furthermore PID controller was designed by Asic device and implemented on robot.In this paper, instead of using that massive hardware’s, it designed a single FPGA chip to perform the same motion control of robot wheels. We developed a general purposed motion control of robot using a field programmable gate array (FPGA).In order to obtain independent robots movement, the main PID controller is implemented with a Field Programmable Gate Array. The main PID controller routine was designed to be fairly general purpose and modular form. While it is used to control a DC motor, it could be re-deployed to other situations where some parameter has to be controlled to a set value under varying conditions. The actual control software is located in a single function and its major inputs and output are held in a structure. Although it was designed originally for a specific job it is really only intended as an example of the basic techniques involved and to allow those with no control system knowledge to experiment with a simple PID system., FPGA, ATmega128L, Robot, Digital.

Self-tuning Fuzzy Task Space Controller for Puma 560 Robot Azita Azarfar
IAES International Journal of Robotics and Automation (IJRA) Vol 7, No 4: December 2018
Publisher : Institute of Advanced Engineering and Science

Since in most robot applications the desired paths are determined in task space or Cartesian space, it is important to control the robot arm in task space. In this paper a fuzzy controller with modifiable scaling factors is proposed to control the robot end-effector in task space. The controller is a fuzzy system with a mechanism to change the scaling factors when the error is bounded under a predetermined value. The controller is designed in joint space and is developed to work space by using inverse Jacobian strategy. The simulations results on Puma 560 robot manipulator illustrate the high performance of presented control method.

Dedicated Filter for Robust Occupancy Grid Mapping KS Nagla; Moin Uddin; Dilbag Singh
IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 1: March 2015
Publisher : Institute of Advanced Engineering and Science

Sensor based perception of the environment is an emerging area of the mobile robot research where sensors play a pivotal role. For autonomous mobile robots, the fundamental requirement is the convergent of the range information in to high level internal representation. Internal representation in the form of occupancy grid is commonly used in autonomous mobile robots due to its various advantages. There are several sensors such as vision sensor, laser rage finder, and ultrasonic and infrared sensors etc. play roles in mapping. However the sensor information failure, sensor inaccuracies, noise, and slow response are the major causes of an error in the mapping. To improve the reliability of the mobile robot mapping multisensory data fusion is considered as an optimal solution. This paper presents a novel architecture of sensor fusion frame work in which a dedicated filter (DF) is proposed to increase the robustness of the occupancy grid for indoor environment. The technique has been experimentally verified for different indoor test environments. The proposed configuration shows improvement in the occupancy grid with the implementation of dedicated filters.

Path optimization for robots in a constrained workspace Doaa Mahmood Badr; Abbas Fadhal Mahdi
IAES International Journal of Robotics and Automation (IJRA) Vol 8, No 2: June 2019
Publisher : Institute of Advanced Engineering and Science

In this work, the classical A* algorithm serves as path planner to generate the optimum path that would avoid collisions and take the start, collisions, and goal as an input and give the optimal path as an output. The work was done in a static environment, so the coordinates of the obstacles are predefined for the planner. The obtained path is just a sequence of points in space, and this path may be considered later the task space and the first step for another sequential operation like mapping from Cartesian space to joint space, topology optimization, dimensional synthesis, etc. The case study was Lab-Volt 5150 manipulator; it is an accurate educational five degree of freedom 5DOF stationary robot driven by five stepper motors.

Adaptive Sliding Mode Controller Design For Attitude Small UAV Samaneh Amini
IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 3: September 2015
Publisher : Institute of Advanced Engineering and Science

The dynamic of Unmanned Aerial Vehicle (UAV) is nonlinear, strongly coupled, multi-input multi-output (MIMO), and subject to uncertainties and external disturbances. In this paper, an adaptive sliding mode controller (ASMC) is integrated to design the attitude control system for an inner loop fixed wing UAV. In the proposed scheme, sliding mode control law parameters due to uncertainty are assumed to be unknown and are estimated via adaptation laws. The synthesis of the adaptation laws is based on the positivity and Lyapunov design principle. Navigation outer loop parameters are regulated via PID controllers. Simulation results indicate that the proposed controller design can stabilize the nonlinear system, and it is robust to parametric model uncertainties and external disturbance.

Robust adaptive controller design for excavator arm Nga Thi-Thuy Vu
IAES International Journal of Robotics and Automation (IJRA) Vol 8, No 4: December 2019
Publisher : Institute of Advanced Engineering and Science

This paper presents a robust adaptive controller that does not depend on the system parameters for an excavator arm. Firstly, the model of the excavator arm is demonstrated in the Euler-Lagrange form considering with overall excavator system. Next, a robust adaptive controller has been constructed from information of state error. In this paper, the stability of overall system is mathematically proven by using Lyapunov stability theory. Also, the proposed controller is model free then the closed loop system is not affected by disturbances and uncertainties. Finally, the simulation is executed in Matlab/Simulink for both presented scheme and the PD controller under some conditions to ensure that the proposed algorithm given the good performances for all cases.

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Tae Jin Park

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iaes.ijra@gmail.com

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Location
Kota yogyakarta,

Daerah istimewa yogyakarta

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Home Page

OAI Link

Editorial Team

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Reviewer

Google Scholar

Contact Name Tae Jin Park

Contact Email iaes.ijra@gmail.com

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Journal Mail Official iaes.ijra@gmail.com

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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