IAES International Journal of Robotics and Automation (IJRA)
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.
Articles
470 Documents
<![CDATA[Formation shape transition of multiple mobile robots in leader-follower method ]]>
<![CDATA[Fujimori, Atsushi]]>;
<![CDATA[Oh-kiri, Kotaro]]>;
<![CDATA[Oh-hara, Shinsuke]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 10, No 4: December 2021 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v10i4.pp275-288
<![CDATA[This paper presents a formation shape transition technique of multiple mobile robots in the leader-follower method as a new function that gives flexibility to the formation control of mobile robots with multiple sonars. First, we propose basic shape transition methods for the case of two mobile robots under formation control by the leader-fol lower method, and then extend the methods to the shape transition of three mobile robots. Since the multiple sonars attached to the mobile robot are located forward, including the left and right sides, there is a constraint on the formation shape feasible by the leader-follower method. In the case of two mobile robots, the follower must be positioned behind the leader. Therefore, there are three shapes of the follower relative to the leader: line, right-back, left-back. In the case of three mobile robots, t hree types of line, zigzag, triangle shapes are considered. The effectiveness of the proposed technique is demonstrated by experiments using real mobile robots.]]>
<![CDATA[The taxi function ]]>
<![CDATA[Sánchez, Alicia C.]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 10, No 4: December 2021 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v10i4.pp319-325
<![CDATA[This paper investigates the lane keeping control and the lateral control of autonomous ground vehicles, robots or the like considering the road agency formation unit (RAFU) functions. A strategy based knowing the real position of several points of the trajec- tory is proposed to achieve the lateral control purpose and maintain the lane keeping errors within the prescribed performance boundaries. The RAFU functions are applied to achieve these goals. The stability of these functions, their applicability to approach any arbitrary trajectory and the easy control of the possible error made on the approx- imation are useful advantages in practice.]]>
<![CDATA[An alternative technique to reduce time, cost and human effort during natural or manufactured disasters ]]>
<![CDATA[Al-Janabi, Samaher]]>;
<![CDATA[Alkaim, Ayad]]>;
<![CDATA[Rahem, Ahmed]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 11, No 1: March 2022 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v11i1.pp10-20
<![CDATA[The world suffers from a very large number of missing persons, ranging from about 250,000 to about one million people for various reasons in recent years. Therefore, the process of finding and tracing the missing persons as a result of a plane crash, fire or explosion in a particular area is a humanitarian and religious and national duty, and is one of the most important issues in our country. So, the idea of using a drone to find missing people was invested. We have designed system that collects real-time data and analyzes in a smart way and utilizes global positioning system (GPS) to locate people and track their impact. The idea of this work has been developed and implemented. They represent it in the form of a triangular problem, which included: First, how to locate the missing persons and send video broadcasts to a calculator or mobile device remotely. Analyze the data collected in real time, and send a report identifying the safe path that can be taken to reach the missing persons. The second stage is collection the data in the master computer and analysis it, while the final stage determines the coordinates of the location to the missing persons and the best possible way to reach of them.]]>
<![CDATA[A smart door prototype with a face recognition capability ]]>
<![CDATA[Hutomo, Ivan Surya]]>;
<![CDATA[Wicaksono, Handy]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 11, No 1: March 2022 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v11i1.pp1-9
<![CDATA[This research aimed to integrate a face recognition capability in a smart door prototype. By using a camera-based face recognition, the house owner does not need to make physical contact to open the door. Avoid physical contact is important due to the coronavirus disease 2019 (COVID19) pandemic. Raspberry Pi 3B was used as the main controller, while a servo motor was utilized as a locking door actuator. The program was developed using Node-RED, Blynk, and message queue telemetry transport (MQTT) platforms which are very powerful for developing internet of things (IoT) devices. All of the programs were coded using Python. Haar cascade and local binary pattern histogram methods were implemented on the face recognition stage. Google Assistant integration was done by using Dialogflow and Firebase as Google Cloud services. Integration of face recognition and the smart door was successful. The smart door was unlocked if faces were recognized (average threshold=60%). If a face was not recognized, an email notification containing a face image is sent to the house owner. The Google Assistant could handle user requests successfully with a success rate of 92.8% from 147 trials.]]>
<![CDATA[Efficient commercial classification of agricultural products using convolutional neural networks ]]>
<![CDATA[Jebelli, Ali]]>;
<![CDATA[Mahabadi, Arezoo]]>;
<![CDATA[Ahmad, Rafiq]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 10, No 4: December 2021 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v10i4.pp353-364
<![CDATA[Agricultural products, as essential commodities, are among the most sought - for items in superstores. Barcode is usually utilized to classify and regulate the price of products such as ornamental flowers in such stores. However, the use of barcodes on some fragile agricultural products such as ornamental flowers can be damaged and lessen their life length. Moreover, it is time - consuming and costly and may lead to the pro duction of massive waste and damage to the environment and the admittance of chemical materials into food products that can affect human health. Consequently, we aimed to design a classifier robot to recognize ornamental flowers based on the related produc t image at different times and surrounding conditions. Besides, it can increase the speed and accuracy of distinguishing and classifying the products, lower the pricing time, and increase the lifetime due to the absence of the need for movement and changin g the position of the products. According to the datasheets provided by the robot that is stored in its database, we provide the possibility of identifying and introducing the product in different colors and shapes. Also, due to the preparation of a standa rd and small database tailored to the needs of the robot, the robot will be trained in a short time (less than five minutes) without the need for an Internet connection or a large hard drive for storage the data. On the other hand, by dividing each input p hoto into ten different sections, the system can, without the need for a detection system, simultaneously in several different images, decorative flowers in different conditions, angles and environments, even with other objects such as vases, detects very fast with a high accuracy of 97%.]]>
<![CDATA[Recognizing facial emotions for educational learning settings ]]>
<![CDATA[Kingsley, Akputu Oryina]]>;
<![CDATA[Inyang, Udoinyang G.]]>;
<![CDATA[Msugh, Ortil]]>;
<![CDATA[Mughal, Fiza T.]]>;
<![CDATA[Usoro, Abel]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 11, No 1: March 2022 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v11i1.pp21-32
<![CDATA[Educational learning settings exploit cognitive factors as ultimate feedback to enhance personalization in teaching and learning. But besides cognition, the emotions of the learner which reflect the affective learning dimension also play an important role in the learning process. The emotions can be recognized by tracking explicit behaviors of the learner like facial or vocal expressions. Despite reasonable efforts to recognize emotions, the research community is currently constraints by two issues, namely: i) the lack of efficient feature descriptors to accurately represent and prospectively recognize (detecting) the emotions of the learner; ii) lack of contextual datasets to benchmark performances of emotion recognizers in the learning-specific scenarios, resulting in poor generalizations. This paper presents a facial emotion recognition technique (FERT). The FERT is realized through results of preliminary analysis across various facial feature descriptors. Emotions are classified using the multiple kernel learning (MKL) method which reportedly possesses good merits. A contextually relevant simulated learning emotion (SLE) dataset is introduced to validate the FERT scheme. Recognition performance of the FERT scheme generalizes to 90.3% on the SLE dataset. On more popular but noncontextually datasets, the scheme achieved 90.0% and 82.8% respectively extended Cohn Kanade (CK+) and acted facial expressions in the wild (AFEW) datasets. A test for the null hypothesis that there is no significant difference in the performances accuracies of the descriptors rather proved otherwise (χ2=14.619,df=5,p=0.01212) for a model considered at a 95% confidence interval.]]>
<![CDATA[Modified power rate sliding mode control for robot manipulator based on particle swarm optimization ]]>
<![CDATA[Sinan, Saif]]>;
<![CDATA[Fareh, Raouf]]>;
<![CDATA[Hamdan, Sadeque]]>;
<![CDATA[Saad, Maarouf]]>;
<![CDATA[Bettayeb, Maamar]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 11, No 2: June 2022 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v11i2.pp168-180
<![CDATA[This work suggests an optimized improved power rate sliding mode control (PRSMC) to control a 4-degrees of freedom (DOF) manipulator in joint space as well as workspace. The proposed sliding mode control (SMC) aims to improve the reaching mode and to employ an optimization method to tune the control parameters that operate the robotic manipulator adaptively. Inverse kinematics is used to obtain the joint desired angles from the end effector desired position, while forward kinematics is used to obtain the real Cartesian position and orientation of the end effector from the real joint angles. The proposed enhancements to the SMC involve the use of the hyperbolic tangent function in the control law to improve the reaching mode. Added to that, particle swarm optimization (PSO) is used to tune the parameters of the improved SMC. Furthermore, the Lyapunov function is utilized to analyze the stability of the closed-loop system. The proposed enhanced sliding mode combined with the optimization method is applied experimentally on a 4-DOF manipulator to prove the feasibility and efficiency of the proposed controller. Finally, the performance of the suggested control scheme is compared with the conventional power rate SMC in order to demonstrate the enhanced performance of the suggested method.]]>
<![CDATA[Using mobile laser scanner and imagery for urban management applications ]]>
<![CDATA[Gonzalez-Barbosa, Jose-Joel]]>;
<![CDATA[Flores-Rodrıguez, Karen Lizbeth]]>;
<![CDATA[Ornelas-Rodrıguez, Francisco Javier]]>;
<![CDATA[Trujillo-Romero, Felipe]]>;
<![CDATA[Gonzalez-Barbosa, Erick Alejandro]]>;
<![CDATA[Hurtado-Ramos, Juan B.]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 11, No 2: June 2022 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v11i2.pp89-110
<![CDATA[Despite autonomous navigation is one of the most proliferate applications of three-dimensional (3D) point clouds and imagery both techniques can potentially have many other applications. This work explores urban digitization tools applied to 3D geometry to perform urban tasks. We focus exclusively on compiling scientific research that merges mobile laser scanning (MLS) and imagery from vision systems. The major contribution of this review is to show the evolution of MLS combined with imagery in urban applications. We review systems used by public and private organizations to handle urban tasks such as historic preservation, roadside assistance, road infrastructure inventory, and public space study. The work pinpoints the potential and accuracy of data acquisition systems to handled both 3D point clouds and imagery data. We highlight potential future work regarding the detection of urban environment elements and to solve urban problems. This article concludes by discussing the major constraints and struggles of current systems that use MLS combined with imagery to perform urban tasks and to solve urban tasks.]]>
<![CDATA[Fuzzy logic track control of an automated lawnmower ]]>
<![CDATA[Kayode, Ajayi Oluwaseun]]>;
<![CDATA[Ishola, Balogun Daud]]>;
<![CDATA[Olubunmi, Ige Ebenezer]]>;
<![CDATA[John, Adeyi Abiola]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 11, No 2: June 2022 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v11i2.pp122-131
<![CDATA[Automation of agricultural and horticultural operations keeps received great attention for over a decade. The control parameters adopted depend on the location and characteristics of likely obstacles and navigation requirements. An automated lawnmower (ALM) with fuzzy logic control is presented in this study. Fuzzy logic was chosen to improve a previous work which was controlled via Bluetooth. Three ultrasonic sensors and two proximity sensors served as the eyes of the ALM for navigation and obstacle avoidance while the cutting blade was made of stainless steel and controlled by a brushless direct current (BLDC) motor. A fuzzy algorithm was implemented on an Arduino controller with the inputs and outputs as directional instructions. Obstacle avoidance was achieved by setting a range of values for the sensors interpreted by the fuzzy logic for the corresponding output in the form of navigations. Three trials tests were conducted on the ALM on a 5 m2 portion of land with an average grass height of 0.09 m. The average cut area was 4.46 m2, therefore achieving an efficiency of 89.2%, which is highly productive. It was observed that the power consumption was minimal compared to the previous design because at the end of the three trials 46% of the battery was left after over 3 hours of operation.]]>
<![CDATA[Kinematic analysis and design of a new two-limb parallel Schonflies-motion generator considering isotropic configuration ]]>
<![CDATA[Wu, Guanglei]]>;
<![CDATA[Shen, Huiping]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 11, No 2: June 2022 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v11i2.pp132-140
<![CDATA[This paper presents a new two-limb parallel Schonflies-motion generator, which adopts a pair of alternative spatial modules equivalent to the parallelogram structure. This modular architecture can ensure the enhanced stiffness of the manipulator normal to the motion of the planar parallelogram structure due to the trapezoidal architecture. The preliminary kinematic problems, namely, the mobility, forward/inverse geometry and singularity, are studied as well as the kinematic isotropy. A neutral isotropic configuration of the robot is identified for the structural design of the link lengths.]]>
