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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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Development of an Arduino-based photobioreactor to investigate algae growth rate and CO2 removal efficiency Alarde, Hans Paolo S.; Bartolabac, Kiara Jenvy C.; Acut, Dharel P.; Cane, Jas Felicisimo A.; Magsayo, Joy R.
IAES International Journal of Robotics and Automation (IJRA) Vol 11, No 2: June 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v11i2.pp141-160

Abstract

Global carbon dioxide (CO2) emissions are rising, and microalgae have been a primary focus for alleviating the negative impacts of increasing CO2 levels. CO2 sequestration is influenced by pH level, temperature, light, nutrient levels, and aeration. This study adapted a 2-chamber system with a 6-Liter vertical-column photobioreactor. It was constructed to remove CO2 from the air using microalgae. Arduino sensors, namely temperature, pH, and CO2 gas, were incorporated to monitor microalgal growth. Two 7-day trials, with an initial algae mass of 15 g, were implemented to investigate the growth and CO2 removal rates. The results showed that trial 1 yielded 21.5 g with a growth rate of 0.56 gxin-2 x day-1, and trial 2, a final sample of 19.7 g with a growth rate of 0.51 gxin-2 x day-1. The CO2 removal rate for trial 1 increased from 10.17% to 22.04%. However, the CO2 removal rate for trial 2 decreased from 15.66% to 3.55%. In terms of relative percent error, the Arduino sensors' accuracy was also determined to be low, ranging from 0.85 to 1.94. With accurate readings, the findings show that the CO2 removal efficiency rate and algae growth rate are directly proportional to each other.
Miniature pellet extruder concept for robotic 3D printing application Dixit, Ankit; Kumar, Vikash
IAES International Journal of Robotics and Automation (IJRA) Vol 11, No 2: June 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v11i2.pp161-167

Abstract

Additive manufacturing more commonly known as 3D printing has been in the limelight of manufacturing research for a long. Many advances have been made in the past in elementary printing techniques, materials, and post-processing schemes. In this paper, a concept of a miniature pellet extruder is added at the end of the articulated robotic arm. The idea is to create a system that capable to print larger and more complex shapes of any parts with the help of a low payload capacity robotic arm and provide output as a single-piece structure. It also helps to print and handle objects with larger and more complex geometry with an optimized cycle time. Knowledge from this research work will also help to choose not only the right low payload capacity robotic arm, but also provides a logical approach for selecting a pellet extruder over a filament extruder.
Active object search using a pyramid approach to determine the next-best-view Flores-Rodriguez, Karen-Lizbeth; Trujillo-Romero, Felipe; Gonzalez-Barbosa, Jose-Joel
IAES International Journal of Robotics and Automation (IJRA) Vol 11, No 1: March 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v11i1.pp70-88

Abstract

The development of service robotics continues to arouse interest in the scientific community due to the complexity of the activities performed like interaction in human environments, identifying and manipulating objects, and even learning by themselves. This paper proposed to improve the perception of the environment by searching for objects in service robotics tasks. We present the development and implementation of an active object search method based on three main phases: Firstly, image pyramid segmentation to examine in detail the im- age features. Second step, object detection at each level of the pyramid through a local feature descriptor and a mutual information calculation. Finally, the next camera position selection through analyzing the object detections accumulation in the pyramid. To evaluate the implementation of the proposed method, we use a NAO robot in a familiar place for humans, such as an office or a home. Ordinary objects are part of our database with the premise that a robot must know them before looking for an object. The results in the experiments showed an acceptable performance in simulation and with a real platform.
An effective approach to enhance the balancing control in bycycorobot using the soft computing techniques Sharma, Aswant Kumar; Sambariya, Dhanesh Kumar
IAES International Journal of Robotics and Automation (IJRA) Vol 11, No 1: March 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v11i1.pp43-61

Abstract

The balancing and control of bycycorobot is a challenging task. The pre-specified controller available in the literature for balancing has been reduced with novel optimization to improve the effectiveness of balancing, uncertainty, and the complexity of the complete system. The novel Harris hawk optimization (HHO) which is based on the hunting behavior of the hawk has been utilized to improve the balancing of the bycycorobot. The paper proposes the decreased order controller of a pre-specified controller for a bycycorobot. The obtained controller response with bycycorobot in the complete closed loop is analyzed, and the best performance is compared with the reduced order controller available in the literature. The comparison is based on the response indices and response characteristics.
The surface electromyography noise filtering and unwanted recordings attenuation for lower limb robotic system Deboucha, Abdelhakim
IAES International Journal of Robotics and Automation (IJRA) Vol 11, No 1: March 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v11i1.pp62-69

Abstract

Exoskeleton robotic device (ERD) for rehabilitation purposes, physically interacts alongside with the user where high cognitive interaction and the safe human - machine system is required. To ensure safe interaction, there is a need to detect the user’s motion intention. One of the bio-signals that have been found to reflect directly the individual’s motion intention is surface electromyography (sEMG). However, sEMG signals are inevitably full of noises, not to mention the unwanted recordings and other artifact s between muscles where they cannot be freely used as a control signal for ERD. This paper presents the use of the Butterworth filter for noise suppression and the attenuation of unwanted recordings. Using classical Butterworth filter typically is unable to eliminate or attenuate the unwanted contamination on the signal of interest to its baseline level. Therefore, it is critical to modify the Butterworth filter at this stage. sEMG signals from the biceps femoris and rectus femoris muscles of seven health y male young adults were recorded in this study. The onset/ offset technique is utilized to detect the presence of the additional signal contaminated on the signal of interest. If the onset/offset index points are not approximately correlated with the movement, this means there is a contaminated measurement on the signal of interest. At this interval, a filter with distributed cutoff frequency plays the role to have the already smoothed baseline signal. In summary, the modified Butterworth filter shows to have a good performance to suppress the noises and to attenuate the unwanted recordings adaptively which ensures a safe human-machine system.
Person following control for a mobile robot based on color invariance corresponding to varying illumination Oh-hara, Shinsuke; Saito, Kaoru; Fujimori, Atsushi
IAES International Journal of Robotics and Automation (IJRA) Vol 11, No 1: March 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v11i1.pp33-42

Abstract

In this paper, we present a method of person following control for a mobile robot using visual information. Color information is often used for object tracking. Color information of objects varies greatly under illumination changing environment. In such conditions, the robot controlled by visual information may lose sight of a person. In this paper, we consider a robust person following method by color invariance and image-based control. Color invariance shows robust features of colored objects in terms of changing illumination conditions. At first, we estimate the lowest positions of both feet of a tracked person through particle filters based on color invariances. Then, we control the velocity of the robot to track the person by using the image-based controller. Experimental results using an actual robot demonstrate the effectiveness of the proposed method.
An efficient regression method for 3D object localization in machine vision systems Van, Xiem Hoang; Do, Nam
IAES International Journal of Robotics and Automation (IJRA) Vol 11, No 2: June 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v11i2.pp111-121

Abstract

Machine vision or robot vision plays is playing an important role in many industrial systems and has a lot of potential applications in the future of automation tasks such as in-house robot managing, swarm robotics controlling, product line observing, and robot grasping. One of the most common yet challenging tasks in machine vision is 3D object localization. Although several works have been introduced and achieved good results for object localization, there is still room to further improve the object location determination. In this paper, we introduce a novel 3D object localization algorithm in which a checkerboard pattern-based method is used to initialize the object location and followed by a regression model to regularize the object location. The proposed object localization is employed in a low-cost robot grasping system where only one simple 2D camera is used. Experimental results showed that the proposed algorithm significantly improves the accuracy of the object localization when compared to the relevant works.
Robust Trajectory Tracking with Optimal Visual Servoing on a Deformable Object Yasser derrar
IAES International Journal of Robotics and Automation (IJRA) Vol 11, No 3: September 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v11i3.pp%p

Abstract

This paper presents a novel approach to rigidly align a prespective camera to the deformation of a non-rigid object. We assume having a reference pre-planned camera trajectory viewing a non-rigid object. Our goal, is to align this trajectory at the execution time given a prior only on the most relevant landmark. Our method does not assume any parametric or non-parametric prior model on the physics of deformation. The proposed method is formalized as a tracking problem embedded in an optimal control framework. The tracking problem encodes visual servoing of features' from the deformable object between pre-planned and execution time. The optimal control framework is formalized with a weighted least-square criterion that minimizes the distance between the reference features and the features at run time. The weights are time-dependent smooth functions that encode the relevance of the visible object's features. We experimentally prove that our method can adapt to multiple pre-planned trajectories and multiple types of deformations without any prior knowledge on them. Robustness to noise in the detection of image features is also experimentally demonstrated.
Implementation of a complex fractional order proportional-integral-derivative controller for a first order plus dead time system Abdulwahhab, Omar
IAES International Journal of Robotics and Automation (IJRA) Vol 11, No 3: September 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v11i3.pp205-212

Abstract

This paper presents the implementation of a complex fractional order proportional integral derivative (CPID) and a real fractional order PID (RPID) controllers. The analysis and design of both controllers were carried out in a previous work done by the author, where the design specifications were classified into easy (case 1) and hard (case 2) design specifications. The main contribution of this paper is combining CRONE approximation and linear phase CRONE approximation to implement the CPID controller. The designed controllers-RPID and CPID-are implemented to control flowing water with low pressure circuit, which is a first order plus dead time system. Simulation results demonstrate that while the implemented RPID controller fails to stabilize the system in case 2, the implemented CPID controller stabilizes the system in both cases and achieves better transient response specifications.
Selection of smooth motion profile for a tube locator module of an inspection device Perumalsamy, G.; Visweswaran, P.; Kumar, Deepak; Winston, S. Joseph; Murugan, S.
IAES International Journal of Robotics and Automation (IJRA) Vol 11, No 3: September 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v11i3.pp181-195

Abstract

The Prototype Fast Breeder Reactor steam generators inspection system has seven modules. In this, tube locator module is a planar serial two-link robotic arm, which is used to place the eddy current probe above the steam generators tube hole in the tube sheet region. The trajectory planning of the two-link robotic arm is one of the important tasks, so the peak velocity, peak acceleration, peak jerk of various motion profiles for a given distance has to be selected properly for smooth motion and to avoid actuator saturation. The fifth-order polynomial gives lower acceleration and velocity than the jerk-limited S-curve. In this paper, the comparison of peak values of kinematic variables (velocity, acceleration, and jerk) for different motion profiles has been presented.

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