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[Model-based and machine learning-based high-level controller for autonomous vehicle navigation: lane centering and obstacles avoidance ]]>
<![CDATA[Santos, Marcone Ferreira]]>;
<![CDATA[Victorino, Alessandro Corrêa]]>;
<![CDATA[Pousseur, Hugo]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 12, No 1: March 2023 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v12i1.pp84-97
<![CDATA[Researchers have been attempting to make the car drive autonomously. The environment perception together with safe guidance and control is an important task and are one of the big challenges when developing this kind of system. Geometrical or physical based models, machine learning based models and those based on a mixture of both models, are the three types of navigation methods used to resolve this problem. The last method takes advantage of the learning capability of machine learning models and uses the safeness of geometric models in order to better perform the navigation task. This paper presents a hybrid autonomous navigation methodology, which takes advantage of the learning capability of machine learning and uses the safeness of the dynamic window approach geometric method. Using a single camera and a 2D lidar sensor, this method actuates as a high-level controller, where optimal vehicle velocities are found, then applied by a low-level controller. The final algorithm is validated on CARLA Simulator environment, where the system proved to be capable to guide the vehicle in order to achieve the following tasks: lane keeping and obstacle avoidance.]]>
<![CDATA[Microexpression recognition robot ]]>
<![CDATA[Wu, Yi-Chang]]>;
<![CDATA[Liu, Yao-Cheng]]>;
<![CDATA[Tsao, Chieh]]>;
<![CDATA[Huang, Ru-Yi]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 12, No 1: March 2023 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v12i1.pp20-28
<![CDATA[Following the development of big data, the use of microexpression technology has become increasingly popular. The application of microexpressions has expanded beyond medical treatment to include scientific case investigations. Because microexpressions are characterized by short duration and low intensity, training humans to recognize their yields poor performance results. Automatically recognizing microexpressions by using machine learning techniques can provide more effective results and save time and resources. In the real world, to avoid judicial punishment, people lie and conceal the truth for a variety of reasons. In this study, our primary objective was to develop a system for real-time microexpression recognition. We used FaceReader as the retrieval system and integrated the data with an application programming interface to provide recognition results as objective references in real-time. Using an experimental analysis, we also attempted to determine the optimal system configuration conditions. In conclusion, the use of artificial intelligence is expected to enhance the efficiency of investigations.]]>
<![CDATA[Modeling and performance analysis of open-loop remotely operated vehicles ORCA ]]>
<![CDATA[Panati, Tejaswini]]>;
<![CDATA[Indraganti, Sai Deepika]]>;
<![CDATA[Santhanam, Sakthivel Murugan]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 12, No 1: March 2023 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v12i1.pp108-124
<![CDATA[ORCA is a low cost remotely operated vehicle which was indigenously developed for underwater inspection and survey. As the underwater environment is quite unpredictable, dynamic modeling and simulation of the remotely operated vehicle are essential to understand the behavior of the vehicle and accomplish stabilized navigation. This paper discusses a detailed approach to the mathematical modeling of ORCA based on Newtonian dynamics and simulating the position and velocity responses in Simulink. The open loop nonlinear model of the remotely operated vehicle was used to study the navigation challenges due to the various perturbations present underwater namely Coriolis and centripetal force, added mass, hydrodynamic damping force, and restoring forces. The six-thruster open loop ORCA model was subjected to various thrust inputs (25%, 50%, and 75%) to achieve six degrees of freedom (DoF) respectively and it was observed that there was significant instability in the other DOFs along with the principal direction of motion. Further, the authors will incorporate the various control systems in ORCA and analyze the stability in navigation induced due to each of them.]]>
<![CDATA[Assembling, simulating, and recording robot videos as an effort to motivate middle school students and teachers of Science in Bengkulu Province ]]>
<![CDATA[Mayub, Afrizal]]>;
<![CDATA[Fahmizal, Fahmizal]]>;
<![CDATA[Firdaus, M. Lutfi]]>;
<![CDATA[Johan, Henny]]>;
<![CDATA[Ruyani, Aceng]]>;
<![CDATA[Karyadi, Bhakti]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 12, No 2: June 2023 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v12i2.pp146-156
<![CDATA[The aim of this study was to determine the motivation of science teachers and students towards science after participating in the activity of assembling, simulating, and recording line follower robots as an effort to motivate middle school students and teachers towards science in Bengkulu Province. The research was done by direct practicing, where 60 students and 15 teachers of three junior high school (SMP): SMP Negeri 06 Seluma, SMP Negeri 02 Kota Bengkulu, and SMP Negeri 8 Rejang Lebong, were involved as the research subjects. The research activity concluded that the schools are ready to prepare simple electronics/robot laboratories for the three research subjects and the science teachers and students were motivated to learn science. It was seen from the score of 3.95 (scale of 1 to 5) for students, and for the science teacher, the score was 3.83 (scale of 1 to 5). The science teachers will follow up on robotics activities so that students will be interested in learning science at home and school.]]>
<![CDATA[Semi-automated mid-turbinate swab sampling using a six degrees of freedom collaborative robot and cameras ]]>
<![CDATA[Leung, Michael]]>;
<![CDATA[Ortiz, Ricardo]]>;
<![CDATA[Jo, Bruce W.]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 12, No 3: September 2023 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v12i3.pp240-247
<![CDATA[Mid-turbinate swab sampling is an effective way to detect the severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2) virus. Several articles discussed the importance and benefits of using robotic technology to alleviate healthcare workers’ daily burdens against coronavirus disease 2019 (COVID-19). Therefore, a semi-automated approach for collecting swab samples from the mid-turbinate area-approximately 4 cm inside the nose is proposed. The system utilizes a six-degrees-of-freedom (6-DOF) Doosan Robot M1509 and two smart visual sensors: one on the end effector and the other fixed to the side for estimating the angle of the nasal path. This work suggests a method of robot and human collaboration in the sampling process that could minimize infections from samplings and guarantee uniformly administered sampling processes. The effectiveness of this proposed work was tested on a live patient and a phantom head; meanwhile, the insertion process was only administered on the phantom head. Although the overall time of the experiment was greater than a manual swab, the feasibility of implementing robotic applications for COVID-19 swab sampling has been practically showcased in this paper.]]>
<![CDATA[Pick-and-place application using a dual arm collaborative robot and an RGB-D camera with YOLOv5 ]]>
<![CDATA[Kijdech, Dumrongsak]]>;
<![CDATA[Vongbunyong, Supachai]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 12, No 2: June 2023 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v12i2.pp197-210
<![CDATA[Nowadays, many industries use robots and cameras in tandem to detect specific objects and perform specific tasks. However, misdetection can occur due to inconsistencies in lighting, background, and environment. In order to address the aforementioned issues, this study proposes using a dual arm six-degree-of-freedom (6-DoF) collaborative robot, ABB YuMi, and red, green, blue-depth (RGB-D) camera with YOLOv5 in a pick-and-place application. In order to prepare the dataset, the images are collected and labeled. The dataset has been trained with the YOLOv5 machine learning algorithm. It has taken on the role of weight for real-time detection. When RGB images from a camera are sent to YOLOv5, data pertaining to the bottle’s position x-y and color are extracted from the depth and color images. The position of the robot is used to control its movement. There are three parts to the experiment. To begin, YOLOv5 is tested with and without trained images. Second, YOLOv5 is tested with real-time camera images. Finally, we assume that YOLOv5 has perfect detection and grasping ability. The results were 95, 90, and 90%.]]>
<![CDATA[Aerial robot swarms: a review ]]>
<![CDATA[Luthra, Manan]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 12, No 2: June 2023 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v12i2.pp137-145
<![CDATA[The purpose of this review is to highlight the current research on aerial robot swarms and their applications. It focuses on the system architecture and follows the current trend in aerial robotics promoting research in this field along with its impact on society. Further, it explores the dynamics as well as the flying mechanisms of a drone and sheds light on the different algorithms being used to control aerial swarms. Due to a lot of research going on in this field, we also discuss the different trends that are active and of keen interest to the researchers, including the swarm pattern formation behavior.]]>
<![CDATA[Development of image super-resolution framework ]]>
<![CDATA[Shekar, Sanvi]]>;
<![CDATA[Deepthi, Kakarla]]>;
<![CDATA[Rahul, D.]]>;
<![CDATA[K. S., Dhawan]]>;
<![CDATA[Hegde, Vinay V.]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 12, No 2: June 2023 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v12i2.pp179-183
<![CDATA[There are some scenarios where the images taken are of low resolution and it is hard to judge the features from them, resulting in the need for enhancement. Super-resolution is a technique to produce a high-resolution image from a lower-resolution image. The intention here is to develop a system that enhances images of faces and satellite images by integrating these models and providing an interface to access this model. There have been various ways of achieving super-resolution using different techniques. Throughout the years, techniques involving deep learning methods, interpolation techniques, and recursive networks have been explored. We find it promising to use generative adversarial networks (GANs). The system has been deployed through Google Collaborate, Python libraries, and the TensorFlow framework. To assess the developed system, which consists of images, three metrics have been calculated. namely, peak signal-to-noise ratio, mean squared error, and structural similarity index. The model successfully demonstrated the capability of GANs by efficiently generating a high-resolution image from a low-resolution image for the given cases. The model would then be run on a standalone server for free Internet access for users to use super-resolution facial images and satellite images.]]>
<![CDATA[3D human hands rendering by a six degrees of freedom collaborative robot and a single 2D camera ]]>
<![CDATA[Boyack, Michael]]>;
<![CDATA[Sices, Alexsandra]]>;
<![CDATA[Jo, Bruce Woongyeol]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 12, No 2: June 2023 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v12i2.pp125-136
<![CDATA[Human hands are essential in everyday tasks, mainly manipulating and grasping objects. Thus, accurate and precise three-dimensional (3D) models of digitally reconstructed hands are valuable to the world of ergonomics. A 3D scan-to-render system called the “3D hands model rendering using a 6-degrees of freedom (DoF) collaborative robot” is proposed to ensure that a person receives the best possible outcome for their unique anatomy. The description implies this is using a 6-DoF robot with a two-dimensional (2D) camera sensor that will encompass all forms of the production line in a timely, low-cost, precise, and accurate manner so that an individual can go to and scan their hand and have an actual 3D reconstruction print within the same facility, the same day. It is expected to generate an accurate hand model using structure from motion (SFM) system techniques to create a dense point cloud using photogrammetry. The point cloud is used to develop the tetrahedral mesh of the surface of the hand. This mesh is then refined to filter out the noise of the point cloud. The mesh can produce a precise 3D model that can tailor products to the consumer's needs. The results show the effectiveness of the 3D model of the hand.]]>
<![CDATA[Semi-active structural vibration control with magnetorheological damper based on hybrid fuzzy sliding mode controller ]]>
<![CDATA[Zizouni, Khaled]]>;
<![CDATA[Saidi, Abdelkrim]]>;
<![CDATA[Fali, Leyla]]>;
<![CDATA[Bousserhane, Ismail Khalil]]>;
<![CDATA[Djermane, Mohamed]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 12, No 2: June 2023 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v12i2.pp167-178
<![CDATA[Recently, structural vibration control has proved its capacity to save lives and keep structures safe during earthquakes. Furthermore, there is a wealth of research in both numerical and experimental studies. As a result, due to its simplicity and performance in mitigating structural vibrations generated by ground motions, semi-active control played a significant role in the majority of these studies. Nonetheless, the magnetorheological damper is the most often used semi-active device. In particular, the rheological fluid properties have gained adequate attention in earthquake energy dissipation and structural vibrations management, particularly in the civil engineering field. The semi-active control of three scaled excited structures is addressed in this study. A magnetorheological damper operated by a hybrid fuzzy sliding mode controller ensures the proposed control. However, to provide the appropriate current for the damper to operate, this proposed intelligent controller is combined with a clipped optimum algorithm. Otherwise, the numerical simulation results of the seismic excited scaled structure demonstrate the resilience of the suggested controller. As a result, four time-scaled seismic data are applied to the tested structure. Finally, the usefulness of the suggested semi-active control technique in mitigating earthquake structural vibration is demonstrated clearly in the compared controlled and uncontrolled responses.]]>
