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.
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470 Documents
<![CDATA[DEMAP: differential evolution mapping for network on chip optimization ]]>
<![CDATA[Bougherara, Maamar]]>;
<![CDATA[Amara, Rafik]]>;
<![CDATA[Kemcha, Rebiha]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 12, No 4: December 2023 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v12i4.pp394-404
<![CDATA[Network-on-chip (NoC) is a new paradigm for system-on-chip (SoC) design, which facilitates the interconnection and integration of complex components. Since this technology is still new, significant research efforts are needed to accelerate and simplify the design phases. Mapping is a critical phase in the NoC design process, as a mismatch of application software components can significantly impact the final system's performance. Therefore, it is essential to develop automated tools and methods to ensure this step. The main objective of this project is to develop a new approach that can be used to map applications on the NoC architecture to reduce communication costs. To achieve this goal, we have opted for an optimization algorithm, specifically the differential evolution algorithm.]]>
<![CDATA[Potential challenges of collaborative robot implementation in Vietnamese garment manufacturing ]]>
<![CDATA[Nguyen, Kim Phung]]>;
<![CDATA[Ma, Yoon Jin]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 13, No 3: September 2024 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v13i3.pp283-292
<![CDATA[Collaborative robots (cobots) are a new significant technology in the integration of Industry 4.0 (I4.0) and Industry 5.0 (I5.0). Working alongside humans in open environments, cobots can boost safety and productivity. However, manufacturers are facing some potential challenges in adopting cobots, such as technological challenges, social problems, cost barriers, and labor issues. Vietnam has a great potential for outsourcing in the top supply chains for many famous fashion brands globally, with thousands of textile and garment factories. The purpose of this study was to explore potential challenges of cobot implementations in the context of Vietnam’s garment factories from factory employees’ perspectives. Data were collected from 29 garment factory managers in Vietnam. Findings revealed a rapid change in fashion trends and many unskilled workers may limit cobots’ flexibility, precision, and innovation. Furthermore, cobot implementation is affected by the cost of cobots, infrastructure upgrades, and risks of possible failure in deployment. Cobot firms, application partners, technology programmers, and manufacturers need to discuss how to maximize cobots’ benefits in diverse aspects of the garment manufacturing setting. These insights could boost the industry’s economy and sustainability.]]>
<![CDATA[Adjusted linear quadratic regulator-proportional-derivative control of Quanser’s three degrees of freedom helicopter based on flower pollination algorithm under external disturbances ]]>
<![CDATA[Ghiloubi, Imam Barket]]>;
<![CDATA[Abdou, Latifa]]>;
<![CDATA[Lahmar, Oussama]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 13, No 4: December 2024 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v13i4.pp432-444
<![CDATA[External disturbances, saturation of actuator motors, and limits of certain angular movements are commonly encountered in robotic systems, particularly those involving flight, and they present the most common and influential factors affecting the stability and performance of these systems. In this paper, a hybrid controller for a three-degree-of-freedom (3-DoF) helicopter is designed and applied to this flying robot system, taking into account the previously mentioned constraints. The proposed hybrid controller integrates proportional-derivative (PD) control with an adjusted linear quadratic regulator (ALQR) using the flower pollination algorithm (FPA) optimization method. Simulation results of travel (λ), elevation (ε), and pitch (ρ) responses, as well as experimental results of elevation and travel tracking responses under external disturbances using the bench-top Quanser’s (3-DoF) helicopter, demonstrate the robustness and good performance of the controlled system using the proposed method. The effectiveness of the proposed method is compared to several methods in the literature.]]>
<![CDATA[Autonomous navigation system for hexa-legged search and rescue robot using LiDAR ]]>
<![CDATA[Budiyarto, Aris]]>;
<![CDATA[Abadi, Sarosa Castrena]]>;
<![CDATA[Naufaldo, Naufaldo]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 13, No 1: March 2024 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v13i1.pp50-64
<![CDATA[This study proposes an autonomous navigation system for hexapod robots, promising in complex rescue scenarios. The system is tested in simulations under three environments: rocky, cracked flooring, and inclined surfaces. utilizing light detection and ranging (LiDAR) and simultaneous localization and mapping (SLAM), the robot recognizes positions and constructs environmental maps. Implemented via robot operating system, the research successfully applies navigation and mapping using hector_slam. LiDAR mapping yields satisfactory accuracy, with average errors of 0.21% for general mapping and 5.34% for circular paths. Within a 2-meter range, navigation achieves good accuracy, averaging 1.2% error on the x-axis and 0.011% on the y-axis during linear motion. Navigational repeatability improves, with reliable results showing an average error of 4.33 cm on the x-axis and 0.5 cm on the y-axis when returning to starting points. Arena testing with varied obstacles demonstrates successful obstacle traversal. However, in the second test, limitations in hardware, notably the Raspberry Pi 4 CPU usage reaching 97% during navigation, hindered reaching the third target.]]>
<![CDATA[A holistic approach of stability using material parameters of manipulators ]]>
<![CDATA[Mustary, Shabnom]]>;
<![CDATA[Kashem, Mohammod Abul]]>;
<![CDATA[Chowdhury, Mohammad Asaduzzaman]]>;
<![CDATA[Uddin, Jia]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 13, No 4: December 2024 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v13i4.pp380-390
<![CDATA[The demand for a comprehensive method to assess stability using manipulator material parameters is high. Various material parameters, such as the Young modulus, which represents stiffness, damping, and deflection, influence the material of the robot manipulator. The correlation between robot stability and these characteristics remains unclear, as prior studies have not yet examined the collective impact of these parameters on robot manipulators. This work considers two sophisticated manipulators, namely ABB and FANUC. The main objective of this research is to construct a stability model that considers the material properties of stiffness, damping, and deflection to assess the manipulator’s stability level, which may be categorized as low, medium, or high. Furthermore, the presented stability model examines and employs numerous modified and conventional formulas for material properties to determine the level of stability. The findings show that stiffness significantly influences the stability of robot manipulators, a relationship that applies to all the examined manipulators. We also emphasize that the choice of manipulator materials significantly impacts stability maintenance. These findings are expected to enhance the design and advancement of novel robot manipulators within the industry.]]>
<![CDATA[A Lyapunov based posture controller for a differential drive mobile robot ]]>
<![CDATA[Kazed, Boualem]]>;
<![CDATA[Guessoum, Abderrezak]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 13, No 1: March 2024 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v13i1.pp1-10
<![CDATA[Driving a vehicle to a desired position and orientation is one of the most important problems that should be solved in most navigation systems. This paper describes a new complete design and hardware implementation of a two-level controller that will enable a differential drive mobile robot to reach any desired posture starting from any initial position. The first or low-level controller consists of a set of two proportional–integral–derivative (PID) controllers, running on an embedded system on board of the robot. These controllers provide the required voltages to the motors to make the left and right wheels of the robot rotate with the angular speeds computed by the second or high-level controller, running on a stationary PC system. This second controller is based on the Lyapunov stability theorem to derive two control laws for the kinematic model, used to transform the linear and angular speeds of the unicycle model in terms of left and right rotational speeds, required by the motors. As will be shown later, this architecture provides a very flexible way not only to tune the main controller parameters but also to get access and record all the system states.]]>
<![CDATA[Vector synthesis of fault testing map for logic ]]>
<![CDATA[Hahanov, Vladimir]]>;
<![CDATA[Gharibi, Wajeb]]>;
<![CDATA[Chumachenko, Svetlana]]>;
<![CDATA[Litvinova, Eugenia]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 13, No 3: September 2024 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v13i3.pp293-306
<![CDATA[Vector synthesis of fault testing (simulation) map for logic is proposed, which without simulation allows to determine of all faults detected on test sets, as well as determining test sets to detect specified faults. For synthesis, a superposition of smart data structures is used, containing: a deductive matrix D, as a derivative of the logical vector L, test truth table T, and fault truth table F. The deductive matrix is seen as the gene of functionality and base of fault simulation mechanism to solve all the problems of testing and verification. In the matrix synthesis, an axiom is used: all the mentioned tables are identical in shape to each other and always interact with each other convolutionally T⊕L⊕F=0. A universal deductive reversing converter “test-faults” and “faults-test” for logical functionalities of any dimension is proposed. Converter functions: fault simulation on test sets T→F and synthesis of test sets F→T to detect the specified faults. The converter can be used as a test generation and fault simulation service for IP-core system-on-chip (SoC) under the IEEE 1500 SECT standard. Based on the deductive matrix, a fault testing map for logic is built, where each test set is matched with the logic-detected faults of the input lines.]]>
<![CDATA[Robot navigation on inclined terrain using social force model ]]>
<![CDATA[Daffa, Muhammad Fariz]]>;
<![CDATA[Dewantara, Bima Sena Bayu]]>;
<![CDATA[Setiawardhana, Setiawardhana]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 13, No 2: June 2024 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v13i2.pp131-139
<![CDATA[This research introduces an innovative approach to address the limitations of the commonly used social force model-based robot navigation method on flat terrain when applied to sloped terrain. The incline of the terrain becomes a crucial factor in calculating the robot’s steering output when navigating from the initial position to the target position while avoiding obstacles. Therefore, we propose a social forced model-based robot navigation system that can adapt to inclined terrain using inertial measurement unit sensor assistance. The system can detect the surface incline in real time and dynamically adjust friction and gravitational forces, ensuring the robot’s speed and heading direction are maintained. Simulation results conducted using CoppeliaSim show a significant improvement in speed adjustment efficiency. With this new navigation system, the robot can reach its destination in 59.935089 seconds, compared to the conventional social forced model which takes 63.506442 seconds, the robot is also able to reduce slip to reduce wasted movement. This method shows the potential of implementing a faster and more efficient navigation system in the context of inclined terrain.]]>
<![CDATA[Fuzzy logic assessment of X-ray tube risks in robotic C-arm angiography: a failure mode and effect analysis study ]]>
<![CDATA[Firdaus, Ade]]>;
<![CDATA[Adriansyah, Andi]]>;
<![CDATA[Ferdana, Nanda]]>;
<![CDATA[Suhartina, Rahmalisa]]>;
<![CDATA[Surakusumah, Rino Ferdian]]>;
<![CDATA[Haekal, Jakfat]]>;
<![CDATA[Zulhamidi, Zulhamidi]]>;
<![CDATA[Shamsudin, Abu Ubaidillah]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 13, No 4: December 2024 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v13i4.pp506-514
<![CDATA[This research examines the integration of robotic C-arm technology in angiography, a critical tool for treating cardiac conditions. The robotic C-arm, which includes an X-ray tube, is essential for scanning patients during procedures. The study also investigates the associated risks, specifically in Indonesian hospitals with cardiac facilities. Angiography is used to diagnose and treat heart disease by visualizing blood vessels and facilitating catheterization procedures. However, its mobility poses hazards and can impact the process. To address potential risks, failure mode and effect analysis (FMEA) is utilized. Traditionally, risk assessment using risk priority numbers (RPN) is conducted, but these may not accurately reflect failures due to complex evaluating processes. To overcome this limitation, fuzzy logic is employed, enhancing risk assessment accuracy. Through this approach, twenty-seven failure modes are identified across two brands, with ten major ones prioritized using fuzzy logic. These findings facilitate the development of preventive measures to mitigate future failures and enhance patient safety during angiography in hospitals. In conclusion, the study underscores the importance of robust risk management in medical equipment, particularly in dynamic environments. By integrating fuzzy logic into risk assessment, the study improves prioritization accuracy, enabling effective allocation of resources for preventive actions.]]>
<![CDATA[A 2D path-planning performance comparison of RRT and RRT* for unmanned ground vehicle ]]>
<![CDATA[Davarzani, Shokufeh]]>;
<![CDATA[Ejaz, Muhammad Talha]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 13, No 1: March 2024 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v13i1.pp105-112
<![CDATA[In recent years, path-planning has gained significant attention as mobile robots are used in various applications. Several factors determine the optimal path for a mobile robot, including accuracy, length of path, execution time, and turns. Among all planners, sampling-based planners such as rapidly exploring random trees (RRT) and rapidly exploring random trees-star (RRT*) are extensively used for mobile robots. The aim of this paper is the review and performance of these planners in terms of step size, execution time, and path length. All planners are implemented on the Jackal robot in a static environment cluttered with obstacles. Performance comparisons have shown that the reduction of step size results in exploring a greater number of nodes in both algorithms, increasing the probability of each extension succeeding. However, this causes the tree to become denser in both algorithms due to the more explored nodes. The RRT planner requires less execution time when the step size and iteration count are equal to RRT* planners. Moreover, performance plots of both algorithms show that RRT* provides an optimal and smooth path than RRT.]]>
