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[Design and implementation of deep neural network hardware chip and its performance analysis ]]>
<![CDATA[Pant, Aruna]]>;
<![CDATA[Kumar, Adesh]]>
<![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.pp485-494
<![CDATA[The artificial neural network (ANN) with a single layer has a limited capacity to process data. Multiple neurons are connected in the human brain, and the actual capacity of the brain lies in the interconnectedness of multiple neurons. As a specified generalization of ANN deep learning makes use of two or more hidden layers, which implies that a greater number of neurons are required to construct the model. A network that has more than one hidden layer, also known as two or more hidden layers, is referred to as a deep neural network, and the process of training such networks is referred to as deep learning. The research article focuses on the design of a multilayer or deep neural network presented for the target field programmable gate array (FPGA) device spartan-6 (xc6stx4-2t9g144) FPGA. The simulation is carried out using Xilinx ISE and ModelSim software. There are two hidden layers in which (2×1) multiplexer blocks are utilized for processing twenty neurons into the output of ten neurons in the first hidden layer and demultiplexers (1×2) and vice versa. The hardware utilization is estimated on FPGA to compute the performance of the deep neural hardware chip based on memory, flip flops, delay, and frequency parameters. The design is scalable and applicable to various FPGA devices, which makes the work novel. FPGA-based neuromorphic hardware acceleration platform with high speed and low power for discrete spike processing on hardware with great real-time performance.]]>
<![CDATA[Agricultural path detection systems using Canny-edge detection and Hough transform ]]>
<![CDATA[Sasmita, Windi Antania]]>;
<![CDATA[Mubarok, Husni]]>;
<![CDATA[Widiyasono, Nur]]>
<![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.pp247-254
<![CDATA[Navigation is one of the crucial aspects of automation technology within the field of agriculture, such as robotics systems or autonomous agricultural vehicles. Despite many navigation systems having been developed for agricultural land, due to their high development and component costs, these systems are difficult to access for farmers or organizations with limited capital. In this study, the Canny-edge detection and Hough transform methods are implemented in a path detection system on agricultural land to find an alternative, cost-effective navigation system for autonomous farming robots or vehicles. The system is tested on ground-level view images, which are captured from a low perspective and under three different lighting conditions. The testing and experimentation process involves adjusting the parameters of the Canny-edge detection and Hough transform methods for different lighting conditions. Subsequently, an evaluation is conducted using Intersection over Union to obtain the best accuracy results, followed by fine-tuning of the canny-edge detection and Hough transform method parameters. The identified parameters, specifically a 15×15 Gaussian kernel, low threshold of 50, high threshold of 150, Hough threshold, minimum line length of 150, and maximum line gap, have been discerned as optimal for the canny-edge and Hough transform algorithms under medium lighting conditions (G=1.0). The observed efficacy of these parameter configurations suggests the method’s viability for implementation in path detection systems for agricultural vehicles or robots. This underscores its potential to deliver reliable performance and navigate seamlessly across diverse lighting scenarios within the agricultural context.]]>
<![CDATA[Development of Arduino-based high heat detector temperature control prototype for household appliances ]]>
<![CDATA[Casinillo, Rhoda Mae L.]]>;
<![CDATA[So, Allecia Leona A.]]>;
<![CDATA[Mandaya, Maezel V.]]>;
<![CDATA[Dabalos, Sonny Adrian J.]]>;
<![CDATA[Enriquez, Mark Ceasar S.]]>;
<![CDATA[Cane, Jas Felicisimo]]>
<![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.pp140-159
<![CDATA[In the Philippines, fires are a widespread concern, with plenty of incidents attributed to electrical appliances. These incidents are a leading cause of non-open flame fires in the country, highlighting the urgent need for preventative measures. Existing devices could only trigger an alarm at 100 °C without shutting off the appliance automatically. To address these limitations, the researchers aimed to develop a high heat detector with 95% detection accuracy and less than 5% error in detecting high heat. This device used an Arduino Uno Board and relay to trigger an automated power-off mechanism in appliances experiencing high heat. Temperature changes were detected, and alarms were activated using an LM35 temperature sensor and buzzer. The accuracy of the LM35 sensor was assessed through hot bath tests, which included 12 trials at each temperature level between 80 °C and 150 °C with 10 °C intervals. The prototype’s performance revealed an average error rate of 1.13% and an average standard deviation of 0.9403. The computed F1 Score of 98% indicated that the prototype fulfilled the objectives. Functionality tests confirmed that the prototype successfully achieved its intended goal by shutting off the appliance when the threshold temperature was reached and enabling its operation otherwise.]]>
<![CDATA[Theoretical and experimental analysis of unbalanced doubly fed induction generators ]]>
<![CDATA[Diboune, Yaakoub]]>;
<![CDATA[Hachelaf, Redouane]]>;
<![CDATA[Kouchih, Djilali]]>
<![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.pp476-484
<![CDATA[In this paper, a novel approach has been developed for the modeling and analysis of doubly fed induction generators operating under unbalanced load conditions. This comprehensive approach considers the derivation of the doubly fed induction generator’s neutral voltage during unbalanced conditions. Using this innovative approach, important and extremely precise signatures on stator currents and voltages have been extracted during a rational simulation time. It has been shown that for unbalanced conditions, an abnormal operation is produced. It is characterized by unbalanced stator voltages, currents, and specific harmonics through the stator variables. These harmonics have been proposed to detect unbalanced conditions. The consistency and reliability of this approach for the analysis and modeling of unbalanced doubly fed induction generators are validated by the coherence and good correlation between experimental and simulation results.]]>
<![CDATA[An introduction to using QR codes in web portals for synchronizing calendar events over phones ]]>
<![CDATA[Sethi, Inder Pal Singh]]>;
<![CDATA[Gupta, Om Pradyumana]]>;
<![CDATA[Bhaisare, Sulbha]]>;
<![CDATA[Dwivedi, Ritesh Kumar]]>;
<![CDATA[Kapoor, Misha]]>
<![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.pp469-475
<![CDATA[An optical label with machine-readable information about the object it is attached to is called a quick response (QR) code. QR codes frequently hold information for a tracker, locator, or identifier that directs users to a website or application. To efficiently store data, a QR code has four standardized encoding modes: kanji, byte or binary, alphanumeric, and numeric. As a means of identifying a wide range of commercial goods, including transactions, ads, and other public notices, the QR code gained popularity. In our web portal, the proposed QR code model synchronizes all the event details synchronously in the mobile calendar. QR code is used for web-to-mobile data transfer, saving events or meeting details in the mobile calendar. Anyone with a smartphone can view the data encoded in a QR code by scanning it. Although it makes it easier for end users to decode QR codes, verifying access to the encoded data is a cause for worry. Our proposed model validates access to data through the QR code, allowing only authorized personnel to access data. To ensure accessibility control, the proposed model has the functionality of a one-time password (OTP) that enhances application security. The model achieved an average decoding speed of 157 milliseconds with an error rate of 0.38%.]]>
<![CDATA[A small payload desktop industry robot design without conventional reducers ]]>
<![CDATA[Han, Xiaolei]]>;
<![CDATA[Liu, Peng]]>;
<![CDATA[Zhang, Jiaqi]]>
<![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.pp31-40
<![CDATA[Designing a compact desktop industrial robot with a small payload capacity, eliminating the use of traditional reducers, poses an intriguing challenge. This innovative approach aims to enhance the robot's cost-efficiency and reduce its overall size. The design focuses on optimizing the mechanical structure and exploring alternative mechanisms to achieve precise control without relying on conventional reducers. This article delves into the design aspects of a 1 kg payload robot. Initially, the paper presents an overview of the robot's mechanism and its kinematic analysis. Subsequently, synchronous belts are proposed as replacements for traditional reducers, accompanied by an introduction to the mechanical structure. Simulation is carried out to calculate the drive forces on the belts. According to the result, a suitable belt scheme has been designed. Ultimately, a prototype of the robot is constructed, and experiments demonstrate that this design achieves a repeatable accuracy comparable to robots employing conventional reducers, all while considerably reducing the overall cost of the robot.]]>
<![CDATA[An approach for modern gardening through monitoring and maintenance of plant health ]]>
<![CDATA[Swami, Siddharth]]>;
<![CDATA[Singh, Rajesh]]>;
<![CDATA[Gehlot, Anita]]>;
<![CDATA[Sharma, Sameer Dev]]>;
<![CDATA[Kumar, Dharmendra]]>
<![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.pp307-313
<![CDATA[The study explores the use of internet of things (IoT) devices in agriculture to improve sustainable practices and environmental concerns. It uses the ESP8266 microcontroller and the Blynk platform to create a revolutionary plant health monitoring and automated care system. The system is designed to handle continuous monitoring and plant maintenance in various environmental conditions. Sensors measuring light, temperature, humidity, and soil moisture are strategically placed to receive real-time data. The ESP8266 microcontroller analyzes this information and links it to the Blynk cloud for accessibility via mobile or web applications. The system is effective in monitoring ideal growing conditions, such as soil moisture and weather conditions. Automated care elements like irrigation and supplemental lighting have been shown to improve plant growth and health. The study contributes to smart farming by offering an affordable and easy way to automate and monitor plant health, demonstrating how IoT technologies can enhance agricultural practices, conserve resources, and enable remote management of plant ecosystems.]]>
<![CDATA[Kinematic modelling of three link robot manipulator and joint torque optimization using genetic algorithm in MATLAB ]]>
<![CDATA[Sahay, Neeta]]>;
<![CDATA[Chattopadhyay, Subrata]]>
<![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.pp160-167
<![CDATA[This research article presents the non-linear dynamic of a three-link robotic manipulator formulated by the Newton-Euler method. The planar manipulator is composed of three links and three revolute joints rotating about the z-axis. The three nonlinear non-homogeneous dynamic equations have been solved graphically with the help of MATLAB by phase variable method. The work represents the graphical solution of the transient response of angular position, and angular velocity of each link member for a predetermined interval of time. With the help of simulated value from MATLAB, torque characteristics have been determined for different torque ratios and optimum torque has been derived using a genetic algorithm to move the manipulator in a proper direction.]]>
<![CDATA[Script late injection: a framework to introduce JavaScript into web pages ]]>
<![CDATA[Prakash, Bhanu]]>;
<![CDATA[Sampangiramaiah, Sandhya]]>
<![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.pp96-104
<![CDATA[Script injection is one type of fault present in web, which mostly utilizes user data to execute code without applying any type of filters. Script injection can impact both client and server making exposing them to vulnerabilities. Security and related products may need to execute logic on the client-side generally in a browser. In order to achieve this, proxy servers inject appropriate JavaScript code into the responses they proxy. Typically, the injection point is at the end of the body element. The framework introduced in this paper rather uses a stack-based approach to determine the injection point in the web page. Ten kilobytes from the end of a web page are given as a string input to the framework, after tokenization and construction of the vector of tokens. A stack is used to determine the injection point. Along with the position of the injection point, a warning flag is also estimated indicating the correctness of the injection point. Different types of web pages were considered for running the unit tests and fuzzy tests on the framework. These classes of pages are determined by crawling most used web pages. The injected scripts are executed once the body content is completely loaded. Hence, it can retrieve maximum information without affecting end-user performance. It also does the job at a low cost.]]>
<![CDATA[Integrating artificial immune systems and multi-layer perceptron-biogeography-based optimization for enhanced inverse kinematics in robotic arm ]]>
<![CDATA[Serat, Amel]]>;
<![CDATA[Djebbar, Bachir]]>
<![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.pp401-409
<![CDATA[Determining required joint angles to achieve a desired position in a manipulator’s arm is a complicated problem without simple analytical solutions. This paper researches several computational methods based on artificial intelligence (AI) for calculating the joint positions of the 6-DOF robotic arm. We can extrapolate relevance, for example, to the crucial role that robotic manipulator arms play in industrial and medical applications, where enhanced precision and movement efficiency may sharply boost performance and expand applicability. Here, we investigate the effectiveness of methods, such as the artificial immune system (AIS) and multi-layer perceptron-biogeography-based optimization (MLP-BBO). Those AI-driven methods have been applied to determine joint angles for reaching desired positions through simulations for the robotic arm. The results show that the AIS and MLP-BBO approach can handle the intrinsic complexities of the task, thus testifying to the practicability and dependability of these two methods in this application. From the findings in the study, it was indicated that AI-driven techniques can effectively answer the complex problem of the robotic manipulator arm in finding joint angles.]]>
