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
493 Documents
<![CDATA[Parametric study of soft pneumatic robot grippers through finite element analysis ]]>
<![CDATA[Jo, Riady S.]]>;
<![CDATA[Ngu, Evans]]>
<![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.pp19-30
<![CDATA[This paper investigates the gripping stress and deformation of pneumatically-actuated fluidic elastomer actuation (FEA)-based soft robotic gripper through ansys finite element analysis software. By varying gripper parameters, i.e. Input pressures and clearance to the object, simulations on the deformation of the soft fingers are performed to achieve gripping of the object. The motivation of this parametric study is to facilitate the design optimization of soft robotic grippers. Results demonstrate that grippers with lesser clearance to the object require lesser input pressure to achieve similar gripping stress on the object although it is evident that grippers with higher clearance are able to cater for wider range of object sizes.]]>
<![CDATA[Analysis of single layer artificial neural network neuromorphic hardware chip ]]>
<![CDATA[Pant, Aruna]]>;
<![CDATA[Kumar, Adesh]]>;
<![CDATA[Kuchhal, Piyush]]>
<![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.pp495-505
<![CDATA[The neuromorphic architectures are hardware network systems designed with neural functions. Neural networks seen in biology serve as an inspiration for network systems. A synapse connects every node or neuron in an artificial neural network (ANN) to every other node. As in biological brains, the amplitude of the linking between nodes referred to as synaptic weights will regulate the connection. In contrast to conventional design, ANN uses many highly organized dealing pieces that work together to solve real-world issues. The design of the neuromorphic hardware chip is discussed in the paper. The target device used is a Virtex-5 Field Programmable Gate Array (FPGA) and the simulation is taken on Xilinx ModelSim software. This chip is designed for 20 neuron inputs, each of the neuron inputs is 8-bit. Each 20-neuron input is multiplied by 20 input weights and each weight is 8-bit so when these 20 input weights are multiplied by 20 neuron inputs in the multiplier it gives 16-bit output. A control logic is used in this neuromorphic hardware chip design which is used to feed multiplier output to each input of the hidden layer. The system-level outcome of the hidden layer is then given to the multiplexer which has 20 inputs and one single output. The multiplexer is used to select any of the 20 outputs of the control logic. Finally, to gain an understanding of the performance of this neuromorphic hardware chip, we have computed the hardware utilization parameters. These parameters include slices, input/output blocks (IOBs), registers used, memory, and the overall propagation delay used by the hardware chip.]]>
<![CDATA[A novel structure of magnetic geared generator in dual-rotor wind turbine ]]>
<![CDATA[Yousefnejad, Soheil]]>;
<![CDATA[Heidary, Hossein]]>;
<![CDATA[Cirimele, Vincenzo]]>;
<![CDATA[Ro, Jong Suk]]>
<![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.pp80-95
<![CDATA[Variable-speed constant-frequency generating systems are commonly employed in wind turbines to enhance efficiency and minimize losses. Additionally, the utilization of dual-rotor wind turbines enables the capture of a greater amount of wind energy, leading to a significant increase in efficiency. Traditionally, dual-rotor wind turbines are managed by a full-scale power converter, and the rotor current is transmitted through brushes, which substantially raises the system's cost. To address these challenges, this study introduces a novel configuration that enables power control with a smaller power converter. In contrast to conventional dual-rotor wind turbines that generate power using both rotors, the proposed structure designates one rotor as a system controller. Apart from these benefits, the proposed structure greatly enhances conversion performance by notably improving the power factor. A comparison with existing configurations described in literature is conducted to demonstrate the superiority of the proposed structure.]]>
<![CDATA[Development of robotic arm control using Arduino controller ]]>
<![CDATA[Chenchireddy, Kalagotla]]>;
<![CDATA[Dora, Radhika]]>;
<![CDATA[Mulla, Gouse Basha]]>;
<![CDATA[Jegathesan, Varghese]]>;
<![CDATA[Sydu, Shabbier Ahmed]]>
<![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.pp264-271
<![CDATA[The advance of Arduino-based technology has spurred innovation in the realm of robotic arm control, offering a cost-effective and accessible platform for enthusiasts and professionals alike. This paper presents the development of robot arm control using an Arduino controller. The work involves the integration of Arduino microcontrollers and sensors to enable precise and dynamic control of a robotic arm. The proposed robot is controlled by 4 servo motors, the motors rotate left, right, front, and back. The paper discusses the challenges encountered during the development process and proposes solutions, paving the way for further advancements in this burgeoning field. With Arduino's widespread availability and affordability, the presented robotic arm control system holds promise for expanding the accessibility of robotics education and fostering innovation in automation technologies. This paper provides a glimpse into the promising synergy between Arduino and robotic arm control, highlighting the contributions and implications of this technology in shaping the future of automation.]]>
<![CDATA[Design and development of a quadruped home surveillance robot ]]>
<![CDATA[Owoeye, Samuel Oluyemi]]>;
<![CDATA[Durodola, Folasade]]>;
<![CDATA[Adeniyi, Peace Oluwafeyidabira]]>;
<![CDATA[Abdullahi, Idris Tolulope]]>;
<![CDATA[Hector, Adesanya Boluwatito]]>
<![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.pp232-246
<![CDATA[Quadruped home surveillance robots represent a promising advancement in home security and automation. This innovative robotic system is equipped with four-legged locomotion, allowing it to traverse various terrains within a household environment. The robot's primary function is surveillance, and it is equipped with high-definition cameras, motion sensors, and object recognition software. These sensors enable the robot to detect intruders, track their movements, and capture real-time video footage for remote monitoring. The quadruped robot's compact and agile design allows it to navigate through narrow spaces and overcome obstacles, ensuring it can patrol every corner of a home effectively. Its autonomous operation is made possible through advanced artificial intelligence algorithms, ensuring that it can detect anomalies and respond to security threats promptly. Furthermore, integrating the robot with smart home systems enables seamless communication with other connected devices and allows homeowners to control and monitor it remotely.]]>
<![CDATA[Use of artificial intelligence in banknote reconstruction ]]>
<![CDATA[Wu, Yi-Chang]]>;
<![CDATA[Chiang, Pei-Shan]]>;
<![CDATA[Liu, Yao-Cheng]]>;
<![CDATA[Huang, Ru-Yi]]>
<![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.pp410-422
<![CDATA[Banknotes may be damaged during various events, such as floods, fires, insect infestations, and mechanical or manual shredding. Disaster victims might need to perform banknote reconstruction when applying for currency exchange, or investigative agencies might need to conduct such reconstruction during evidence collection. When the number of banknote fragments is small, they can be manually assembled; however, when this number is large, manual assembly becomes increasingly difficult and time-consuming. Therefore, an automated and effective method is required for banknote reconstruction. The process of banknote reconstruction can be considered similar to solving a large-scale jigsaw puzzle. This study employed an artificial intelligence (AI) system to reconstruct damaged banknotes. A robotic arm was used to replace manual separation and automated digital image processing techniques, and AI image registration technology, deep learning, and logical operations were utilized. A deep convolutional neural network was used to estimate the relative homography between images, and fragmented banknotes were mapped to a reference banknote for image transformation, thereby reconstructing the damaged banknotes. Additionally, a repetitive matching method was established to optimize the matching results to achieve the best possible mapping and enhance validation efficiency.]]>
<![CDATA[Analysis of inertia, damping, and synchronization characteristics in grid-connected photovoltaic systems with fuzzy logic control ]]>
<![CDATA[Prakash, Mimmithi Bhanu]]>;
<![CDATA[Sahoo, Pradosh Ranjan]]>
<![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.pp65-79
<![CDATA[The integration of renewable energy sources (RES) into DC-distributed power systems (DC-DPSS) is gaining traction as a sustainable energy solution. However, the inherent variability of RES output can introduce instability into the grid, posing challenges for maintaining system reliability and stability. Fuzzy logic controllers (FLCs) have emerged as a promising approach to mitigate these instability issues, offering a robust and adaptable control strategy that can effectively handle the complexities of DC-DPSS. This paper examines the application of FLCs in DC-DPSS, exploring their effectiveness in addressing instability caused by RES fluctuations. FLCs are a control system that leverages fuzzy logic, a form of logic that utilizes linguistic variables to represent uncertainty, make decisions, and improve the stability of DC-distributed power systems. The research analyzes various system parameters, including inertia, damping, and synchronization characteristics, using a static synchronous generator (SSG) model. The study builds upon prior findings by adding a fuzzy logic controller to the existing system. The results showed better performance which resulted in improved inertia, damping, and synchronization characteristics. The efficiency of the proposed controller is demonstrated using MATLAB/Simulink.]]>
<![CDATA[Development of an Arduino-based field heat regulator for fruit storage and transportation ]]>
<![CDATA[Britaña, Hannah Fretchie A.]]>;
<![CDATA[Ignalig, Marian Claire R.]]>;
<![CDATA[Natividad, Eshtriel Sunday T.]]>;
<![CDATA[Cabelita, Brylle F.]]>;
<![CDATA[Ecle, Erniel Ghrizcer G.]]>;
<![CDATA[Cane, Jas Felicisimo A.]]>
<![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.pp314-329
<![CDATA[Fruit spoilage during transportation is a major problem that results in significant economic losses for fruit producers and distributors. One of the primary causes of fruit spoilage is heat buildup inside the storage container during transportation. Hence, this study was done to design and develop an Arduino-based field heat regulator for fruit storage and transportation, regulate field heat in terms of temperature and humidity monitoring; and assess its influence in terms of the skin color, firmness, and bruising of the fruit specimen. After the conduct of the study, it was found that the regulator underwent several iterations during product development and was tried out in an actual transportation procedure. The results revealed that during transportation the product was subjected to fluctuations in temperature and relative humidity, but the storage regulated heat by maintaining desired conditions. Additionally, there was a significant difference found in terms of the fruit's quality parameters when transported using the proposed storage and the traditional method. In conclusion, this storage has the potential to be used in fruit storage facilities, helping reduce post-harvest losses and decrease the chances of fruits being spoiled easily.]]>
<![CDATA[Optimization model for endurance performance of electric rotorcraft transport drones and its application prospects ]]>
<![CDATA[Zihan, Huang]]>;
<![CDATA[Bo, Long]]>;
<![CDATA[Jiyu, Li]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 14, No 1: March 2025 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v14i1.pp129-142
<![CDATA[The operational parameter configuration and performance optimization of electric rotorcraft transport unmanned aerial vehicles (UAVs) currently lack comprehensive guiding theory, impacting UAV endurance and efficiency, thereby limiting industry growth. This paper analyzes factors affecting UAV endurance and establishes a hover endurance model for electric rotorcraft transport UAVs through theoretical derivation and testing. Based on this model, we introduce the concepts of thrust redundancy coefficient and load cut-off line, proposing an optimal endurance configuration theory. This theory categorizes the parameter configuration range into light load, ideal configuration, load cut-off, and endurance saturation zones. Using current operational parameters, we evaluate and optimize UAV performance. Verification results demonstrate high model accuracy, with error rates ranging from 1.89% to 5.69%. After optimization, the payload capacities of two transport UAVs increased by 6.25%, and their endurance improved by 6.97% and 9.5%, respectively, enhancing overall efficiency. This model provides a solid framework for assessing endurance capabilities and offers targeted optimization suggestions, making it crucial for improving UAV performance.]]>
<![CDATA[VotTomNet: Voting-based tomato disease diagnosis with transfer learning ]]>
<![CDATA[Joshi-Bag, Shradha]]>;
<![CDATA[Patil, Wani V.]]>;
<![CDATA[Chavate, Shrikant]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 14, No 1: March 2025 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v14i1.pp38-46
<![CDATA[The research presents an advanced automation system, termed VotTomNet, designed for diagnosing tomato leaf diseases using transfer learning, and soft and hard voting ensemble techniques. By leveraging six pre-trained deep learning convolutional neural networks—VGG16, InceptionNet, ResNet, MobileNet, EfficientNet, and DenseNet—the system achieved an impressive accuracy of 99.2%. These models were meticulously fine-tuned to diagnose multiple types of tomato diseases with heightened precision. The integration of a soft and hard voting mechanism further enhanced the overall diagnostic accuracy by combining the strengths of these diverse models into a powerful ensemble. The findings underscore the robustness, reliability, and effectiveness of this ensemble technique, marking a significant advancement in precision agriculture and crop health assessment. By outperforming traditional methods, this approach offers a more practical and efficient solution for large-scale agricultural applications, enabling comprehensive crop management and improved yield. In conclusion, this research lays a strong foundation for future innovations in automated plant disease diagnosis and agricultural technology. Its contributions have the potential to revolutionize disease management, reduce crop losses, and ultimately enhance food security on a global scale.]]>
