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IAES International Journal of Robotics and Automation (IJRA)

IJRA
Website

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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A Method of Extended Jacobian and Firefly Algorithm for the Kinematic Analysis of Planar Robots T. Raja Prathab; R. Suja Mani Malar; T. Ahilan
IAES International Journal of Robotics and Automation (IJRA) Vol 6, No 2: June 2017
Publisher : Institute of Advanced Engineering and Science

Planar robots are one of the optimal robot form impacted in typical Cartesian plane. It consists of fixed divisions and connectors positioned in series which offers like working of human arm. The one end of robot arm position is fixed and the other arm of the robot move through the Cartesian plane by modifying the framework of arm joints. The kinematic analysis on planar robot includes position, velocity and acceleration are validated not by considering the force which cause motion to robot. The manipulator with lack of design and fault tolerant operation is analytical for application in remote and threat environment where periodic maintenance and improvements are not available. The most advanced architecture and operational flexibility of robots offer new probability and advancement in a large scale of fabrication process. This paper proposes inverse kinematic analysis of PUMA 560 robotic arm to conclude long range of fault tolerance. The proposed work incorporates Jacobian and Firefly algorithm are generally useful for determining inverse kinematics for redundant robots.

Automated Sequential Pushing of Micro Objects By Using Adaptive Controller Mohsen Shahini; William W. Melek; John T.W. Yeow
IAES International Journal of Robotics and Automation (IJRA) Vol 2, No 4: December 2013
Publisher : Institute of Advanced Engineering and Science

This paper focuses on precision automated pushing of multiple micro objects. An adaptive control system is proposed to accurately push and position the micro objects on a substrate. Each micro object exhibits different characteristics in terms of the surface micro forces governing the manipulation process. The controller is designed to compensate for the effect of the micro forces whose aggregated magnitude varies during the process. An experimental setup is designed to validate the performance of the proposed controller. The results of the experiments confirm that the proposed adaptive controller is capable of learning to adjust its parameters effectively, when the surface micro forces change under varying surface and ambient conditions.

A Discrete Delay N-decomposition Approach for Delay-Dependent Stability of Generator Excitation Control System with Constant Communication Delays S. Manikandan; Priyanka Kokil
IAES International Journal of Robotics and Automation (IJRA) Vol 6, No 4: December 2017
Publisher : Institute of Advanced Engineering and Science

This paper deals with problem of delay in stability analysis of network controlled generator excitation system. Delays exist in communication channel in network based control between system and controller. A discrete delay N-decomposition is used to compute delay margin for generator excitation system with constant delay which is easier when compared to analytical method. A Lyapunov krasovskii function is constructed for given time delay generator excitation system and linear matrix inequalities techniques are used. Generator excitation system is employed with proportional integral controller, delay margin calculated for various values of gain of proportional integral controller. Theoretically obtained results are verified using simulation studies.

Different Control Algorithms for a Platoon of Autonomous Vehicles Zoran Gacovski; Stojce Deskovski
IAES International Journal of Robotics and Automation (IJRA) Vol 3, No 3: September 2014
Publisher : Institute of Advanced Engineering and Science

This paper presents a concept of platoon movement of autonomous vehicles (smart cars). These vehicles have Adaptive or Advanced cruise control (ACC) system also called Intelligent cruise control (ICC) or Adaptive Intelligent cruise control (AICC) system. The vehicles are suitable to follow other vehicles on desired distance and to be organized in platoons. To perform a research on the control and stability of an AGV (Automated Guided Vehicles) string, we have developed a car-following model. To do this, first a single vehicle is modeled and since all cars in the platoon have the same dynamics, the single vehicle model is copied ten times to form model of platoon (string) with ten vehicles. To control this string, we have applied equal PID controllers to all vehicles, except the leading vehicle. These controllers try to keep the headway distance as constant as possible and the velocity error between subsequent vehicles - small. For control of vehicle with nonlinear dynamics combination of feedforward control and feedback control approach is used. Feedforward control is based on the inverse model of nominal dynamics of the vehicle, and feedback PID control is designed based on the linearized model of the vehicle. For simulation and analysis of vehicle and platoon of vehicles – we have developed Matlab/Simulink models. Simulation results, discussions and conclusions are given at the end of the paper.

Green Two-wheeled Mobility: Electric Scooters Using Brushless Motor based on Fuzzy Logic Controller Hassane Bachiri; Abdelfetah Nasseri
IAES International Journal of Robotics and Automation (IJRA) Vol 7, No 3: September 2018
Publisher : Institute of Advanced Engineering and Science

In the last years electric vehicles gained importance as a more sustainable alternative to traditional vehicles. The introduction of an electric power train leads to lower air-pollution emissions. ‘Electric bicycles’ are sometimes more like an electric pedaled moped, other times more like a Vespa-looking scooter with or without pedals, and they often offer good range and speeds. However, a “scooter” can also be an electric cart for personal mobility, or a skateboard-like vehicle with small handlebars. Electric scooters are the most legislatively active realm of electric bicycles, at the present time. Brushless DC (BLDC) motors are one of the electrical drives that are rapidly gaining popularity, due to their high efficiency, good dynamic response and low maintenance. In this paper, the modeling and simulation of the BLDC motor was done using the software package MATLAB/SIMULINK. The proposed fuzzy logic controller has given optimal results compared to PI controller. The simulated system using the fuzzy controller has a fast response without overshoot, zero steady state error and high load robustness.

An anfis converter control approach of grid connected wind/PV/battery system R. Arulmurugan; Swapna Sandaraju
IAES International Journal of Robotics and Automation (IJRA) Vol 8, No 1: March 2019
Publisher : Institute of Advanced Engineering and Science

The major objective of this task is a control technique for power flow management of a network associated hybrid PV-wind-battery based system with multi-input transformer coupled bidirectional DC-DC converter using ANFIS controller is introduced. The proposed system intends to fulfill the demand of load, deal with the power flow from the distinctive sources, injects surplus power into the network and charge the battery from framework as and when required. A transformer coupled boost half-bridge converter is used to tackle power from wind, while bidirectional buck-boost converter is used to outfit control from PV alongside battery charging/releasing control. A single stage full-bridge bidirectional converter is used for ac loads and collaboration with grid. The proposed converter has reduced number of intensity change stages. This enhances the effectiveness and unwavering quality of the framework. In this article Adaptive Neuro Fuzzy interference System (ANFIS) is proposed for better performance of the system. Neural system has many inputs and also has multiple outputs but the fuzzy logic has multiple inputs and single output, so the combination of this two is known as ANFIS which is utilized for nonlinear applications. The proposed paper of simulation results acquired using MATLAB/Simulink demonstrate the execution of the proposed control procedure for power stream the executives under different methods of activity.

Wall-E Surveyor Robot using Wireless Networks Aatish Chandak; Arjun Aravind; Nithin Kamath
IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 2: June 2015
Publisher : Institute of Advanced Engineering and Science

The methods for autonomous navigation of a robot in a real world environment is an area of interest for current researchers. Although there have been a variety of models developed, there are problems with regards to the integration of sensors for navigation in an outdoor environment like moving obstacles, sensor and component accuracy. This paper details an attempt to develop an autonomous robot prototype using only ultrasonic sensors for sensing the environment and GPS/ GSM and a digital compass for position and localization. An algorithm for the navigation based on reactive behaviour is presented. Once the robot has navigated to its final location based on remote access by the owner, it surveys the geographical region and uploads the real time images to the owner using an API that is developed for the Raspberry PI’s kernel.

Impact of plug-in hybrid electric vehicles on power system with high wind power penetration Mahmoud Essam Harby; Said Elsayed Elmasry; Adel Elsamahy; Luis Marroyo; Javier Marcos
IAES International Journal of Robotics and Automation (IJRA) Vol 8, No 2: June 2019
Publisher : Institute of Advanced Engineering and Science

The rising energy independence and environmental concerns are key drivers in the growing popularity of plug-in hybrid electric vehicles (PHEVs). Because of the intermittent nature of the renewable energy sources, this may cause a high-frequency oscillation of the power system. From another aspect, all the PHEVs have in common the batteries, which provide the storage capability that can be effectively harnessed when the vehicles are integrated into the grid. Such a storage capability can effectively integrate wind power into the grid and all indicators signalize that the PHEVs are the most promising technology of the future transportation system. In this paper, different case studies are applied on one area power system to show the effect of the high wind energy penetration on the power system frequency and how the PHEVs can play an effective role in mitigating the power system frequency oscillation and supporting the more penetration of the wind energy into smarter electrical grids. In addition, an advanced controller has been designed to improve the frequency response and to compensate the delay of the system. The designed controller is a genetic algorithm (GA) based PID (proportional-integral-derivative) controller, it has been proposed for tuning optimized PID parameters. The results show that the controller has played an effective role in decreasing the response overshoot and settling time when used with the PHEVs. The used variable load, the thermal power plant parameters, and the wind turbine parameters are the same for the five case studies.

OPP approach for multi degree of freedom robotic arm Based on Kinematics and Dynamics of Robot Praneet Dutta; Rashmi Ranjan Das; Rupali Mathur; Deepika Rani Sona
IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 4: December 2015
Publisher : Institute of Advanced Engineering and Science

This paper deals with the trajectory and path generation of the industrial manipulator. The trajectory is obtained using the equations of motion and also the optimal path planning (OPP) approach under kinodynamic constraints. The optimal control problem is defined for the minimum cost function and to obtain the necessary conditions. Here we have used pontrygain’s minimum principle to obtain the limiting value of joint angle and also the joint velocity and torque. In this paper we have used the “Two degree of freedom (DOF) manipulator” for analysis and designing the optimal control for multi link and multi degree of freedom manipulator. For analysis purposes, simulation software has been used to formulate the trajectory and minimize the cost function involved.

A MULTI OBJECTIVE FUNCTION AND OPTIMAL DESIGN OF BAM USING MATLAB Bammidi, Roopsandeep; Ravi Teja, N.; Naveen Babu, S.; R. Sai Reddy, P.; Akhil, N.; Prakashini, O.
IAES International Journal of Robotics and Automation (IJRA) Vol 9, No 3: September 2020
Publisher : Institute of Advanced Engineering and Science

From past decades, the different types of mechanisms in mobile robots have been created so far which includes legged, treaded-tyre and wheeled type robots. Among these types, the wheeled type is easiest to control while the treaded-tyre type offers improved flexibility. Legged locomotion, though not widely used for industrial purposes, has growing implications mainly due to its ease of maneuvering in rough terrains. The Walking motion is obtained through various mechanisms. Most obvious of these is the crank and rocker mechanism, which gives a walking style characteristic of human being. The present research work uses a different type of mechanism for driving a biped that is most distinguished by its ease of operation that produces a type of ?walk? similar to that of two legged mammals. In this research initially, a multi-objective optimization is carried out for the optimal design of the mechanism. This research involves a simulation of a simple Biped model using Crank-Rocker mechanism. The design of the biped robot is done by considering two important objective parameters stride and lift, a multi objective function must be created and optimization is done by using MATLAB Programming.

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Tae Jin Park

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iaes.ijra@gmail.com

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Location
Kota yogyakarta,

Daerah istimewa yogyakarta

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Home Page

OAI Link

Editorial Team

Contact

Reviewer

Google Scholar

Contact Name Tae Jin Park

Contact Email iaes.ijra@gmail.com

Phone -

Journal Mail Official iaes.ijra@gmail.com

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Location Kota yogyakarta, Daerah istimewa yogyakarta INDONESIA

Abstract

Abstract

Abstract

Abstract

Abstract

Abstract

Abstract

Abstract

Abstract

Abstract

Contact Name
Tae Jin Park

Contact Email
iaes.ijra@gmail.com

Phone
-

Journal Mail Official
iaes.ijra@gmail.com

Editorial Address
-

Location
Kota yogyakarta,

Daerah istimewa yogyakarta

INDONESIA