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IAES International Journal of Robotics and Automation (IJRA)

IJRA
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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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Embedded Fuzzy Based Boiler Control Celin S
IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 2: June 2016
Publisher : Institute of Advanced Engineering and Science

Boiler control in a power station is a very important criteria in regulation of uninterrupted electricity. In existing power plants, the control of its features and parameters are done by PI and PD controllers. The parameters that control the regulation of boiler conduction are drum level, steam flow, feed water flow, steam temperature and light intensity. It is necessary to produce the steam required to run the generator. When the load in the generator changes, there must be corresponding change in the steam volume. This may cause adverse effect in the boiler. In order to avoid the effect in the boiler, the parameters mentioned above must be maintained constant, which is attained by regulating the corresponding valves. This project work has a feasibility of using fuzzy logic controllers in the place of conventional controllers is done by using embedded system. It is found that the rule based fuzzy logic technique can be implemented by stringent operating conditions.

Reduced Search Space Algorithm for Simultaneous Localization and Mapping in Mobile Robots Hesam Omranpour; Saeed Shiry
IAES International Journal of Robotics and Automation (IJRA) Vol 1, No 1: March 2012
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (264.135 KB)

In this paper, we propose a new algorithm for simultaneous localization and mapping in mobile robots which uses evolutionary algorithm and particle swarm optimization. The proposed method is based on both local and global heuristic search methods. In each step of robot movements, the local search is applied in the small search space of odometry errors to improve the map accuracy. A global search method is applied for loop closing. The proposed algorithm detects loops and closes them, detects and solves correspondence and avoids local extremums. With a proper representation of problem parameters in chromosome, the dimensionality of search space is reduced. The proposed algorithm utilizes occupancy grid and does not require land marks which are not available in most natural environments. A new fitness function is proposed that is computationally efficient and eliminates the need for complex statistical calculations as used in current approaches. Results of experiments on real datasets exhibit the superior performance of the proposed method compared to the current methods.DOI: http://dx.doi.org/10.11591/ijra.v1i1.274

Dynamic Analysis Of Two Link Robot Manipulator For Control Design Using PID Computed Torque Control. Jolly Atit Shah; S S Rattan
IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 4: December 2016
Publisher : Institute of Advanced Engineering and Science

Due to their advantage of high speed, accuracy and repeatability, robot manipulators have become major component of manufacturing industries and even now a days they become part of routine life. Two link robot manipulator is a very basic classical and simple example of robot followed in understanding of basic fundamentals of robotic manipulator. The equation of motion for two link robot is a nonlinear differential equation. For higher degrees of freedom, as the closed form solutions are very difficult we have to use numerical solution. Here we focused mainly on control of robot manipulator to get the desired position using combination of two classical methods PID and computed torque control method after deriving the equation of motion. For the same simulation is represented using MATLAB and compared with computed torque control method.

Control of a stair climbing wheelchair Nor Maniha Abdul Ghani; M.O. Tokhi; A.N.K Nasir; S. Ahmad
IAES International Journal of Robotics and Automation (IJRA) Vol 1, No 4: December 2012
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (182.032 KB)

This paper presents investigations into the control of a stair climbing wheelchair particularly for indoor usage. A virtual wheelchair model is developed using Visual Nastran software and linked with Matlab/Simulink for control purposes. The goals are to have a simple, compact and stable stairs climbing wheelchair in order to complete the ascending and descending tasks. The challenges are to ensure the wheelchair seat always stay at the upright position and to control both the front and rear wheel motors while climbing. PID control is used to provide appropriate torque to both front and rear wheels as well as at to the wheelchair seat during climbing. Results show that the wheelchair movement can be controlled smoothly and the seat maintained at the desired position with the adapted approach.DOI: http://dx.doi.org/10.11591/ijra.v1i4.795

A Guided Ant Colony Optimization Algorithm for Conflict-free Routing Scheduling of AGVs Considering Waiting Time Li Junjun; Xu Bowei; YANG Yongsheng; Wu Huafeng
IAES International Journal of Robotics and Automation (IJRA) Vol 6, No 2: June 2017
Publisher : Institute of Advanced Engineering and Science

Efficient conflict-free routing scheduling of automated guided vehicles (AGVs) in automated logistic systems can improve delivery time, prevent delays, and decrease handling cost. Once potential conflicts present themselves on their road ahead, AGVs may wait for a while until the potential conflicts disappear besides altering their routes. Therefore, AGV conflict-free routing scheduling involves making routing and waiting time decisions simultaneously. This work constructs a conflict-free routing scheduling model for AGVs with consideration of waiting time. The process of the model is based on calculation of the travel time and conflict analysis at the links and nodes. A guided ant colony optimization (GACO) algorithm, in which ants are guided to avoid conflicts by adding a guidance factor to the state transition rule, is developed to solve the model. Simulations are conducted to validate the effectiveness of the model and the solution method.

End-Effector Position Analysis Using Forward Kinematics For 5 Dof Pravak Robot Arm Jolly Atit Shah; S.S. Rattan; B.C. Nakra
IAES International Journal of Robotics and Automation (IJRA) Vol 2, No 3: September 2013
Publisher : Institute of Advanced Engineering and Science

Automatic control of the robotic manipulator involves study of kinematics and dynamics as a major issue. This paper involves the kinematic analysis of a Pravak Robot arm which is used for doing successful robotic manipulation task in its workspace. The Pravak Robot Arm is a 5-DOF robot having all the joints revolute. The kinematics problem is defined as the transformation from the Cartesian space to the joint space and vice versa. In this study the Denavit- Hartenberg (D-H) model is used to model robot links and joints. Pravak Robot Arm is a simple and safe robotic system designed for laboratory training and research applications. This robot allows to gain theoretical and practical experience in robotics, automation and control systems. The MATLAB R2007 is used to analyse end effectors position for a set of joint parameter.

Application of Unified Power Flow Controller to Improve Steady State Voltage Limit Samina. E. Mubeen; Baseem Khan; R. K. Nema
IAES International Journal of Robotics and Automation (IJRA) Vol 6, No 4: December 2017
Publisher : Institute of Advanced Engineering and Science

This paper utilizes the voltage source model of Unified Power Flow Controller (UPFC) and examines its abilities in mitigating the steady state stability margins of electric power system. It analyzes its behavior for different controls strategies and proposes the most efficient mode of controlling the controller for voltage stability enhancement. A systematic analytical methodology based on the concept of modal analysis of the modified load flow equations is employed to identify the area in a power system which is most prone voltage instability. Also to identify the most effective point of placement for the UPFC, a computer program has been developed using MATLAB. The results of analysis on 14 bus system is presented here as a case study.

A Novel Path Planning for Robots Based on Rapidly-Exploring Random Tree and Particle Swarm Optimizer Algorithm Zhou Feng
IAES International Journal of Robotics and Automation (IJRA) Vol 3, No 2: June 2014
Publisher : Institute of Advanced Engineering and Science

A based on Rapidly-exploring Random Tree(RRT) and Particle Swarm Optimizer (PSO) for path planning of the robot is proposed.First the grid method is built to describe the working space of the mobile robot,then the Rapidly-exploring Random Tree algorithm is used to obtain the global navigation path,and the Particle Swarm Optimizer algorithm is adopted to get the better path.Computer experiment results demonstrate that this novel algorithm can plan an optimal path rapidly in a cluttered environment.The successful obstacle avoidance is achieved,and the model is robust and performs reliably.

Neural Network Based MPPT Controller for Solar PV Connected Induction Motor T. Shanthi
IAES International Journal of Robotics and Automation (IJRA) Vol 7, No 2: June 2018
Publisher : Institute of Advanced Engineering and Science

In this paper, Maximum Power Point Tracking Controller is designed based on Neural Network Controller (NNC). This controller will sense the speed of a single phase induction motor which is fed from solar panel. Maximum power point tracking (MPPT) algorithm are required in all photovoltaic (PV) system and in order to increase the efficiency of the system, Incremental Conductance algorithm which is an effective algorithm is used to extract maximum power from the solar panel which supplies an Induction motor of 1HP. To step up the voltage available from the solar panel, the SEPIC dc – dc converter is used. The main advantage of the converter is having non-inverted output. The converter acts as an interface between PV array and motor load. The entire system is modeled and simulated using MATLAB/Simulink software.

A mini-UAV VTOL Platform for Surveying Applications Kuldeep Rawat; Ellis Lawrence
IAES International Journal of Robotics and Automation (IJRA) Vol 3, No 4: December 2014
Publisher : Institute of Advanced Engineering and Science

In this paper we discuss implementation of a mini-Unmanned Aerial Vehicle (UAV) vertical take-off and landing (VTOL) platform for surveying activities related to highway construction. Recent advances in sensor and communication technologies have allowed scaling sizes of unmanned aerial platforms, and explore them for tasks that are economical and safe over populated or inhabited areas. In highway construction the capability of mini-UAVs to survey in hostile and/or hardly accessible areas can greatly reduce human risks. The project focused on developing a cost effective, remotely controlled, fuel powered mini-UAV VTOL (helicopter) platform with certain payload capacity and configuration and demonstrated its use in surveying and monitoring activities required for highway planning and construction. With an on-board flight recorder global positioning system (GPS) device, memory storage card, telemetry, inertial navigation sensors, and a video camera the mini-UAV can record flying coordinates and relay live video images to a remote ground receiver and surveyor. After all necessary integration and flight tests were done the mini-UAV helicopter was tested to operate and relay video from the areas where construction was underway. The mini-UAV can provide a platform for a range of sensors and instruments that directly support the operational requirements of transportation sector.

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Contact Name
Tae Jin Park

Contact Email
iaes.ijra@gmail.com

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Journal Mail Official
iaes.ijra@gmail.com

Editorial Address
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Location
Kota yogyakarta,

Daerah istimewa yogyakarta

INDONESIA

Abstract

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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

Editorial Address -

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