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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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Backstepping Control for MPPT and UPF of a Three Phase Single Stage Grid Connected PV System M. El malah; A. Ba-razzouk; M. Guisser; E. Abdelmounim; M. Madark
IAES International Journal of Robotics and Automation (IJRA) Vol 7, No 4: December 2018
Publisher : Institute of Advanced Engineering and Science

This paper presents a new control methodology of a three phase grid connected photovoltaic system without using the intermediary DC/DC converter. Based on the synchronized nonlinear model of the whole photovoltaic system, two controllers have been proposed for the three-phase inverter in order to ensure the operation of the PV system at the maximum power point with unity power factor and minimum grid disturbance. Grid synchronization has been ensured by a three-phase 2nd order PLL (Phase-Locked Loop). The stability of each controller is demonstrated by means of Lyapunov analysis and evaluated under changing atmospheric conditions using the Matlab/Simulink environment, the simulation results clearly demonstrate the performance provided by each controller.

Modification and Actuator Minimization of the Hip Leg Joint in a Bipedal Robot: A Proposed Design Nirmalya Tripathi
IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 2: June 2015
Publisher : Institute of Advanced Engineering and Science

In recent times, there have been numeric applications of Biped Robots. In this paper, a proposed upper leg hip design of a biped was developed taking cost reduction and optimization as factors for consideration. The proposed system introduces a novel method which consists of a vibration reduction (VR) DC stepper motor, microcontroller, microprocessor and gearing arrangement. The program in the microprocessor is so designed that it gives a fixed number of cycles/steps to the VR DC stepper motor in clockwise and thereafter in anti-clockwise direction. This turning movement can then be transmitted to the gearing system which precisely moves one upper leg when the VR DC stepper motor moves in clockwise direction, while the other upper leg remains static, and vice-versa. It has been observed that this new proposed system may reduce the cost overhead, weight and the energy consumption incurred by working on a single VR DC stepper motor while conventionally two stepper motors are used to give the motion of the two upper legs in a biped.

Implementation of ANFIS based controller on IG wind farm for improved performance Pragya Sharma; Satbir Singh; Vivek Pahwa
IAES International Journal of Robotics and Automation (IJRA) Vol 8, No 2: June 2019
Publisher : Institute of Advanced Engineering and Science

In this paper, the transient performance of a 9-MW Induction Generator (IG) wind farm is improved by implementing an Adaptive Neuro Fuzzy Inference System (ANFIS) based controller on the turbine in MATLAB/SIMULINK environment using phasor analysis. Initially, the parameters of PI controller is developed using conventional method. Then, with the help of PI controller, the ANFIS based controller is trained. This developed controller reduces peak overshoot and settling time of active power and torque-speed characteristics in contrast to PI controller. Further, the system is linearized and the obtained results in time domain have been validated for stability by using Pole-Zero plot.

Manuscript shapes generated by novel bi-axis control algorithm based on a mathematical handwriting model Imene Mahmoud; Ines Chihi; Afef Abedlkrim; Mohamed Benrejeb
IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 3: September 2015
Publisher : Institute of Advanced Engineering and Science

Handwriting movement is one of the most complex activities of human motions. It’s a blend of kinesthetic, cognitive, perceptual and motor components. The study of this biological process shows that bell-shaped velocity profiles are generally observed in the handwriting motion. In this paper, an identification technique, based on Recursive Least Square algorithm (RLS), is proposed to identify the pen-tip movement in human handwriting process, by using input and output data which present EMG signals and velocities according to x and y coordinates. Using the estimated coordinates that have resulted from the velocity model; we propose a novel algorithm to generate handwritten graphic traces, which is inspired from the idea of tracing circles by Bresenham bi-axis control algorithm. The effectiveness of this approach should be observed on predicting cursive Arabic letters and Arabic word written on (x,y) plane, these shapes constituting a recorded experimental basis.

Control shunt active filter based on dq frame using current model prediction Chi Nguyen Van; Hoang Dang Danh
IAES International Journal of Robotics and Automation (IJRA) Vol 8, No 4: December 2019
Publisher : Institute of Advanced Engineering and Science

The nonlinear loads present more in the power systems in the practice today by developing of electronic technology and using the small distributed power sources (solar power, wind power etc.), this causes the increasing the high frequency switch devices etc. in the power network. Nonlinear loads cause non-sinusoidal currents and voltages with harmonic components, increasing the reactive power, overload of power lines and electrical devices, low power factor and affecting badly to the networks. Shunt active filters (SAF) with current controlled voltage source inverters (CCVSI) are used effectively to reduce the harmonics and to balance the phases sinusoidal source currents by generating the currents to compensate the harmonic currents caused by the nonlinear loads. In this paper we suppose a control strategy to generate the compensation currents of SAF by using the current model predictive engineering. This method is better than the control strategy using PI controller in term of transient time. The desired compensation currents can track exactly the reference compensation currents on the dq frame. The simulation results implemented on the nonlinear load, a full bridge rectifier and 3 phase unbalance load, show that the transient period decrease from 0.1s to 0.02s in comparing with PI controller. The experimental results proof that the THD of source currents decrease from 24.8% to 5.4% when using the proposed method.

Nonlinear dynamic modeling and optimal motion analysis of two-link manipulators Moein Taheri
IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 1: March 2016
Publisher : Institute of Advanced Engineering and Science

Manipulators are used in various industrial applications to perform variant operations such as conveying payloads. Regarding to their applications, dynamic modeling and motion analysis of manipulators are known as important and appealing tasks. In this work, nonlinear dynamics and optimal motion analysis of two-link manipulators are investigated. To dynamic modeling of the system, the Lagrange principle is employed and nonlinear dynamic equations of the manipulator are presented in state-space form. Then, optimal motion analysis of the nonlinear system is developed based on optimal control theory. By means of optimal control theory, indirect solution of problem results in a two-point boundary value problem which can be solved numerically. Finally, in order to demonstrate the power and efficiency of method, a number of simulations are performed for a two-link manipulator which show applicability of proposed method.

Minimization of real power loss by enhanced teaching learning based optimization algorithm Lenin, K.
IAES International Journal of Robotics and Automation (IJRA) Vol 9, No 1: March 2020
Publisher : Institute of Advanced Engineering and Science

This paper presents an Enhanced Teaching-Learning-Based Optimization (ETLBO) algorithm for solving reactive power flow problem. Teaching-learning process is an iterative process where in the continuous interaction takes place for the transfer of knowledge. Movements of trial solutions will investigate the internally final stages. Up gradation of the algorithm has been done through by adding weight in the learner values. Projected ETLBO algorithm has been tested in standard IEEE 57,118 bus systems and power loss has been reduced efficiently.

A New Approach to the Solution of Robot Kinematics Based on Relative Transformation Matrices Mohammad Reza Elhami; Iman Dashti
IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 3: September 2016
Publisher : Institute of Advanced Engineering and Science

In analyzing robot manipulator kinematics, we need to describe relative movement of adjacent linkages or joints in order to obtain the pose of end effector (both position and orientation) in reference coordinate frame. Denavit-Hartenberg established a method based on a 4×4 homogenous matrix so called “A” matrix. This method used by most of the authors for kinematics and dynamic analysis of the robot manipulators. Although it has many advantages, however, finding the elements of this matrix and link/joint’s parameters is sometimes complicated and confusing. By considering these difficulties, the authors proposed a new approach called ‘convenient approach’ that is developed based on “Relative Transformations Principle”. It provides a very simple and convenient way for the solution of robot kinematics compared to the conventional D-H representation. In order to clarify this point, the kinematics of the world known Stanford manipulator has been solved through D-H representation as well as convenient approach and the results are compared.

Kinematic Analysis of 3-DOF Planer Robot Using Artificial Neural Network Jolly Atit Shah; S.S. Rattan; Bahadur Chand Nakra
IAES International Journal of Robotics and Automation (IJRA) Vol 1, No 3: September 2012
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (329.983 KB)

Automatic control of the robotic manipulator involves study of kinematics and dynamics as a major issue. This paper involves the forward and inverse kinematics of 3-DOF robotic manipulator with revolute joints. In this study the Denavit- Hartenberg (D-H) model is used to model robot links and joints. Also forward and inverse kinematics solution has been achieved using Artificial Neural Networks for 3-DOF robotic manipulator. It shows that by using artificial neural network the solution we get is faster, acceptable and has zero error.DOI: http://dx.doi.org/10.11591/ijra.v1i3.511

Path Planning of the Fire Escaping System Using Active Detection Module Ying Yao Ting; Huan Sheng Wang; Kuo Lan Su
IAES International Journal of Robotics and Automation (IJRA) Vol 6, No 1: March 2017
Publisher : Institute of Advanced Engineering and Science

This article proposes a security system which detects the fire events and plans the moving route. Each robot with several modules owns the shape of cylinder and height, weight and diameter is 18cm, 1.5kg and 8cm. A main controller (STC12C5A60S2) equips robots as a microprocessor. Each robot has the capability to escape from the fire scene. Whenever detecting fires and obstacles using image sensor and reflective IR sensors, robots send the ID code, orientation, and position to the centralized computer and other robots. After other robots have confirmed the fire events, the centralized computer uses the Gaussian probability function to calculate the danger values of the surrounding points near the fire source. And Bayesian estimation method is applied to compute the total estimated value of each point in platform. Furthermore, the total weighted values of all points are shown in a platform and its aim is to enlarge the difference between danger and safety without ambiguity. A* algorithm is used in the escaping routes are planned by a centralized computer. The mobile robot follows the leading of the supervised computer autonomously to escape from dangerous areas. The air-fuel ratio and the rate of increasing in temperature with distance are directly proportional to the danger value. Associating the increasing temperature rate with three-fire sources, it is verified to be an efficient system.

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Contact Name
Tae Jin Park

Contact Email
iaes.ijra@gmail.com

Phone
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Journal Mail Official
iaes.ijra@gmail.com

Editorial Address
-

Location
Kota yogyakarta,

Daerah istimewa yogyakarta

INDONESIA

Abstract

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Abstract

Abstract

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Abstract

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