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[Depth Level Control System using Peripheral Interface Controller for Underwater Vehicle ]]>
<![CDATA[Muhamad Fadli Ghani]]>;
<![CDATA[Shahrum Shah Abdullah]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 2, No 2: June 2013 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v2i2.pp69-72
<![CDATA[This research explained on a design and development of an Automatic Depth Control System for underwater vehicle. Definition of underwater vehicle is a robotic sub-sea that is a part of the emerging field of autonomous and unmanned vehicles. This project shows the implementation’s development of an Automatic Depth Control System on a test prototyping vehicle especially involved small-scale and low cost sub-sea robots. The Automatic Depth Control System assembled with mechanical system and module of electronic system for development of a controller.]]>
<![CDATA[An Actor-critic Algorithm Using Cross Evaluation of Value Functions ]]>
<![CDATA[Hui Wang]]>;
<![CDATA[Peng Zhang]]>;
<![CDATA[Quan Liu]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 7, No 1: March 2018 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v7i1.pp39-47
<![CDATA[In order to overcome the difficulty of learning a global optimal policy caused by maximization bias in a continuous space, an actor-critic algorithm for cross evaluation of double value function is proposed. Two independent value functions make the critique closer to the real value function. And the actor is guided by a crossover function to choose its optimal actions. Cross evaluation of value functions avoids the policy jitter phenomenon behaved by greedy optimization methods in continuous spaces. The algorithm is more robust than CACLA learning algorithm, and the experimental results show that our algorithm is smoother and the stability of policy is improved obviously under the condition that the computation remains almost unchanged.]]>
<![CDATA[A Low-Cost Smart Glove for Hand Functions Evaluation ]]>
<![CDATA[Izzeldin Ibrahim Mohamed Abdelazizi]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 3, No 1: March 2014 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v3i1.pp39-51
<![CDATA[This paper focuses on the development of a reliable, low cost, average size, light weight, simple, rugged, and compact design five fingers real time smart glove and a measurement hand gripper that emulate the human hand functions that can be used as a prototype model for hand rehabilitation systems for patients suffering from paralyze or contracture. The hand gripper device will move based on a human operator’s finger movement using the smart glove. Index, Middle, ring, and little fingers of the hand have a three degree of freedom, while the thumb finger has a two degree of freedom. All fingers are equipped with sensors for a smooth precise movement on a small scale with a perfect incision and without any vibration. This gripper is ideal for light objects. All the fingers have high speed motion and can be controlled individually and this gives the gripper ability to grasp complex shaped objects this work contains two PIC 18F452 microcontrollers for the instrumentation, communication and controlling applications. A series of flex sensors are built-in a master glove to get readings from the movement of human fingers. Microcontrollers will further use this information to control multiple servos that controls the movement of the slave hand.]]>
<![CDATA[Analysis of ANFIS MPPT Controllers for Partially Shaded Stand Alone Photovoltaic System with Multilevel Inverter ]]>
<![CDATA[T. Ramesh]]>;
<![CDATA[R. Saravanan]]>;
<![CDATA[S. Sekar]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 7, No 2: June 2018 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v7i2.pp140-148
<![CDATA[This work presents a unique combination of an boost converter run by a set of two photovoltaic panels (PV) with a MPPT, suitable to guarantee MPP even under partial shadowed conditions, managed by an adaptive neuro fuzzy inference system (ANFIS) trained by the training data derived from a Perturb and observation (P&O) conventional algorithm. The single phase cascaded H bridge five-level inverter (CHI) driven by the individual outputs of the boost converter, with selective harmonic elimination scheme to eliminate typically the seventh order harmonics. Simulation was carried out in the MATLAB/SIMULINK environment validated the proposed scheme. It has been thus established; by both simulations the ANFIS model of MPPT scheme outperforms other schemes of conventional control algorithm.]]>
<![CDATA[Controlling Bloat in Genetic Programming for Sloving Wall Following Problem ]]>
<![CDATA[Navid Bazrkar]]>;
<![CDATA[Mostafa Nemati]]>;
<![CDATA[Reza Salimi]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 3, No 3: September 2014 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v3i3.pp201-211
<![CDATA[The goal in automatic programming is to get a computer to perform a task by telling it what needs to be done, rather than by explicitly programming it.With considers the task of automatically generating a computer program to enable an autonomous mobile robot to perform the task of following the wall of an irregular shaped room, During the evolution of solutions using genetic programming (GP) there is generally an increase in average tree size without a corresponding increase in fitness—a phenomenon commonly referred to as bloat. Many different bloat control methods have been proposed. This paper review, evaluate, implementation and comparison of these methods in wall following problem and the most appropriate method for solving bloat problem is proposed.]]>
<![CDATA[Towards Behavior Control for Evolutionary Robot Based on RL with ENN ]]>
<![CDATA[Jingan Yang]]>;
<![CDATA[Yanbin Zhuang]]>;
<![CDATA[Chunguang Li]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 1, No 1: March 2012 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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<![CDATA[This paper proposes a behavior-switching control strategy of anevolutionary robotics based on Artificial NeuralNetwork (ANN) and Genetic Algorithms (GA). This method is able not only to construct thereinforcement learning models for autonomous robots and evolutionary robot modules thatcontrol behaviors and reinforcement learning environments, and but also to perform thebehavior-switching control and obstacle avoidance of an evolutionary robotics (ER) intime-varying environments with static and moving obstacles by combining ANN and GA.The experimental results on thebasic behaviors and behavior-switching control have demonstrated that ourmethod can perform the decision-making strategy and parameters set opimization ofFNN and GA by learning and can escape successfully from the trap of a localminima and avoid \emph{"motion deadlock" status} of humanoid soccer robotics agents,and reduce the oscillation of the planned trajectory betweenthe multiple obstacles by crossover and mutation. Some results of the proposed algorithmhave been successfully applied to our simulation humanoid robotics soccer team CIT3Dwhich won \emph{the 1st prize} of RoboCup Championship and ChinaOpen2010 (July 2010) and \emph{the $2^{nd}$ place}of the official RoboCup World Championship on 5-11 July, 2011 in Istanbul, Turkey.As compared with the conventional behavior network and the adaptive behavior method,the genetic encoding complexity of our algorithm is simplified, and the networkperformance and the {\em convergence rate $\rho$} have been greatlyimproved.DOI: http://dx.doi.org/10.11591/ijra.v1i1.259]]>
<![CDATA[Self-Corrective Autonomous Systems using Optimization Processes for Detection and Correction of Unexpected Error Conditions ]]>
<![CDATA[Nicoladie D. Tam]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 4: December 2016 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v5i4.pp262-276
<![CDATA[A theoretical framework for autonomous self-detection and self-correction of unexpected error conditions is derived by incorporating the principles of operation in autonomous control in biological evolution. Using the biologically inspired principles, the time-dependent multi-dimensional disparity vector is used as a quantitative metric for detecting unexpected and unforeseeable error conditions without any external assistance. The disparity vector is a measure of the discrepancy between the expected outcome predicted by the autonomous system and the actual outcome in the real world. It is used as a measure to detect any unexpected or unforeseeable errors. The process for autonomous self-correction of the self-discovered errors is an optimization process to minimize the errors represented by the disparity vectors. The strategies for prioritizing the urgency of corrective actions are also provided in the theoretical derivations. The criteria for any change in direction of the corrective actions are also provided quantitatively. The criteria for the detection of the minimization and maximization of errors are also provided in the autonomous optimization process. The biological correspondences of the emotional responses in relation to the autonomic self-corrective feedback systems are also provided.]]>
<![CDATA[A Novel Randomized Search Technique for Multiple Mobile Robot Paths Planning In Repetitive Dynamic Environment ]]>
<![CDATA[Vahid Behravesh]]>;
<![CDATA[Seyyed Mohammad Reza Farshchi]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 1, No 4: December 2012 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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<![CDATA[Presented article is studying the issue of path navigating for numerous robots. Our presented approach is based on both priority and the robust method for path finding in repetitive dynamic. Presented model can be generally implementable and useable: We do not assume any restriction regarding the quantity of levels of freedom for robots, and robots of diverse kinds can be applied at the same time. We proposed a random method and hill-climbing technique in the area based on precedence plans, which is used to determine a solution to a given trajectory planning problem and to make less the extent of total track. Our method plans trajectories for particular robots in the setting-time scope. Therefore, in order to specifying the interval of constant objects similar to other robots and the extent of the tracks which is traversed. For measuring the hazard for robots to conflict with each other it applied a method based on probability of the movements of robots. This algorithm applied to real robots with successful results. The proposed method performed and judged on both real robots and in simulation. We performed sequence of100tests with 8 robots for comparing with coordination method and current performances are effective. However, maximizing the performance is still possible. These performances estimations performed on Windows operating system and 3GHz Intel Pentium IV with and compiles with GCC 3.4. We used our PCGA robot for all experiments. For a large environment of 19×15m2where we accomplished 40tests, our model is competent to plan high-quality paths in a severely short time (less than a second). Moreover, this article utilized lookup tables to keep expenses the formerly navigated robots made, increasing the number of robots don’t expand computation time.DOI: http://dx.doi.org/10.11591/ijra.v1i4.1260]]>
<![CDATA[An Active Virtual Impedance Control Algorithm for Collision Free Navigation of a Mobile a Robot ]]>
<![CDATA[Jinho Kim]]>;
<![CDATA[Jangmyung Lee]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 6, No 2: June 2017 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v6i2.pp99-111
<![CDATA[An modified active virtual impedance control has been proposed for collision free navigation of a mobile robot to avoid front obstacles dynamically while a mobile robot is following a sound source. A mobile robot is controlled to follow a sound source with a velocity which is determined by virtual repulsive and attraction forces to avoid obstacles and to follow the sound source, respectively. To generate the virtual repulsive and attraction forces, a new modified virtual impedance is defined as a function of the distances and relative velocities to the sound source and obstacles from the mobile robot. In the conventional virtual impedance method, fixed coefficients have been used for the virtual impedance control. In this research, the coefficients are dynamically adjusted to elaborate the obstacle avoidance performance in various situations such as the multiple moving obstacles environment. A microphone array consisting of three microphones in a row has been attached on the mobile robot to detect the relative distance and velocity to the obstacles. The relative position and orientation of the sound source against the mobile robot has been estimated using the geometrical relationship of the microphones. As an application, the mobile robot can be used as a pet robot following the master with a sound source. The effectiveness of the proposed algorithm has been demonstrated through real experiments.]]>
<![CDATA[Multi-robot system using low-cost infrared sensors ]]>
<![CDATA[Anubhav Kakkar]]>;
<![CDATA[Shivam Chandra]]>;
<![CDATA[Deepanshu Sood]]>;
<![CDATA[Ritu Tiwari]]>;
<![CDATA[Anupam Shukla]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 2, No 3: September 2013 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v2i3.pp117-128
<![CDATA[This paper presents a proposed set of the novel technique, methods, and algorithm for simultaneous path planning, area exploration, area retrieval, obstacle avoidance, object detection, and object retrieval autonomously by a multi-robot system. The proposed methods and algorithms are built considering the use of low cost infrared sensors with the ultimate function of efficiently exploring the given unknown area and simultaneously identifying desired objects by analyzing the physical characteristics of several of the objects that come across during exploration. In this paper, we have explained the scenario by building a coordinative multi-robot system consisting of two autonomously operated robots equipped with low-cost and low-range infrared sensors to perform the assigned task by analyzing some of the sudden changes in their environment. Along with identifying and retrieving the desired object, the proposed methodology also provide an inclusive analysis of the area being explored. The novelties presented in the paper may significantly provide a cost-effective solution to the problem of area exploration and finding a known object in an unknown environment by demonstrating an innovative approach of using the infrared sensors instead of high cost long range sensors and cameras. Additionally, the methodology provides a speedy and uncomplicated method of traversing a complicated arena while performing all the necessary and inter-related tasks of avoiding the obstacles, analyzing the area as well as objects, and reconstructing the area using all these information collected and interpreted for an unknown environment. The methods and algorithms proposed are simulated over a complex arena to depict the operations and manually tested over a physical environment which provided 78% correct results with respect to various complex parameters set randomly.]]>
