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IAES International Journal of Robotics and Automation (IJRA)
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 5 Documents
 1 
Search results for , issue "Vol 1, No 1: March 2012" : 5 Documents clear
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)

Abstract

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
Towards Behavior Control for Evolutionary Robot Based on RL with ENN Jingan Yang; Yanbin Zhuang; Chunguang Li
IAES International Journal of Robotics and Automation (IJRA) Vol 1, No 1: March 2012
Publisher : Institute of Advanced Engineering and Science

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Abstract

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
Robot Kinematics, using Dual Quaternions Mahmoud Gouasmi; Mohammed Ouali; Fernini Brahim
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 (287.862 KB)

Abstract

From the point of view of classical mechanics, deriving the equations of motion for systems of coupled rigid bodies is regarded as a straightforward procedure: once a suitable set of generalized coordinates and reference frames have been chosen, what remains is to either apply Lagrange’s equations or Newton and Euler’s equations to obtain the differential equations of motion. As the complexity of multibody system increases, the need for more elegant formulation of the equation of motion becomes an issue of paramount importance. Our primary focus is on the kinematic analysis of rigid bodies and serial manipulators (robotic systems)  using simultaneously, both homogeneous transformations (4x4) matrices and Dual Quaternions, for the sake of results comparisons (cost,complexity,storage capacity etc.) . This paper has been done mainly for educational and peadagogical purposes, hoping that the scientific community will finally adopt and use Dual Quaternions at least when dealing with multibody systems and specially robotics.DOI: http://dx.doi.org/10.11591/ijra.v1i1.275
Design and Experiments of Low Cost Teleoperation System Adha Imam Cahyadi; Ng Khin Hooi; Anugrah Persada; Rubiyah Yusof; Yoshio Yamamoto
IAES International Journal of Robotics and Automation (IJRA) Vol 1, No 1: March 2012
Publisher : Institute of Advanced Engineering and Science

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Abstract

In this work, a teleoperation system consists of two planar SCARA manipulators is developed. The manipulators are constructed using basic low cost aluminum bars as well as cheap electronic circuitry and software. Modeling, system identification, individual control and teleoperation control are proposed. Finally, experiments are also performed to verify the effectiveness of the design.Index Terms—Teleoperation systems, PID control, System identification, position control.DOI: http://dx.doi.org/10.11591/ijra.v1i1.272
Design and Development of Vision Based Blockage Clearance Robot for Sewer Pipes Krishna Prasad Nesaian; M. Bala Karthikeyan
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 (701.44 KB)

Abstract

Robotic technology is one of the advanced technologies, which is capable of completing tasks at situations where humans are unable to reach, see or survive. The underground sewer pipelines are the major tools for the transportation of effluent water. A lot of troubles caused by blockage in sewer pipe will lead to overflow of effluent water, sanitation problems. So robotic vehicle that is capable of traveling at underneath effluent water determining blockage using ultrasonic sensors and clearing by means of drilling mechanism is done. In addition to that wireless camera is fixed which acts as a robot vision by which we can monitor video and capture images using MATLAB tool. Thus in this project a prototype model of underground sewer pipe blockage clearance robot with drilling type will be developedDOI: http://dx.doi.org/10.11591/ijra.v1i1.192

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