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IAES International Journal of Robotics and Automation (IJRA)
ISSN : 20894856     EISSN : 27222586     DOI : -
Core Subject : 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.
Articles 9 Documents
Search results for , issue "Vol 11, No 3: September 2022" : 9 Documents clear
Robust Trajectory Tracking with Optimal Visual Servoing on a Deformable Object Yasser derrar
IAES International Journal of Robotics and Automation (IJRA) Vol 11, No 3: September 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v11i3.pp%p

Abstract

This paper presents a novel approach to rigidly align a prespective camera to the deformation of a non-rigid object. We assume having a reference pre-planned camera trajectory viewing a non-rigid object. Our goal, is to align this trajectory at the execution time given a prior only on the most relevant landmark. Our method does not assume any parametric or non-parametric prior model on the physics of deformation. The proposed method is formalized as a tracking problem embedded in an optimal control framework. The tracking problem encodes visual servoing of features' from the deformable object between pre-planned and execution time. The optimal control framework is formalized with a weighted least-square criterion that minimizes the distance between the reference features and the features at run time. The weights are time-dependent smooth functions that encode the relevance of the visible object's features. We experimentally prove that our method can adapt to multiple pre-planned trajectories and multiple types of deformations without any prior knowledge on them. Robustness to noise in the detection of image features is also experimentally demonstrated.
Implementation of a complex fractional order proportional-integral-derivative controller for a first order plus dead time system Omar Abdulwahhab
IAES International Journal of Robotics and Automation (IJRA) Vol 11, No 3: September 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v11i3.pp205-212

Abstract

This paper presents the implementation of a complex fractional order proportional integral derivative (CPID) and a real fractional order PID (RPID) controllers. The analysis and design of both controllers were carried out in a previous work done by the author, where the design specifications were classified into easy (case 1) and hard (case 2) design specifications. The main contribution of this paper is combining CRONE approximation and linear phase CRONE approximation to implement the CPID controller. The designed controllers-RPID and CPID-are implemented to control flowing water with low pressure circuit, which is a first order plus dead time system. Simulation results demonstrate that while the implemented RPID controller fails to stabilize the system in case 2, the implemented CPID controller stabilizes the system in both cases and achieves better transient response specifications.
Selection of smooth motion profile for a tube locator module of an inspection device G. Perumalsamy; P. Visweswaran; Deepak Kumar; S. Joseph Winston; S. Murugan
IAES International Journal of Robotics and Automation (IJRA) Vol 11, No 3: September 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v11i3.pp181-195

Abstract

The Prototype Fast Breeder Reactor steam generators inspection system has seven modules. In this, tube locator module is a planar serial two-link robotic arm, which is used to place the eddy current probe above the steam generators tube hole in the tube sheet region. The trajectory planning of the two-link robotic arm is one of the important tasks, so the peak velocity, peak acceleration, peak jerk of various motion profiles for a given distance has to be selected properly for smooth motion and to avoid actuator saturation. The fifth-order polynomial gives lower acceleration and velocity than the jerk-limited S-curve. In this paper, the comparison of peak values of kinematic variables (velocity, acceleration, and jerk) for different motion profiles has been presented.
Smart energy conservation system for study rooms Simon Atuah Asakipaam; Anthony Mensah; Collins Ohemeng Boateng
IAES International Journal of Robotics and Automation (IJRA) Vol 11, No 3: September 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v11i3.pp223-232

Abstract

Most individuals in public and private sector offices are uninterested in turning off electronic equipment like fans and lamps while they are not present. For example, most students fail to turn off the fans and lighting in their classrooms, study rooms, residence halls, and so forth. As a result of this attitude, power usage in these places tends to rise. Several automation systems have been designed and implemented to decrease power waste in these locations, but the majority of these systems are either inefficient or inappropriate for their intended use. This study presents a proposed smart energy conservation system in a study room that employs an infrared remote-control mechanism to turn on or off an energy system in the absence of humans. Embedded technology was used to create an energy-saving solution. The testing was done with a range of scenarios and key performance indicators. The test results showed that the proposed system was effectively implemented, and a comparison of the system to a case study system demonstrated that it had a better design, lower cost, and higher operational efficiency. The findings of this study will be essential to a wide variety of stakeholders.
Research on Intelligent Logistics UAV Hai-Wu Lee
IAES International Journal of Robotics and Automation (IJRA) Vol 11, No 3: September 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v11i3.pp%p

Abstract

As unmanned aerial vehicle (UAV) starts to be frequently used in the fields of industry, agriculture, reconnaissance and logistics, flight research involving UAV also starts to cover a wider range. In the civil field, UAV is generally used as an auxiliary tool to deal with urban problems, but buildings are the main factors hindering the flight of UAV. Therefore, it is necessary to find out the optimal flight path of   UAV under certain constraints. The intelligent logistics UAV proposed in this paper is used to replace the courier to deliver small goods and process the fuzzy images taken along the way. It is a quad copter implementation plan integrating flight control, obstacle avoidance ultrasound, mobile APP control system and webcam. Gradient descent algorithm and improve Proportion-Integral-Differential (PID) controller are applied in UAV flight control system, MATLAB and wavelet transform to handle fuzzy image. In addition, using ant colony algorithm and adaptive strategy to realize the path planning of UAV. The UAV can detect surrounding obstacles during flight, and the ground control station receives feedback information and makes emergency treatment to ensure safe flight.
Development and integration of laser sensor tracking system in robotic arm for path correction during welding operation Tejaswini P.; M. V. Achutha; Ananda Doddagatte
IAES International Journal of Robotics and Automation (IJRA) Vol 11, No 3: September 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v11i3.pp196-204

Abstract

An industrial robot is mainly used for manufacturing. Industrial robots are 6 or more axes, which can be automatically controlled by programming. Typical applications of robots include welding, painting, picking, and placing printed circuit boards, packaging and labelling, palletizing, product inspection, and testing with high accuracy, precision, and fast speed. Robotic welding is a complex, nonlinear and time varying process which can be affected by various natural or any random disturbances. Due to the effect of various factors, the actual welding path may differ. So, welding robots should be able to detect the actual welding path, then adjust the difference in welding path and complete the welding process accurately. Laser welding is one of the most important technologies in the manufacturing field. It is the most frequently used technology which has made new demands. So, the manufacturer ensures to meet the quality of laser welding and improve the production efficiency. Due to the increase in demand of quality, accuracy, precise, productivity, flexibility and adaptive control of welding robot, an automatic laser seam tracking system is developed with welding robot to precisely follow the welding path and make the necessary corrections during welding operations.
Development of an electronic payment system using the Internet of things Ahmed Abdulkarim Talib; Aymen Dawood Salman
IAES International Journal of Robotics and Automation (IJRA) Vol 11, No 3: September 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v11i3.pp213-222

Abstract

Smartphone has become more widely used than ever and become necessary to develop electronic payment systems using the internet of things (IoT) techniques with the smartphone. Payment solution is one of the most important issues in the IoT. It is the future to make life easier and better through the new relationships will be commercial, requiring payment for services and products. This paper develops a prototype of a payment system consisting of a network from several interconnecting devices such as radio frequency identification (RFID) reader, RFID card tag, equipped with microprocessors NodeMCU, and corresponding software represented by an interactive website for making process of purchase, a database (MySQL) for store data of payments. Focusing on the side of protecting the payment system, a security model for a simplistic payment system based on the IoT is represented by using biometric authentication in the sensor of smartphones like fingerprint authentication and face detection to make sure the identification of the user before making the payment process in the system.
Feature extraction techniques for cognitive stimuli-based electroencephalogram signals: an experimental analysis Jessy Jane Christy J.; E. Grace Mary Kanaga
IAES International Journal of Robotics and Automation (IJRA) Vol 11, No 3: September 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v11i3.pp250-262

Abstract

Over the past decades, brain-computer interface (BCI) has gained a lot of attention in various fields ranging from medicine to entertainment, and electroencephalogram (EEG) signals are widely used in BCI. Brain-computer interface made human-computer interaction possible by using information acquired from EEG signals of the person. The raw EEG signals need to be processed to obtain valuable information which could be used for communication purposes. The objective of this paper is to identify the best combination of features that could discriminate cognitive stimuli-based tasks. EEG signals are recorded while the subjects are performing some arithmetical based mental tasks. Statistical, power, entropy, and fractional dimension (FD) features are extracted from the EEG signals. Various combinations of these features are analyzed and validated using random forest classifier, K-nearest neighbors (KNN), multilayer perceptron, linear discriminant analysis, and support vector machine. The combination of entropy-FD features gives the highest accuracy of 90.47% with the KNN algorithm when compared to individual entropy and FD features which achieves 79.36% with random forest classifier, multilayer perceptron, and 82.53% with linear discriminant analysis, respectively. Our results show that the hybrid of entropy-FD features with KNN classifier can efficiently classify the cognition-based stimuli.
Waypoint and autonomous flying control of an indoor drone for GPS-denied environments Seung Je Son; Hun Se Kim; Dong Hwan Kim
IAES International Journal of Robotics and Automation (IJRA) Vol 11, No 3: September 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v11i3.pp233-249

Abstract

In this study, we propose a method for recognizing the self-location of a drone flying in an indoor environment and introduce the flying performance using it. DWM1000, which is an ultra-wide band communication module, was used for accurate indoor self-location recognition. The self-localization algorithm constructs a formula using trilateration and finds the solution using the gradient descent method. Using the measured values of the distance between the modules in the room, it is found that the error stays within 10-20 cm when the newly proposed trilateration method is applied. We confirmed that the 3D position information of the drone can be obtained in real-time, and it can be controlled to move to a specific location. We proposed a drone control scheme to enable autonomous flight indoors based on deep learning. In particular, to improve the conventional convolutional neural network (CNN) algorithm that uses images from three video cameras, we designed a distinguished CNN structure with deeper layers and appropriate dropouts to use the input data set provided by only one camera.

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