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.
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<![CDATA[Self-organization of a wheeled robotic swarm using virtual spring-damper mesh ]]>
<![CDATA[Jakub Wiech]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 12, No 1: March 2023 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v12i1.pp68-83
<![CDATA[The article analyzes the problem of self-organization of randomly placed wheeled robots around a stationary reference point, into a given shape of a regular polygon. The paper gives an answer to the question how virtual forces from virtual spring-damper connections between robots allow self-organization of the swarm into the desired shape. The presented method of control is described in detail with the description of i-th robot dynamics and tested numerically and experimentally. The swarm's self-organization is aimed at moving randomly spaced robots with a random frame orientation to a given distance to a reference point, reaching and maintaining a given distance between neighboring robots. The paper presents the results of numerical tests and experimental research and ends with discussion and conclusions. The paper's results could be expanded for applications related to spacial distribution of mobile robots.]]>
<![CDATA[Mechanism design for walking typed solar panel-cleaning robot using triple driving lines ]]>
<![CDATA[Woo Jin Jang]]>;
<![CDATA[Jin Gahk Kim]]>;
<![CDATA[Sang Hun Lee]]>;
<![CDATA[Dong Hwan Kim]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 12, No 1: March 2023 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v12i1.pp1-19
<![CDATA[In this study, we propose a walking-type solar power cleaning robot mechanism driven by a driving unit composed of three driving lines. The triple driving lines are driven using a link mechanism, and vacuum pads are attached to each driving line to move the robot body through a sequence operation between the three lines. Through this mechanism, the robot body can be moved horizontally with the panel without folding the pad, and the amount of vertical movement is minimized during movement. By analyzing the pressure patterns of the pads on the driving line, smooth and fast movement was possible.]]>
<![CDATA[Conceptual design and simulation study of an autonomous indoor medical waste collection robot ]]>
<![CDATA[Shawn Shaju]]>;
<![CDATA[Thomas George]]>;
<![CDATA[Jithin Kunnath Francis]]>;
<![CDATA[Manu Joseph]]>;
<![CDATA[Mervin Joe Thomas]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 12, No 1: March 2023 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v12i1.pp29-40
<![CDATA[Solid waste management is one of the critical challenges seen everywhere, and the coronavirus disease (COVID-19) pandemic has only worsened the problems in the safe disposal of infectious waste. This paper outlines a design for a mobile robot that will intelligently identify, grasp, and collect a group of medical waste items using a six-degree of freedom (DoF) arm, You Only Look Once (YOLO) neural network, and a grasping algorithm. Various designs are generated before running simulations on the selected virtual model using Robot Operating System (ROS) and Gazebo simulator. A lidar sensor is also used to map the robot's surroundings and navigate autonomously. The robot has good scope for waste collection in medical facilities, where it can help create a safer environment.]]>
<![CDATA[Design of a fuzzy logic proportional integral derivative controller of direct current motor speed control ]]>
<![CDATA[Nur Naajihah Ab Rahman]]>;
<![CDATA[Nafrizuan Mat Yahya]]>;
<![CDATA[Nurul Umiza Mohd Sabari]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 12, No 1: March 2023 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v12i1.pp98-107
<![CDATA[Direct current (DC) motor speed control is useful. Speed can be modified based on needs and operations. DC motors cannot control their speed. To control the DC motor’s speed, a dependable controller is needed. The DC motor speed will be controlled by a fuzzy logic proportional integral derivative controller (FLC-PID). The DC motor circuit’s electrical and mechanical components have been modeled mathematically. Ziegler-Nichols is used to tune the PID controller’s gain parameters. The FLC controller employs 3×3 membership function rules in conjunction with the MATLAB/Fuzzy Simulink toolbox. Real hardware was attached to the simulation to evaluate the DC motor speed control using the fuzzy logic PID controller. DC motors with FLC PID controllers, FLC controllers, and DC motors alone will be compared for the transient response. The DC motor with an FLC PID controller performed better in this study.]]>
<![CDATA[On solving the kinematics and controlling of origami box-shaped robot ]]>
<![CDATA[Phuong Thao Thai]]>;
<![CDATA[Ngoc Hai Nguyen]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 12, No 1: March 2023 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v12i1.pp41-53
<![CDATA[Nowadays, there are various research on transformable robot. The use of origami pattern for transformable robot can be found in many research. The disadvantages of traditional origami model are the suitable material for folding is zero thickness, complicated patterns and overconstrained mechanism. In this paper, the idea of designing 1 degree-of-freedom box-shaped robot is proposed and two types of robot design have been analyzed. The first design is the waterbomb robot, that uses the traditional origami pattern. The second model takes the Sarrus linkage as the main mechanism for the mobile robot. In both designs, only one motor is required for the transformation of the robot, making the robot light-weight and portable. This paper analyzes the kinematic and dynamic properties of two transformable robots by using MATLAB. The comparison of the torque required for forming 3D shape has been done for optimizing robot design. Finally, the real model optimized design is introduced to illustrate the proposed method. ]]>
<![CDATA[A model-free continuous integral sliding mode controller for robust control of robotic manipulators ]]>
<![CDATA[Gunyaz Ablay]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 12, No 1: March 2023 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v12i1.pp54-67
<![CDATA[This paper proposes a model-free continuous integral sliding mode controller for robust control of robotic manipulators. The highly nonlinear dynamics of robots and load disturbances cause control challenges. To achieve tracking control under load disturbances and nonlinear parameter variations, the controller is constructed with three continuous terms including an integral term that acts as an adaptive controller. The proposed controller is able to accomplish a non-overshoot transient response, a short settling time, and strong disturbance rejection performance for robotic manipulators. The developed model-free control method is implemented on the PUMA 560 robotic manipulator, and its performance is compared with the proportional-derivative (PD) plus gravity controller. Numerical results under measurement noise and load disturbances are provided in order to show the efficacy, validity, and feasibility of the method.]]>
<![CDATA[Solving multi-objective path planning problem for mobile robot with an improved NSGA-II algorithm ]]>
<![CDATA[Zhenao Yu]]>;
<![CDATA[Peng Duan]]>;
<![CDATA[Leilei Meng]]>;
<![CDATA[Baoxian Jia]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 12, No 1: March 2023 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v12i1.pp%p
<![CDATA[The path planning (PP) problem is the most concerning and studied in the field of mobile robots. In this paper, we propose an improved non-dominated sorting genetic algorithm (INSGA-II) to solve the multi-objective optimization problem of path planning. We optimized the three objectives of path length, path safety, and path smoothness. Firstly, the RRT algorithm and elite retention strategy were applied to population initialization to improve the distributivity and evolutionary efficiency of the population. Then, the population evolution process was divided into two stages—the population macro-evolution stage and the population micro-adjustment stage. The former stage employed crossover, mutation, and shortening evolutionary operators, which effectively increased the evolutionary speed of the population. The latter stage used the point update operator, which increased the population's chances of rapidly convergent to the pareto optimal solution and prevented it from falling into local optimum. Finally, to verify the algorithm, we used several typical maps and analyzed the influence of three parameters on the algorithm. This algorithm outperformed the most advanced algorithms, MO-PSO and MO-FA, in terms of solutions and convergence.]]>
<![CDATA[Model-based and machine learning-based high-level controller for autonomous vehicle navigation: lane centering and obstacles avoidance ]]>
<![CDATA[Marcone Ferreira Santos]]>;
<![CDATA[Alessandro Corrêa Victorino]]>;
<![CDATA[Hugo Pousseur]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 12, No 1: March 2023 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v12i1.pp84-97
<![CDATA[Researchers have been attempting to make the car drive autonomously. The environment perception together with safe guidance and control is an important task and are one of the big challenges when developing this kind of system. Geometrical or physical based models, machine learning based models and those based on a mixture of both models, are the three types of navigation methods used to resolve this problem. The last method takes advantage of the learning capability of machine learning models and uses the safeness of geometric models in order to better perform the navigation task. This paper presents a hybrid autonomous navigation methodology, which takes advantage of the learning capability of machine learning and uses the safeness of the dynamic window approach geometric method. Using a single camera and a 2D lidar sensor, this method actuates as a high-level controller, where optimal vehicle velocities are found, then applied by a low-level controller. The final algorithm is validated on CARLA Simulator environment, where the system proved to be capable to guide the vehicle in order to achieve the following tasks: lane keeping and obstacle avoidance.]]>
<![CDATA[Microexpression recognition robot ]]>
<![CDATA[Yi-Chang Wu]]>;
<![CDATA[Yao-Cheng Liu]]>;
<![CDATA[Chieh Tsao]]>;
<![CDATA[Ru-Yi Huang]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 12, No 1: March 2023 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v12i1.pp20-28
<![CDATA[Following the development of big data, the use of microexpression technology has become increasingly popular. The application of microexpressions has expanded beyond medical treatment to include scientific case investigations. Because microexpressions are characterized by short duration and low intensity, training humans to recognize their yields poor performance results. Automatically recognizing microexpressions by using machine learning techniques can provide more effective results and save time and resources. In the real world, to avoid judicial punishment, people lie and conceal the truth for a variety of reasons. In this study, our primary objective was to develop a system for real-time microexpression recognition. We used FaceReader as the retrieval system and integrated the data with an application programming interface to provide recognition results as objective references in real-time. Using an experimental analysis, we also attempted to determine the optimal system configuration conditions. In conclusion, the use of artificial intelligence is expected to enhance the efficiency of investigations.]]>
<![CDATA[Modeling and performance analysis of open-loop remotely operated vehicles ORCA ]]>
<![CDATA[Tejaswini Panati]]>;
<![CDATA[Sai Deepika Indraganti]]>;
<![CDATA[Sakthivel Murugan Santhanam]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 12, No 1: March 2023 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v12i1.pp108-124
<![CDATA[ORCA is a low cost remotely operated vehicle which was indigenously developed for underwater inspection and survey. As the underwater environment is quite unpredictable, dynamic modeling and simulation of the remotely operated vehicle are essential to understand the behavior of the vehicle and accomplish stabilized navigation. This paper discusses a detailed approach to the mathematical modeling of ORCA based on Newtonian dynamics and simulating the position and velocity responses in Simulink. The open loop nonlinear model of the remotely operated vehicle was used to study the navigation challenges due to the various perturbations present underwater namely Coriolis and centripetal force, added mass, hydrodynamic damping force, and restoring forces. The six-thruster open loop ORCA model was subjected to various thrust inputs (25%, 50%, and 75%) to achieve six degrees of freedom (DoF) respectively and it was observed that there was significant instability in the other DOFs along with the principal direction of motion. Further, the authors will incorporate the various control systems in ORCA and analyze the stability in navigation induced due to each of them.]]>
