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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 6 Documents
 1 
Search results for , issue "Vol 3, No 1: March 2014" : 6 Documents clear
Self Assistive Technology for Disabled People – Voice Controlled Wheel Chair and Home Automation System R. Puviarasi; Mritha Ramalingam; Elanchezhian Chinnavan
IAES International Journal of Robotics and Automation (IJRA) Vol 3, No 1: March 2014
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (274.112 KB) | DOI: 10.11591/ijra.v3i1.pp30-38

Abstract

This paper describes the design of an innovative and low cost self-assistive technology that is used to facilitate the control of a wheelchair and home appliances by using advanced voice commands of the disabled people. This proposed system will provide an alternative to the physically challenged people with quadriplegics who is permanently unable to move their limbs (but who is able to speak and hear) and elderly people in controlling the motion of the wheelchair and home appliances using their voices to lead an independent, confident and enjoyable life. The performance of this microcontroller based and voice integrated design is evaluated in terms of accuracy and velocity in various environments. The results show that it could be part of an assistive technology for the disabled persons without any third person’s assistance.
A Low-Cost Smart Glove for Hand Functions Evaluation Izzeldin Ibrahim Mohamed Abdelazizi
IAES International Journal of Robotics and Automation (IJRA) Vol 3, No 1: March 2014
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (786.37 KB) | DOI: 10.11591/ijra.v3i1.pp39-51

Abstract

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.
A Neural Network Approach for Inverse Kinematic of a SCARA Manipulator Panchanand Jha; B. B. Biswal
IAES International Journal of Robotics and Automation (IJRA) Vol 3, No 1: March 2014
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (224.276 KB) | DOI: 10.11591/ijra.v3i1.pp52-61

Abstract

Inverse kinematic is one of the most interesting problems of industrial robot. The inverse kinematics problem in robotics is about the determination of joint angles for a desired Cartesian position of the end effector. It comprises of the computation need to find the joint angles for a given Cartesian position and orientation of the end effectors to control a robot arm. There is no unique solution for the inverse kinematics thus necessitating application of appropriate predictive models from the soft computing domain. Artificial neural network is one such technique which can be gainfully used to yield the acceptable results. This paper proposes a structured artificial neural network (ANN) model to find the inverse kinematics solution of a 4-dof SCARA manipulator. The ANN model used is a multi-layered perceptron neural network (MLPNN), wherein gradient descent type of learning rules is applied. An attempt has been made to find the best ANN configuration for the problem. It is found that multi-layered perceptron neural network gives minimum mean square error.
Bilateral Teleoperation of Wheeled Mobile Robots Working in Common Workspace Lorinc Marton Marton; Zoltan Szanto; Piroska Haller; Hunor Sandor; Tamas Szabo; Tamas Vajda
IAES International Journal of Robotics and Automation (IJRA) Vol 3, No 1: March 2014
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (360.819 KB) | DOI: 10.11591/ijra.v3i1.pp62-74

Abstract

This paper proposes a bilateral control framework for mobile robots which share the same workspace. The robots are teleoperated by independent users. Accordingly, for each teleoperated robot the other robots represent moving obstacles or static obstacles with a-priori unknown positions. For such teleoperation systems a velocity generator algorithm is proposed to obtain the linear and angular velocity commands of the mobile robots. A procedure is also given to calculate the haptic force corresponding to each mobile robot. To guarantee the stability of the teleoperation in the presence of large communication delays, a supervisor control algorithm is proposed which constantly monitors the stability of the teleoperation system. Experimental measurements are provided to show the effectiveness of the proposed bilateral teleoperation strategy.
RSMDP-based Robust Q-learning for Optimal Path Planning in a Dynamic Environment Yunfei Zhang; Clarence W. de Silva
IAES International Journal of Robotics and Automation (IJRA) Vol 3, No 1: March 2014
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (605.704 KB) | DOI: 10.11591/ijra.v3i1.pp1-12

Abstract

This paper presents arobust Q-learning method for path planningin a dynamic environment. The method consists of three steps: first, a regime-switching Markov decision process (RSMDP) is formed to present the dynamic environment; second a probabilistic roadmap (PRM) is constructed, integrated with the RSMDP and stored as a graph whose nodes correspond to a collision-free world state for the robot; and third, an onlineQ-learning method with dynamic stepsize, which facilitates robust convergence of the Q-value iteration, is integrated with the PRM to determine an optimal path for reaching the goal. In this manner, the robot is able to use past experience for improving its performance in avoiding not only static obstacles but also moving obstacles, without knowing the nature of the obstacle motion. The use ofregime switching in the avoidance of obstacles with unknown motion is particularly innovative.  The developed approach is applied to a homecare robot in computer simulation. The results show that the online path planner with Q-learning is able torapidly and successfully converge to the correct path.
Global Tracking Control of Quadrotor VTOL Aircraft in Three-Dimensional Space Duc Khac Do
IAES International Journal of Robotics and Automation (IJRA) Vol 3, No 1: March 2014
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (427.938 KB) | DOI: 10.11591/ijra.v3i1.pp13-29

Abstract

This paper presents a method to design controllers that force a quadrotor vertical take-off and landing (VTOL) aircraft to globally asymptotically track a reference trajectory in three-dimensional space. Motivated by the vehicle's steering practice, the roll and pitch angles are considered as immediate controls plus the total thrust force  provided by the aircraft's four rotors to control the position and yaw angle of the aircraft. The control design is based on the newly introduced one-step ahead backstepping, the standard backstepping and Lyapunov's direct methods. A combination of Euler angles and unit-quaternion for the attitude representation of the aircraft is used to obtain global tracking control results. The paper also includes a design of observers that exponentially estimate the aircraft's linear velocity vector and disturbances. Simulations illustrate the results.

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