Garuda - Garba Rujukan Digital

Article Per Year (5 Year)

All

IAES International Journal of Robotics and Automation (IJRA)

IJRA
Website

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 8 Documents

Search results for , issue "Vol 9, No 1: March 2020" : 8 Documents clear

Nonlinear systems identification with discontinuous nonlinearity Mohamed Benyassi; Adil Brouri; Smail Slassi
IAES International Journal of Robotics and Automation (IJRA) Vol 9, No 1: March 2020
Publisher : Institute of Advanced Engineering and Science

In this paper, nonparametric nonlinear systems identification is proposed. The considered system nonlinearity is nonparametric and is of hard type. This latter can be discontinuous and noninvertible. The entire nonlinear system is structured by Hammerstein model. Furthermore, the linear dynamic block is of any order and can be nonparametric. The problem identification method is done within two stages. In the first stage, the system nonlinearity is identified using simple input signals. In the first stage, the linear dynamic block parameters are estimated using periodic signals. The proposed algorithm can be used of large class of nonlinear systems.

Two phase motor fed from controlled supply H. Shousha; Sara Ali; A. B. Kotb
IAES International Journal of Robotics and Automation (IJRA) Vol 9, No 1: March 2020
Publisher : Institute of Advanced Engineering and Science

Compared to single phase operation, a good utilization of machine material is achieved by supplying the two-phase stator windings from a controlled supply. It is necessary to start from the known equivalent circuits of both forward and backward components to obtain the relations between the sequence and the phase voltage values. In this method of control, the torque expression is driven in a simple form and the torque speed characteristic are computed and plotted for different values of the time-phase angle. The operation of 2-phase motor from single phase supply carried out by connecting one stator phase directly to the voltages source, with exciting the second stator phase through the phase shifting element. In this method, the starting and the maximum torque values can be controlled by changing the stator field from a pulsating of (0°) to a pure rotating field at (90°).

Advanced teaching-learning-based optimization algorithm for actual power loss reduction Lenin Kanagasabai
IAES International Journal of Robotics and Automation (IJRA) Vol 9, No 1: March 2020
Publisher : Institute of Advanced Engineering and Science

In this work Advanced Teaching-Learning-Based Optimization algorithm (ATLBO) is proposed to solve the optimal reactive power problem. Teaching-Learning-Based Optimization (TLBO) optimization algorithm has been framed on teaching learning methodology happening in classroom. Algorithm consists of “Teacher Phase”, “Learner Phase”. In the proposed Advanced Teaching-Learning-Based Optimization algorithm non-linear inertia weighted factor is introduced into the fundamental TLBO algorithm to manage the memory rate of learners. In order to control the learner’s mutation arbitrarily during the learning procedure a non-linear mutation factor has been applied. Proposed Advanced Teaching-Learning-Based Optimization algorithm (ATLBO) has been tested in standard IEEE 14, 30 bus test systems and simulation results show the proposed algorithm reduced the real power loss effectively.

Estimation of nonlinear systems parameters Mohamed Benyassi; A. Brouri
IAES International Journal of Robotics and Automation (IJRA) Vol 9, No 1: March 2020
Publisher : Institute of Advanced Engineering and Science

In this paper, an identification method is proposed to determine the nonlinear systems parameters. The proposed nonlinear systems can be described by Wiener systems. This structure of models consists of series of linear dynamic element and a nonlinearity block. Both the linear and nonlinear parts are nonparametric. In particular, the linear subsystem of structure entirely unknown. The considered nonlinearity function is of hard type. This latter can have a dead zone or with preload. These nonlinear systems have been confirmed by several practical applications. The suggested approach involves easily generated excitation signals.

Minimization of real power loss by enhanced teaching learning based optimization algorithm K. Lenin
IAES International Journal of Robotics and Automation (IJRA) Vol 9, No 1: March 2020
Publisher : Institute of Advanced Engineering and Science

This paper presents an Enhanced Teaching-Learning-Based Optimization (ETLBO) algorithm for solving reactive power flow problem. Teaching-learning process is an iterative process where in the continuous interaction takes place for the transfer of knowledge. Movements of trial solutions will investigate the internally final stages. Up gradation of the algorithm has been done through by adding weight in the learner values. Projected ETLBO algorithm has been tested in standard IEEE 57,118 bus systems and power loss has been reduced efficiently.

Multi-objective optimization and linear buckling of serial chain of a medical robot tool for soft tissue surgery Grzegorz Ilewicz; Andrzej Harlecki
IAES International Journal of Robotics and Automation (IJRA) Vol 9, No 1: March 2020
Publisher : Institute of Advanced Engineering and Science

The slender structures of a medical robot may have a tendency to buckling when a force equal to the critical Euler force and an additional disturbance will work on their structures. In this work, eigenvalue problem that describes the linear buckling is under consideration. The main goal of the article is to check when linear buckling phenomenon appears in construction of a medical robot with serial chain due to the fact that for safety reasons of a robot’s work, it is necessary to answer the question, whether the buckling may occur in the robot’s structure. For this purpose, a numerical calculation model was defined by using the finite element method. The values of load factor coefficients that are eigenvalue are determinated and also the eigenvectors that have shapes of deformation for the next eigenvalues are presented. The multi-criteria optimization model was determined to aim for the minimum mass of the effector and the buckling coefficient, from which the Euler force results, for the maximum. The solution was obtained on the basis of Pareto fronts and the MOGA genetic algorithm.

Discrete time reaching law based variable structure control for fast reaching with reduced chattering Pournami Padmalatha; Susy Thomas
IAES International Journal of Robotics and Automation (IJRA) Vol 9, No 1: March 2020
Publisher : Institute of Advanced Engineering and Science

In this paper, a variable structure control law is proposed for discrete time sliding mode control so as to reduce both reaching time and quasi sliding mode band reduction. This new law is composed of two different sliding variable dynamics; one to achieve fast reaching and the other to counter its effect on widening the quasi sliding mode band. This is accomplished by introducing a boundary layer around the sliding surface about which the transformation of the sliding variable dynamics takes place. This provides the flexibility to choose the initial dynamics in such a way as to speed up the reaching phase and then at the boundary transform this dynamics to one that reduces the quasi sliding mode band. Thus, the law effectively coalesces the advantageous traits of hitherto proposed reaching laws that succeed in either the reduction of reaching phase or the elimination of quasi sliding mode band. The effectiveness of the proposed reaching law is validated through simulations.

Design and development of soft robotic hand for vertical farming in spacecraft Aswath Suresh; Ganesha Udupa; Dhruv Gaba
IAES International Journal of Robotics and Automation (IJRA) Vol 9, No 1: March 2020
Publisher : Institute of Advanced Engineering and Science

For colonization in deep space we need to explore the feasibility of a bioregenerative system in microgravity or artificial gravity environments. The process has various complexities form ranging to biological obstacles to engineering limitations of the spacecraft. Concentration of microbes in the confinements of a spacecraft can be fatal for the crew. In this paper, a solution to the elevated microbial levels by farming using robots is discussed. The soft robotic arm is made up of Asymmetric Flexible Pneumatic Actuator (AFPA). The AFPA under internal pressure will curve in the direction of the side having greater thickness as the expansion of the thinner side (outside radius) will be more than thicker side (inside radius) due to differential expansion and moment induced due to eccentricity. Simulation results demonstrate that bending based on AFPA can meet the designed requirement of application. The AFPA is used for five fingers of the robotic hand. The safe, soft touch and gentle motion of the bellow (AFPA) gives the feel of real human hand. The internal pressure of the AFPA is controlled using a solenoid valve which is interfaced using an Arduino microcontroller for hand like moves. The bending of the fingers and degree of freedom (DOF) of the joints of the hand is controlled using an IMU and flex sensor. Wireless connection of the hand and the control system is implemented using XBee pro 60mW with a range of 1 miles. The pneumatic soft robotic hand is made up of solenoid valve, Mini Compressor, AFPA bellow, and Servos. This soft robotic hand has many advantages such as good adaptability, simple structure, small size, high flexibility and less energy loss. As an extension Manual control of the robot using a virtual reality environment and well as some possible aspects of an automated farming systems can be considered as future additions.

Page 1 of 1 | Total Record : 8

Filter by Year

2020 2020

Filter By Issues

All Issue Vol 12, No 4: December 2023 Vol 12, No 3: September 2023 Vol 12, No 2: June 2023 Vol 12, No 1: March 2023 Vol 11, No 4: December 2022 Vol 11, No 3: September 2022 Vol 11, No 2: June 2022 Vol 11, No 1: March 2022 Vol 10, No 4: December 2021 Vol 10, No 3: September 2021 Vol 10, No 2: June 2021 Vol 10, No 1: March 2021 Vol 9, No 4: December 2020 Vol 9, No 3: September 2020 Vol 9, No 2: June 2020 Vol 9, No 1: March 2020 Vol 8, No 4: December 2019 Vol 8, No 3: September 2019 Vol 8, No 2: June 2019 Vol 8, No 1: March 2019 Vol 7, No 4: December 2018 Vol 7, No 3: September 2018 Vol 7, No 2: June 2018 Vol 7, No 1: March 2018 Vol 6, No 4: December 2017 Vol 6, No 3: September 2017 Vol 6, No 2: June 2017 Vol 6, No 1: March 2017 Vol 5, No 4: December 2016 Vol 5, No 3: September 2016 Vol 5, No 2: June 2016 Vol 5, No 1: March 2016 Vol 4, No 4: December 2015 Vol 4, No 3: September 2015 Vol 4, No 2: June 2015 Vol 4, No 1: March 2015 Vol 3, No 4: December 2014 Vol 3, No 3: September 2014 Vol 3, No 2: June 2014 Vol 3, No 1: March 2014 Vol 2, No 4: December 2013 Vol 2, No 3: September 2013 Vol 2, No 2: June 2013 Vol 2, No 1: March 2013 Vol 1, No 4: December 2012 Vol 1, No 3: September 2012 Vol 1, No 2: June 2012 Vol 1, No 1: March 2012 More Issue

Home Page

OAI Link

Editorial Team

Contact

Reviewer

Google Scholar

Contact Name
Tae Jin Park

Contact Email
iaes.ijra@gmail.com

Phone
-

Journal Mail Official
iaes.ijra@gmail.com

Editorial Address
-

Location
Kota yogyakarta,

Daerah istimewa yogyakarta

INDONESIA

Abstract

Abstract

Abstract

Abstract

Abstract

Abstract

Abstract

Abstract

Home Page

OAI Link

Editorial Team

Contact

Reviewer

Google Scholar

Contact Name Tae Jin Park

Contact Email iaes.ijra@gmail.com

Phone -

Journal Mail Official iaes.ijra@gmail.com

Editorial Address -

Location Kota yogyakarta, Daerah istimewa yogyakarta INDONESIA

Abstract

Abstract

Abstract

Abstract

Abstract

Abstract

Abstract

Abstract

Contact Name
Tae Jin Park

Contact Email
iaes.ijra@gmail.com

Phone
-

Journal Mail Official
iaes.ijra@gmail.com

Editorial Address
-

Location
Kota yogyakarta,

Daerah istimewa yogyakarta

INDONESIA