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.
Articles
361 Documents
<![CDATA[Smart energy conservation system for study rooms ]]>
<![CDATA[Simon Atuah Asakipaam]]>;
<![CDATA[Anthony Mensah]]>;
<![CDATA[Collins Ohemeng Boateng]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 11, No 3: September 2022 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v11i3.pp223-232
<![CDATA[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.]]>
<![CDATA[Research on Intelligent Logistics UAV ]]>
<![CDATA[Hai-Wu Lee]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 11, No 3: September 2022 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v11i3.pp%p
<![CDATA[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.]]>
<![CDATA[Development and integration of laser sensor tracking system in robotic arm for path correction during welding operation ]]>
<![CDATA[Tejaswini P.]]>;
<![CDATA[M. V. Achutha]]>;
<![CDATA[Ananda Doddagatte]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 11, No 3: September 2022 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v11i3.pp196-204
<![CDATA[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.]]>
<![CDATA[Development of an electronic payment system using the Internet of things ]]>
<![CDATA[Ahmed Abdulkarim Talib]]>;
<![CDATA[Aymen Dawood Salman]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 11, No 3: September 2022 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v11i3.pp213-222
<![CDATA[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.]]>
<![CDATA[Feature extraction techniques for cognitive stimuli-based electroencephalogram signals: an experimental analysis ]]>
<![CDATA[Jessy Jane Christy J.]]>;
<![CDATA[E. Grace Mary Kanaga]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 11, No 3: September 2022 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v11i3.pp250-262
<![CDATA[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.]]>
<![CDATA[Waypoint and autonomous flying control of an indoor drone for GPS-denied environments ]]>
<![CDATA[Seung Je Son]]>;
<![CDATA[Hun Se Kim]]>;
<![CDATA[Dong Hwan Kim]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 11, No 3: September 2022 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v11i3.pp233-249
<![CDATA[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.]]>
<![CDATA[Synthesis of control laws for magnetic levitation systems based on serial invariant manifolds ]]>
<![CDATA[Nguyen Xuan Chiem]]>;
<![CDATA[Thuy Xuan Pham]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 11, No 4: December 2022 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v11i4.pp333-342
<![CDATA[In this paper, a nonlinear controller is designed for a magnetic levitation system (MLS) based on serial invariant manifolds. Synthesized controller based on the method of synergetic control theory (SCT) through invariant manifolds, asymptotically stable. In this method, the control law is synthesized to ensure the motion of the closed-loop control object from an arbitrary initial state into the vicinity of the desired invariant manifold. Thereby, the control system not only ensures the necessary control quality but also ensures the asymptotic stability of the entire system. The quality and efficiency of the control law are proven through simulation results and comparison with the sliding mode controller (SMC).]]>
<![CDATA[Trajectory optimization using learning from demonstration with meta-heuristic grey wolf algorithm ]]>
<![CDATA[Adam Pawlowski]]>;
<![CDATA[Slawomir Romaniuk]]>;
<![CDATA[Zbigniew Kulesza]]>;
<![CDATA[Milica Petrovic]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 11, No 4: December 2022 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v11i4.pp263-277
<![CDATA[Nowadays, most robotic systems perform their tasks in an environment that is generally known. Thus, robot’s trajectory can be planned in advance depending on a given task. However, as a part of modern manufacturing systems which are faced with the requirements to produce high product variety, mobile robots should be flexible to adapt to changing and diverse environments and needs. In such scenarios, a modification of the task or a change in the environment, forces the operator to modify robot’s trajectory. Such modification is usually expensive and time-consuming, as experienced engineers must be involved to program robot’s movements. The current paper presents a solution to this problem by simplifying the process of teaching the robot a new trajectory. The proposed method generates a trajectory based on an initial raw demonstration of its shape. The new trajectory is generated in such a way that the errors between the actual and target end positions and orientations of the robot are minimized. To minimize those errors, the grey wolf optimization (GWO) algorithm is applied. The proposed approach is demonstrated for a two-wheeled mobile robot. Simulation and experimental results confirm high accuracy of generated trajectories.]]>
<![CDATA[Unmanned aerial vehicle design for disaster victim search and rescue operation using wireless sensor network localization ]]>
<![CDATA[Fajar Sam Hutabarat]]>;
<![CDATA[Imanuel Maurice Darmawan Sitanggang]]>;
<![CDATA[Joy Andrew Immanuel Damanik]]>;
<![CDATA[Guntur Petrus Boy Knight]]>;
<![CDATA[Albert Sagala]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 11, No 4: December 2022 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v11i4.pp288-303
<![CDATA[The search for disaster victims carried out by search-and-rescue (SAR) team mainly uses traditional methods, which are considered to take much time and effort, and pose a high risk for the search team and the victim. Based on this problem, we conducted research to assist disaster victim search. In this research, we designed a system using passive infrared (PIR) sensors to detect and measure the direction angle of the victim. Given the direction angle from different observation points’ perspectives, we determine the victim’s position using the triangulation method. we also designed a quadcopter unmanned aerial vehicle (UAV) to carry this sensor system across the disaster area. For monitoring purposes, a local website was designed to display data generated by the system. Based on test results, the system can determine a victim’s position with a distance difference of less than 5 m. The system can search victim in an empty land ±35 m×15 m wide in 14 minutes 20 seconds. The data monitoring system also displayed the victim’s position, the position of the observation points, and the UAV’s flight path.]]>
<![CDATA[Stabilization of liquid level in a tank system based on fuzzy logic controller ]]>
<![CDATA[Muhammad Ilyas]]>;
<![CDATA[Syed Ali Raza Shah]]>;
<![CDATA[Arshad Rauf]]>;
<![CDATA[Yousaf Khalil]]>;
<![CDATA[Muhammad Ayaz]]>
<![CDATA[ IAES International Journal of Robotics and Automation (IJRA) Vol 11, No 4: December 2022 ]]>
Publisher : <![CDATA[Institute of Advanced Engineering and Science ]]>
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DOI: 10.11591/ijra.v11i4.pp315-323
<![CDATA[Process industry needed a fast executed automatic control system capable of handling uncertain, vague problems and nonlinear control variables. Liquid level control is one of the emerging control problems getting the interest of technical experts in the area of control. This paper is based on a fuzzy logic control strategy to maintain and stabilize the liquid level in a tank system that deals with pumping of liquid in tanks as well as regulating liquid level and pushing off the liquid into another tank. Fuzzy controller attains optimum performance by eliminating perturbation in steady state and vanishing the overshoot as compared to proportional, integral, and derivative (PID) controller. The proposed fuzzy logic controller shows minimal steady error as compared to PID controller. The defuzzification of the proposed scheme is based on the centroid method to obtain optimum results. The settling time is nearly 50 second while using fuzzy logic control as compared to 80 seconds in PID control strategy. The overshoot observed is minimal, nearly less than 1% using a fuzzy logic control scheme.]]>
