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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 361 Documents

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A Brief Survey Paper on Multi-Legged Robots Mohammad Behmanesh; Ehsan Amiri Tehranizadeh; Mahmud Iwan Solihin
IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 1: March 2015
Publisher : Institute of Advanced Engineering and Science

This paper presents a brief survey on multi-legged robots and their applications in agriculture such as for harvesting. Multi-legged robots have the benefit of more flexibility and adapt to different rough terrain in a better way. They also have very important applications in fulfilling the dangerous tasks such as mine detecting.

PD-computed torque control for an autonomous airship Y. Meddahi; K. Zemalache Meguenni
IAES International Journal of Robotics and Automation (IJRA) Vol 8, No 1: March 2019
Publisher : Institute of Advanced Engineering and Science

For the trajectory following problem of an airship, the standard computed torque control law is shown to be robust with respect to unknown dynamics by judiciously choosing the feedback gains and the estimates of the nonlinear dynamics. In the first part of this paper, kinematics and dynamics modeling of the airships is presented. Euler angles and parameters are used in the formulation of this model and the technique of Computed Torque control is introduced. In the second part of the paper, we develop a methodology of control that allows the airship to accomplish a prospecting mission of an environment, as the follow-up of a trajectory by the simulation who results show that Computed Torque control method is suitable for airships.

Fractional order PID Design using the Taguchi method Somayeh Nouruzi Ghazbi; Alireza Akbarzadeh
IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 3: September 2015
Publisher : Institute of Advanced Engineering and Science

This paper presents a gain-tuning scheme for Fractional order PID control systems using the Taguchi method. A prismatic series elastic actuator is selected as an experimental set-up. An optimal controller gains has been obtained through a series of experiments suggested by the Taguchi method. Four stages of tuning are performed in order to accurately tune the controller gains. It is shown that when performance of the proposed controller is compared with two additional controllers: a traditional FOPID tuned with Ziegler-Nichols (Z-N) method and a PID tunned with genetic algorithm, a 94% and 84% improvements in position error is observed, respectively.

Concurrent asynchronous robotic subsumption using actors & promises Ratnesh Srivastav; G. C. Nandi; Rohit Shukla; Harsh Verma
IAES International Journal of Robotics and Automation (IJRA) Vol 8, No 4: December 2019
Publisher : Institute of Advanced Engineering and Science

Fascinated with robotics open source integrated component MARIE [1], ROS [5] and open source component PLAYER/STAGE [2], CARMEN [3] available in the eld of robotics application. We aim at developing an asynchronous concurrent robotics application based on subsumption [6] architecture using PLAYER, STAGE and already available services freely available on the internet. We used wanderer and wall follower services embedded inside an actor [10][11] and integrated these services to two dierent robots of same congurations on our promise based frame-work that provides actor as service. The two robots switch their services based on color detected (red,green,blue) during their movement in an environment asynchronously. Using actor as a service lls the gap of SOA [4] & EDA [7] by providingsynchronous and asynchronous support for communication. We measured the performance of time taken in completion of services in promise [8] based implementation ,synchronous and asynchronous callback [9] based implementation. We developed a model to prove deadlock freeness in our integrated architecture using petrinet [15] interface composition. We have also been able to justify that component integrated on promise based framework takes less time in service completion than synchronous and asynchronous callback based services.

Studies on Affecting Factors of Wheel Slip and Odometry Error on the Performance of Wheeled Mobile Robots – A Review Vidhya Prakash
IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 1: March 2016
Publisher : Institute of Advanced Engineering and Science

The wheeled mobile robots (WMR) find use for doing a variety of tasks in different types of workspaces. These workspaces are form of ideal natural flat, smooth terrain, unpredictable and irregular nature of these work spaces demanding a design challenges. Typically there work spaces may have pits, undulatory is not flat terrain, obstacles into tasks of the robot. There would result in wheel slippage orodometry error. This tasks a toll in the form of deviation from intended trajectory, navigation, travel time &budgeted energy consumption. These engineering issues can be addressed by proper design of wheel rotation, vibration amplitude of the robot body, travel time modulation differently up to the terrain condition (wet, dry, soft, hard)&wind effect. The wheel slip & odometry error is estimate of computational by design, pay load distribution, speed, wheel diameter, wheel width are the ply able design parameter in the designness scope. The effect of proper selection of the values of there parameters is studied in this review. The paper reviews are analyzing the basic& direct effect of parameters are how to associate with wheel slippage and odometry error and also which is the most affecting factor on the wheeled mobile robots.

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.

Accelerometer Based Control of Robotic Arm Yogita sawant
IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 3: September 2016
Publisher : Institute of Advanced Engineering and Science

Abstract— Robots are very smart and interactive machines that can be programmed and used in many areas such as industry, manufacturing, production lines, household or health, etc. These robots can perform hard, dangerous, and accurate work to facilitate our life and to increase the production. Humans are trying to minimize the time required to do the similar kind of jobs. The task in which picking & placing of an object is to be done, can be carried out with the help of robots. These robots can minimize the human efforts. The robotic arms can be also used in the industries to assemble the small parts, in chemical industries to pick and place small types of object such as tablets. Artificial robotic arms thus can be used to control gestures. In this paper an idea of controlling robotic arm is implemented using an accelerometer which is placed on the human hand, capturing its behavior (gestures and postures) which are then transmitted at some distance and the robotic arm assembly connected wirelessly moves accordingly.

Kinematic Modeling and Simulation of a 2-R Robot by Using Solid Works and Verification by MATLAB/Simulink Fernini Brahim
IAES International Journal of Robotics and Automation (IJRA) Vol 1, No 2: June 2012
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (1944.158 KB)

Simulation of robot systems which is getting very popular, especially with the lowering cost of computers, can be used for layout evaluation, feasibility studies, presentations with animation and off-line programming. Object staging modelisation using robots holds, wether for the object or the robot, the following models: The geometric one, the kinematics one and the dynamic one. To do so, the modelisation of a 2-R robot type is being implemented. Comparing between two robot postures with the same trajectory (path) and for the same length of time and establishing a computing code to obtain the kinematic and dynamic parameters are the main tasks. SolidWorks and Matlab/Simulink softwares are used to check the theory and the robot motion simulation. The verification of the obtained results by both softwares allows us to, qualitatively evaluate ,underline the rightness of the chosen model and to get the right conclusions. The results of simulations were discussed. An agreement between the two softwares is certainly Obtained.DOI: http://dx.doi.org/10.11591/ijra.v1i2.350

Development of Teach Pendent based Robotic Arm for Drawing using Mechatronics Approach Harikrishnan Madhusudanan
IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 4: December 2016
Publisher : Institute of Advanced Engineering and Science

The main scope of this project is to use mechatronics approach to design and develop a complete humanoid robotic arm which can be used to draw different figures. A mechatronic approach is basically a synergistic combination of mechanical, electrical and control systems such that each and every stage of the product life cycle of the final product gets optimised. So, this approach which is used in this project would ensure that the robotic arm which would be the final product would have its design metrics optimised at each and every stage of its development cycle. The motive of developing this arm is to ensure that the final arm which is produced could be easily attached to the complete humanoid robot and would enable it to draw any kind of complex figures using highly accurate teach pendent mechanism.

Design and Implementation of Video Shot Detection on Field Programmable Gate Arrays Jharna Majumdar; Darshan K M; Abhijith Vijayendra
IAES International Journal of Robotics and Automation (IJRA) Vol 2, No 1: March 2013
Publisher : Institute of Advanced Engineering and Science

Video has become an interactive medium of communication in everyday life. The sheer volume of video makes it extremely difficult to browse through and find the required data. Hence extraction of key frames from the video which represents the abstract of the entire video becomes necessary. The aim of the video shot detection is to find the position of the shot boundaries, so that key frames can be selected from each shot for subsequent processing such as video summarization, indexing etc. For most of the surveillance applications like video summery, face recognition etc., the hardware (real time) implementation of these algorithms becomes necessary. Here in this paper we present the architecture for simultaneous accessing of consecutive frames, which are then used for the implementation of various Video Shot Detection algorithms. We also present the real time implementation of three video shot detection algorithms using the above mentioned architecture on FPGA (Field Programmable Gate Arrays).

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Contact Name
Tae Jin Park

Contact Email
iaes.ijra@gmail.com

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Journal Mail Official
iaes.ijra@gmail.com

Editorial Address
-

Location
Kota yogyakarta,

Daerah istimewa yogyakarta

INDONESIA

Abstract

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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

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