IAES International Journal of Robotics and Automation (IJRA)

Journal Information
ISSN / EISSN : 2089-4856 / 2089-4856
Total articles ≅ 284
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INSPEC
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Hachmia Faqihi, Khalid Benjelloun, Maarouf Saad, Mohammed Benbrahim, M. Nabil Kabbaj
IAES International Journal of Robotics and Automation (IJRA), Volume 10; https://doi.org/10.11591/ijra.v10i3.pp192-206

Abstract:
One of the most efficient approaches to control a multiple degree-of-freedom robot manipulator is the virtual decomposition control (VDC). However, the use of the re- gressor technique in the conventionnal VDC to estimate the unknown and uncertaities parameters present some limitations. In this paper, a new control strategy of n-DoF robot manipulator, refering to reorganizing the equation of the VDC using the time delay estimation (TDE) have been investigated. In the proposed controller, the VDC equations are rearranged using the TDE for unknown dynamic estimations. Hence, the decoupling dynamic model for the manipulator is established. The stability of the overall system is proved based on Lyapunov theory. The effectiveness of the proposed controller is proved via case study performed on 7-DoF robot manipulator and com- pared to the conventionnal Regressor-based VDC according to some evalution criteria. The results carry out the validity and efficiency of the proposed time delay estimation- based virtual decomposition controller (TD-VDC) approach.
Habib Benbouhenni
IAES International Journal of Robotics and Automation (IJRA), Volume 10; https://doi.org/10.11591/ijra.v10i3.pp224-234

Abstract:
The work presents the dual-rotor wind energy conversion system (DRWECS) with a direct driven doubly-fed induction generator (DFIG). The system consists of a dual-rotor wind turbine (DRWT) with a DFIG, the grid side converter (GSC), and the machine side converter (MSC). To command the MSC, the direct power command (DPC) based on genetic algorithm (GA) and classical pulse width modulation (PWM) has been applied. To achieve the maximum power from the DRWT, the maximum powe point tracking (MPPT) technique has been used. The performed simulation studies confirmed the high performances of the DPC-GA contro method.
Thair Ali Salih, Mohammed Talal Ghazal, Zaid Ghanim Mohammed
IAES International Journal of Robotics and Automation (IJRA), Volume 10; https://doi.org/10.11591/ijra.v10i3.pp161-169

Abstract:
Nowadays, the development of computer vision technology help to overcome track and identify humans within a location in the complex environment through mobile robots, which gives the motivation to presents a vision-based approach to a mobile security robot. The proposed system utilizes a wireless camera to detect the objects in the field of robot view. Principle component analysis (PCA) algorithm and filters are used to implement and demonstrate the process of the images. This gives the designed system the ability to recognize objects independently from current light conditions. Frame tracking in the images uses an attention system to get an estimate of the position of a person. This estimate helps the applied camera to identify objects with changing background lighting conditions such as a fire inside a building. By using this estimate, the applied camera could identify objects with changing background lighting conditions such as a fire inside premises. The system has been tested using the MATLAB environment, and the empirical performance explains the efficiency and strongness of the suggested device.
, Yeremou Tamtsia Aurelien, Nneme Nneme Leandre
IAES International Journal of Robotics and Automation (IJRA), Volume 10; https://doi.org/10.11591/ijra.v10i3.pp261-274

Abstract:
In this paper, the performance evaluation of industrial ethernet (EtherNet/IP, EtherCAT and PROFINET IRT) networks has been studied for choosing the right protocol in real-time fault detection based adaptive sliding mode observer in networked control systems (NCSs) under time network-induced delays, stochastic packet losses, access constraints and bounded disturbances. An adaptive sliding-mode observer based fault detection is presented. The dynamic hydroelectric power plant model is used to verify the effectiveness of the proposed method based on TrueTime and Matlab/ Simulink, corroborated our predictions that an ethernet for control automation technology (EtherCAT) protocol would be more appropriate to reduce the false alarm rate and increasing the efficiency of the remote control of industrial hydroelectric power plant.
Mutaz M. Hamdan, Magdi S. Mahmoud
IAES International Journal of Robotics and Automation (IJRA), Volume 10; https://doi.org/10.11591/ijra.v10i3.pp235-260

Abstract:
The teleoperation system is often composed of a human operator, a local master manipulator, and a remote slave manipulator that are connected by a communication network. This paper proposes a survey on feedback control design for the bilateral teleoperation systems (BTSs) in nominal situations and in the presence of cyber-attacks. The main idea of the presented methods is to achieve the stability of a delayed bilateral teleoperation system in the presence of several kinds of cyber attacks. In this paper, a comprehensive survey on control systems for BTSs under cyber-attacks is discussed. Finally, we discuss the current and future problems in this field.
Ali Jebelli, Arezoo Mahabadi, Mustapha C. E. Yagoub
IAES International Journal of Robotics and Automation (IJRA), Volume 10; https://doi.org/10.11591/ijra.v10i3.pp207-223

Abstract:
Designing and manufacturing a suitable body is one of the most effective factors in increasing the efficiency of autonomous underwater vehicles (AUVs). In fact, increasing the propulsive power of an AUV by reducing the frictional drag on its body and incre asing its maneuverability will positively affect key parts of the AUV’s hardware and software such as control system, sensors, AUV vision, batteries and thrusters. On the other hand, a suitable body should have features such as lightness, underwater vehicl e’s balance, high mechanical strength, and enough space for equipment. Therefore, the design and manufacture of the body requires a lot of analysis in terms of body material, aerodynamic calculations, etc., increases the overall cost. This paper aims to re duce the stress in the body of a Polytetrafluoroethylene ( PTFE ) underwater robot and to increase its operating depth without changing the body’s structure by using fuzzy logic to intelligently controlling the magnetic force generated by the repulsion betwe en the coil and the cylindrical magnet, which saves energy, reduces battery consumption, and increases system performance. The results show that the robot performance depth increases by more than 50% without changing the robot body structure.
Soumen Mondal, Ajoy Kumar Dutta
IAES International Journal of Robotics and Automation (IJRA), Volume 10; https://doi.org/10.11591/ijra.v10i3.pp182-191

Abstract:
Laser engraving is the most non - traditional and efficient working method in the machining of materials of different geometry as compared to conventional methods. The main objective of this study is to determine the impact of uArm swift pro robot operated laser engraving process on a wooden pitch board piece. However, the robot was connected with uArm Studio 1.1.22 software to perform laser engraving operation. For this purpose the effect of process parameters like spot diameter and depth of penetration were investigated with different working length of the robot end effector, measured from wooden pitch board base. Experimental observation method was used to investigate the formation of deep and light engraving pattern on the pitch board surface by measuring penetration depth and spot diameter in suitable condition. The result obtained from the experiment and statistical parameters showed a new dimension to find a suitable working length of the robot assisted laser nozzle where the laser penetration effect was clearly perceptible for the wooden material.
Milan Mihola, Zdenek Zeman, David Fojtik
IAES International Journal of Robotics and Automation (IJRA), Volume 10; https://doi.org/10.11591/ijra.v10i3.pp170-181

Abstract:
The design of the arms of industrial robots and manipulators is a demanding process both in ter ms of expertise and in terms of the time required. For these reasons, algorithms have been created, with the help of which it is possible to design cross - sections of individual arms of robots and manipulators not only from the point of view of maximum allo wed deflection but also from the point of view of minimizing cross - sectional dimensions or minimizing the weight of arms. These algorithms were subsequently used in the development of the software tool RobotArmDesign, with the help of which it is possible to simplify and shorten the arm design process significantly. This tool also has a connection to the SolidWorks CAD system and its simulation tools through its API interface, making it possible to refine robot arms designs while maintaining significantly s horter design times than would be the case with commonly used procedures. This tool's capabilities were demonstrated in the design of a robot arm with an angular structure and five degrees of freedom.
Ahmed Hassan, Rao M. Asif, , Zuhaib Nishtar, Mohammed K. A. Kaabar, Khan Afsar
IAES International Journal of Robotics and Automation (IJRA), Volume 10; https://doi.org/10.11591/ijra.v10i2.pp75-90

Abstract:
Water plays a significant role among other existing natural resources. The daily demand for water supplies is increasingly on the rise as the population grows. To minimize the consumption of water in irrigation, several proposals were suggested. The currently existing system known as the automated irrigation system for effective water resource use with the prediction of the weather (AISWP) functions with a single farm that lacks the reliability in the precision of weather forecasting. So, a robot-based irrigation system has been proposed to improve the performance of the system. To minimize the water usage for crops, an automated irrigation system has been developed which irrigates the field in acres. An additional characteristic of the system has also been given for the soil pH measurement to allow the use of fertilizers accordingly. The solar-powered robot is managed wirelessly by a designated application. The robot is attached with various sensors and with a highresolution camera that tests crop conditions and senses the soil state. The application has been created to provide information about the soil’s condition such as temperature level, humidity level, water level, and level of nutrients to the PC/Laptop with the real-time values via the GSM module.
Yunfei Fang, Shengzhi Du, Larbi Boubchir, Karim Djouani
IAES International Journal of Robotics and Automation (IJRA), Volume 10; https://doi.org/10.11591/ijra.v10i2.pp133-143

Abstract:
Small unmanned aerial vehicles applications had erupted in many fields including conservation management. Automatic object detection methods for such aerial imagery were in high demand to facilitate more efficient and economical wildlife management and research. This paper aimed to detect hoofed animals in aerial images taken from a quad-rotor in Southern Africa. Objects captured in this way were small both in absolute pixels and from an object-to-image ratio point of view, which were not perfectly suit for general purposed object detectors. We proposed a method based on the iconic Faster region-based convolutional neural networks (R-CNN) framework with atrous convolution layers in order to retain the spatial resolution of the feature map to detect small objects. A good choice of anchors was of prime importance in detecting small objects. The performance of the proposed Faster R-CNN with atrous convolutional filters in the backbone network was proven to be outstanding in our scenario by comparing to other object detection architectures.
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