IAES International Journal of Robotics and Automation (IJRA)

Journal Information
ISSN / EISSN : 20894856 / 20894856
Current Publisher: Institute of Advanced Engineering and Science (10.11591)
Total articles ≅ 112
Current Coverage
INSPEC
Archived in
SHERPA/ROMEO
Filter:

Latest articles in this journal

Yousef Samkari, Mowffaq Oreijah
IAES International Journal of Robotics and Automation (IJRA), Volume 9, pp 143-152; doi:10.11591/ijra.v9i2.pp143-152

Abstract:
The motivation behind this project is that firefighter's death. Many firefighters are struggling to perform their duty which causes much death while on a mission and the circumstances related to each incident. Firefighters are our heroes and our sense of security in times of trouble. They put themselves on dangerous situations to protect us. At present, the world is moving toward the use of technologies software and hardware. This paper proposed a smart firefighting device system (LAHEEB) which designed to detect the source of fire, extinguish it and increase the knowledge about fire behavior from incident area. This device can extinguish different types of fire A, B, C, D, F/K, electric and metal fire without spreading in the shortest time. This device will reduce the risk of injury for firefighters and possible victims and decrease the monetary losses which increase considerably as fire duration increases. LAHEEB device is consists of two parts. The first part is called the mid-cap which presented the body of the device that has most of the components such as sensors, relays, battery, servo motor, liquid tank, push-button, and Arduino. The second part is called the bottom-cap which presented the moving part of the device that has the significant components of LAHEEB such as servo motor, sprayer and thermal camera. It also makes use of liquid-tank and spray mechanism for extinguishing the fire. The spraying nozzle is mounted on a servo motor to cover maximum area. Liquid-extinguisher is pumped from the main tank to the nose with the help of a pump. The whole system is programmed using an Arduino DUE board which forms the brain of the system.
Aistis Augustaitis, Vytautas Jurėnas
IAES International Journal of Robotics and Automation (IJRA), Volume 9, pp 113-122; doi:10.11591/ijra.v9i2.pp113-122

Abstract:
Trunk type robots (TTRs) are exclusive. These robots can provide a high level of maneuverability and have a potential in medicine or high risk zones. TTRs are determined as a long serial linkage of similar segments. They are usually connected using tendons or small actuators. A spherical actuator is the most appreciable option. The motion of real spherical actuator (RSA) can be easily obtained applying an inverse piezoelectric effect. It has three independent spinning axes. These axes are perpendicular to each other despite the history of excitation. Kinematics and dynamics of RSA almost have no basics regardless of mentioned features. This situation can be explained according to common disadvantages of other SAs: sophisticated structure and complex control. The structures and abilities of TTRs are reviewed in the first section of this article. At the beginning of the fourth section the kinematics of piezoelectric TTR with two different RSAs is introduced. Its results of inverse dynamics using Euler-Lagrange equations are presented at the end of the fourth section. Similar results are derived using an analytical-potential method in the fifth section. It is quite accurate and effective option to determine inverse dynamics of the TTR employing an analytical-potential method.
Myeong In Seo, Woo Jin Jang, Junhwan Ha, Kyongtae Park, Dong Hwan Kim
IAES International Journal of Robotics and Automation (IJRA), Volume 9, pp 123-134; doi:10.11591/ijra.v9i2.pp123-134

Abstract:
This study introduces the control method of duct cleaning robot that enables real-time position tracking and self-driving over L-shaped and T-shaped duct sections. The developed robot has three legs and is designed to flexibly respond to duct sizes. The position of the robot inside the duct is identified using the UWB communication module and the location estimation algorithm. Although UWB communication has relatively large distance error within the metal, the positional error was reduced by introducing appropriate filters to estimate the robot position accurately. TCP/IP communication allows commands to be sent between the PC and the robot and to receive live images of the camera attached to the robot. Using Haar-like and classifiers, the robot can recognize the type of duct that is difficult to overcome, such as L-shaped and T-shaped duct, and it moves successfully inside the duct according to the corresponding moving algorithms.
Hishantkumar Rashmikantbhai Patel, Yashavant Patel
IAES International Journal of Robotics and Automation (IJRA), Volume 9, pp 135-142; doi:10.11591/ijra.v9i2.pp135-142

Abstract:
Parallel manipulators (PMs) are family members of modern manipulators based on the closed loop structural architecture. 3-PRS (prismatic, revolute, spherical) manipulator with 3DOF is investigated for its machining capability on prismatic surfaces as it possesses greater structural stiffness, higher pay load caring capacity, more precision compare to serial manipulators as well as less accumulation of errors at joints within a constrained workspace. The said manipulator can be utilized in various fields of application such as precise manufacturing, medical surgery, space technology and many more. In this paper, the primary focus on usage of parallel manipulator in industrial applications such as drilling and grooving on inclined work part surface. Inverse kinematic solutions are used for drilling, square and round profiles on inclined surface using parallel manipulator.
Abdel-Azim S. Abdel-Salam, Ibrahim N. Jleta
IAES International Journal of Robotics and Automation (IJRA), Volume 9, pp 73-83; doi:10.11591/ijra.v9i2.pp73-83

Abstract:
The dynamic model of the robot manipulator contain from equations, these equations are nonlinear and contained from variations parameters due to variations in load, friction, and disturbance. The conventional computed torque (PD and PID) controllers are not highly suitable for nonlinear, complex, time-variant systems with delay. In this paper, the fuzzy logic controllers (FLC) has been used because it is efficient tools for control of nonlinear and uncertain parameters systems. This paper aims to design a fuzzy logic controller for position control of a PUMA 560 robot manipulator. Based on simulation results we conclude that the performance of the fuzzy logic controller in term of position tracking error in case of disturbance or load is better than the conventional computed torque (PD-CTC and PID-CTC) controllers.
Yi-Chang Wu, Jih-Wei Lee, Huan-Chun Wang
IAES International Journal of Robotics and Automation (IJRA), Volume 9, pp 84-93; doi:10.11591/ijra.v9i2.pp84-93

Abstract:
As an initial trial and in response to a lack of technological applications in government agencies, we have developed three multifunctional robots in accordance with the work environment and the nature of our tasks. Search Site Monitoring Robot is fitted with a panoramic camera and large wheels for walk-around search site monitoring. Suspect Guarding Robot follows and guards a suspect by tracking an augmented reality marker worn by the suspect and identifying the human body through an infrared thermal camera. For the Evidence Identification Robot, You Only Look Once (YOLO) is utilized to identify some specific evidence on search site and is equipped with a carrier and a high-torque motor for evidence transportation; it is set to issue warnings and emails to relevant personnel on specific emergencies. We have performed multiple experiments and tests to confirm the robots’ effectiveness, verifying their applicability of technological task support in government agencies.
Jan Klečka, Karel Horák, Ondřej Boštík
IAES International Journal of Robotics and Automation (IJRA), Volume 9, pp 63-72; doi:10.11591/ijra.v9i2.pp63-72

Abstract:
This paper is approaching a problem of Simultaneous Localization and Mapping (SLAM) algorithms focused specifically on processing of data from a heterogeneous set of sensors concurrently. Sensors are considered to be different in a sense of measured physical quantity and so the problem of effective data-fusion is discussed. A special extension of the standard probabilistic approach to SLAM algorithms is presented. This extension is composed of two parts. Firstly is presented general perspective multiple-sensors based SLAM and then thee archetypical special cases are discuses. One archetype provisionally designated as "partially collective mapping" has been analyzed also in a practical perspective because it implies a promising options for implicit map-level data-fusion.
Hui Sheng Lim, Shuangshuang Fan, Christopher K.H. Chin, Shuhong Chai, Neil Bose
IAES International Journal of Robotics and Automation (IJRA), Volume 9, pp 94-112; doi:10.11591/ijra.v9i2.pp94-112

Abstract:
Particle swarm optimization (PSO)-based algorithms are suitable for path planning of the Autonomous Underwater Vehicle (AUV) due to their high computational efficiency. However, such algorithms may produce sub-optimal paths or require higher computational load to produce an optimal path. This paper proposed a new approach that improves the ability of PSO-based algorithms to search for the optimal path while maintaining a low computational requirement. By hybridizing with differential evolution (DE), the proposed algorithms carry out the DE operator selectively to improve the search ability. The algorithms were applied in an offline AUV path planner to generate a near-optimal path that safely guides the AUV through an environment with a priori known obstacles and time-invariant non-uniform currents. The algorithm performances were benchmarked against other algorithms in an offline path planner because if the proposed algorithms can provide better computational efficiency to demonstrate the minimum capability of a path planner, then they will outperform the tested algorithms in a realistic scenario. Through Monte Carlo simulations and Kruskal-Wallis test, SDEAPSO (selective DE-hybridized PSO with adaptive factor) and SDEQPSO (selective DE-hybridized Quantum-behaved PSO) were found to be capable of generating feasible AUV path with higher efficiency than other algorithms tested, as indicated by their lower computational requirement and excellent path quality.
Grzegorz Ilewicz, Andrzej Harlecki
IAES International Journal of Robotics and Automation (IJRA), Volume 9, pp 17-25; doi:10.11591/ijra.v9i1.pp17-25

Abstract:
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.
Mohamed Benyassi, A. Brouri
IAES International Journal of Robotics and Automation (IJRA), Volume 9, pp 26-33; doi:10.11591/ijra.v9i1.pp26-33

Abstract:
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.
Back to Top Top