IAES International Journal of Robotics and Automation (IJRA)

Journal Information
ISSN / EISSN : 2089-4856 / 2089-4856
Current Publisher: Institute of Advanced Engineering and Science (10.11591)
Total articles ≅ 120
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Latest articles in this journal

Javier Dario Sanjuan De Caro, Mohammad Rahman, Ivan Rulik
IAES International Journal of Robotics and Automation (IJRA), Volume 9, pp 153-159; doi:10.11591/ijra.v9i3.pp153-159

Dobot is a hybrid robot that combines features from parallel and serial robots. Because of this characteristic, the robot excels for is reliability, allowing its implementation in diverse applications. Therefore, researchers have studied its kinematics to improve its capabilities. However, to the extent of our knowledge, no analysis has been reported taking into consideration the closed-loop configuration of Dobot. Thus, this article presents the complete analytical solution for the forward kinematics of Dobot, considering each link. The results are expected to be utilized in the development of a dynamical model that contemplates the dynamics of each element of the robot.
Khongsak Srasrisom, Pramot Srinoi, Seksan Chaijit, Fasai Wiwatwongwana
IAES International Journal of Robotics and Automation (IJRA), Volume 9, pp 178-189; doi:10.11591/ijra.v9i3.pp178-189

The application of robot simulation tools for modelling, analysis and improvement of existing industrial manufacturing cells is presented with reference to the development and implementation of the digital factory concept. A real case study of aerosol can packaging and palletizing cell scenario in the metal can manufacturing industry for containing food and products is used as a reference in this paper. For studying manual aerosol can packaging and palletizing conditions of the worker, a detailed time and motion analysis of workers is carried out. On the basis of cycle time analysis results, an alternative to the manual operation, a more sophisticated automated packaging and palletizing system is suggested. A proposed system which uses a robotic manipulator including automated production machine and devices are also developed and tested. The viability of the suggested system is checked through simulation and cycle time analysis. A fuzzy logic software, MATLAB is employed in order to analyse the actual system’s behaviour in terms of productivity, and utilization of the available facilities. The 3D simulation software, DELMIA V6 is additionally employed to perform a detailed design phase of the manufacturing cell. From the simulation results, this gives a rough approximation that the production of one robotized manipulator, and automated packaging and palletizing cell is equal to the production of about 4.3 manual packaging and palletizing cells. These results have shown the need for change to automation in the aerosol can packaging and palletizing system.
Ezeofor Chukwunazo Joseph, Georgewill Oyengiye Moses
IAES International Journal of Robotics and Automation (IJRA), Volume 9, pp 196-210; doi:10.11591/ijra.v9i3.pp196-210

Tethered underwater robot (TUR) for underwater vessel anchor release is presented. In off-shore oil and gas enviromnment, there has been series of reported cases on stuck vessel anchors after mooring operations and divers are sent to release these anchors for the vessels to be in motion. The use of divers to perform such function is very risky because of human limitation and some divers have been reported dead on the process due to high pressure underwater or being attacked by underwater wide animals. This has caused very serious panic to the vessel owners and hence, this work is aimed to develop TUR that would be used by the vessel operators instead of divers to release the stuck anchor without loss. The underwater robot system comprises of three basic sections namely graphical user control interface (GUCI) that would be installed in the operator’s laptop, the WiFi LAN router for network connection, and TUR system hardware and software. Each of these sections was strictly designed. Various high-level programming languages were employed to design the GUCI and code the interface buttons, robot controller program codes etc. The implementation carried out and the prototype system tested in the University of Port Harcourt’s swimming pool of 6m depth for validation. The robot performed extremely good in swimming and release of constructed anchor underwater.
Hany Ibrahim Shousha, Abdelsamie B. Kotb
IAES International Journal of Robotics and Automation (IJRA), Volume 9, pp 171-177; doi:10.11591/ijra.v9i3.pp171-177

As there is no system driven especially for the two-phase induction motor fed from unbalanced two-phase supply yet, so we start for derivation the system equations for the said motor to be generally used even for the balanced or unbalanced two-phase supply. In this paper, we will derive a system equation starting from the sequence equivalent circuit for the forward and backwards equivalent circuits, then we will re-arrange the equations with some mathematical assumptions which will lead us to the new system equations. first for the voltage equations then for the current equations and finally for both power and torque equations. Moreover, we will put an example which will cover all cases with specific values and relations charts.
Ahmed J. Abougarair, Ali S. Elmolihi
IAES International Journal of Robotics and Automation (IJRA), Volume 9, pp 160-170; doi:10.11591/ijra.v9i3.pp160-170

Robots have been used in many applications in the past few decades. Moreover, due to high nonlinearity behavior of these systems, an optimal and robust control design approaches have been considered to stabilize and improve their performance and robustness. The uncertainties of the time delay on the output states of the mobile robot system have a significant influence on the system nominal performance. As a result, the work becomes here to address the influence of these uncertainties on the robot system performance. In order to achieve this objective, the nonlinear controller via sliding mode control (SMC) is designed by selecting a suitable sliding surface dynamics in which the considered robot displacement and tilt angle are sliding on. The lyapunov function is considered here to accomplish the design of the sliding control signals for robot stabilization. Furthermore, the stability of the considered system is guaranteed due to convergence of the lyapunov functions into zero when the state trajectories tend to desired set points. In addition, we consider the trajectory tracking and stabilization of TWBMR system using parallel double loop PID controllers whose controllers gains are tuning via linear quadratic regulator (LQR) approach. Finally, to demonstrate the effectiveness of SMC and PID-LQR design methods, the comparison is carried out when the nominal and uncertain conditions.
Kanagasabai Lenin
IAES International Journal of Robotics and Automation (IJRA), Volume 9, pp 190-195; doi:10.11591/ijra.v9i3.pp190-195

In this work, air cloud (AC) algorithm is used to solve the optimal reactive power problem. Clouds shape in numerous ways. Convective clouds are created when moist air is warmed and expand into floating. Air raises haulage water vapour and within it expands and gets cooled as it goes. As the temperature and pressure of the air diminish, its saturation point – the equilibrium level of evaporation and condensation – is reduced. Every x is one cloud droplet, and qualitative characteristic of one cloud is explained by the three digital character (Ex, En, He), droplets number n, where Ex (Expected value), En (Entropy) and He (Hyper entropy) of one cloud determine centre position of cloud, cover range of cloud and thickness of cloud equally. Projected AC algorithm has been tested in standard IEEE 14, 57, 300 bus systems and simulations results show the better performance of the proposed algorithm in reducing the real power loss.
Angel Gil, Jose Aguilar, Eladio Dapena, Rafael Rivas
IAES International Journal of Robotics and Automation (IJRA), Volume 9, pp 220-232; doi:10.11591/ijra.v9i3.pp220-232

This article describes an emotional model for a general-purpose robot operating in a multi-robot system with emergent behavior. The model considers four basic emotions: anger, rejection, sadness and joy, plus a neutral emotional state, which affect the behavior of the robot, both individually and collectively. The emotional state of each robot in the system is constructed through the conjunction of a series of factors related to their individual and collective actions, which are: safety, load, acting and interaction, which serve as input to an emotional process that results in an index of satisfaction of the robot that establishes the emotional state in which it is in a certain moment. The emotional state of a robot influences its interactions with the other robots and with the environment, that is, it determines its emergent behavior in the system. This paper presents the design of this model, and establishes some considerations for its implementation.
Hosam Alamleh, Ali Abdullah S. Alqahtani
IAES International Journal of Robotics and Automation (IJRA), Volume 9, pp 211-219; doi:10.11591/ijra.v9i3.pp211-219

Mobile devices can sense different types of radio signals. For example, broadcast signals. These broadcasted signals allow the device to establish a connection to the access point broadcasting it. Moreover, mobile devices can record different physical layer measurements. These measurements are an indication of the service quality at the point they were collected. These measurements data can be aggregated to form physical layer measurement maps. These maps are useful for several applications such as location fixing, navigation, access control, and evaluating network coverage and performance. Crowdsourcing can be an efficient way to create such maps. However, users in a crowdsourcing application tend to have different devices with different capabilities, which might impact the overall accuracy of the generated maps. In this paper, we propose a method to build physical layer measurements maps by crowdsourcing physical layer measurements, GPS locations, from participating mobile devices. The proposed system gives different weights to each data point provided by the participating devices based on the data source’s trustworthiness. Our tests showed that the different models of mobile devices return GPS location with different location accuracies. Consequently, when building the physical layer measurements maps our algorithm assigns a higher weight to data points coming from devices with higher GPS location accuracy. This allows accommodating a wide range of mobile devices with different capabilities in crowdsourcing applications. An experiment and a simulation were performed to test the proposed method. The results showed improvement in crowdsourced map accuracy when the proposed method is implemented.
Aistis Augustaitis, Vytautas Jurėnas
IAES International Journal of Robotics and Automation (IJRA), Volume 9, pp 113-122; doi:10.11591/ijra.v9i2.pp113-122

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.
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

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.
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