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IAES International Journal of Robotics and Automation (IJRA)
ISSN : 20894856     EISSN : -     DOI : -
Core Subject : 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.
Articles 230 Documents
Multisensor Data Fusion and Integration for Mobile Robots: A Review Nagla, KS; Uddin, Moin; Singh, Dilbag
IAES International Journal of Robotics and Automation (IJRA) Vol 3, No 2: June 2014
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (115.519 KB) | DOI: 10.11591/ijra.v3i2.pp131-138

Abstract

One of the most important and useful feature of autonomous mobile robots is their ability to adopt themselves to operate in unstructured environment. Today robots are performing autonomously in industrial floor, office environments, as well as in crowded public places where the robots need to maintain their localization and mapping parameters.The basic requirement of an intelligent mobile robot is to develop and maintain localization and mapping parameters to complete the complex missions. In such situations, several difficulties arise in due to the inaccuracies and uncertainties in sensor measurements. Various techniques are there to handle such noises where the multisensor data fusion is not the exceptional one.From the last two decades, multisensor data fusions in mobile robots become a dominant paradigm  due to its potential advantages like reduction in uncertainty, increase in accuracy and reliability and reduction of cost.This paper presents the reviews of autonomous mobile robots and role of multisenosr data fusion.
Nonlinear Hybrid Controller for a Quadrotor Based on Sliding Mode and Backstepping Zhang, Chuan Lian; Chong, Kil To
IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 3: September 2015
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (356.71 KB) | DOI: 10.11591/ijra.v4i3.pp209-218

Abstract

In this paper, one nonlinear hybrid controller, based on backstepping and sliding mode, was developed and applied to a quadrotor for waypoint navigation application. After dynamics modeling, the whole quadrotor dynamics system could be divided into two subsystems: rotational system and translational system. Backstepping control law was derived for attitude control whereas sliding mode control law was developed for position control. By using Lyapunov theory and satisfying sliding stable rules, the convergence of system could be guaranteed. A nonlinear equation was proposed to solve the under-actuated problem. To validate the effectiveness of proposed nonlinear hybrid controller, waypoint navigation simulation was performed on the nonlinear hybrid controller. Results showed that the nonlinear hybrid controller finished waypoint navigation successfully.
Design and Fabrication of Delta Robot with Voice control G.S., Bala Maga Ganapathi
IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 3: September 2015
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (529.826 KB) | DOI: 10.11591/ijra.v4i3.pp168-175

Abstract

The objective of the project is to design and control the Delta robot with voice for pick and place operation using ARM7 processor. Till now there is no implementation of voice recognition and control in Delta robot. The maximum payload of the robot is 200grams-300grams. The robot has been made based on the SEQUENTIAL QUADRATIC PROGRAMMING. Various links of the robot are controlled using the servo motor and the gripper is separately controlled by a servo motor.
Manuscript shapes generated by novel bi-axis control algorithm based on a mathematical handwriting model Mahmoud, Imene; Chihi, Ines; Abedlkrim, Afef; Benrejeb, Mohamed
IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 3: September 2015
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (800.486 KB) | DOI: 10.11591/ijra.v4i3.pp230-242

Abstract

Handwriting movement is one of the most complex activities of human motions. It?s a blend of kinesthetic, cognitive, perceptual and motor components. The study of this biological process shows that bell-shaped velocity profiles are generally observed in the handwriting motion. In this paper, an identification technique, based on Recursive Least Square algorithm (RLS), is proposed to identify the pen-tip movement in human handwriting process, by using input and output data which present EMG signals and velocities according to x and y coordinates.  Using the estimated coordinates that have resulted from the velocity model; we propose a novel algorithm to generate handwritten graphic traces, which is inspired from the idea of tracing circles by Bresenham bi-axis control algorithm. The effectiveness of this approach should be observed on predicting cursive Arabic letters and Arabic word written on (x,y) plane, these shapes constituting a recorded experimental basis.
A New Approach to the Solution of Robot Kinematics Based on Relative Transformation Matrices Reza Elhami, Mohammad; Dashti, Iman
IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 3: September 2016
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (466.556 KB) | DOI: 10.11591/ijra.v5i3.pp213-222

Abstract

In analyzing robot manipulator kinematics, we need to describe relative movement of adjacent linkages or joints in order to obtain the pose of end effector (both position and orientation) in reference coordinate frame. Denavit-Hartenberg established a method based on a 4×4 homogenous matrix so called ?A? matrix. This method used by most of the authors for kinematics and dynamic analysis of the robot manipulators. Although it has many advantages, however, finding the elements of this matrix and link/joint?s parameters is sometimes complicated and confusing. By considering these difficulties, the authors proposed a new approach called ?convenient approach? that is developed based on ?Relative Transformations Principle?. It provides a very simple and convenient way for the solution of robot kinematics compared to the conventional D-H representation. In order to clarify this point, the kinematics of the world known Stanford manipulator has been solved through D-H representation as well as convenient approach and the results are compared.
Degree of Achievability of Omnidirectional Motion in Various Mobile Robot Designs: A Review Justus, Ajju Raja
IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 1: March 2016
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (795.835 KB) | DOI: 10.11591/ijra.v5i1.pp17-28

Abstract

In the current field of robotics, many new robots are being developed based on different working principles. Each robot has its own strengths and weaknesses. Omnidirectional mobility is a major functional requirement for performing more complex actions. This article is a comprehensive study of some of the robots developed by different people with distinctive driving mechanisms. The actuation, driving method, operating conditions and control mechanism of all the selected robots is studied. Then finally, all the considered robots are compared based on various parameters to gauge the efficiency and degree of achievability of omnidirectional motion in each robot. Therefore, by the end of this article, we can have an understanding of how much effective each driving mechanism is in producing omnidirectional mobility.
Design Analysis of a Fish-Shaped PVDF Compliance Microgripper Sahay, Neeta
IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 2: June 2016
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (360.855 KB) | DOI: 10.11591/ijra.v5i2.pp67-71

Abstract

In this study the design and analysis of compliance microgripper made of piezoelectric PVDF (Poly Vinylidene Fluoride) material is presented. The inverse piezoelectric effect has been used in which the required amount of voltage has been applied at specific points at the base of the structure to produce the force at the tip and thereby the necessary deflection for gripping. The simulated results of frequency response, force-voltage relationship and displacement analysis are presented.
Design and Fabrication of Friction Stir Welding End-Effector for an ABB IRB1410 Robot Vanama, Santosh
IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 2: June 2016
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (529.364 KB) | DOI: 10.11591/ijra.v5i2.pp98-104

Abstract

The paper propose modelling and fabrication of friction stir welding end-effector for ABB IRB1410 robot. A dynamically developing version of pressure welding processes, join material without reaching the fusion temperature called friction stir welding. As friction stir welding occurs in solid state, no solidification structures are created thereby eliminating the brittle and eutectic phase?s common to fusion welding of high strength aluminium alloys. In this paper, Friction stir welding is applied to aluminum sheets of 2 mm thickness. A prototype setup is developed to monitor the evolution of main forces and tool temperature during the operation. Pressure of a gripper plays a major role for tool rotation and developing torque.  Fabrication of the tool has done. Force calculations are done by placing the sensors on the outer surface of gripper. Methods of evaluating weld quality are surveyed as well.
Automatic Skyscraper Window Cleaning System S, Kavya; M.S., Karthik; C, Arun Kumar
IAES International Journal of Robotics and Automation (IJRA) Vol 6, No 1: March 2017
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (9.779 KB) | DOI: 10.11591/ijra.v6i1.pp15-20

Abstract

Automatic Skyscraper Window Cleaning System (ASWCS) aims at providing a risk free and more automated solution for the problem of cleaning glass windowed high rise buildings. It consists of a rollers-based moving platform suspended by a motorized pulley from the top of the building. The cleaning is done with the help of a motor driven cleaning roller brush and water spraying system provided in the platform. The rail system provided on the parapet wall of the building aids in the motorized horizontal movement of the cleaning platform. The entire operation is controlled by a TI MSP430 microcontroller. Once the dimensions of the building are input, the proposed system achieves cleaning with less human intervention. Hence the ASWCS provides an easy, efficient and safe solution for maintenance of skyscraper windows.
Analysis of ANFIS MPPT Controllers for Partially Shaded Stand Alone Photovoltaic System with Multilevel Inverter Ramesh, T.; Saravanan, R.; Sekar, S.
IAES International Journal of Robotics and Automation (IJRA) Vol 7, No 2: June 2018
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (1127.902 KB) | DOI: 10.11591/ijra.v7i2.pp140-148

Abstract

This work presents a unique combination of an boost converter  run by a set of two photovoltaic panels (PV) with a MPPT, suitable to guarantee MPP even under partial shadowed conditions, managed by an adaptive neuro fuzzy inference system (ANFIS) trained by the training data derived from a Perturb and observation (P&O) conventional algorithm. The single phase cascaded H bridge five-level inverter (CHI) driven by the individual outputs of the boost converter, with selective harmonic elimination scheme to eliminate typically the seventh order harmonics. Simulation was carried out in the MATLAB/SIMULINK environment validated the proposed scheme. It has been thus established; by both simulations the ANFIS model of MPPT scheme outperforms other schemes of conventional control algorithm.

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