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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
Dynamic Rocker-Bogie: A Stability Enhancement for High-Speed Traversal Yang, Hong-an; Velasco Rojas, Luis Carlos; Xia, Changkai; Guo, Qiang
IAES International Journal of Robotics and Automation (IJRA) Vol 3, No 3: September 2014
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v3i3.pp212-220

Abstract

The rocker-bogie suspension mechanism it?s currently NASA?s favored design for wheeled mobile robots, mainly because it has robust capabilities to deal with obstacles and because it uniformly distributes the payload over its 6 wheels at all times. Even though it has many advantages when dealing with obstacles, there is one major shortcoming which is its low average speed of operation, making the rocker-bogie system not suitable for situations where high-speed traversal over hard-flat surfaces is needed to cover large areas in short periods of time, mainly due to stability problems. This paper proposes to increase the stability of the rocker-bogie system by expanding its support polygon, making it more stable and adaptable while moving at high speed, but keeping its original robustness against obstacles: One rocker-bogie system, two modes of operation.
Fuzzy Takagi-Sugeno Method in Microcontroller Based Water Tank System Maisarah Mohd Sobran, Nur; Mohd Salmi, Munirah; Bazli Bahar, Mohd; Nazri Othman, Md; Halma Johari, Siti
IAES International Journal of Robotics and Automation (IJRA) Vol 7, No 1: March 2018
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v7i1.pp1-7

Abstract

This paper present the performance of Fuzzy logic controller in maintain level of water in water tank system. The mathematical modelling was developed to get the initial idea of the system performance. Later, the prototype of water tank system were constructed and tested to get the real time results. The Takagi-Sugeno ?on? and ?off? interference technique method was implemented due to the control limitation of the pump motor that being used in the experimental setup. The fuzzy logic controller was realized by embedded the algorithm in microcontroller of the water tank system. The experimental results show acceptable level of water within the range of 18cm to 20.5cm and settling time 59 seconds with 20 cm set point.
Self Assistive Technology for Disabled People – Voice Controlled Wheel Chair and Home Automation System Puviarasi, R.; Ramalingam, Mritha; Chinnavan, Elanchezhian
IAES International Journal of Robotics and Automation (IJRA) Vol 3, No 1: March 2014
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v3i1.pp30-38

Abstract

This paper describes the design of an innovative and low cost self-assistive technology that is used to facilitate the control of a wheelchair and home appliances by using advanced voice commands of the disabled people. This proposed system will provide an alternative to the physically challenged people with quadriplegics who is permanently unable to move their limbs (but who is able to speak and hear) and elderly people in controlling the motion of the wheelchair and home appliances using their voices to lead an independent, confident and enjoyable life. The performance of this microcontroller based and voice integrated design is evaluated in terms of accuracy and velocity in various environments. The results show that it could be part of an assistive technology for the disabled persons without any third person?s assistance.
Analytically Modeling, Design and Analysis a Nonlinear Controller for a STATCOM operations Moharana, J. K.
IAES International Journal of Robotics and Automation (IJRA) Vol 7, No 4: December 2018
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v7i4.pp221-231

Abstract

The concept of H? Control is extended, in principle, to the SVPWM (Space Vector Pulse Width Modulation) based inverter switching of a STATCOM (STATic synchronous COMpensator) device. The SVPWM assures a greater value of modulation factor in the undermodulation as well as the overmodulation range compared to SPWM (Sine Pulse Width Modulation) i.e. a much higher fundamental content. In the present work, the STATCOM has been modeled and its model is nonlinear in? (phase angle between fundamental of system voltage and output voltage of STATCOM. The effect of increased modulation index and lower harmonic distortion has been studied through simulation w.r.t. different performance indices and dynamic response of relevant variables. A PI and an H? Controller have been designed for closed-loop control of the system. It is found through simulation that H? controller gives better response than PI controller for nonlinear system.
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 | Original Source | Check in Google Scholar | 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.
Indoor Robot Localisation with Active RFID Wei, Wei; Curran, Kevin
IAES International Journal of Robotics and Automation (IJRA) Vol 1, No 3: September 2012
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Original Source | Check in Google Scholar

Abstract

Radio Frequency Identification (RFID) is a technology of location determination and data capture. An RFID based system relies on the interaction between readers (also known as interrogator) and tags (transponders). Active RFID technology is suitable for tracking costly assets or moving objects such as mobile robots. Once affixed with RFID tags, a robot can be localised. However, there is a tendency for accuracy to vary greatly as well as delay in readings. Those problems may be enlarged in real time applications. This paper provides an overview of implementing RFID in precision tracking of mobile robots.DOI: http://dx.doi.org/10.11591/ijra.v1i3.487
Design and Fabrication of Voice Controlled Unmanned Aerial Vehicle Anand, S. Sakthi; Mathiyazaghan, R.
IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 3: September 2016
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v5i3.pp205-212

Abstract

Unmanned Aerial Vehicles have gained well known attention in recent years for a numerous applications such as military, civilian surveillance operations as well as search and rescue missions. The UAVs are not controlled by professional pilots and users have less aviation experience. Therefore it seems to be purposeful to simplify the process of aircraft controlling. The objective is to design, fabricate and implement an unmanned aerial vehicle which is controlled by means of voice recognition. In the proposed system, voice commands are given to the quadcopter to control it autonomously. This system is navigated by the voice input. The control system responds to the voice input by voice recognition process and corresponding algorithms make the motors to run at specified speeds which controls the direction of the quadcopter.
Validation of End Effector Matrix for Robotic Kit OWI-535 using Matlab and Robo Analyzer Suthar, Bhivraj; Shrivastava, Tanmay; Heisnam, Lamyanba
IAES International Journal of Robotics and Automation (IJRA) Vol 5, No 1: March 2016
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v5i1.pp54-60

Abstract

This paper presents the validation of the end effector matrix having D-H parameter of the 4 DOF educational manipulator OWI-535 by MAT-LAB and Robo Analyzer. Transformation matrix of order 4x4 which describes end effecter?s position and orientation with respect to the base reference frame. MAT-LAB programming which gives details about the translation steps of the manipulator simultaneously. Forward kinematics of OWI 535 robotic kit has been calculated by Mat-lab as well as Robo Analyzer. We had calculated the End effector matrix in both software and compare it. We found that the results are similar up to three digit in some elements and up to two digits from decimal in few elements and it was different after three digit from the decimal in end effector matrix.
Two-Degree-of-Freedom PID Controller, Its Equivalent Forms and Special cases A. Suthar, Haresh
IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 4: December 2015
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v4i4.pp269-283

Abstract

The design of control systems is a multi-objective problem so, a two-degree-of-freedom (abbreviated as 2DOF) control system naturally has advantages over a one degree- of-freedom (abbreviated as 1DOF) control system. The main objective of 2DOF control is to control both set point tracking and disturbance rejections.Various 2DOF PID controllers and its equivalent transformations were proposed for industrial use by different researchers. Most of the above researches were published in Japanese language and have not been translated into English language yet. An objective here is to provide detail analysis regarding structure of 2DOF controller, its equivalent forms and its special cases. A system transfer function having transport delay and load disturbance is considered as a test bench to verify various 2DOF control strategies. MATLAB is used as software tool to verify the various 2DOF control strategies. The analysis will be helpful to the engineers and researchers to understand the topic in detail for further exploration.
Trajectory Planning and Walking Pattern Generation of Humanoid Robot Motion Abdolshah, Saeed; Abdolshah, Majid; Tang, Sai Hong
IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 2: June 2015
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v4i2.pp135-142

Abstract

Walking trajectory generation for a humanoid robot is a challenging control? issue. In this paper, a walking cycle has been recognized considering human motion, and nine simple steps were distinguished in a full step of walking which form motion trajectory, and generates a simplified ZMP motion formulation. This system was used in humanoid robot simulation motion and is achievable easily in walking steps of robot. A minimum DOFs humanoid robot has been considered and geometrical relationships between the robot links were presented by the Denavit-Hartenberg method. The inverse kinematics equations have been solved regarding to extracted ZMP trajectory formula, and constraints in different steps. As a result; angular velocity, acceleration and power of motors were obtained using the relationships and Jacobin. At each step, extracted data were applied on simulated robot in Matlab, and Visual Nastran software. Zero moment point trajectory was evaluated in simulation environment.

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