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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 246 Documents
PLC BASED MULTI-FLOOR ELEVATOR CONTROL SYSTEM Gupta, Shrey
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 (428.831 KB) | DOI: 10.11591/ijra.v4i3.pp202-208

Abstract

This paper presents programmable logic controller based elevator control system. Primary focus is on using programmable logic controller to build the elevator model. To control the motion of the elevator through various levels DC geared motor is used. Push buttons are used to give signal to the elevator to come to the desired floor, traversing up and down. Moreover DC relays are used as switches, not protective devices, to drive the motor in clockwise and anticlockwise direction. Ladder logic is used for the model implementation.
MODEL OF ABSORBED GAMMA RADIATION IN THE INTERACTION WITH ROCK FORMATION Azaryan, A. A.; Gritsenko, A. N.; Trachuk, A. A.; Serebrenikov, V. M.; Shvets, D. V.
IAES International Journal of Robotics and Automation (IJRA) Vol 8, No 4: December 2019
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (321.275 KB) | DOI: 10.11591/ijra.v8i4.pp269-276

Abstract

The article discusses issues of improving the accuracy of operational quality control of iron ore in mountain ranges. There was proposed the use of the absorbed gamma radiation indicator as an improvement of the nuclear physics method for determining the iron content in ore mass are proposed. There were obtained the relationships of the sensitivity of the absorbed gamma radiation intensity on the distance between the detector and the irradiated surface, as well as on the distance between the source and the detector of gamma radiation.
OPTIMAL TCSC PLACEMENT FOR CONGESTION MANAGEMENT IN DEREGULATED POWER SYSTEMS USING ANTLION OPTIMIZATION ALGORITHM Moazzami, Majid; Shahinzadeh, Hossein; Gharehpetian, Gevork B.; Shafiei, Abolfazl
IAES International Journal of Robotics and Automation (IJRA) Vol 8, No 2: June 2019
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (802.361 KB) | DOI: 10.11591/ijra.v8i2.pp77-88

Abstract

Congestion management is one of the important issues in the deregulated power systems. There are several methods to eliminate congestion. Utilizing FACTS devices is an appropriate option for large-scale and quick control of flows of transmission lines. FACTS devices such as Thyristor Controlled Series Capacitor (TCSC) can help to mitigate the transmitting flow of power in the congested lines, which leads to an increase in the network loading ability as well as reduction of both losses and production costs. Due to the considerably high price of FACTS devices, it is important to determine their optimum location on the network. Accordingly, in this paper, the Antlion optimization algorithm (ALO) has been employed to conduct a congestion management analysis to determine the optimal location for the installation of TCSC, which is simulated on an IEEE 14-bus test system subject to satisfy the constraints of the market environment.
NOVEL APPROACH TO CONTROL OF ROBOTIC HAND USING FLEX SENSORS R.S, Sandesh; Venkatesan, Nithya
IAES International Journal of Robotics and Automation (IJRA) Vol 3, No 4: December 2014
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (501.659 KB) | DOI: 10.11591/ijra.v3i4.pp234-244

Abstract

This paper discuss about novel design approach to control of a robotic hand using flex sensors which indicates a biomechatronic multi fingered robotic hand. This robotic hand consists of base unit, upper arm, lower arm, palm and five fingers. The aim is to develop an anthropomorphic five fingered robotic hand. The proposed design illustrates the use of 5 micro DC motors with 9 Degrees of Freedom (DOF).Each finger is controlled independently. Further three extra motors were used for the control of wrist elbow and base movement. The study of the DC motor is being carried out using the transfer function model for constant excitation. The micro DC motor performance was analyzed using MATLAB simulation environment. The whole system is implemented using flex sensors. The flex sensors placed on the human hand gloves appear as if they look like real human hand.  89v51 microcontroller was used for all the controlling actions along with RF transmitter/receiver .The performance of the system has been conducted experimentally and studied.
LEADER-FOLLOWER TRACKING SYSTEM FOR AGRICULTURAL VEHICLES: FUSION OF LASER AND ODOMETRY POSITIONING USING EXTENDED KALMAN FILTER Huan, Zhang Lin; Tomohiro, Takigawa; Tofael, Ahamed
IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 1: March 2015
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (1081.295 KB) | DOI: 10.11591/ijra.v4i1.pp1-18

Abstract

The aim of this research was to develop a safe human-driven and autonomous leader-follower tracking system for an autonomous tractor. To enable the tracking system, a laser range finder (LRF)-based landmark detection system was designed to observe the relative position between a leader and a follower used in agricultural operations. The virtual follower-based formation-tracking algorithm was developed to minimize tracking errors and ensure safety. An extended Kalman filter (EKF) was implemented for fusing LRF and odometry position to ensure stability of tracking in noisy farmland conditions. Simulations were conducted for tracking the leader in small and large sinusoidal curved paths. Simulated results verified high accuracy of formation tracking, stable velocity, and regulated steering angle of the follower. The tracking method confirmed the follower could follow the leader with a required formation safely and steadily in noisy conditions. The EKF helped to improve observation accuracy, velocity, and steering angle stability of the follower. As a result of the improved accuracy of observation and motion action, the tracking performance for lateral, longitudinal, and heading were also improved after the EKF was implemented in the tracking system.
AN INTELLIGENT CONTROLLER DESIGN APPROACH FOR MIMO COUPLED TANK SYSTEM Hafiz Jali, Mohd; Firdaus Azhar, Ahmad; Ghazali, Rozaimi; Chee Soon, Chong
IAES International Journal of Robotics and Automation (IJRA) Vol 7, No 1: March 2018
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (585.352 KB) | DOI: 10.11591/ijra.v7i1.pp8-17

Abstract

Nowadays, versatilities of controllers have been developed to control the Coupled Tank System (CTS) such as proportional, integral, derivative (PID), fuzzy, fuzzy PID and neuro network. This paper focused on the control of the pump flow rate, in and out of the tank against the cross-sectional area of the CTS?s tank. The main objective of this paper is to design a CTS by using MATLAB since the Fuzzy Logic Controller (FLC) is widely utilized in the control of engineering applications in the industrial. Therefore, the FLC will be utilized to control and improve the performance of the CTS. The conventional PID controller will be applied, which reacts as a benchmark in the performance of the FLC. Parameters such as steady state error, settling time, and maximum overshoot will be part of the simulation results. As a result of the dynamic response executed in the closed-loop environment, it can be concluded that the FLC is capable of performing better than the conventional PID controller.
BILATERAL TELEOPERATION OF WHEELED MOBILE ROBOTS WORKING IN COMMON WORKSPACE Marton, Lorinc Marton; Szanto, Zoltan; Haller, Piroska; Sandor, Hunor; Szabo, Tamas; Vajda, Tamas
IAES International Journal of Robotics and Automation (IJRA) Vol 3, No 1: March 2014
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (360.819 KB) | DOI: 10.11591/ijra.v3i1.pp62-74

Abstract

This paper proposes a bilateral control framework for mobile robots which share the same workspace. The robots are teleoperated by independent users. Accordingly, for each teleoperated robot the other robots represent moving obstacles or static obstacles with a-priori unknown positions. For such teleoperation systems a velocity generator algorithm is proposed to obtain the linear and angular velocity commands of the mobile robots. A procedure is also given to calculate the haptic force corresponding to each mobile robot. To guarantee the stability of the teleoperation in the presence of large communication delays, a supervisor control algorithm is proposed which constantly monitors the stability of the teleoperation system. Experimental measurements are provided to show the effectiveness of the proposed bilateral teleoperation strategy.
INVESTIGATION OF FORMATION CONTROL APPROACHES CONSIDERING THE ABILITY OF A MOBILE ROBOT Wind, Hannes; Sawodny, Oliver; Br?aunl, Thomas
IAES International Journal of Robotics and Automation (IJRA) Vol 7, No 1: March 2018
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (957.65 KB) | DOI: 10.11591/ijra.v7i1.pp18-38

Abstract

This work investigates and compares various formation control approaches for mobile robots. A comprehensive literature review was conducted, with particular focus on the approaches' applicability to be implemented on real mobile robots with limited hard and software capabilities. A realistic model of mobile robots is introduced and its parameters are identi ed with measurements from actual mo-bile robots. Later on, the model is extended and used within simulation studies of the various investigated approaches. A collision avoidance controller based on a formation controller is proposed and simulations are carried out. Experiments on real mobile robots are conducted for two formation controllers and for the pro-posed collision avoidance controller. It is shown that if the requirements resulting from the simulation studies are satis ed, an implementation on the real robots is possible.
PROGRAMMABLE AUTOMATION CONTROLLER MECHATRONIC EXPERIMENT Gross, Thomas; Anderson, Kevin; Tsuchiya, Nolan
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 (889.392 KB) | DOI: 10.11591/ijra.v6i1.pp39-48

Abstract

This paper describes the use of the OPTO-22 Programmable Automation Controller (PAC) Learning center in the undergraduate control systems course at California State Polytechnic University at Pomona (Cal Poly Pomona). The OPTO-22 PAC System is an integrated system of hardware and software used for industrial control, remote monitoring, and data acquisition applications. The paper compares the pros and cons of using a PAC versus Programmable Logic Controller (PLC) or Field Programmable Gate Array (FPGA) systems. The paper introduces the flowchart based programming environment used in PACs. The paper includes an illustrative example of how the OPTO-22 PAC system can be interfaced to an industrial based Mechatronics pick-and-place robot station. This example details the input/output interfaces of the OPTO-22 PAC unit and the SUN Equipment Mecahtronics pick and place robot unit. Details of the flow chart programming and I/O interfacing protocols are given in the paper. The I/O configuration dialog in the OPTO-22 PAC development environment are also presented in this paper.
BEHAVIOR-BASED APPROACH FOR THE DETECTION OF LAND MINES UTILIZING OFF THE SHELF LOW COST AUTONOMOUS ROBOT Alshbatat, Abdel Ilah Nour
IAES International Journal of Robotics and Automation (IJRA) Vol 2, No 3: September 2013
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (634.467 KB) | DOI: 10.11591/ijra.v2i3.pp83-92

Abstract

Several countries all of the world are affected by landmines. The presence of mines represents a major threat to lives and causes economic problems. Currently, detecting and clearing mines demand specific expertise with special equipment. In this context, this paper offers the design and development of an intelligent controller which can control and enable the robot to detect mines by means of sensors and of processing the fused information to guide soldiers when passing landmines.  This is accomplished by broken down the overall system into two subsystems: sensor technologies and robotic device. Sensors devices include infrared distance sensor, metal detector, ultrasonic range finder, accelerometer sensor, while the structure of the robot in our case consists mainly  of a commercial  off-the-shelf  parts which  are  available  at  low  costs. The proposed controller is mainly based on creating fuzzy rules that reflect the behaviors of soldier beings in controlling a robot in a well known landmine. Simulation and experimental results are presented her to prove the efficiency of the proposed approach. The results show that the system is able to detect landmines and guide soldiers while crossing mines area.

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