{"title":"A PRM Approach to Path Planning with Obstacle Avoidance of an Autonomous Robot","authors":"Saleh Alarabi, C. Luo, M. Santora","doi":"10.1109/ICARA55094.2022.9738559","DOIUrl":"https://doi.org/10.1109/ICARA55094.2022.9738559","url":null,"abstract":"A path planning algorithm is one of the most important parts of the system of an intelligent robot. There are many studies to avoid obstacles in a navigation route for a known environment, but it is difficult to get an optimal path. In short, knowing the environment is one of the most important parts of robotic planning and probabilistic Roadmap (PRM) uses this to direct the mobile robot to find the target while having obstacle avoidance. Mobile robots have been widely used in multiple automation-related settings. Navigation from one stage to another must be performed while avoiding current obstacles in the region to execute their duties effectively. The purpose of this research is to show the effectiveness of methods in path planning in different environments by using a PRM. This paper suggests a trajectory based on a PRM for an autonomous robot trajectory in a known environment. The robot motion path was simulated and compared to other studies.","PeriodicalId":157936,"journal":{"name":"2022 8th International Conference on Automation, Robotics and Applications (ICARA)","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-02-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127139259","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Design of an Interface Test Adapter for Sequential Testing of Transient Voltage Suppressor Diodes to Reduce Test Cycle Time","authors":"Francis A. Malabanan, P. Abu, C. Oppus, R. Reyes","doi":"10.1109/ICARA55094.2022.9738563","DOIUrl":"https://doi.org/10.1109/ICARA55094.2022.9738563","url":null,"abstract":"The advancement in semiconductor circuit design, particularly its miniaturization has increased the circuit sensitivity to electrical stresses. To protect the circuits, transient voltage suppressor (TVS) diodes are used. This device must be tested with the use of a high-power tester that can surge high inrush power. In a test manufacturing company that employs manual testing of TVS diodes, the cycle time (CT) increases which results in a decrease in the number of units per hour (UPH). The UPH can be increased if the cycle time of the process and human intervention is reduced. In this study, the Design for Six Sigma (DFSS) is used in the design methodology to develop an interface test adapter (ITA) to increase the UPH tested. It is a process flow that guides the research in the creation of ITA. The ITA is interfaced between the current test machine and the unit under test (UUT). It consists of a fixture that holds the UUT and an FPGA board that controls the process. The ITA automates the current fixture by sequentially testing each of the eight bidirectional TVS diodes devices in a single unit vertical array package to reduce the test cycle time. It also minimizes human intervention that avoids human handling error and inconsistency in the process cycle time. Results show that the cycle time per unit has decreased by 20.57%. In terms of UPH tested, this is equivalent to a 48.80% improvement.","PeriodicalId":157936,"journal":{"name":"2022 8th International Conference on Automation, Robotics and Applications (ICARA)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-02-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127529325","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"ICARA 2022 Cover Page","authors":"","doi":"10.1109/icara55094.2022.9738564","DOIUrl":"https://doi.org/10.1109/icara55094.2022.9738564","url":null,"abstract":"","PeriodicalId":157936,"journal":{"name":"2022 8th International Conference on Automation, Robotics and Applications (ICARA)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-02-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115055431","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Brendan Hertel, Ryan Donald, Christian Dumas, S. Ahmadzadeh
{"title":"Methods for Combining and Representing Non-Contextual Autonomy Scores for Unmanned Aerial Systems","authors":"Brendan Hertel, Ryan Donald, Christian Dumas, S. Ahmadzadeh","doi":"10.1109/ICARA55094.2022.9738560","DOIUrl":"https://doi.org/10.1109/ICARA55094.2022.9738560","url":null,"abstract":"Measuring an overall autonomy score for a robotic system requires the combination of a set of relevant aspects and features of the system that might be measured in different units, qualitative, and/or discordant. In this paper, we build upon an existing non-contextual autonomy framework that measures and combines the Autonomy Level and the Component Performance of a system as an overall autonomy score. We examine several methods of combining features, showing how some methods find different rankings from the same data. We discuss resolving this issue by employing the weighted product method. Furthermore, we introduce two new means for representing relative and absolute autonomy score, namely, the autonomy coordinate system and the autonomy distance which represents the overall autonomy of a system. We apply our method to a set of seven Unmanned Aerial Systems (UAS) and obtain their absolute autonomy score as well as their relative score with respect to the best system.","PeriodicalId":157936,"journal":{"name":"2022 8th International Conference on Automation, Robotics and Applications (ICARA)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128630678","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}