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International Robotics & Automation Journal最新文献

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Linearization of feedback controller robust to the presence of uncertainties for a wheeled robot with a trailer 带拖车的轮式机器人反馈控制器的线性化鲁棒化
International Robotics & Automation Journal Pub Date : 2022-07-01 DOI: 10.15406/iratj.2022.08.00245
Mostafa Jalalnezhad, Nava Rezvani, Sadegh Fazeli
{"title":"Linearization of feedback controller robust to the presence of uncertainties for a wheeled robot with a trailer","authors":"Mostafa Jalalnezhad, Nava Rezvani, Sadegh Fazeli","doi":"10.15406/iratj.2022.08.00245","DOIUrl":"https://doi.org/10.15406/iratj.2022.08.00245","url":null,"abstract":"The wheeled mobile robot with differential thrust consists of two independent active wheels and a passive spherical wheel. Assuming its net rolling and non-uncertainty, this robot is a nonlinear system bound to non-holonomic constraints. This system also falls into the category of systems with a lack of operators. Tracing time travel paths is one of the most difficult issues in the field of wheeled robots that we will address in this article. In this regard, first the kinematic model of the system with the presence of uncertainty on the control inputs is expressed in which the linear velocity and angular velocity of the robot are considered system inputs. After determining the desired reference paths, using the linearization of the designed feedback controller ensures the stability of all system state variables globally. The controller is then designed with adaptive rules to solve the problem of tracking time paths based on input-output control in the presence of uncertainties. The stability of this controller is also proven globally. Finally, the performance of the designed controllers to compensate for the uncertainties will be compared by comparing the results.","PeriodicalId":346234,"journal":{"name":"International Robotics & Automation Journal","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133062779","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}
引用次数: 0
Shortest paths of Rubik’s Snake prime knots up to 5 crossings 最短路径的魔方蛇素数结多达5个交叉点
International Robotics & Automation Journal Pub Date : 2022-04-01 DOI: 10.15406/iratj.2022.08.00243
Songming Hou, Jianning Su
{"title":"Shortest paths of Rubik’s Snake prime knots up to 5 crossings","authors":"Songming Hou, Jianning Su","doi":"10.15406/iratj.2022.08.00243","DOIUrl":"https://doi.org/10.15406/iratj.2022.08.00243","url":null,"abstract":"A Rubik’s Snake is a toy that was invented over 40 years ago together with the more famous Rubik’s Cube. It can be twisted into many interesting shapes including knots. Four blocks can form a trivial knot. In this paper, we study how many blocks are needed to form a nontrivial knot with up to 5 crossings. The results are classified using the DT (Dowker-Thistlethwaite) code to make sure each design is indeed the knot we claimed it is. A line representation is used to clearly reveal the knot structure of the Rubik’s Snake. Exhaustive local searches are performed to verify that no local improvement is possible for the shortest paths we found.","PeriodicalId":346234,"journal":{"name":"International Robotics & Automation Journal","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114101595","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}
引用次数: 1
Comparison between FLC and PID controller for speed control of DC motor FLC与PID控制器在直流电动机速度控制中的比较
International Robotics & Automation Journal Pub Date : 2022-03-30 DOI: 10.15406/iratj.2022.08.00242
Abdel-Azim S. Abdel-Salam
{"title":"Comparison between FLC and PID controller for speed control of DC motor","authors":"Abdel-Azim S. Abdel-Salam","doi":"10.15406/iratj.2022.08.00242","DOIUrl":"https://doi.org/10.15406/iratj.2022.08.00242","url":null,"abstract":"The conventional PID controller is very good when all parameters of the system are Known, that’s mean the system is linear, but when the system is nonlinear because of the friction, the saturation, the disturbance, or the load the dynamic model of the system will be the change, in this case, the conventional PID controller is not good, therefore we used the FLC because it is considered as intelligent controller and it is very suitable when parameter changed or not known, FLC does not need to now the all dynamic model of the system, that’s mean FLC is good with nonlinear system. In this paper, we presented the modeling of DC Motor, and how to compute the full dynamic model of DC Motor, after that we built a subsystem for DC Motor using MATLAB / Simulink, then we applied the PID controller and fuzzy logic controller for controlling the speed of DC Motor, the parameters of PID controller proportional (P), integral (I), derivative (D), tuned by using PID tuning tool in Simulink, we designed FLC for speed control, then we compared the simulation results between PID and FLC, in characteristics rise time, settling time, steady-state error and overshoot. From the simulation results and table compared we found that the performance of FLC is better than the performance of the PID controller in terms of speed control in case of no disturbance or load and with disturbance or load.","PeriodicalId":346234,"journal":{"name":"International Robotics & Automation Journal","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-03-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130606580","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}
引用次数: 1
Physics and mathematical model for boomerang flight 回旋镖飞行的物理和数学模型
International Robotics & Automation Journal Pub Date : 2022-03-17 DOI: 10.15406/iratj.2022.08.00241
R. Usubamatov
{"title":"Physics and mathematical model for boomerang flight","authors":"R. Usubamatov","doi":"10.15406/iratj.2022.08.00241","DOIUrl":"https://doi.org/10.15406/iratj.2022.08.00241","url":null,"abstract":"The boomerang flight is presented in the known publications by the action of aerodynamic forces and gyroscopic precession torque. This solution does not give a true answer because gyroscopic effects are expressed by the action of the eight interrelated inertial torques generated by the rotating objects. The publications with numerical modeling do not describe the physics of the boomerang flight. Today, the solution of this problem is presented by the mathematical model with the action of the lift forces and inertial torques generated by the rotating boomerang. The boomerang flight is described by the methods of theories of aerodynamics and gyroscopic effects that express the kinetic energy of the boomerang motion and rotation. The mathematical model for the boomerang flight contains multifunctional and interrelated expressions of two theories, which manual solution is sophisticated, but solved by computer software without numerical modeling. The analytical solution for the boomerang flight describes its physics and presents a good example for the educational process of engineering mechanics and aerodynamics.","PeriodicalId":346234,"journal":{"name":"International Robotics & Automation Journal","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-03-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115494464","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}
引用次数: 0
Shortest paths of Rubik’s snake prime knots with up to 6 crossings and application to roller coaster design 最短路径的魔方蛇prime节与多达6个交叉点和应用于过山车的设计
International Robotics & Automation Journal Pub Date : 2022-03-16 DOI: 10.15406/iratj.2023.09.00259
Songming Hou, Jianning Su, Ramon Mufutau
{"title":"Shortest paths of Rubik’s snake prime knots with up to 6 crossings and application to roller coaster design","authors":"Songming Hou, Jianning Su, Ramon Mufutau","doi":"10.15406/iratj.2023.09.00259","DOIUrl":"https://doi.org/10.15406/iratj.2023.09.00259","url":null,"abstract":"A Rubik’s Snake is a toy that was invented over 40 years ago together with the more famous Rubik’s Cube. It can be twisted to many interesting shapes including knots. Four blocks can form a trivial knot. Previously we have studied the shortest paths for Rubik’s Snake prime knots with up to 5 crossings. In this paper we study how many blocks are needed to form prime knots with 6 crossings. There are three different types of such knots. The results are classified using the DT (Dowker-Thistlethwaite) code. We also apply our findings to roller coaster design by using the tube version of the Rubik’s snake.","PeriodicalId":346234,"journal":{"name":"International Robotics & Automation Journal","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-03-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121112420","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}
引用次数: 0
A Review on stability and passivity analysis of haptic devices 触觉装置稳定性与无源性分析研究进展
International Robotics & Automation Journal Pub Date : 2022-03-09 DOI: 10.15406/iratj.2023.09.00258
A. Mashayekhi, B. Akhoundi, V. Modanloo
{"title":"A Review on stability and passivity analysis of haptic devices","authors":"A. Mashayekhi, B. Akhoundi, V. Modanloo","doi":"10.15406/iratj.2023.09.00258","DOIUrl":"https://doi.org/10.15406/iratj.2023.09.00258","url":null,"abstract":"Haptic devices are robots that are used for simulating virtual objects for their operators. Since most real objects can be modelled by spring and dampers, the virtual object is also a (discrete) spring and damper. The discretization is done with a constant sampling time, while a time delay may exist in the control loop, due to do different sources. Simulating stiff objects is a challenging problem since severe vibrations occur in the body of the haptic device and may damage itself or even its operator. The stable operation of a haptic device is a key problem in all haptic applications. It is shown that using smaller values of sampling time and time delay, can make an increase in the stability domain; while increasing effective mass and friction has the same result. In this paper, a review of the stability and passivity of haptic devices is presented and helps the readers to know better recent activities in this field.","PeriodicalId":346234,"journal":{"name":"International Robotics & Automation Journal","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-03-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114980663","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}
引用次数: 0
Improving voice detection in real life scenarios: differentiating television and human speech at older adults’ houses 改善现实生活场景中的语音检测:区分老年人家中的电视和人类语音
International Robotics & Automation Journal Pub Date : 2022-03-01 DOI: 10.15406/iratj.2023.09.00255
David Figueroa, S. Nishio, R. Yamazaki, H. Ishiguro
{"title":"Improving voice detection in real life scenarios: differentiating television and human speech at older adults’ houses","authors":"David Figueroa, S. Nishio, R. Yamazaki, H. Ishiguro","doi":"10.15406/iratj.2023.09.00255","DOIUrl":"https://doi.org/10.15406/iratj.2023.09.00255","url":null,"abstract":"The use of voice-operated robots in real-life settings introduces multiple issues as opposed to the use of them in controlled, laboratory conditions. In our study, we introduced conversation robots in the homes of 18 older adults’ homes to increase the conversation activities of the participants. A manual examination of the audio data the robot considered a human voice showed that a considerable amount was from television sounds present in the participants’ homes. We used this data to train a neural network that can differentiate between human speech and speech-like sounds from television, achieving high metrics. We extended our analysis into how the voices of the participants contain inherent patterns that can be general or uncommon and how this affects performance of our algorithm in our attempts to identify human speech with or without these patterns.","PeriodicalId":346234,"journal":{"name":"International Robotics & Automation Journal","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124742208","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}
引用次数: 2
Design and implementation of smart voice assistant and recognizing academic words 智能语音助手与学术词识别的设计与实现
International Robotics & Automation Journal Pub Date : 2022-02-24 DOI: 10.15406/iratj.2022.08.00240
A. Abougarair, Mohamed KI Aburakhis, Mohamed O Zaroug
{"title":"Design and implementation of smart voice assistant and recognizing academic words","authors":"A. Abougarair, Mohamed KI Aburakhis, Mohamed O Zaroug","doi":"10.15406/iratj.2022.08.00240","DOIUrl":"https://doi.org/10.15406/iratj.2022.08.00240","url":null,"abstract":"This paper approaches the use of a Virtual Assistant using neural networks for recognition of commonly used words. The main purpose is to facilitate the users’ daily lives by sensing the voice and interpreting it into action. Alice, which is the name of the assistant, is implemented based on four main techniques: Hot word detection, Voice to Text conversion, Intent recognition, and Text to Voice conversion. Linux is the operating system of choice, for developing and running the assistant because it is in the public domain, also, Linux has been implemented on most Single-board computers. Python is chosen as a development language due to its capabilities and compatibility with various APIs and libraries, which are deemed necessary for the project. The virtual assistant will be required to communicate with IoT devices. In addition, a speech recognition system is created in order to recognize the significant technical words. An artificial neural network (ANN) with different structure networks and training algorithms is utilized in conjunction with the Mel Frequency Cepstral Coefficient (MFCC) feature extraction technique to increase the identification rate effectively and find the optimal performance. For training purposes, the Levenberg-Marquardt (LM) and BGFS Quasi-Newton Resilient Backpropagation are compared using 10 MFCC, utilizing from 10 to 50 neurons increasing in increments of 10 similarly for 13MFCC the training is done utilizing from between 10 to 50 neurons.","PeriodicalId":346234,"journal":{"name":"International Robotics & Automation Journal","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-02-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132100687","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}
引用次数: 10
Navigational control strategy of humanoid robots using average fuzzy-neuro-genetic hybrid technique 基于平均模糊-神经遗传混合技术的人形机器人导航控制策略
International Robotics & Automation Journal Pub Date : 2022-02-22 DOI: 10.15406/iratj.2022.08.00239
Sat Chidananda, D. Parhi
{"title":"Navigational control strategy of humanoid robots using average fuzzy-neuro-genetic hybrid technique","authors":"Sat Chidananda, D. Parhi","doi":"10.15406/iratj.2022.08.00239","DOIUrl":"https://doi.org/10.15406/iratj.2022.08.00239","url":null,"abstract":"","PeriodicalId":346234,"journal":{"name":"International Robotics & Automation Journal","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133096126","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}
引用次数: 0
Computer controlled image based object classification by using a robot manipulator 利用机器人机械臂进行基于计算机控制图像的目标分类
International Robotics & Automation Journal Pub Date : 2022-02-15 DOI: 10.15406/iratj.2023.09.00257
E. Uyar, Mucahid Candan
{"title":"Computer controlled image based object classification by using a robot manipulator","authors":"E. Uyar, Mucahid Candan","doi":"10.15406/iratj.2023.09.00257","DOIUrl":"https://doi.org/10.15406/iratj.2023.09.00257","url":null,"abstract":"In this paper the design, implementation and application of a computer controlled vision system with a robot manipulator for classification of various fruits is introduced. The system, which consists of a RGB Camera, a PC and a five degree of freedom (DOF) robot manipulator, specifically set up to work in real-time applications. At the first stage of study the captured image of objects in RGB scale viewed by the camera is stored via USB link of computer as digital image data in registries for further segmentation process to recognize the objects. A particular Neural Network is designed to classify objects exactly. The moving objects on a belt, driven by a servo-stepper motor, are recognized in size and property via a vertically mounted camera. The recognized objects are then assorted by a computer controlled robot manipulator with five DOF and a gripper at the end-effecter, in order to transport the objects via a predefined trajectory to designated locations. As second stage, the kinematic link table of robot manipulator using inverse kinematics is determined, so that from the given way points of a particular trajectory the link parameters (joint angles) can be calculated. The joint angles are used as reference values for a joint based control algorithm programmed in C++. The joints are equipped with geared DC motors with position feedback. A particular control program is also used to control the motion of servo-stepper belt motor and the pneumatically activated gripper valve of the manipulator. Successful results are evaluated both in assorting of fruit in size, property, in synchronous working of the robot arm and in connection with image processing.","PeriodicalId":346234,"journal":{"name":"International Robotics & Automation Journal","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-02-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130336936","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}
引用次数: 0
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