International Journal of Intelligent Unmanned Systems最新文献

{"title":"Development of a novel V-frame octocopter: design, kinematic analysis and simulation using PID controllers with Ziegler Nichols tuning method","authors":"Tri Bien Minh, H. Vo, Luan Thanh Hua","doi":"10.1108/ijius-08-2021-0087","DOIUrl":"https://doi.org/10.1108/ijius-08-2021-0087","url":null,"abstract":"PurposeThe main purpose of the study was mechanical designing, simulation and manufacturing process for a new model of octocopter V-frame and to achieve simple manufacturing with 3D printing technology. Moreover, the octocopter PID controller was simulated on the Simulink environment to get performance on the roll and pitch angle control.Design/methodology/approachOctocopter is one kind of multirotor vehicle (a rotorcraft with more than two rotors), that has lately gained a lot of attention for both the scientific and commercial spheres. With a greater number of rotors, the multirotor is very maneuverable and robust. Multi-copter makes an important contribution to the technological revolution in the military, industry, transportation, mapping and especially agriculture. Nowadays, we are heading to the four-industrial revolutions as well as the new technological application in the agricultural field such as precision agriculture, mapping and surveillance. Due to recently advanced technology about sensors, electronics, 3D printing, battery with high performance, multi-copter can be manufactured at low cost.FindingsThe V-frame octocopter was chosen to design in this paper; it had better performance scores including high redundancy rotors, high payload capability and affordable cost than another multi-copter family. The V-frame octocopter increasing freedom field of view of the camera was considered to place the camera position in the front of the drone.Research limitations/implicationsFor the future aspects, the mechanical structure of the octocopter could be improved by using more advanced metal 3D printing to produce the aluminum or titan alloy materials for lighter and more rigid compared with ABS material, and finally the assembly to the real test.Originality/valueThe study shows the new platform of the V-frame octocopter kinematics analysis, designed on the CAD software, with some important mechanical parts using FEM analysis to find the highest stress and displacement under high load applied, the result of all connecting the joints 3D printing part is completely safe. Mechanical parts were manufactured by using 3D printing technology and CNC milling. Moreover, the study has shown V-frame octocopter simulation based on Simulink using the second method Ziegler- Nichols to find suitable parameters of the PID controller for roll and pitch angle. Using the block simulation is good for implementing and fast checking the new algorithm when building the new platform of the robot.","PeriodicalId":42876,"journal":{"name":"International Journal of Intelligent Unmanned Systems","volume":" ","pages":""},"PeriodicalIF":1.0,"publicationDate":"2023-01-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43678342","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":"Modified invasive weed optimization-based path exploration for mobile robot","authors":"Ipsit Kumar Dhal, Saroj Kumar, D. Parhi","doi":"10.1108/ijius-03-2022-0026","DOIUrl":"https://doi.org/10.1108/ijius-03-2022-0026","url":null,"abstract":"PurposeThis study aims to modify a nature-based numerical method named the invasive weed optimization (IWO) method for mobile robot path planning in various complex environments.Design/methodology/approachThe existing IWO method is quick in converging to a feasible solution but in a complex environment; it takes more time as well as computational resources. So, in this paper, the computational part of this artificial intelligence technique is modified with the help of recently developed evolution algorithms like particle swarm optimization, genetic algorithm, etc. Some conditional logic statements were used while doing sensor-based mapping for exploring complex paths. Implementation of sensor-based exploration, mathematical IWO method and prioritizing them for better efficiency made this modified IWO method take complex dynamic decisions.FindingsThe proposed modified IWO is better for dynamic obstacle avoidance and navigating a long complex map. The deviation of results in simulation and experiments is less than 5.5%, which validates a good agreement between simulation and real-time testing platforms.Originality/valueAs per a deep literature review, it has found that the proposed approach has not been implemented on the Khepera-III robot for smooth motion planning. Here a dynamic obstacle mapping feature is implemented. A method to selectively distribute seeds instead of a random normal distribution is also implemented in this work. The modified version of IWO is coded in MATLAB and simulated through V-Rep simulation software. The integration of sensors was done through logical conditioning. The simulation results are validated using real-time experiments.","PeriodicalId":42876,"journal":{"name":"International Journal of Intelligent Unmanned Systems","volume":" ","pages":""},"PeriodicalIF":1.0,"publicationDate":"2022-10-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47539617","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":"A real-test and simulation combined platform for developing intelligent tracking control of multirotors","authors":"Mohammad Bajelani, Morteza Tayefi, Man Zhu","doi":"10.1108/ijius-06-2022-0085","DOIUrl":"https://doi.org/10.1108/ijius-06-2022-0085","url":null,"abstract":"PurposeThis study aims to minimize the risk of costly failures of flight tests during the path tracking control design, and a noble approach has been proposed in this study to put the whole vehicle-in-the simulation loop. Working with the real system is essential for developing intelligent and data-driven controllers for multirotor drones which needs learning the drones' nonlinear complicated dynamics. The vehicle-in-the-loop (VIL) platform developed in this paper is a safe and effective solution to deal with this problem.Design/methodology/approachTo avoid risky flight test during controller design, the multirotor is hinged to a shaft that allows the multirotor's angular motion but restricts translational motion. The test-bed includes the real system attitude dynamics and the simulation of the position dynamics to model the complete flight based on real-time reactions of the vehicle. For the authors' case study, a hexacopter angular motion provides the real-time attitude data in translational motion simulation loop. To test the set-up, a proportional-integral-derivative (PID) and a brain emotional learning-based intelligent controller (BELBIC) is implemented for tracking of circle and 8-shape flight trajectories.FindingsThe results show that the platform helps the intelligent controller to learn the system dynamics without worrying about the failure in the early stages of the design and in the real-world flight test. Although the hexacopter translational dynamics is modeled in simulation, the authors still have highly accurate attitude dynamics matching the requirement of the control loop design. The comparison of the two controllers also shows that the performance of BELBIC is better than PID in this test.Originality/valueThe research background is reviewed in the introduction section. The other sections are originally developed in this paper.","PeriodicalId":42876,"journal":{"name":"International Journal of Intelligent Unmanned Systems","volume":" ","pages":""},"PeriodicalIF":1.0,"publicationDate":"2022-10-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41569753","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":"Real-time vehicle detection for traffic monitoring by applying a deep learning algorithm over images acquired from satellite and drone","authors":"D. Vohra, P. Garg, S. Ghosh","doi":"10.1108/ijius-06-2022-0077","DOIUrl":"https://doi.org/10.1108/ijius-06-2022-0077","url":null,"abstract":"PurposeThe purpose is to design a system in which drones can control traffic most effectively using a deep learning algorithm.Design/methodology/approachDrones have now started entry into each facet of life. The entry of drones has made them a subject of great relevance in the present technological era. The span of drones is, however, very broad due to various kinds of usages leading to different types of drones. Out of the many usages, one usage which is presently being widely researched is traffic monitoring as traffic monitoring can hover over a particular area. This paper specifically brings out the basic algorithm You Look Only Once (YOLO) which may be used for identifying the vehicles. Consequently, using deep learning YOLO algorithm, identification of vehicles will, therefore, help in easy regulation of traffic in streetlights, avoiding accidents, finding out the culprit drivers due to which traffic jam would have taken place and recognition of a pattern of traffic at various timings of the day, thereby announcing the same through radio (namely, Frequency Modulation (FM)) channels, so that people can take the route which is the least jammed.FindingsThe study found that the object(s) detected by the deep learning algorithm is almost the same as if seen from a naked eye from the top view. This led to the conclusion that the drones may be used for traffic monitoring, in the days to come, which was not the case earlier.Originality/valueThe main research content and key algorithm have been introduced. The research is original. None of the parts of this research paper has been published anywhere.","PeriodicalId":42876,"journal":{"name":"International Journal of Intelligent Unmanned Systems","volume":" ","pages":""},"PeriodicalIF":1.0,"publicationDate":"2022-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47379612","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":"Unmanned aerial vehicles in the construction industry - Towards a protocol for safe preparation and flight of drones","authors":"M. Szóstak, T. Nowobilski, Abdul–Majeed Mahamadu, David Caparrós Pérez","doi":"10.1108/ijius-05-2022-0063","DOIUrl":"https://doi.org/10.1108/ijius-05-2022-0063","url":null,"abstract":"PurposeUnmanned aerial vehicles (UAV), colloquially called drones, are widely applied in many sectors of the economy, including the construction industry. They are used for building inspections, damage assessment, land measurements, safety inspections, monitoring the progress of works, and others.Design/methodology/approachThe study notes that UAV pose new, and not yet present, risks in the construction industry. New threats arise, among others, from the development of new technologies, as well as from the continuous automation and robotization of the construction industry. Education regarding the safe use of UAV and the proper use of drones has a chance to improve the safety of work when using these devices.FindingsThe procedure (protocol) was developed for the correct and safe preparation and planning of an unmanned aerial vehicle flight during construction operations.Originality/valueBased on the analysis of available sources, no such complete procedure has yet been developed for the correct, i.e. compliant with applicable legal regulations and occupational health and safety issues, preparation for flying UAV. The verification and validation of the developed flight protocol was performed on a sample of over 100 different flight operations.","PeriodicalId":42876,"journal":{"name":"International Journal of Intelligent Unmanned Systems","volume":" ","pages":""},"PeriodicalIF":1.0,"publicationDate":"2022-09-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47887857","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":"State observer-based model reference adaptive balance control for one-leg stance","authors":"T. Tran, V. T. Duong, H. H. Nguyen, T. Nguyen","doi":"10.1108/ijius-07-2021-0077","DOIUrl":"https://doi.org/10.1108/ijius-07-2021-0077","url":null,"abstract":"PurposeHumanoid robots have been utilized in many fields such as medical, construction, and disaster response. While humanoid robots nowadays can achieve great capabilities, the one-leg balancing task still poses a challenging problem. This paper aims to propose a novel approach to solve the problem.Design/methodology/approachTo aid the balance of one leg in humanoid robot, an external balance mechanism is inserted to the back of the humanoid robot. First, a dynamic model of the humanoid robot with balance mechanism and its simplified model are introduced. Second, a backstepping-based control method is utilized to build the proposed controller for one-leg stance system through two steps. For the first step, a minimum observer-based controller with a virtual control input is used to control the first sub-system reaching the desired reference input. For the second step, a virtual control input is considered as a reference input of a second sub-system, then a model reference adaptive controller (MRAC) is employed to control the second sub-system reaching the virtual control input in presence of uncertainties. By using the external balance mechanism, the sideway balancing task is separated from normal walking function. Furthermore, the utilization of the balance mechanism ensures the humanoid robot's hip adduction does not exceed the threshold of a human when walking. Finally, a simulation study is carried out to evaluate the effectiveness of the proposed method.FindingsThis paper proposes a model reference adaptive control using state observer for balancing one leg of humanoid robot in stance phase that extends our previous research (Tran et al., 2021).Originality/valueThe main research contents have been introduced.","PeriodicalId":42876,"journal":{"name":"International Journal of Intelligent Unmanned Systems","volume":" ","pages":""},"PeriodicalIF":1.0,"publicationDate":"2022-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44555887","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":"Linear regression model and least square method for experimental identification of AMBU bag in simple ventilator","authors":"Cong Toai Truong, K. H. Huynh, V. T. Duong, Huy Hung Nguyen, L. Pham, T. Nguyen","doi":"10.1108/ijius-07-2021-0072","DOIUrl":"https://doi.org/10.1108/ijius-07-2021-0072","url":null,"abstract":"PurposeIn the COVID-19 outbreak periods, people's life has been deranged, leading to disrupt the world. Firstly, the number of deaths is growing and has the potential to surpass the highest level at any time. Secondly, the pandemic broke many countries' fortified lines of epidemic prevention and gave people a more honest view of its seriousness. Finally, the pandemic has an impact on life, and the economy led to a shortage in medical, including a lack of clinicians, facilities and medical equipment. One of those, a simple ventilator is a necessary piece of medical equipment since it might be useful for a COVID-19 patient's treatment. In some cases, the COVID-19 patients require to be treated by modern ventilators to reduce lung damage. Therefore, the addition of simple ventilators is a necessity to relieve high work pressure on medical bureaucracies. Some low-income countries aim to build a simple ventilator for primary care and palliative care using locally accessible and low-cost components. One of the simple principles for producing airflow is to squeeze an artificial manual breathing unit (AMBU) iterative with grippers, which imitates the motion of human fingers. Unfortunately, the squeezing angle of grippers is not proportional to the exhaust air volume from the AMBU bag. This paper aims to model the AMBU bag by a mathematical equation that enables to implement on a simple controller to operate a bag-valve-mask (BVM) ventilator with high accuracy performance.Design/methodology/approachThis paper provides a curvature function to estimate the air volume exhausting from the AMBU bag. Since the determination of the curvature function is sophisticated, the coefficients of the curvature function are approximated by a quadratic function through the experimental identification method. To obtain the high accuracy performance, a linear regression model and a least square method are employed to investigate the characteristic of the BVM ventilator's grippers angle with respect to the airflow volume produced by the AMBU bag.FindingsThis paper investigates the correlation between the exhausting airflow of the AMBU bag and the grippers angle of the BVM ventilator.Originality/valueThe experimental results validated that the regression model of the characteristic of the exhausting airflow of the AMBU bag with respect to the grippers' angle has been fitted with a coefficient over 98% within the range of 350–750 ml.","PeriodicalId":42876,"journal":{"name":"International Journal of Intelligent Unmanned Systems","volume":" ","pages":""},"PeriodicalIF":1.0,"publicationDate":"2022-08-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47956944","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":"Computational fluid dynamics (CFD) based propeller design improvement for high altitude long endurance (HALE) UAV","authors":"Fatwa Azam Maulana, E. Amalia, M. A. Moelyadi","doi":"10.1108/ijius-07-2021-0078","DOIUrl":"https://doi.org/10.1108/ijius-07-2021-0078","url":null,"abstract":"PurposeHigh Altitude Long Endurance Unmanned Aerial Vehicle (HALE UAV) driven by a hybrid power between battery and solar panel have attracted many researchers. The HALE UAV which develops at Bandung Institute of Technology has design requirements of a 63 kg MTOW with a cruise velocity of 22.1 m/s at an altitude of 60,000 ft propelled by two propellers. The main problems that arise with the propellers gained from the market are these propellers cannot operate properly at the cruise phase due to inadequate thrust and high drag value. This paper aims to design a propeller that solves those problems.Design/methodology/approachThe Larrabee method is used to design this propeller geometry with an output in the form of a chord and twist distribution. The CFD approach method is used to improve the design resulting from the Larrabee method.FindingsThis study shows that the inputted thrust value of the propeller designed using the Larrabee method is always higher than the thrust value resulting from the CFD simulation with a difference of around 20% so a design improvement process using CFD is required.Originality/valueThe analysis of propeller implementation in various mission profiles shows that this propeller can operate fully from climbing at sea level to cruising flight at an altitude of 60,000 ft. The same procedure can be applied in other HALE UAV cases to generate a propeller design with different objectives.","PeriodicalId":42876,"journal":{"name":"International Journal of Intelligent Unmanned Systems","volume":" ","pages":""},"PeriodicalIF":1.0,"publicationDate":"2022-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45711159","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":"Intelligent personal assistant for personal computers using long short-term memory-based verbalizer","authors":"Iwin Thanakumar Joseph Swamidason, Sravanthy Tatiparthi, Karunakaran Velswamy, S. Velliangiri","doi":"10.1108/ijius-02-2022-0012","DOIUrl":"https://doi.org/10.1108/ijius-02-2022-0012","url":null,"abstract":"PurposeAn intelligent personal assistant for personal computers (PCs) is a vital application for the current generation. The current computer personal assistant services checking frameworks are not proficient at removing significant data from PCs and long-range informal communication information.Design/methodology/approachThe proposed verbalizers use long short-term memory to classify the user task and give proper guidelines to the users. The outcomes show that the proposed method determinedly handles heterogeneous information and improves precision. The main advantage of long short-term memory is that handle the long-term dependencies in the input data.FindingsThe proposed model gives the 22% mean absolute error. The proposed method reduces mean square error than support vector machine (SVM), convolutional neural network (CNN), multilayer perceptron (MLP) and K-nearest neighbors (KNN).Originality/valueThis paper fulfills the necessity of intelligent personal assistant for PCs using verbalizer.","PeriodicalId":42876,"journal":{"name":"International Journal of Intelligent Unmanned Systems","volume":" ","pages":""},"PeriodicalIF":1.0,"publicationDate":"2022-07-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44696670","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":"Analytical review on deep learning and IoT for smart healthcare monitoring system","authors":"Sangeetha Yempally, S. K. Singh, S. Velliangiri","doi":"10.1108/ijius-02-2022-0019","DOIUrl":"https://doi.org/10.1108/ijius-02-2022-0019","url":null,"abstract":"PurposeSelecting and using the same health monitoring devices for a particular problem is a tedious task. This paper aims to provide a comprehensive review of 40 research papers giving the Smart health monitoring system using Internet of things (IoT) and Deep learning.Design/methodology/approachHealth Monitoring Systems play a significant role in the healthcare sector. The development and testing of health monitoring devices using IoT and deep learning dominate the healthcare sector.FindingsIn addition, the detailed conversation and investigation are finished by techniques and development framework. Authors have identified the research gap and presented future research directions in IoT, edge computing and deep learning.Originality/valueThe gathered research articles are examined, and the gaps and issues that the current research papers confront are discussed. In addition, based on various research gaps, this assessment proposes the primary future scope for deep learning and IoT health monitoring model.","PeriodicalId":42876,"journal":{"name":"International Journal of Intelligent Unmanned Systems","volume":" ","pages":""},"PeriodicalIF":1.0,"publicationDate":"2022-06-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47856369","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}