Journal of Robotics and Control (JRC)最新文献

{"title":"Design and Implementation of LoRa-Based Forest Fire Monitoring System","authors":"Yosi Apriani, Wiwin A. Oktaviani, Ian Mochamad Sofian","doi":"10.18196/jrc.v3i3.14128","DOIUrl":"https://doi.org/10.18196/jrc.v3i3.14128","url":null,"abstract":"One of the great disasters on earth is forest fires. Attempts to detect disaster events have been made with the help of monitoring technology. However, the problem is that the sensor is less responsive to detecting the presence of fire. Furthermore, sending information about fire incidents throughout the forest cannot use the existing communication platform. Therefore, we designed a forest fire monitoring system using LoRa. This technology is based on wireless which can transmit data across the forest. To detect the presence of fire, Arduino Uno is used as a microcontroller that regulates input from the AMG8833 sensor and GPS Ubox 6M. The experiment shows that the AMG8833 sensor is more sensitive in detecting the presence of fire as the catch range changes between 3 to 10 meters. In that distance range, hotspots were detected 19.25 oC to 122.5 oC when testing the sensor node is done. The monitoring system developed in this study demonstrated that sensor nodes and gateways could communicate up to 500 meters apart with a signal quality of -134 dBm. The best LoRa configuration mode for this communication capability is a Bandwidth of 250, a Code Rate of 4/5, and a Spread Factor of 10.One of the great disasters on earth is forest fires. Attempts to detect disaster events have been made with the help of monitoring technology. However, the problem is that the sensor is less responsive to detecting the presence of fire. Furthermore, sending information about fire incidents throughout the forest cannot use the existing communication platform. Therefore, we designed a forest fire monitoring system using LoRa. This technology is based on wireless which can transmit data across the forest. To detect the presence of fire, Arduino Uno is used as a microcontroller that regulates input from the AMG8833 sensor and GPS Ubox 6M. The experiment shows that the AMG8833 sensor is more sensitive in detecting the presence of fire as the catch range changes between 3 to 10 meters. In that distance range, hotspots were detected 19.25 oC to 122.5 oC when testing the sensor node is done. The monitoring system developed in this study demonstrated that sensor nodes and gateways could communicate up to 500 meters apart with a signal quality of -134 dBm. The best LoRa configuration mode for this communication capability is a Bandwidth of 250, a Code Rate of 4/5, and a Spread Factor of 10.","PeriodicalId":443428,"journal":{"name":"Journal of Robotics and Control (JRC)","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124311127","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":"Self-Collision Avoidance Control of Dual-Arm Multi-Link Robot Using Neural Network Approach","authors":"V. Kramar, O. Kramar, A. Kabanov","doi":"10.18196/jrc.v3i3.14318","DOIUrl":"https://doi.org/10.18196/jrc.v3i3.14318","url":null,"abstract":"The problem of mutual collisions of manipulators of a dual-arm multi-link robot (so-called self-collisions) arises during the performance of a cooperative technological operation. Self-collisions can lead to non-fulfillment of the technological operation or even to the failure of the manipulators. In this regard, it is necessary to develop a method for online detection and avoidance of self-collisions of manipulators. The article presents a method for detecting and avoiding self-collisions of multi-link manipulators using an artificial neural network by the example of the dual-arm robot SAR-401. A comparative analysis is carried out and the architecture of an artificial neural network for self-collisions avoidance control of dual-arm robot manipulators is proposed. The novelty of the proposed approach lies in the fact that it is an alternative to the generally accepted methods of detecting self-collisions based on the numerical solution of inverse kinematics problems for manipulators in the form of nonlinear optimization problems. Experimental results performed based on MATLAB model, the simulator of the robot SAR-401 and on the real robot itself confirmed the applicability and effectiveness of the proposed approach. It is shown that the detection of possible self-collisions using the proposed method based on an artificial neural network is performed approximately 10 times faster than approaches based on the numerical solution of the inverse kinematics problem while maintaining the specified accuracy.","PeriodicalId":443428,"journal":{"name":"Journal of Robotics and Control (JRC)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121126106","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":"Early Diagnosis for Dengue Disease Prediction Using Efficient Machine Learning Techniques Based on Clinical Data","authors":"Bilal Abdualgalil, Sajimon Abraham, Waleed M. Ismael","doi":"10.18196/jrc.v3i3.14387","DOIUrl":"https://doi.org/10.18196/jrc.v3i3.14387","url":null,"abstract":"Dengue fever is a worldwide issue, especially in Yemen. Although early detection is critical to reducing dengue disease deaths, accurate dengue diagnosis requires a long time due to the numerous clinical examinations. Thus, this issue necessitates the development of a new diagnostic schema. The objective of this work is to develop a diagnostic model for the earlier diagnosis of dengue disease using Efficient Machine Learning Techniques (EMLT). This paper proposed prediction models for dengue disease based on EMLT. Five different efficient machine learning models, including K-Nearest Neighbor (KNN), Gradient Boosting Classifier (GBC), Extra Tree Classifier (ETC), eXtreme Gradient Boosting (XGB), and Light Gradient Boosting Machine (LightGBM). All classifiers are trained and tested on the dataset using 10-Fold Cross-Validation and Holdout Cross-Validation approaches. On a test set, all models were evaluated using different metrics: accuracy, F1-sore, Recall, Precision, AUC, and operating time. Based on the findings, the ETC model achieved the highest accuracy in Hold-out and 10-fold cross-validation, with 99.12 % and 99.03 %, respectively. In the Holdout cross-validation approach, we conclude that the best classifier with high accuracy is ETC, which achieved 99.12 %. Finally, the experimental results indicate that classifier performance in holdout cross-validation outperforms 10-fold cross-validation. Accordingly, the proposed dengue prediction system demonstrates its efficacy and effectiveness in assisting doctors in accurately predicting dengue disease.","PeriodicalId":443428,"journal":{"name":"Journal of Robotics and Control (JRC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129064777","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":"Autonomous Movement Control of Coaxial Mobile Robot based on Aspect Ratio of Human Face for Public Relation Activity Using Stereo Thermal Camera","authors":"M. Rusydi, Aulia Novira, Takayuki Nakagome, Joseph K. Muguro, Rio Nakajima, Waweru Njeri, Kojiro Matsushita, Minoru Sasaki","doi":"10.18196/jrc.v3i3.14750","DOIUrl":"https://doi.org/10.18196/jrc.v3i3.14750","url":null,"abstract":"In recent years, robots that recognize people around them and provide guidance, information, and monitoring have been attracting attention. The mainstream of conventional human recognition technology is the method using a camera or laser range finder. However, it is difficult to recognize with a camera due to fluctuations in lighting 1), and it is often affected by the recognition environment such as misrecognition 2) with a person's leg and a chair's leg with a laser range finder. Therefore, we propose a human recognition method using a thermal camera that can visualize human heat. This study aims to realize human-following autonomous movement based on human recognition. In addition, the distance from the robot to the person is measured with a stereo thermal camera that uses two thermal cameras. A coaxial two-wheeled robot that is compact and capable of super-credit turning is used as a mobile robot. Finally, we conduct an autonomous movement experiment of a coaxial mobile robot based on human recognition by combining these. We performed human-following experiments on a coaxial two-wheeled robot based on human recognition using a stereo thermal camera and confirmed that it moves appropriately to the location where the recognized person is in multiple use cases (scenarios). However, the accuracy of distance measurement by stereo vision is inferior to that of laser measurement. It is necessary to improve it in the case of movement that requires more accuracy.","PeriodicalId":443428,"journal":{"name":"Journal of Robotics and Control (JRC)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117124365","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 Ventilator with Gas Mixing, Tidal Volume, and Humidifier Parameters","authors":"H. Fajrin, E. Susanto, Pamela Sandi Agus Kristianto, Fery Ferizal Herdiyana, S. Wibowo","doi":"10.18196/jrc.v3i3.14510","DOIUrl":"https://doi.org/10.18196/jrc.v3i3.14510","url":null,"abstract":"On the ventilator, there are several important parameters, including gas mixing, which functions to mix oxygen with free air, the tidal volume serves to supply mixed air to the patient, respiratory rate is the frequency of breath given to the patient, and the humidifier functions to regulate the temperature of the air given to the patient. In this research, the author intends to design a ventilator device which uses a working system to open and close the valve to distribute air to the patient. This tool uses several sensors: oxygen sensor KE-25F3, flow sensor yf-s201, pressure sensor MPX 5700, and temperature sensor DS 12B20. The tidal volume (VT) has 3 setting values: 700 ml, 500 ml, and 300 ml. The test is carried out by opening and closing the valve. The respiratory rate has 2 settings of 15 and 20 breaths/minute. In addition, the humidifier has 3 setting modes 32, 35, and 40o C. From the test results, the highest error was obtained in the 300 ml tidal volume test, which was 7.20% and in the respiratory rate test, the highest error value was 0%. The test results with the oxygen concentration parameter obtained the largest error value of 0.1% at 100% oxygen concentration. In testing the temperature and humidity parameters, the largest average error was 2.40% at 40o C setting. So, it can be concluded that the tool is feasible to use because of the level of small error and still within the standard calibration tolerance of 15%.","PeriodicalId":443428,"journal":{"name":"Journal of Robotics and Control (JRC)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128086866","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":"Investigating and Optimizing the Operation of Microgrids with Intelligent Algorithms","authors":"Ahmed Kadhim Hado, Bashar S. Bashar, Musaddak Maher Abdul Zahra, Reza Alayi, Yaser Ebazadeh, Iswanto Suwarno","doi":"10.18196/jrc.v3i3.14772","DOIUrl":"https://doi.org/10.18196/jrc.v3i3.14772","url":null,"abstract":"Microgrids need optimization to reduce economic problems and human losses. Scattered resources in power systems and microgrids have led to many environmental, economic and human, and animal losses. The most important part of these problems is related to voltage and frequency fluctuations when possible occurrences such as extreme load changes or errors in microgrids. These problems lead to microgrid collapse. Therefore, providing optimal solutions that can solve these challenges is essential. For this purpose, the present study has tried to provide a high-performance control structure in the time of internal and external disturbances based on short-term planning. The proposed approach is the use of an evolutionary neuro-fuzzy network. Perhaps the main reason for using this approach can be due to uncertainty in the distribution and distribution of loads in microgrids and power systems. Simulation has been performed in MATLAB and Simulink environments, and the results show that the optimal load distribution has been done evolution in microgrids.","PeriodicalId":443428,"journal":{"name":"Journal of Robotics and Control (JRC)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134539572","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":"Magnetic Adhesion in Wall Climbing Robots using varied Electromagnet Arrangements","authors":"J. F. G. Poovathy, E. Sathish, Nirmala Paramanandham, Alapati Lakshmi Viswanath","doi":"10.18196/jrc.v3i3.14748","DOIUrl":"https://doi.org/10.18196/jrc.v3i3.14748","url":null,"abstract":"The improvements and innovations in the field of robotics have given a great opportunity to perform tasks that are hazardous for humans to perform. For example, robots can be used for working on high-storied buildings, inspection on ferromagnetic surfaces, painting and maintenance of buildings, surveillance purposes, etc., at the outset, to carry out any operation on vertical surfaces, which may be quite hazardous and time-consuming as well, wall climbing robots (WCRs) can be deployed. The method of adhesion determines the stability of the robot on the wall, be it smooth or coarse. Using magnets to bring about magnetic adhesion would be advantageous when the robot is maneuvered over iron or steel surfaces, typically, to clean boilers, etc., This paper presents the different ways of placements of the magnets, both permanent and electromagnets, in order to introduce adequate magnetic adhesion that would cease the robot from toppling down while encountering an obstacle. This work proposes two methods of arrangement of magnets: square and diamond. Four electromagnets when arranged in array formation with 5000 windings of thin copper coil, generated a magnetic field force of approximately 150 N when 50 A of current is passed. By and large, around 35 N to 40 N is the suction force that would be sufficient to stick the WCR of 2kg on the wall, while using a suction chamber instead of electromagnets. Other methods of placing the magnets such as square and diamond are studied and compared as well using FEMM. Hence arranging the 4 electromagnets in array formation gives an adhesion pressure sufficient to hold and move the WCR, over the vertical wall against gravity.","PeriodicalId":443428,"journal":{"name":"Journal of Robotics and Control (JRC)","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126256338","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 Systematic Review of Current Trends in Artificial Intelligence for Smart Farming to Enhance Crop Yield","authors":"M. H. Widianto, Mochamad Iqbal Ardimansyah, Husni Iskandar Pohan, Davy Ronald Hermanus","doi":"10.18196/jrc.v3i3.13760","DOIUrl":"https://doi.org/10.18196/jrc.v3i3.13760","url":null,"abstract":"Current technology has been widely applied for development, one of which has an Artificial Intelligence (AI) applied to Smart Farming. AI can give special capabilities to be programmed as needed. In cooperation with agricultural systems, AI is part of improving the quality of agriculture. This technology is no stranger to being applied in basic fields such as agriculture. This smart technology is needed to increase crop yields for various regions by utilizing the current trends paper. This is necessary because less land is available for agriculture, and there is a greater need for food sources. Therefore, this systematic review aims to collect the current trends in AI studies for Smart Farming papers using the latest year features from 2018-2022. This paper is handy for researchers and industry in looking for the latest papers on research to enhance crop yields. The authors utilized Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA) of 534 articles from IEEE, ACM, MDPI, IAES, and ScienceDirect. After going through a careful process, 67 papers were found that were judged according to the criteria. After the authors got some of the current trends, the author has discussed several factors regarding the results obtained to enhance crop yields, such as Weather, Soil, Irrigation, Unmanned Aerial Vehicle (UAV), Pest Control, Weed Control, and Disease Control.","PeriodicalId":443428,"journal":{"name":"Journal of Robotics and Control (JRC)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121350647","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 Free Space Optic/Optical Wireless Communication: A Survey","authors":"B. Mahdi, E. Essa","doi":"10.18196/jrc.v3i3.14590","DOIUrl":"https://doi.org/10.18196/jrc.v3i3.14590","url":null,"abstract":"The exponential demand for the next generation of services over free space optic and wireless optic communication is a necessity to approve new guidelines in this range. In this review article, we bring together an earlier study associated with these schemes to help us implement a multiple input/multiple output flexible platform for the next generation in an efficient manner. OWC/FSO is a complement clarification to radiofrequency technologies. Notably, they are providing various gains such as unrestricted authorizing, varied volume, essential safekeeping, and immunity to interference. ","PeriodicalId":443428,"journal":{"name":"Journal of Robotics and Control (JRC)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115150490","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":"ROS 2 Configuration for Delta Robot Arm Kinematic Motion and Stereo Camera Visualization","authors":"K. Saipullah, Wira Hidayat Mohd Saad, Sook Hui Chong, Muhammad Idzdihar Idris, Syafeeza Ahmad Radzi","doi":"10.18196/jrc.v3i3.14436","DOIUrl":"https://doi.org/10.18196/jrc.v3i3.14436","url":null,"abstract":"The Delta robot is one of the robot types that is used in agriculture and industrial application. However, before the complex physical development of the robot, a simulation needs to be developed to ensure the perfect functionality of the design. Therefore, this paper presented a development of simulation for a parallel delta robot using a Robot Operating System 2 (ROS 2) environment and stereo camera visualization.  The contribution of this research is to present the development details and the proposed solution to solve issues encountered during the development. The development of script in the format of eXtensible Markup Language (XML), Unified Robot Description Format (URDF), and Simulation Description Format (SDF) are presented for describing a robot's physical structure, allowing a robotic system to be depicted in a tree structure, and defining the delta robot arm, which is made up of closed-loop kinematic chain linkage that will be simulated in Gazebo. For the results, several Gazebo plugin libraries are compared and tested for the wheels motion control, stereo camera visualization, and delta robot arm kinematic motion. From the experiment, the best method is inverse kinematic motion the method is selected and used in the simulation. The selected method resulted in an average percentage error of 3.92%, 3.72%, and 2.92%, respectively for each joint.","PeriodicalId":443428,"journal":{"name":"Journal of Robotics and Control (JRC)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121164874","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}