Pub Date : 2024-06-01DOI: 10.11591/ijra.v13i2.pp232-246
S. Owoeye, F. Durodola, Peace Oluwafeyidabira Adeniyi, Idris Tolulope Abdullahi, Adesanya Boluwatito Hector
Quadruped home surveillance robots represent a promising advancement in home security and automation. This innovative robotic system is equipped with four-legged locomotion, allowing it to traverse various terrains within a household environment. The robot's primary function is surveillance, and it is equipped with high-definition cameras, motion sensors, and object recognition software. These sensors enable the robot to detect intruders, track their movements, and capture real-time video footage for remote monitoring. The quadruped robot's compact and agile design allows it to navigate through narrow spaces and overcome obstacles, ensuring it can patrol every corner of a home effectively. Its autonomous operation is made possible through advanced artificial intelligence algorithms, ensuring that it can detect anomalies and respond to security threats promptly. Furthermore, integrating the robot with smart home systems enables seamless communication with other connected devices and allows homeowners to control and monitor it remotely.
{"title":"Design and development of a quadruped home surveillance robot","authors":"S. Owoeye, F. Durodola, Peace Oluwafeyidabira Adeniyi, Idris Tolulope Abdullahi, Adesanya Boluwatito Hector","doi":"10.11591/ijra.v13i2.pp232-246","DOIUrl":"https://doi.org/10.11591/ijra.v13i2.pp232-246","url":null,"abstract":"Quadruped home surveillance robots represent a promising advancement in home security and automation. This innovative robotic system is equipped with four-legged locomotion, allowing it to traverse various terrains within a household environment. The robot's primary function is surveillance, and it is equipped with high-definition cameras, motion sensors, and object recognition software. These sensors enable the robot to detect intruders, track their movements, and capture real-time video footage for remote monitoring. The quadruped robot's compact and agile design allows it to navigate through narrow spaces and overcome obstacles, ensuring it can patrol every corner of a home effectively. Its autonomous operation is made possible through advanced artificial intelligence algorithms, ensuring that it can detect anomalies and respond to security threats promptly. Furthermore, integrating the robot with smart home systems enables seamless communication with other connected devices and allows homeowners to control and monitor it remotely.","PeriodicalId":422370,"journal":{"name":"IAES International Journal of Robotics and Automation (IJRA)","volume":"2 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141231980","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}
Pub Date : 2024-06-01DOI: 10.11591/ijra.v13i2.pp113-121
Yi-Chang Wu, Yao-Cheng Liu, Ru-Yi Huang
Interrogation is a crucial step in the investigation of criminal acts. Artificial intelligence has been used to increase the efficiency of interrogation. In this study, we developed a confession probability identification system to help investigators analyze the emotions of their interrogees while they are answering questions and determine the probability of them confessing. Based on these analysis results along with their own experience, investigators may adjust the content and direction of their interrogations to penetrate the interrogees’ defenses. The proposed system uses OpenFace and FaceReader to capture data and incorporates the multi-grained cascade forest (gcForest) and long short-term memory (LSTM) algorithms for deep learning. Our results indicated that the recognition accuracy of the gcForest algorithm exceeded that of the LSTM algorithm, which is consistent with the fact that the gcForest algorithm is more suitable for smaller sample sizes. In addition, heart-rate-based assessment may lead to erroneous determination of whether an interrogatee is telling the truth or lies because their heart rate may increase as a result of emotional responses.
{"title":"The use of artificial intelligence in interrogations: voluntary confession","authors":"Yi-Chang Wu, Yao-Cheng Liu, Ru-Yi Huang","doi":"10.11591/ijra.v13i2.pp113-121","DOIUrl":"https://doi.org/10.11591/ijra.v13i2.pp113-121","url":null,"abstract":"Interrogation is a crucial step in the investigation of criminal acts. Artificial intelligence has been used to increase the efficiency of interrogation. In this study, we developed a confession probability identification system to help investigators analyze the emotions of their interrogees while they are answering questions and determine the probability of them confessing. Based on these analysis results along with their own experience, investigators may adjust the content and direction of their interrogations to penetrate the interrogees’ defenses. The proposed system uses OpenFace and FaceReader to capture data and incorporates the multi-grained cascade forest (gcForest) and long short-term memory (LSTM) algorithms for deep learning. Our results indicated that the recognition accuracy of the gcForest algorithm exceeded that of the LSTM algorithm, which is consistent with the fact that the gcForest algorithm is more suitable for smaller sample sizes. In addition, heart-rate-based assessment may lead to erroneous determination of whether an interrogatee is telling the truth or lies because their heart rate may increase as a result of emotional responses.","PeriodicalId":422370,"journal":{"name":"IAES International Journal of Robotics and Automation (IJRA)","volume":"59 4","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141234752","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}
Pub Date : 2024-06-01DOI: 10.11591/ijra.v13i2.pp122-130
Fransiskus Royke Seke, Ibadja Parsaoran Tamba
This research brings innovation to the motion and navigation system of the ‘DK-ONE’ robot. In the 2021 Indonesian ‘Search and Rescue’ robot contest, the ‘DK-ONE’ robot faced difficulties moving towards the target room. The issue was attributed to an unbalanced frame construction and friction between the robot’s legs and the arena floor, leading to leg slippage. This resulted in a mismatch between the programmed number of steps for the robot and the desired path to the target space, causing errors in the robot’s system. To address these problems, researchers conducted a study aimed at enabling the ‘DK-ONE’ robot to accurately determine its direction of motion. This research followed the waterfall method, involving stages such as system analysis, design, coding, testing, and supporting phases. The study was carried out in the integrated laboratory of the Department of Electrical Engineering Education. The development of the robot’s motion direction using a compass sensor significantly improved stability while walking on straight, flat, and uneven paths. The robot no longer experienced errors in its motion direction and remained on the intended path. As a result, the increased efficiency in robot motion also positively impacted the structural efficiency and energy consumption of the robot.
{"title":"Development of robot motion direction based on microcontroller with compass sensor","authors":"Fransiskus Royke Seke, Ibadja Parsaoran Tamba","doi":"10.11591/ijra.v13i2.pp122-130","DOIUrl":"https://doi.org/10.11591/ijra.v13i2.pp122-130","url":null,"abstract":"This research brings innovation to the motion and navigation system of the ‘DK-ONE’ robot. In the 2021 Indonesian ‘Search and Rescue’ robot contest, the ‘DK-ONE’ robot faced difficulties moving towards the target room. The issue was attributed to an unbalanced frame construction and friction between the robot’s legs and the arena floor, leading to leg slippage. This resulted in a mismatch between the programmed number of steps for the robot and the desired path to the target space, causing errors in the robot’s system. To address these problems, researchers conducted a study aimed at enabling the ‘DK-ONE’ robot to accurately determine its direction of motion. This research followed the waterfall method, involving stages such as system analysis, design, coding, testing, and supporting phases. The study was carried out in the integrated laboratory of the Department of Electrical Engineering Education. The development of the robot’s motion direction using a compass sensor significantly improved stability while walking on straight, flat, and uneven paths. The robot no longer experienced errors in its motion direction and remained on the intended path. As a result, the increased efficiency in robot motion also positively impacted the structural efficiency and energy consumption of the robot.","PeriodicalId":422370,"journal":{"name":"IAES International Journal of Robotics and Automation (IJRA)","volume":"44 3","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141232755","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}
Pub Date : 2024-06-01DOI: 10.11591/ijra.v13i2.pp194-204
Wassim Arfa, Chiraz Ben Jabeur, Mourad Fathallah, Hassene Seddik
This study addresses timing issues inherent in traditional proportional-integral-derivative (PID) controllers for drone angle control and introduces an innovative solution, the adaptive PID flight controller, aimed at optimizing PID gains for improved performance in terms of speed, accuracy, and stability. To enhance the controller's robustness against noise and accurately estimate the system's state, a Kalman filter is incorporated. This filtering mechanism is designed to reject noise and provide precise state estimation, thereby contributing to the overall effectiveness of the adaptive PID flight controller in managing altitude dynamics for unmanned aerial vehicles (UAVs). The comparative methodology evaluates three configurations: a single PID controller for all three angles, two PID controllers dedicated to pitch/roll and yaw angles separately, and three PID sub-controllers for each angle (pitch, roll, and yaw). The study seeks to identify the most effective PID configuration in terms of stability, responsiveness, and accuracy while highlighting the added benefits of noise rejection and state estimation through the Kalman filter. This integrated approach showcases innovation and effectiveness, introducing a comprehensive solution not explored in previous research.
{"title":"Nonlinear Kalman filter for gyroscopic and accelerometer noise rejection of an unmanned aerial vehicle control strategy","authors":"Wassim Arfa, Chiraz Ben Jabeur, Mourad Fathallah, Hassene Seddik","doi":"10.11591/ijra.v13i2.pp194-204","DOIUrl":"https://doi.org/10.11591/ijra.v13i2.pp194-204","url":null,"abstract":"This study addresses timing issues inherent in traditional proportional-integral-derivative (PID) controllers for drone angle control and introduces an innovative solution, the adaptive PID flight controller, aimed at optimizing PID gains for improved performance in terms of speed, accuracy, and stability. To enhance the controller's robustness against noise and accurately estimate the system's state, a Kalman filter is incorporated. This filtering mechanism is designed to reject noise and provide precise state estimation, thereby contributing to the overall effectiveness of the adaptive PID flight controller in managing altitude dynamics for unmanned aerial vehicles (UAVs). The comparative methodology evaluates three configurations: a single PID controller for all three angles, two PID controllers dedicated to pitch/roll and yaw angles separately, and three PID sub-controllers for each angle (pitch, roll, and yaw). The study seeks to identify the most effective PID configuration in terms of stability, responsiveness, and accuracy while highlighting the added benefits of noise rejection and state estimation through the Kalman filter. This integrated approach showcases innovation and effectiveness, introducing a comprehensive solution not explored in previous research.","PeriodicalId":422370,"journal":{"name":"IAES International Journal of Robotics and Automation (IJRA)","volume":"22 16","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141234949","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}
Pub Date : 2024-06-01DOI: 10.11591/ijra.v13i2.pp168-179
S. Owoeye, F. Durodola, Abdulsalam Babajide Bode-Okunade, Ahmed Baba Alkali, Chibuike Timothy Okonkwo
As global population growth intensifies the demand for sustainable food production, the application of robotics to agriculture emerges as a promising solution. This research focuses on the design, development, and deployment of an unmanned ground vehicle for seed planting, also known as a robotic seed planter. The robotic seed planter automates seed planting processes, offering advantages such as increased accuracy, reduced labour requirements, and optimal resource usage. Parametric Technology Corporation (PTC) Creo was used for the structural design, Proteus 8.14 for the circuitry design, and Arduino IDE 2.0 with Visual Studio Code for the programming. The design incorporates seed metering and drilling mechanisms guided by intelligent systems. Results show exceptional accuracy in seed placement (94%), operational efficiency, and adaptability to diverse conditions, with energy consumption relatively low. The planter is equipped with a web application for remote monitoring and control. The application is hosted on one of the microcontrollers and WebSockets protocol is utilized for inter-microcontroller communication. It offers an auto mode for automated planting and Manual mode for easier manoeuvrability. The findings of this study demonstrate the robotic seed planter’s transformative impact on precision agriculture, providing a glimpse into the future of efficient and sustainable farming operations.
随着全球人口的增长，对可持续粮食生产的需求不断增加，将机器人技术应用于农业成为一种前景广阔的解决方案。本研究的重点是设计、开发和部署用于播种的无人地面车辆，也称为机器人播种机。机器人播种机实现了播种过程的自动化，具有提高准确性、减少劳动力需求和优化资源利用等优势。Parametric Technology Corporation (PTC) Creo 用于结构设计，Proteus 8.14 用于电路设计，Arduino IDE 2.0 和 Visual Studio Code 用于编程。设计中采用了由智能系统引导的种子计量和钻孔机制。结果表明，播种精确度极高（94%），运行效率高，能适应各种条件，能耗相对较低。播种机配备了用于远程监控的网络应用程序。该应用托管在其中一个微控制器上，微控制器之间的通信采用 WebSockets 协议。它提供了自动模式和手动模式，前者用于自动播种，后者便于操作。这项研究的结果证明了机器人播种机对精准农业的变革性影响，让人们看到了高效和可持续农业运作的未来。
{"title":"Development of an unmanned ground vehicle for seed planting","authors":"S. Owoeye, F. Durodola, Abdulsalam Babajide Bode-Okunade, Ahmed Baba Alkali, Chibuike Timothy Okonkwo","doi":"10.11591/ijra.v13i2.pp168-179","DOIUrl":"https://doi.org/10.11591/ijra.v13i2.pp168-179","url":null,"abstract":"As global population growth intensifies the demand for sustainable food production, the application of robotics to agriculture emerges as a promising solution. This research focuses on the design, development, and deployment of an unmanned ground vehicle for seed planting, also known as a robotic seed planter. The robotic seed planter automates seed planting processes, offering advantages such as increased accuracy, reduced labour requirements, and optimal resource usage. Parametric Technology Corporation (PTC) Creo was used for the structural design, Proteus 8.14 for the circuitry design, and Arduino IDE 2.0 with Visual Studio Code for the programming. The design incorporates seed metering and drilling mechanisms guided by intelligent systems. Results show exceptional accuracy in seed placement (94%), operational efficiency, and adaptability to diverse conditions, with energy consumption relatively low. The planter is equipped with a web application for remote monitoring and control. The application is hosted on one of the microcontrollers and WebSockets protocol is utilized for inter-microcontroller communication. It offers an auto mode for automated planting and Manual mode for easier manoeuvrability. The findings of this study demonstrate the robotic seed planter’s transformative impact on precision agriculture, providing a glimpse into the future of efficient and sustainable farming operations.","PeriodicalId":422370,"journal":{"name":"IAES International Journal of Robotics and Automation (IJRA)","volume":"6 10","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141230364","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}
Pub Date : 2024-06-01DOI: 10.11591/ijra.v13i2.pp220-232
A. Mayub, Fahmizal Fahmizal, Lazfihma Lazfihma
This research aims to create a walking bipedal robot with center of pressure feedback simulation for the center of mass learning, describe its feasibility for learning, describe students' motivation to learn, and describe students' science literacy after using it. The research method used ADDIE (analysis, design, development, implementation, and evaluation). The research data was obtained using a motivation scale questionnaire, science literacy scale, and feasibility scale. The research sample was 48 people; after the research obtained, the simulation of bipedal robot pressure center feedback for center of mass learning can be implemented with the principle of the robot's center of mass detected on the sole of the robot's foot equipped with a force sensitive resistor (FSR) sensor, the position of the center of mass is visible on the monitor screen as a center of mass learning, so that it can motivate students to learn and improve students' science literacy. This can be seen from the feasibility scale score, motivation scale, and science literacy scale of 4.133, 4.072, and 4.067 (scale 1 to 5), respectively, in the "good" category.
{"title":"Bipedal robot center of pressure feedback simulation for center of mass learning","authors":"A. Mayub, Fahmizal Fahmizal, Lazfihma Lazfihma","doi":"10.11591/ijra.v13i2.pp220-232","DOIUrl":"https://doi.org/10.11591/ijra.v13i2.pp220-232","url":null,"abstract":"This research aims to create a walking bipedal robot with center of pressure feedback simulation for the center of mass learning, describe its feasibility for learning, describe students' motivation to learn, and describe students' science literacy after using it. The research method used ADDIE (analysis, design, development, implementation, and evaluation). The research data was obtained using a motivation scale questionnaire, science literacy scale, and feasibility scale. The research sample was 48 people; after the research obtained, the simulation of bipedal robot pressure center feedback for center of mass learning can be implemented with the principle of the robot's center of mass detected on the sole of the robot's foot equipped with a force sensitive resistor (FSR) sensor, the position of the center of mass is visible on the monitor screen as a center of mass learning, so that it can motivate students to learn and improve students' science literacy. This can be seen from the feasibility scale score, motivation scale, and science literacy scale of 4.133, 4.072, and 4.067 (scale 1 to 5), respectively, in the \"good\" category.","PeriodicalId":422370,"journal":{"name":"IAES International Journal of Robotics and Automation (IJRA)","volume":"6 10","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141230222","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}
Pub Date : 2024-06-01DOI: 10.11591/ijra.v13i2.pp131-139
Muhammad Fariz Daffa, B. S. B. Dewantara, Setiawardhana Setiawardhana
This research introduces an innovative approach to address the limitations of the commonly used social force model-based robot navigation method on flat terrain when applied to sloped terrain. The incline of the terrain becomes a crucial factor in calculating the robot’s steering output when navigating from the initial position to the target position while avoiding obstacles. Therefore, we propose a social forced model-based robot navigation system that can adapt to inclined terrain using inertial measurement unit sensor assistance. The system can detect the surface incline in real time and dynamically adjust friction and gravitational forces, ensuring the robot’s speed and heading direction are maintained. Simulation results conducted using CoppeliaSim show a significant improvement in speed adjustment efficiency. With this new navigation system, the robot can reach its destination in 59.935089 seconds, compared to the conventional social forced model which takes 63.506442 seconds, the robot is also able to reduce slip to reduce wasted movement. This method shows the potential of implementing a faster and more efficient navigation system in the context of inclined terrain.
{"title":"Robot navigation on inclined terrain using social force model","authors":"Muhammad Fariz Daffa, B. S. B. Dewantara, Setiawardhana Setiawardhana","doi":"10.11591/ijra.v13i2.pp131-139","DOIUrl":"https://doi.org/10.11591/ijra.v13i2.pp131-139","url":null,"abstract":"This research introduces an innovative approach to address the limitations of the commonly used social force model-based robot navigation method on flat terrain when applied to sloped terrain. The incline of the terrain becomes a crucial factor in calculating the robot’s steering output when navigating from the initial position to the target position while avoiding obstacles. Therefore, we propose a social forced model-based robot navigation system that can adapt to inclined terrain using inertial measurement unit sensor assistance. The system can detect the surface incline in real time and dynamically adjust friction and gravitational forces, ensuring the robot’s speed and heading direction are maintained. Simulation results conducted using CoppeliaSim show a significant improvement in speed adjustment efficiency. With this new navigation system, the robot can reach its destination in 59.935089 seconds, compared to the conventional social forced model which takes 63.506442 seconds, the robot is also able to reduce slip to reduce wasted movement. This method shows the potential of implementing a faster and more efficient navigation system in the context of inclined terrain.","PeriodicalId":422370,"journal":{"name":"IAES International Journal of Robotics and Automation (IJRA)","volume":"80 4","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141234610","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}
Pub Date : 2024-06-01DOI: 10.11591/ijra.v13i2.pp160-167
N. Sahay, S. Chattopadhyay
This research article presents the non-linear dynamic of a three-link robotic manipulator formulated by the Newton-Euler method. The planar manipulator is composed of three links and three revolute joints rotating about the z-axis. The three nonlinear non-homogeneous dynamic equations have been solved graphically with the help of MATLAB by phase variable method. The work represents the graphical solution of the transient response of angular position, and angular velocity of each link member for a predetermined interval of time. With the help of simulated value from MATLAB, torque characteristics have been determined for different torque ratios and optimum torque has been derived using a genetic algorithm to move the manipulator in a proper direction.
本研究文章介绍了用牛顿-欧拉方法计算的三连杆机械手的非线性动力学。该平面机械手由围绕 Z 轴旋转的三个连杆和三个旋转接头组成。在 MATLAB 的帮助下，通过相位变量法以图形方式求解了三个非线性非均质动态方程。该作品以图形方式求解了每个连接件在预定时间间隔内的角位置和角速度的瞬态响应。在 MATLAB 仿真值的帮助下，确定了不同扭矩比的扭矩特性，并利用遗传算法得出了最佳扭矩，使机械手朝正确方向移动。
{"title":"Kinematic modelling of three link robot manipulator and joint torque optimization using genetic algorithm in MATLAB","authors":"N. Sahay, S. Chattopadhyay","doi":"10.11591/ijra.v13i2.pp160-167","DOIUrl":"https://doi.org/10.11591/ijra.v13i2.pp160-167","url":null,"abstract":"This research article presents the non-linear dynamic of a three-link robotic manipulator formulated by the Newton-Euler method. The planar manipulator is composed of three links and three revolute joints rotating about the z-axis. The three nonlinear non-homogeneous dynamic equations have been solved graphically with the help of MATLAB by phase variable method. The work represents the graphical solution of the transient response of angular position, and angular velocity of each link member for a predetermined interval of time. With the help of simulated value from MATLAB, torque characteristics have been determined for different torque ratios and optimum torque has been derived using a genetic algorithm to move the manipulator in a proper direction.","PeriodicalId":422370,"journal":{"name":"IAES International Journal of Robotics and Automation (IJRA)","volume":"106 11","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141234404","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}
Pub Date : 2024-06-01DOI: 10.11591/ijra.v13i2.pp205-219
Abderrahmane Tamali, N. Amardjia, Mohammed Tamali
Research investigations in the realm of micro-robotics often center around strategies addressing the multi-robot task allocation (MRTA) problem. Our contribution delves into the collaborative dynamics of micro-robots deployed in targeted hostile environments. Employing advanced algorithms, these robots play a crucial role in enhancing and streamlining operations within sensitive areas. We adopt a tailored GREEDY approach, strategically adjusting weight parameters in a multi-objective function that serves as a cost metric. The objective function, designed for optimization purposes, aggregates the cost functions of all agents involved. Our evaluation meticulously examines the MRTA efficiency for each micro-robot, considering dependencies on factors such as radio connectivity, available energy, and the absolute and relative availability of agents. The central focus is on validating the positive trend associated with an increasing number of agents constituting the cluster. Our methodology introduces a trio of micro-robots, unveiling a flexible strategy aimed at detecting individuals at risk in demanding environments. Each micro-robot within the cluster is equipped with logic that ensures compatibility and cooperation, enabling them to effectively execute assigned missions. The implementation of MRTA-based collaboration algorithms serves as an adaptive strategy, optimizing agents' mobility based on specific criteria related to the characteristics of the target site.
{"title":"Distributed and autonomous multi-robot for task allocation and collaboration using a greedy algorithm and robot operating system platform","authors":"Abderrahmane Tamali, N. Amardjia, Mohammed Tamali","doi":"10.11591/ijra.v13i2.pp205-219","DOIUrl":"https://doi.org/10.11591/ijra.v13i2.pp205-219","url":null,"abstract":"Research investigations in the realm of micro-robotics often center around strategies addressing the multi-robot task allocation (MRTA) problem. Our contribution delves into the collaborative dynamics of micro-robots deployed in targeted hostile environments. Employing advanced algorithms, these robots play a crucial role in enhancing and streamlining operations within sensitive areas. We adopt a tailored GREEDY approach, strategically adjusting weight parameters in a multi-objective function that serves as a cost metric. The objective function, designed for optimization purposes, aggregates the cost functions of all agents involved. Our evaluation meticulously examines the MRTA efficiency for each micro-robot, considering dependencies on factors such as radio connectivity, available energy, and the absolute and relative availability of agents. The central focus is on validating the positive trend associated with an increasing number of agents constituting the cluster. Our methodology introduces a trio of micro-robots, unveiling a flexible strategy aimed at detecting individuals at risk in demanding environments. Each micro-robot within the cluster is equipped with logic that ensures compatibility and cooperation, enabling them to effectively execute assigned missions. The implementation of MRTA-based collaboration algorithms serves as an adaptive strategy, optimizing agents' mobility based on specific criteria related to the characteristics of the target site. ","PeriodicalId":422370,"journal":{"name":"IAES International Journal of Robotics and Automation (IJRA)","volume":"5 10","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141229386","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}
Pub Date : 2024-06-01DOI: 10.11591/ijra.v13i2.pp140-159
Rhoda Mae L. Casinillo, Allecia Leona A. So, Maezel V. Mandaya, Sonny Adrian J. Dabalos, Mark Ceasar S. Enriquez, J. F. Cane
In the Philippines, fires are a widespread concern, with plenty of incidents attributed to electrical appliances. These incidents are a leading cause of non-open flame fires in the country, highlighting the urgent need for preventative measures. Existing devices could only trigger an alarm at 100 °C without shutting off the appliance automatically. To address these limitations, the researchers aimed to develop a high heat detector with 95% detection accuracy and less than 5% error in detecting high heat. This device used an Arduino Uno Board and relay to trigger an automated power-off mechanism in appliances experiencing high heat. Temperature changes were detected, and alarms were activated using an LM35 temperature sensor and buzzer. The accuracy of the LM35 sensor was assessed through hot bath tests, which included 12 trials at each temperature level between 80 °C and 150 °C with 10 °C intervals. The prototype’s performance revealed an average error rate of 1.13% and an average standard deviation of 0.9403. The computed F1 Score of 98% indicated that the prototype fulfilled the objectives. Functionality tests confirmed that the prototype successfully achieved its intended goal by shutting off the appliance when the threshold temperature was reached and enabling its operation otherwise.
在菲律宾，火灾是一个广受关注的问题，很多火灾都是由电器引起的。这些事故是菲律宾非明火火灾的主要原因，突出表明迫切需要采取预防措施。现有的设备只能在温度达到 100 °C 时触发警报，而不会自动关闭电器。为解决这些局限性，研究人员旨在开发一种检测准确率达 95%、检测高热误差小于 5%的高热检测器。该设备使用 Arduino Uno 电路板和继电器，在电器出现高热时触发自动断电机制。使用 LM35 温度传感器和蜂鸣器检测温度变化并触发警报。LM35 传感器的准确性通过热水浴测试进行了评估，其中包括在 80 °C 至 150 °C 之间的每个温度水平上以 10 °C 为间隔进行的 12 次试验。原型的性能显示，平均误差率为 1.13%，平均标准偏差为 0.9403。计算得出的 F1 分数为 98%，表明原型达到了目标。功能测试证实，原型成功地实现了预期目标，即在达到阈值温度时关闭设备，反之则使其运行。
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