Pub Date : 2019-09-26DOI: 10.15406/iratj.2019.05.00191
Chiraz Ben Jabeur
In fact, many efforts have been devoted to the tracking control of the two-wheeled and non-holonomic mobile robots and many types of controllers were applied to overcome trajectory tracking problems. Some of them have been investigated based on conventional methods using PID control,2,3 robust control,4,5 sliding mode control,6–8 adaptive control.9,10 The others are based on artificial intelligence using fuzzy control11–13 and neural control.14–16 In fact, neural networks are recommended for intelligent control of nonlinear dynamic systems. Principally, this is due to two important properties of neural networks: their ability to learn, and their good performance for optimization. Nowadays, much attention is devoted to the use of neural networkbased control of mobile robots for trajectory following. The principle of the method is based on a multilayer feed-forward neural networks with back-propagation learning algorithm, and it has been shown that only one hidden layer can be largely sufficient to approximate any continuous functions. In,3 a PID-based neural network is developed for velocity and orientation, tracking control of a non-holonomic mobile robot that is appropriate for a kind of plant with nonlinearity uncertainties and disturbances.
{"title":"Design of RTD-PID optimized neural networks controller for non-holonomic wheeled mobile robot","authors":"Chiraz Ben Jabeur","doi":"10.15406/iratj.2019.05.00191","DOIUrl":"https://doi.org/10.15406/iratj.2019.05.00191","url":null,"abstract":"In fact, many efforts have been devoted to the tracking control of the two-wheeled and non-holonomic mobile robots and many types of controllers were applied to overcome trajectory tracking problems. Some of them have been investigated based on conventional methods using PID control,2,3 robust control,4,5 sliding mode control,6–8 adaptive control.9,10 The others are based on artificial intelligence using fuzzy control11–13 and neural control.14–16 In fact, neural networks are recommended for intelligent control of nonlinear dynamic systems. Principally, this is due to two important properties of neural networks: their ability to learn, and their good performance for optimization. Nowadays, much attention is devoted to the use of neural networkbased control of mobile robots for trajectory following. The principle of the method is based on a multilayer feed-forward neural networks with back-propagation learning algorithm, and it has been shown that only one hidden layer can be largely sufficient to approximate any continuous functions. In,3 a PID-based neural network is developed for velocity and orientation, tracking control of a non-holonomic mobile robot that is appropriate for a kind of plant with nonlinearity uncertainties and disturbances.","PeriodicalId":54943,"journal":{"name":"International Journal of Robotics & Automation","volume":"1 1","pages":""},"PeriodicalIF":0.9,"publicationDate":"2019-09-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84228014","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-09-09DOI: 10.34121/1028-9763-2019-3-17-34
P. Sapaty
Section 2 first describes the newest DARPA Mosaic Warfare concept oriented on rapidly composable networks of low–cost sensors, multi–domain command and control nodes, and cooperative manned and unmanned systems, with runtime integration and goal orientation of scattered resources which should operate together as one holistic system. Section 3 briefs the Spatial Grasp model and Technology (SGT) aiming at solving distributed supervision, integration and management problems in a way similar to the announced Mosaic Warfare goals, which has been developed for the last decades and in different countries, with numerous applications in both civil and defense areas.
{"title":"Mosaic warfare: from philosophy to model to solutions","authors":"P. Sapaty","doi":"10.34121/1028-9763-2019-3-17-34","DOIUrl":"https://doi.org/10.34121/1028-9763-2019-3-17-34","url":null,"abstract":"Section 2 first describes the newest DARPA Mosaic Warfare concept oriented on rapidly composable networks of low–cost sensors, multi–domain command and control nodes, and cooperative manned and unmanned systems, with runtime integration and goal orientation of scattered resources which should operate together as one holistic system. Section 3 briefs the Spatial Grasp model and Technology (SGT) aiming at solving distributed supervision, integration and management problems in a way similar to the announced Mosaic Warfare goals, which has been developed for the last decades and in different countries, with numerous applications in both civil and defense areas.","PeriodicalId":54943,"journal":{"name":"International Journal of Robotics & Automation","volume":"4 1","pages":""},"PeriodicalIF":0.9,"publicationDate":"2019-09-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87718611","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-08-30DOI: 10.15406/iratj.2019.05.00189
R. Dai
{"title":"A philosophical analysis on the challenge of cultural context to AI translation","authors":"R. Dai","doi":"10.15406/iratj.2019.05.00189","DOIUrl":"https://doi.org/10.15406/iratj.2019.05.00189","url":null,"abstract":"","PeriodicalId":54943,"journal":{"name":"International Journal of Robotics & Automation","volume":"69 1","pages":""},"PeriodicalIF":0.9,"publicationDate":"2019-08-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90406455","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-08-30DOI: 10.15406/iratj.2019.05.00188
R. Usubamatov
Since the Industrial Revolution, researchers paid attention to the remarkable gyroscope properties of gyroscopic devices and tried to develop the gyroscope theory. The simplified theories of gyroscopes started to publish a hundred years ago.1–4 numerous publications described gyroscopic effects and applications in engineering but none of them explained the physics of gyroscope properties.5–7 the action of the gyroscopic effects is an important aspect of the science of classical mechanics. Fundamental textbooks and manuals have chapters of gyroscope theory.8,9 Many simplified approaches to gyroscope theory are dedicated to gyroscopic effects.10,11 All publications based on assumptions and described gyroscopic effects in terms only of the angular momentum.12–14 Researchers focused attention on the action of inertial forces on the gyroscope but did not represent mathematical models.15,16 The known theories of gyroscopic effects do not adequate to actual motions of rotating objects.17,18 Unsolved gyroscopic problems generated artificial terms as gyroscope resistance, gyroscopic effects and attributed fantastical properties to rotating objects.19,20 Still, gyroscopic effects attract researchers to find true theory.21,22 New investigations in the area of gyroscope theory discovered the action of the system of inertial torques on rotating objects. This work describes the application of new mathematical models for the system of inertial torques generated by the rotating mass of the spinning ring.
{"title":"Mathematical models for inertial torques acting on a spinning ring","authors":"R. Usubamatov","doi":"10.15406/iratj.2019.05.00188","DOIUrl":"https://doi.org/10.15406/iratj.2019.05.00188","url":null,"abstract":"Since the Industrial Revolution, researchers paid attention to the remarkable gyroscope properties of gyroscopic devices and tried to develop the gyroscope theory. The simplified theories of gyroscopes started to publish a hundred years ago.1–4 numerous publications described gyroscopic effects and applications in engineering but none of them explained the physics of gyroscope properties.5–7 the action of the gyroscopic effects is an important aspect of the science of classical mechanics. Fundamental textbooks and manuals have chapters of gyroscope theory.8,9 Many simplified approaches to gyroscope theory are dedicated to gyroscopic effects.10,11 All publications based on assumptions and described gyroscopic effects in terms only of the angular momentum.12–14 Researchers focused attention on the action of inertial forces on the gyroscope but did not represent mathematical models.15,16 The known theories of gyroscopic effects do not adequate to actual motions of rotating objects.17,18 Unsolved gyroscopic problems generated artificial terms as gyroscope resistance, gyroscopic effects and attributed fantastical properties to rotating objects.19,20 Still, gyroscopic effects attract researchers to find true theory.21,22 New investigations in the area of gyroscope theory discovered the action of the system of inertial torques on rotating objects. This work describes the application of new mathematical models for the system of inertial torques generated by the rotating mass of the spinning ring.","PeriodicalId":54943,"journal":{"name":"International Journal of Robotics & Automation","volume":"30 1","pages":""},"PeriodicalIF":0.9,"publicationDate":"2019-08-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79257014","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-08-26DOI: 10.15406/iratj.2019.05.00187
Edgar Giovanni Rodriguez Cuberos
The progressive development of the human-robot interaction (HRI) and the inclusion of Robots in different aspects of the live generate positive impacts on learning. However, the ethical implications derived from social interactions and the construction of affective and psychological bonds have not been studied in depth yet. The development and advancement of new robotic technologies, of artificial intelligence and, in particular, of the production of humanoids oriented to functions of accompaniment, entertainment or education,1 suggests the emergence of a new type of human subjectivity. The interaction with these new technologies is unprecedented and their anthropological and ethical implications are little studied so far. While it is true that there are large and dizzying technical advances in this field,1–5 reflective processes about what these advances imply for the human condition require greater attention. It is not only a matter of proposing a naive dystopian or utopian vision, but of constructing a field of trans disciplinary studies and researchD6–8 involving mechanisms of epistemological surveillance, ethical criticism and political effects as a sphere of human action that favors complementarily between technological developments and applications in everyday life and medical and psychological effects (Figure 1).
{"title":"Ethical implications of emotional and psychologic ties on human-robot interaction (HRI)-mediated learning","authors":"Edgar Giovanni Rodriguez Cuberos","doi":"10.15406/iratj.2019.05.00187","DOIUrl":"https://doi.org/10.15406/iratj.2019.05.00187","url":null,"abstract":"The progressive development of the human-robot interaction (HRI) and the inclusion of Robots in different aspects of the live generate positive impacts on learning. However, the ethical implications derived from social interactions and the construction of affective and psychological bonds have not been studied in depth yet. The development and advancement of new robotic technologies, of artificial intelligence and, in particular, of the production of humanoids oriented to functions of accompaniment, entertainment or education,1 suggests the emergence of a new type of human subjectivity. The interaction with these new technologies is unprecedented and their anthropological and ethical implications are little studied so far. While it is true that there are large and dizzying technical advances in this field,1–5 reflective processes about what these advances imply for the human condition require greater attention. It is not only a matter of proposing a naive dystopian or utopian vision, but of constructing a field of trans disciplinary studies and researchD6–8 involving mechanisms of epistemological surveillance, ethical criticism and political effects as a sphere of human action that favors complementarily between technological developments and applications in everyday life and medical and psychological effects (Figure 1).","PeriodicalId":54943,"journal":{"name":"International Journal of Robotics & Automation","volume":"51 1","pages":""},"PeriodicalIF":0.9,"publicationDate":"2019-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85747253","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-07-29DOI: 10.15406/iratj.2019.05.00186
M. Shahinpoor, S EhsanTabatabaie
IPMCs or Ionic polymer–metal composites are electro active polymers (EAPs) and are capable of actuation, energy harvesting, and sensing capabilities among other properties. Thus, they are multi–functional smart materials that can be used in biomimetic soft robotics. They normally require a small electric field of a few V/mm and generate spectacular bending and flexing under small electric fields and generate transient voltage and currents output due to dynamic interaction with the environment. Environmental dynamics, like wind or ocean waves, makes them generate an output voltage and transient current of a few mVs for small samples (10mm x 40mm x 0.2mm). IPMCs are capable of operating in or under water or other polar liquids, like blood. Due to the imposed electric field, the conjugated cations electrophoretically migrate towards the cathode and thus expand the cathode side of the ionic membrane and thus bending towards the anode electrode is observed. Osmotic pressures are also instrumental in the migration of cations towards the cathode electrode. Shahinpoor, Bar–Cohen, Xue, Simpson, and Smith1–2 published an early version and review of IPMCs in 1998.1–2 See the pioneering works of Osada, Oguro, Kawami, Asaka, Takenaka and Shahinpoor,3–14 in the 1992–93periods. The electrodynamics of cations generation and transportation in IPMCs are governed by the Poisson– Nernst–Planck field equations15–24 Biomimetic soft robotic actuation like artificial muscles and sensing of these materials display artificial muscle behavior. For example, an applied voltage of 1 to 4 volts for a typical sample of the size 10mm x 80mm x 0.2mm typically produces spectacular bending (Figure 1).
ipmc或离子聚合物-金属复合材料是电活性聚合物(eap)，具有驱动、能量收集和传感能力等特性。因此，它们是可用于仿生软机器人的多功能智能材料。它们通常需要几V/mm的小电场，并且在小电场下产生惊人的弯曲和弯曲，并且由于与环境的动态相互作用而产生瞬态电压和电流输出。环境动力学，如风或海浪，使它们产生输出电压和几mv的瞬态电流小样本(10mm x 40mm x 0.2mm)。ipmc能够在水中或水下或其他极性液体(如血液)中工作。由于外加电场的作用，共轭阳离子向阴极电泳迁移，从而使离子膜的阴极侧膨胀，从而向阳极电极弯曲。渗透压也有助于阳离子向阴极电极的迁移。Shahinpoor, Bar-Cohen, Xue, Simpson, and Smith1-2在1998年发表了IPMCs的早期版本和综述。1 - 2参见Osada, Oguro, Kawami, Asaka, Takenaka和Shahinpoor, 3-14在1992 - 1993年期间的开创性工作。阳离子在ipmc中产生和运输的电动力学是由泊松-能-普朗克场方程控制的15 - 24仿生软机器人驱动如人工肌肉和这些材料的传感显示人工肌肉行为。例如，对于尺寸为10mm x 80mm x 0.2mm的典型样品，施加1到4伏的电压通常会产生壮观的弯曲(图1)。
{"title":"Artificial soft robotic elephant trunk made with ionic polymer-metal nanocomposites (IPMCs)","authors":"M. Shahinpoor, S EhsanTabatabaie","doi":"10.15406/iratj.2019.05.00186","DOIUrl":"https://doi.org/10.15406/iratj.2019.05.00186","url":null,"abstract":"IPMCs or Ionic polymer–metal composites are electro active polymers (EAPs) and are capable of actuation, energy harvesting, and sensing capabilities among other properties. Thus, they are multi–functional smart materials that can be used in biomimetic soft robotics. They normally require a small electric field of a few V/mm and generate spectacular bending and flexing under small electric fields and generate transient voltage and currents output due to dynamic interaction with the environment. Environmental dynamics, like wind or ocean waves, makes them generate an output voltage and transient current of a few mVs for small samples (10mm x 40mm x 0.2mm). IPMCs are capable of operating in or under water or other polar liquids, like blood. Due to the imposed electric field, the conjugated cations electrophoretically migrate towards the cathode and thus expand the cathode side of the ionic membrane and thus bending towards the anode electrode is observed. Osmotic pressures are also instrumental in the migration of cations towards the cathode electrode. Shahinpoor, Bar–Cohen, Xue, Simpson, and Smith1–2 published an early version and review of IPMCs in 1998.1–2 See the pioneering works of Osada, Oguro, Kawami, Asaka, Takenaka and Shahinpoor,3–14 in the 1992–93periods. The electrodynamics of cations generation and transportation in IPMCs are governed by the Poisson– Nernst–Planck field equations15–24 Biomimetic soft robotic actuation like artificial muscles and sensing of these materials display artificial muscle behavior. For example, an applied voltage of 1 to 4 volts for a typical sample of the size 10mm x 80mm x 0.2mm typically produces spectacular bending (Figure 1).","PeriodicalId":54943,"journal":{"name":"International Journal of Robotics & Automation","volume":"1 1","pages":""},"PeriodicalIF":0.9,"publicationDate":"2019-07-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90371961","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-06-29DOI: 10.15406/iratj.2019.05.00185
S. Majeed
Many fields, especially robot fields, use the simulation programs. Their paper deals with one of the most commonly used robot manipulator arm for human use such as eating or drinking for people with disabilities. After the arm is simulated, the bones were added as actuators. They have to make sure that the skin of the arm moves without any deformation according to the movement of the bones. We also studied the distributed weight’s influence and how to specify the required weight that corresponds to the effort.1
{"title":"Improvement of the automatic skinning approach for the JACO robotic arm based on a new weight-vertex distribution method","authors":"S. Majeed","doi":"10.15406/iratj.2019.05.00185","DOIUrl":"https://doi.org/10.15406/iratj.2019.05.00185","url":null,"abstract":"Many fields, especially robot fields, use the simulation programs. Their paper deals with one of the most commonly used robot manipulator arm for human use such as eating or drinking for people with disabilities. After the arm is simulated, the bones were added as actuators. They have to make sure that the skin of the arm moves without any deformation according to the movement of the bones. We also studied the distributed weight’s influence and how to specify the required weight that corresponds to the effort.1","PeriodicalId":54943,"journal":{"name":"International Journal of Robotics & Automation","volume":"160 1","pages":""},"PeriodicalIF":0.9,"publicationDate":"2019-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76845741","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-05-24DOI: 10.15406/iratj.2019.05.00183
Alexander Webb
Big Data and urban design have found themselves in a contentious relationship. At the time of writing, more authors have published books writing against so-called Smart Cities than for them, despite the obvious opportunities for material and resource savings that data-driven design offers. The seemingly sole advocates for an urban strategy of ubiquitous sensors are multinational corporations like Cisco and Microsoft, as they manufacture urban conditions oriented around ideas of efficiency and resource use while appearing to ignore privacy and social engagement. As the Internet of Things (IoT) is heralded as “The next big thing”, the emergence of IoT on an urban scale and its requisite Big Data collection has been met with controversy.1
{"title":"The heuristics of agency: on computation, big data & urban design","authors":"Alexander Webb","doi":"10.15406/iratj.2019.05.00183","DOIUrl":"https://doi.org/10.15406/iratj.2019.05.00183","url":null,"abstract":"Big Data and urban design have found themselves in a contentious relationship. At the time of writing, more authors have published books writing against so-called Smart Cities than for them, despite the obvious opportunities for material and resource savings that data-driven design offers. The seemingly sole advocates for an urban strategy of ubiquitous sensors are multinational corporations like Cisco and Microsoft, as they manufacture urban conditions oriented around ideas of efficiency and resource use while appearing to ignore privacy and social engagement. As the Internet of Things (IoT) is heralded as “The next big thing”, the emergence of IoT on an urban scale and its requisite Big Data collection has been met with controversy.1","PeriodicalId":54943,"journal":{"name":"International Journal of Robotics & Automation","volume":"33 1","pages":""},"PeriodicalIF":0.9,"publicationDate":"2019-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89918024","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-05-16DOI: 10.15406/iratj.2019.05.00182
E. Bryndin
Imitative thinking represents communicative and associative processes with words, phrases, offers and judgments. At the computer level imitative thinking is imitated by communicative and associative processes with symbolical language elements of knowledge. Imitation of imitative thinking at the computer level is carried out on the basis of symbolical language communicative logic and network communicative and associative representation of symbolical language elements of knowledge. The information circle of the person represents the connected signs of environment of the first alarm level and the language intrinsic environment of the second alarm level. At the first alarm level information on a surrounding reality in the form of signs, signs of situational schemes and situational schemes is stored. At the second alarm level symbolical elements of knowledge are stored in the intrinsic environment: words, phrases, offers, judgments.
{"title":"System retraining to professional competences of cognitive robots on basis of communicative associative logic of technological thinking","authors":"E. Bryndin","doi":"10.15406/iratj.2019.05.00182","DOIUrl":"https://doi.org/10.15406/iratj.2019.05.00182","url":null,"abstract":"Imitative thinking represents communicative and associative processes with words, phrases, offers and judgments. At the computer level imitative thinking is imitated by communicative and associative processes with symbolical language elements of knowledge. Imitation of imitative thinking at the computer level is carried out on the basis of symbolical language communicative logic and network communicative and associative representation of symbolical language elements of knowledge. The information circle of the person represents the connected signs of environment of the first alarm level and the language intrinsic environment of the second alarm level. At the first alarm level information on a surrounding reality in the form of signs, signs of situational schemes and situational schemes is stored. At the second alarm level symbolical elements of knowledge are stored in the intrinsic environment: words, phrases, offers, judgments.","PeriodicalId":54943,"journal":{"name":"International Journal of Robotics & Automation","volume":"27 1","pages":""},"PeriodicalIF":0.9,"publicationDate":"2019-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74795724","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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