IAES International Journal of Robotics and Automation, 2024
A switching regulator based on an adaptive DC-DC buck converter for a Liion battery charging inte... more A switching regulator based on an adaptive DC-DC buck converter for a Liion battery charging interface is introduced in this paper with the aim of improving the efficiency of charging the Li-ion battery during the whole charging process. By using the battery voltage as feedback, an adaptive reference is generated. This reference is employed by the converter, which is in continuous conduction mode (CCM), to produce a wide adaptive output voltage that closely tracks the battery voltage, intended to serve as the power source for the multimode charging interface. The converter was implemented in a 180 nm complementary metal oxide semiconductor (CMOS) process and simulated using the Cadence Virtuoso tool. With an input voltage of 5 V and a switching frequency selected at 500 kHz, the simulation results show that the converter produces different charging currents for each battery charging mode, and an adaptive output voltage ranging from 2.8 V to 4.38 V, with the current ripple of 38 mA in CC mode and voltage ripple factor less than 1% in constant voltage (CV) mode. The average converter efficiency is 83.5%.
IAES International Journal of Robotics and Automation, 2024
A wireless sensor network (WSN) is a network consisting of self-governing sensors that are deploy... more A wireless sensor network (WSN) is a network consisting of self-governing sensors that are deployed in space and communicate with each other using wireless technology to monitor physical or environmental variables. These networks generally include compact, inexpensive sensor nodes equipped with sensing, processing, and communication functionalities. WSNs are specifically engineered to gather data from their immediate environment, do local data processing, and subsequently communicate pertinent information either to a central hub or to other interconnected nodes within the network. Continuous research in the domain of WSNs is devoted to advancing security concerns, developing novel sensing technologies, and optimizing communication protocols. The advancements in these domains enhance the ongoing development and efficiency of WSNs. The WSNs are very important for getting information from the real world in many situations. WSNs are flexible tools for keeping an eye on and controlling different environments because they have sensor nodes, wireless communication, and distributed processing. WSNs use network-on-chip (NoC) communication architecture to connect sensor nodes. The article explains the introduction to WSN, the background of wireless communication, motivation, ZigBee protocol, and WSN applications.
IAES International Journal of Robotics and Automation, 2024
Piper betle L. (betel) is a species that belongs to the genus Piper and is a type of medicinal pl... more Piper betle L. (betel) is a species that belongs to the genus Piper and is a type of medicinal plant that is quite well known to the general population. The varieties of the leaf color may distinguish are red, green, and black betel. However, consumers still need assistance determining the differences between the many types of betel leaf. Therefore, using image processing techniques, this research contributes to building a classification method for distinguishing betel leaves based on color attributes. This approach anoints for the region of interest detection, feature extraction, and classification. In addition, three different classifiers, naïve Bayes, support vector machine, and k-nearest neighbors (k-NN), were used during the classification process. The evaluation for this study used a percentage split to divide a total of 180 images between the training and testing phases. The method's performance provided the highest accuracy value possible, 100%, by utilizing the color characteristics with the k-NN classifier.
IAES International Journal of Robotics and Automation, 2024
This area provided an adequate space for the researchers to conduct their study and develop their... more This area provided an adequate space for the researchers to conduct their study and develop their product. The setting offered the necessary materials required as well for the creation of the product. Moreover, to test the effectiveness of the product, the researchers traveled from Cagayan de Oro to a certain location, a vice versa, for a total travel time of about three hours.
IAES International Journal of Robotics and Automation, 2024
The study explores the use of internet of things (IoT) devices in agriculture to improve sustaina... more The study explores the use of internet of things (IoT) devices in agriculture to improve sustainable practices and environmental concerns. It uses the ESP8266 microcontroller and the Blynk platform to create a revolutionary plant health monitoring and automated care system. The system is designed to handle continuous monitoring and plant maintenance in various environmental conditions. Sensors measuring light, temperature, humidity, and soil moisture are strategically placed to receive real-time data. The ESP8266 microcontroller analyzes this information and links it to the Blynk cloud for accessibility via mobile or web applications. The system is effective in monitoring ideal growing conditions, such as soil moisture and weather conditions. Automated care elements like irrigation and supplemental lighting have been shown to improve plant growth and health. The study contributes to smart farming by offering an affordable and easy way to automate and monitor plant health, demonstrating how IoT technologies can enhance agricultural practices, conserve resources, and enable remote management of plant ecosystems.
IAES International Journal of Robotics and Automation, 2024
Vector synthesis of fault testing (simulation) map for logic is proposed, which without simulatio... more Vector synthesis of fault testing (simulation) map for logic is proposed, which without simulation allows to determine of all faults detected on test sets, as well as determining test sets to detect specified faults. For synthesis, a superposition of smart data structures is used, containing: a deductive matrix D, as a derivative of the logical vector L, test truth table T, and fault truth table F. The deductive matrix is seen as the gene of functionality and base of Fault simulation mechanism to solve all the problems of testing and verification. In the matrix synthesis, an axiom is used: all the mentioned tables are identical in shape to each other and always interact with each other convolutionally T⊕L⊕F=0. A universal deductive reversing converter "test-faults" and "faults-test" for logical functionalities of any dimension is proposed. Converter functions: fault simulation on test sets T→F and synthesis of test sets F→T to detect the specified faults. The converter can be used as a test generation and fault simulation service for IP-core system-on-chip (SoC) under the IEEE 1500 SECT standard. Based on the deductive matrix, fault testing map for logic is built, where each test set is matched with the logic detected faults of the input lines.
IAES International Journal of Robotics and Automation, 2024
Collaborative robots (cobots) are a new significant technology in the integration of Industry 4.0... more Collaborative robots (cobots) are a new significant technology in the integration of Industry 4.0 (I4.0) and Industry 5.0 (I5.0). Working alongside humans in open environments, cobots can boost safety and productivity. However, manufacturers are facing some potential challenges in adopting cobots, such as technological challenges, social problems, cost barriers, and labor issues. Vietnam has a great potential for outsourcing in the top supply chains for many famous fashion brands globally, with thousands of textile and garment factories. The purpose of this study was to explore potential challenges of cobot implementations in the context of Vietnam's garment factories from factory employees' perspectives. Data were collected from 29 garment factory managers in Vietnam. Findings revealed a rapid change in fashion trends and many unskilled workers may limit cobots' flexibility, precision, and innovation. Furthermore, cobot implementation is affected by the cost of cobots, infrastructure upgrades, and risks of possible failure in deployment. Cobot firms, application partners, technology programmers, and manufacturers need to discuss how to maximize cobots' benefits in diverse aspects of the garment manufacturing setting. These insights could boost the industry's economy and sustainability.
IAES International Journal of Robotics and Automation, 2024
Inverse kinematics is a basic problem in robotics, which aims to solve the robot’s joint angles a... more Inverse kinematics is a basic problem in robotics, which aims to solve the robot’s joint angles according to the end effector’s position and orientation. This paper proposed an improved spiral search multi-strategy dung beetle optimizer (DBO) algorithm for solving the inverse kinematics problem. The improved DBO algorithm considers not only the error between the target value and the current value but also the previous position of the robot to ensure minimum displacement during the movement. To solve the end position error and orientation error of the robot end effector more accurately, the quaternion is introduced as a penalty factor in the optimization objective function, which is of great significance for reducing the orientation error. Through the improved DBO algorithm, the position error is still accurate, and the orientation error is reduced from 9.5901 to 1.8718. Experimental results show that the proposed algorithm outperforms other swarm-intelligent algorithms in terms of accuracy and convergence speed. Overall, the proposed spiral search multi-strategy DBO algorithm provides an effective and efficient solution to the inverse kinematics problem in robotics.
IAES International Journal of Robotics and Automation, 2024
The advance of Arduino-based technology has spurred innovation in the realm of robotic arm contro... more The advance of Arduino-based technology has spurred innovation in the realm of robotic arm control, offering a cost-effective and accessible platform for enthusiasts and professionals alike. This paper presents the development of robot arm control using an Arduino controller. The work involves the integration of Arduino microcontrollers and sensors to enable precise and dynamic control of a robotic arm. The proposed robot is controlled by 4 servo motors, the motors rotate left, right, front, and back. The paper discusses the challenges encountered during the development process and proposes solutions, paving the way for further advancements in this burgeoning field. With Arduino's widespread availability and affordability, the presented robotic arm control system holds promise for expanding the accessibility of robotics education and fostering innovation in automation technologies. This paper provides a glimpse into the promising synergy between Arduino and robotic arm control, highlighting the contributions and implications of this technology in shaping the future of automation.
IAES International Journal of Robotics and Automation, 2024
Methane emissions from leak sources can have a negative climate impact, in addition to contributi... more Methane emissions from leak sources can have a negative climate impact, in addition to contributing to the risk of explosions in urban environments. These risks can be minimized by developing systems that provide for an accurate and timely detection and localization of a gas leakage point. This research used a swarm of robots to detect and locate a leakage point. The localization algorithm derives from further optimization of the gradient climbing algorithm using fireflies acting as opportunistic agents. Firefly agents are characterized by their bioluminescent communication which guides them to dynamically adjust their positions and intensities based on the quality of the gradient information available to them. The proposed research focuses on enhancing gas leak detection through the development of a hybrid gradient climbing algorithm. This algorithm integrates gradient climbing techniques with swarm intelligence, utilizing the strengths of both approaches. This simulation resulted in the hybrid algorithm leading to a reduced convergence time and path lengths when compared to the swarm without opportunistic agents. The suggested approach can be important especially in gas distribution systems or in areas where human intervention is considered to be unsafe.
IAES International Journal of Robotics and Automation, 2024
Navigation is one of the crucial aspects of automation technology within the field of agriculture... more Navigation is one of the crucial aspects of automation technology within the field of agriculture, such as robotics systems or autonomous agricultural vehicles. Despite many navigation systems having been developed for agricultural land, due to their high development and component costs, these systems are difficult to access for farmers or organizations with limited capital. In this study, the Canny-edge detection and Hough transform methods are implemented in a path detection system on agricultural land to find an alternative, cost-effective navigation system for autonomous farming robots or vehicles. The system is tested on ground-level view images, which are captured from a low perspective and under three different lighting conditions. The testing and experimentation process involves adjusting the parameters of the Canny-edge detection and Hough transform methods for different lighting conditions. Subsequently, an evaluation is conducted using Intersection over Union to obtain the best accuracy results, followed by fine-tuning of the canny-edge detection and Hough transform method parameters. The identified parameters, specifically a 15×15 Gaussian kernel, low threshold of 50, high threshold of 150, Hough threshold, minimum line length of 150, and maximum line gap, have been discerned as optimal for the canny-edge and Hough transform algorithms under medium lighting conditions (G=1.0). The observed efficacy of these parameter configurations suggests the method's viability for implementation in path detection systems for agricultural vehicles or robots. This underscores its potential to deliver reliable performance and navigate seamlessly across diverse lighting scenarios within the agricultural context.
IAES International Journal of Robotics and Automation, 2024
Quadruped home surveillance robots represent a promising advancement in home security and automat... more 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.
IAES International Journal of Robotics and Automation, 2024
This research aims to create a walking bipedal robot with center of pressure feedback simulation ... more 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.
IAES International Journal of Robotics and Automation, 2024
Research investigations in the realm of micro-robotics often center around strategies addressing ... more 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 microrobot 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.
IAES International Journal of Robotics and Automation, 2024
This study addresses timing issues inherent in traditional proportionalintegral-derivative (PID) ... more This study addresses timing issues inherent in traditional proportionalintegral-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.
IAES International Journal of Robotics and Automation, 2024
Forestry cranes are an important tool for safe and efficient timber harvesting with forestry mach... more Forestry cranes are an important tool for safe and efficient timber harvesting with forestry machines. However, their complex manual control often led to inefficiencies and excessive energy usage, due to the many joysticks and buttons that must be used in a precise sequence to perform efficient movements. To address this, the industry is increasingly turning to partial automation, making manual control more intuitive for the operator and, consequently, achieving improvements in energy efficiency. This article introduces a novel approach to energy-optimal motion planning that can be used along with a feedback control system to automate crane motions, taking over portions of the operator's work. Our method combines dynamic movement primitives (DMPs) and an energy-optimization algorithm. DMPs is a machine learning technique for motion planning based on human demonstrations, while the optimization algorithm exploits the crane's redundancy to find energy-optimal trajectories. Simulation results show that DMPs can replicate human-like controlled motions with a 25% reduction in energy consumption. However, our energy optimization algorithm shows improvements of over 40%, providing substantial energy savings and a promising pathway towards environmentally friendly partially automated machines.
IAES International Journal of Robotics and Automation, 2024
As global population growth intensifies the demand for sustainable food production, the applicati... more 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.
IAES International Journal of Robotics and Automation, 2024
This research article presents the non-linear dynamic of a three-link robotic manipulator formula... more 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.
IAES International Journal of Robotics and Automation, 2024
In the Philippines, fires are a widespread concern, with plenty of incidents attributed to electr... more 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.
IAES International Journal of Robotics and Automation, 2024
This research introduces an innovative approach to address the limitations of the commonly used s... more 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.
IAES International Journal of Robotics and Automation, 2024
A switching regulator based on an adaptive DC-DC buck converter for a Liion battery charging inte... more A switching regulator based on an adaptive DC-DC buck converter for a Liion battery charging interface is introduced in this paper with the aim of improving the efficiency of charging the Li-ion battery during the whole charging process. By using the battery voltage as feedback, an adaptive reference is generated. This reference is employed by the converter, which is in continuous conduction mode (CCM), to produce a wide adaptive output voltage that closely tracks the battery voltage, intended to serve as the power source for the multimode charging interface. The converter was implemented in a 180 nm complementary metal oxide semiconductor (CMOS) process and simulated using the Cadence Virtuoso tool. With an input voltage of 5 V and a switching frequency selected at 500 kHz, the simulation results show that the converter produces different charging currents for each battery charging mode, and an adaptive output voltage ranging from 2.8 V to 4.38 V, with the current ripple of 38 mA in CC mode and voltage ripple factor less than 1% in constant voltage (CV) mode. The average converter efficiency is 83.5%.
IAES International Journal of Robotics and Automation, 2024
A wireless sensor network (WSN) is a network consisting of self-governing sensors that are deploy... more A wireless sensor network (WSN) is a network consisting of self-governing sensors that are deployed in space and communicate with each other using wireless technology to monitor physical or environmental variables. These networks generally include compact, inexpensive sensor nodes equipped with sensing, processing, and communication functionalities. WSNs are specifically engineered to gather data from their immediate environment, do local data processing, and subsequently communicate pertinent information either to a central hub or to other interconnected nodes within the network. Continuous research in the domain of WSNs is devoted to advancing security concerns, developing novel sensing technologies, and optimizing communication protocols. The advancements in these domains enhance the ongoing development and efficiency of WSNs. The WSNs are very important for getting information from the real world in many situations. WSNs are flexible tools for keeping an eye on and controlling different environments because they have sensor nodes, wireless communication, and distributed processing. WSNs use network-on-chip (NoC) communication architecture to connect sensor nodes. The article explains the introduction to WSN, the background of wireless communication, motivation, ZigBee protocol, and WSN applications.
IAES International Journal of Robotics and Automation, 2024
Piper betle L. (betel) is a species that belongs to the genus Piper and is a type of medicinal pl... more Piper betle L. (betel) is a species that belongs to the genus Piper and is a type of medicinal plant that is quite well known to the general population. The varieties of the leaf color may distinguish are red, green, and black betel. However, consumers still need assistance determining the differences between the many types of betel leaf. Therefore, using image processing techniques, this research contributes to building a classification method for distinguishing betel leaves based on color attributes. This approach anoints for the region of interest detection, feature extraction, and classification. In addition, three different classifiers, naïve Bayes, support vector machine, and k-nearest neighbors (k-NN), were used during the classification process. The evaluation for this study used a percentage split to divide a total of 180 images between the training and testing phases. The method's performance provided the highest accuracy value possible, 100%, by utilizing the color characteristics with the k-NN classifier.
IAES International Journal of Robotics and Automation, 2024
This area provided an adequate space for the researchers to conduct their study and develop their... more This area provided an adequate space for the researchers to conduct their study and develop their product. The setting offered the necessary materials required as well for the creation of the product. Moreover, to test the effectiveness of the product, the researchers traveled from Cagayan de Oro to a certain location, a vice versa, for a total travel time of about three hours.
IAES International Journal of Robotics and Automation, 2024
The study explores the use of internet of things (IoT) devices in agriculture to improve sustaina... more The study explores the use of internet of things (IoT) devices in agriculture to improve sustainable practices and environmental concerns. It uses the ESP8266 microcontroller and the Blynk platform to create a revolutionary plant health monitoring and automated care system. The system is designed to handle continuous monitoring and plant maintenance in various environmental conditions. Sensors measuring light, temperature, humidity, and soil moisture are strategically placed to receive real-time data. The ESP8266 microcontroller analyzes this information and links it to the Blynk cloud for accessibility via mobile or web applications. The system is effective in monitoring ideal growing conditions, such as soil moisture and weather conditions. Automated care elements like irrigation and supplemental lighting have been shown to improve plant growth and health. The study contributes to smart farming by offering an affordable and easy way to automate and monitor plant health, demonstrating how IoT technologies can enhance agricultural practices, conserve resources, and enable remote management of plant ecosystems.
IAES International Journal of Robotics and Automation, 2024
Vector synthesis of fault testing (simulation) map for logic is proposed, which without simulatio... more Vector synthesis of fault testing (simulation) map for logic is proposed, which without simulation allows to determine of all faults detected on test sets, as well as determining test sets to detect specified faults. For synthesis, a superposition of smart data structures is used, containing: a deductive matrix D, as a derivative of the logical vector L, test truth table T, and fault truth table F. The deductive matrix is seen as the gene of functionality and base of Fault simulation mechanism to solve all the problems of testing and verification. In the matrix synthesis, an axiom is used: all the mentioned tables are identical in shape to each other and always interact with each other convolutionally T⊕L⊕F=0. A universal deductive reversing converter "test-faults" and "faults-test" for logical functionalities of any dimension is proposed. Converter functions: fault simulation on test sets T→F and synthesis of test sets F→T to detect the specified faults. The converter can be used as a test generation and fault simulation service for IP-core system-on-chip (SoC) under the IEEE 1500 SECT standard. Based on the deductive matrix, fault testing map for logic is built, where each test set is matched with the logic detected faults of the input lines.
IAES International Journal of Robotics and Automation, 2024
Collaborative robots (cobots) are a new significant technology in the integration of Industry 4.0... more Collaborative robots (cobots) are a new significant technology in the integration of Industry 4.0 (I4.0) and Industry 5.0 (I5.0). Working alongside humans in open environments, cobots can boost safety and productivity. However, manufacturers are facing some potential challenges in adopting cobots, such as technological challenges, social problems, cost barriers, and labor issues. Vietnam has a great potential for outsourcing in the top supply chains for many famous fashion brands globally, with thousands of textile and garment factories. The purpose of this study was to explore potential challenges of cobot implementations in the context of Vietnam's garment factories from factory employees' perspectives. Data were collected from 29 garment factory managers in Vietnam. Findings revealed a rapid change in fashion trends and many unskilled workers may limit cobots' flexibility, precision, and innovation. Furthermore, cobot implementation is affected by the cost of cobots, infrastructure upgrades, and risks of possible failure in deployment. Cobot firms, application partners, technology programmers, and manufacturers need to discuss how to maximize cobots' benefits in diverse aspects of the garment manufacturing setting. These insights could boost the industry's economy and sustainability.
IAES International Journal of Robotics and Automation, 2024
Inverse kinematics is a basic problem in robotics, which aims to solve the robot’s joint angles a... more Inverse kinematics is a basic problem in robotics, which aims to solve the robot’s joint angles according to the end effector’s position and orientation. This paper proposed an improved spiral search multi-strategy dung beetle optimizer (DBO) algorithm for solving the inverse kinematics problem. The improved DBO algorithm considers not only the error between the target value and the current value but also the previous position of the robot to ensure minimum displacement during the movement. To solve the end position error and orientation error of the robot end effector more accurately, the quaternion is introduced as a penalty factor in the optimization objective function, which is of great significance for reducing the orientation error. Through the improved DBO algorithm, the position error is still accurate, and the orientation error is reduced from 9.5901 to 1.8718. Experimental results show that the proposed algorithm outperforms other swarm-intelligent algorithms in terms of accuracy and convergence speed. Overall, the proposed spiral search multi-strategy DBO algorithm provides an effective and efficient solution to the inverse kinematics problem in robotics.
IAES International Journal of Robotics and Automation, 2024
The advance of Arduino-based technology has spurred innovation in the realm of robotic arm contro... more The advance of Arduino-based technology has spurred innovation in the realm of robotic arm control, offering a cost-effective and accessible platform for enthusiasts and professionals alike. This paper presents the development of robot arm control using an Arduino controller. The work involves the integration of Arduino microcontrollers and sensors to enable precise and dynamic control of a robotic arm. The proposed robot is controlled by 4 servo motors, the motors rotate left, right, front, and back. The paper discusses the challenges encountered during the development process and proposes solutions, paving the way for further advancements in this burgeoning field. With Arduino's widespread availability and affordability, the presented robotic arm control system holds promise for expanding the accessibility of robotics education and fostering innovation in automation technologies. This paper provides a glimpse into the promising synergy between Arduino and robotic arm control, highlighting the contributions and implications of this technology in shaping the future of automation.
IAES International Journal of Robotics and Automation, 2024
Methane emissions from leak sources can have a negative climate impact, in addition to contributi... more Methane emissions from leak sources can have a negative climate impact, in addition to contributing to the risk of explosions in urban environments. These risks can be minimized by developing systems that provide for an accurate and timely detection and localization of a gas leakage point. This research used a swarm of robots to detect and locate a leakage point. The localization algorithm derives from further optimization of the gradient climbing algorithm using fireflies acting as opportunistic agents. Firefly agents are characterized by their bioluminescent communication which guides them to dynamically adjust their positions and intensities based on the quality of the gradient information available to them. The proposed research focuses on enhancing gas leak detection through the development of a hybrid gradient climbing algorithm. This algorithm integrates gradient climbing techniques with swarm intelligence, utilizing the strengths of both approaches. This simulation resulted in the hybrid algorithm leading to a reduced convergence time and path lengths when compared to the swarm without opportunistic agents. The suggested approach can be important especially in gas distribution systems or in areas where human intervention is considered to be unsafe.
IAES International Journal of Robotics and Automation, 2024
Navigation is one of the crucial aspects of automation technology within the field of agriculture... more Navigation is one of the crucial aspects of automation technology within the field of agriculture, such as robotics systems or autonomous agricultural vehicles. Despite many navigation systems having been developed for agricultural land, due to their high development and component costs, these systems are difficult to access for farmers or organizations with limited capital. In this study, the Canny-edge detection and Hough transform methods are implemented in a path detection system on agricultural land to find an alternative, cost-effective navigation system for autonomous farming robots or vehicles. The system is tested on ground-level view images, which are captured from a low perspective and under three different lighting conditions. The testing and experimentation process involves adjusting the parameters of the Canny-edge detection and Hough transform methods for different lighting conditions. Subsequently, an evaluation is conducted using Intersection over Union to obtain the best accuracy results, followed by fine-tuning of the canny-edge detection and Hough transform method parameters. The identified parameters, specifically a 15×15 Gaussian kernel, low threshold of 50, high threshold of 150, Hough threshold, minimum line length of 150, and maximum line gap, have been discerned as optimal for the canny-edge and Hough transform algorithms under medium lighting conditions (G=1.0). The observed efficacy of these parameter configurations suggests the method's viability for implementation in path detection systems for agricultural vehicles or robots. This underscores its potential to deliver reliable performance and navigate seamlessly across diverse lighting scenarios within the agricultural context.
IAES International Journal of Robotics and Automation, 2024
Quadruped home surveillance robots represent a promising advancement in home security and automat... more 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.
IAES International Journal of Robotics and Automation, 2024
This research aims to create a walking bipedal robot with center of pressure feedback simulation ... more 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.
IAES International Journal of Robotics and Automation, 2024
Research investigations in the realm of micro-robotics often center around strategies addressing ... more 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 microrobot 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.
IAES International Journal of Robotics and Automation, 2024
This study addresses timing issues inherent in traditional proportionalintegral-derivative (PID) ... more This study addresses timing issues inherent in traditional proportionalintegral-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.
IAES International Journal of Robotics and Automation, 2024
Forestry cranes are an important tool for safe and efficient timber harvesting with forestry mach... more Forestry cranes are an important tool for safe and efficient timber harvesting with forestry machines. However, their complex manual control often led to inefficiencies and excessive energy usage, due to the many joysticks and buttons that must be used in a precise sequence to perform efficient movements. To address this, the industry is increasingly turning to partial automation, making manual control more intuitive for the operator and, consequently, achieving improvements in energy efficiency. This article introduces a novel approach to energy-optimal motion planning that can be used along with a feedback control system to automate crane motions, taking over portions of the operator's work. Our method combines dynamic movement primitives (DMPs) and an energy-optimization algorithm. DMPs is a machine learning technique for motion planning based on human demonstrations, while the optimization algorithm exploits the crane's redundancy to find energy-optimal trajectories. Simulation results show that DMPs can replicate human-like controlled motions with a 25% reduction in energy consumption. However, our energy optimization algorithm shows improvements of over 40%, providing substantial energy savings and a promising pathway towards environmentally friendly partially automated machines.
IAES International Journal of Robotics and Automation, 2024
As global population growth intensifies the demand for sustainable food production, the applicati... more 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.
IAES International Journal of Robotics and Automation, 2024
This research article presents the non-linear dynamic of a three-link robotic manipulator formula... more 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.
IAES International Journal of Robotics and Automation, 2024
In the Philippines, fires are a widespread concern, with plenty of incidents attributed to electr... more 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.
IAES International Journal of Robotics and Automation, 2024
This research introduces an innovative approach to address the limitations of the commonly used s... more 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.
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