Journal Cover International Journal of Intelligent Machines and Robotics
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   Hybrid Journal Hybrid journal (It can contain Open Access articles)
   ISSN (Print) 2398-7510 - ISSN (Online) 2398-7529
   Published by Inderscience Publishers Homepage  [432 journals]
  • Lenient computation in controlling the nonlinear system based on adaptive
           error optimisation in microgrid
    • Authors: T. Yuvaraja, K. Ramya
      Pages: 5 - 15
      Abstract: This manuscript describes the hybrid learning algorithm for training the error optimisation in an MIMO nonlinear system. The automated controller is designed using lenient computation technique with a Levenberg-Marquardt training algorithm. The designed controller is interfaced to a microgrid which has renewable energy sources like solar, wind, fuel cell, or smart battery as input and the output power generated by these sources can be utilised for various grid and atomised applications. The erudition capability and designing methodology of adaptive networks and sturdiness of PID controllers are described. Finally, the study illustrates an offline mode comparison of PID-based ANFIS and neural controllers in terms of settling time, steady state error and overshoot.
      Keywords: lenient computation; proportional-integral-derivative; PID; ANFIS PID; ANN ARX model; neural network; renewable energy sources; microgrid
      Citation: International Journal of Intelligent Machines and Robotics, Vol. 1, No. 1 (2018) pp. 5 - 15
      PubDate: 2018-04-04T23:20:50-05:00
      DOI: 10.1504/IJIMR.2018.090941
      Issue No: Vol. 1, No. 1 (2018)
  • Robust active vision industrial CAD parts recognition system
    • Authors: Tushar Jain, Meenu, H.K. Sardana
      Pages: 16 - 33
      Abstract: In automated assembly systems the machine parts identification is entirely different from simple object recognition; moreover the ability of humans to differentiate between correct and not correct machine parts is better but it is a difficult task for a machine. In general, with fast moving machine parts on the conveyor manual defect detection by human inspectors is impractical. Also it is expensive, inaccurate, subjective, eye straining and causes other health issues to quality control inspectors. A computer vision-based non-contact inspection technique is developed with image processing methods by considering these problems, for defect detection in industrial machine parts. The present work will help the industrial robot used in assembly process and industrial inspection systems. In this paper features-based industrial object detection techniques are implemented in MATLAB to recognise the presence of the industrial CAD parts in the query image. In the end the actual industrial tool images are also used to show the accuracy and robustness of the proposed machine vision system for industrial manufacturing automation.
      Keywords: active vision; industrial CAD parts; image processing; parts recognition; feature-based algorithms; intelligent systems; robotics
      Citation: International Journal of Intelligent Machines and Robotics, Vol. 1, No. 1 (2018) pp. 16 - 33
      PubDate: 2018-04-04T23:20:50-05:00
      DOI: 10.1504/IJIMR.2018.090942
      Issue No: Vol. 1, No. 1 (2018)
  • Towards a secure and automated platform for fingerprint-based
           electronic voting machine
    • Authors: Ifthekhar Ahammad, Pradip Lal Biswas, Juwel Chowdhury, Obaedur Rahim Rizbhi, Sanjana Siraj, Ashraful Islam
      Pages: 34 - 44
      Abstract: Electronic voting machines (EVM) inherit the act of voting using electronic systems to cast and count votes. This paper deals with the design and development of an electronic voting machine using biometric fingerprint identification system in order to provide better performance, flexibility and economic advantages with higher level of security to the casting and voting system. The proposed fingerprint-based EVM allows the voters to scan their fingerprint, which is then compared with the database. Upon completion of voter identification, voters are allowed to cast their votes and votes are updated immediately. The proposed electronic voting system is fast, efficient and fraud-free. It provides better security with biometric fingerprint system, makes the voting machine user friendly and reduces the cost to a minimum level.
      Keywords: EVM; fingerprint; voting machine; automatic; biometrics; machines; robotics
      Citation: International Journal of Intelligent Machines and Robotics, Vol. 1, No. 1 (2018) pp. 34 - 44
      PubDate: 2018-04-04T23:20:50-05:00
      DOI: 10.1504/IJIMR.2018.090943
      Issue No: Vol. 1, No. 1 (2018)
  • Optimal conceptual design and vision-based control of a fruit
           harvesting robot
    • Authors: K. Saran Kumar, P.S. Shivarama Shankaran, S. Rizwan Asif, S. Karthick, I.A. Palani, Bhupesh Kumar Lad, Abhijeet Patil, Pratik Patil, Harsh Sharma
      Pages: 45 - 59
      Abstract: The main contribution of this paper is to develop a vision-based control of a robotic arm for the harvesting fruits. The camera fixed in the gripper pad enables to precisely locate the fruit and pluck it from the branch. Rigorous stability analysis is done to ensure the guaranteed performance of the closed loop system. The camera feedback locates the exact position of the fruit; this enables the controller to track a suitable and optimal path to reach the target by performing desirable transformations. The manipulator with five-DOF (RRPRR) is designed and optimised for the formulating simple control strategies. The finger-like built gripper is electrically actuated to provide the necessary force required in harvesting the fruit. Also an additional bellow kind of structure is specially designed and located below the gripper which helps to roll down the harvested fruit on to the storage container without damaging it. Numerical simulation analysis was carried out along with the design realisation to justify the context. The advancement in the field of agrionics has also been a source of inspiration in designing agricultural robots.
      Keywords: robot design; vision-based control; harvesting robot; dynamics; trajectory tracking; agrionics; farmbot; intelligent machine; fruit harvester
      Citation: International Journal of Intelligent Machines and Robotics, Vol. 1, No. 1 (2018) pp. 45 - 59
      PubDate: 2018-04-04T23:20:50-05:00
      DOI: 10.1504/IJIMR.2018.090944
      Issue No: Vol. 1, No. 1 (2018)
  • Digital implementation of a self-triggered control approach for a
           mechatronic platform: experimental results
    • Authors: Carlos Santos, Javier Echevarría, Felipe Espinosa, Marta Marrón, Cristina Losada, Daniel Pizarro
      Pages: 60 - 78
      Abstract: This paper addresses the design and presents the experimental results of an aperiodic remote-controlled mechatronic plant using a MiniDK2 electronic development board. We compare the classic periodic control solution with our self-triggered approach. The triggering mechanism consists of evaluating if the measurement error exceeds a predefined value. This measurement error is defined as the difference between the output signal of a model with and without a sample-and-hold that is activated only at the triggering instants. The minimum inter-execution time is the reference period and the maximum time is set by the designer, guaranteeing the stability of the closed loop system. At each new triggering instant, the remote controller receives a new measurement of the system and sends the actuation signal to the mechatronic plant.
      Keywords: aperiodic digital control; self-triggered control; remote control; MiniDK2 development board
      Citation: International Journal of Intelligent Machines and Robotics, Vol. 1, No. 1 (2018) pp. 60 - 78
      PubDate: 2018-04-04T23:20:50-05:00
      DOI: 10.1504/IJIMR.2018.090945
      Issue No: Vol. 1, No. 1 (2018)
  • Dynamic simulation of serial robots under force control
    • Authors: Arun Dayal Udai, Subir Kumar Saha
      Pages: 79 - 108
      Abstract: The advantages of using force control in industrial robots are well known. Study of such systems in virtual environments in the form of simulation is of great help as most of the force controlled task works in close contact with the environment. In this paper, we show how to simulate different force control algorithms of a typical serial robot used in industries before deciding to choose a suitable one for real implementation. Hence, a proper dynamic model of the robot is essential which should be able to emulate the real robot, particularly if the robot moves at relatively higher speeds. This is done here using the concept of the decoupled natural orthogonal complement (DeNOC) matrices which is known to provide a recursive forward dynamic algorithm that is not only efficient but also numerically stable. Such simulation of robots under force control will allow users to tune the control gains without stopping the real robot on the production floor. Besides, such simulation can be used as an education tool as well to help beginners to explore various types of control algorithms and their performances. In addition, the framework for simulation proposed in this paper can work as a good test bench to test the performances of either a new control law or a different dynamic algorithm. As an illustration, the DeNOC based dynamics was substituted with MATLAB's SimMechanics which can also perform dynamic simulation. The comparison of the results validated the concept and correctness of the numerical simulations.
      Keywords: simulation; force control; decoupled natural orthogonal complement; DeNOC
      Citation: International Journal of Intelligent Machines and Robotics, Vol. 1, No. 1 (2018) pp. 79 - 108
      PubDate: 2018-04-04T23:20:50-05:00
      DOI: 10.1504/IJIMR.2018.090946
      Issue No: Vol. 1, No. 1 (2018)
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