Authors:Sobolev Leonid Pages: 211 - 220 Abstract: Population aging becomes one of the most significant 21st century social challenges. These challenges strongly reflect on the industry, labor, and financial markets. Population aging increases the demand for medicines, diagnostic equipment, and medical services. Both developed and developing countries have problems resulting from the current shortage of health workers and a limited supply of medical equipment. An alternative for medical staff growth is the robotization of medical services. However, robotics is economically justified when the costs of medical robots are lower than the construction of additional medical clinics and the increase in medical staff. Medical robotics appeared on the market later than the industrial and military ones but has recently found increasing use in high-income countries. Low and middle-income countries could not acquire expensive medical robots in sufficient quantities. The increased competition in the medical robotics market will lead to price reductions and make robotized services available for wide use. The article analyses the competition in segments of the medical robotics markets, connected with population aging. PubDate: 2023-09-01 DOI: 10.11591/ijra.v12i3.pp211-220 Issue No:Vol. 12, No. 3 (2023)
Authors:Konstantin Vladimirovich Litsin, Rakhmetolla Rakhmanov, Andrey Vitalievich Tsukanov Pages: 221 - 227 Abstract: In recent years, there has been a great interest in the transition to digital and automation services for dangerous and menial working processes. Due to its MH50-35 industrial robot, Motoman's properties allow us to improve the control system of an electric drive for industrial robots. The structure of the electric drive for six-axis robot manipulator performance can be superior to conventional Drive Control servos for motor excitation, and a novel automation system can be implemented for its servo performance. To solve these issues, we propose an optimization strategy that allows us to achieve an increase in productivity and labor safety in the industry, reduce the percentage of defects, guarantee product uniformity, and reduce the prime cost of production of items. Ideal conditions were anticipated using a mathematical model. In this study, by using a statistical model, the ideal conditions were synthesized. The optimization of the control system of an electric drive for industrial robot analysis was carried out, and our findings suggest using this model in industrial production to elucidate problems such as high accuracy and speed indicators. PubDate: 2023-09-01 DOI: 10.11591/ijra.v12i3.pp221-227 Issue No:Vol. 12, No. 3 (2023)
Authors:Ali Jebelli, Alireza Najafiyanfar, Arezoo Mahabadi, Mustapha C. E. Yagoub Pages: 228 - 239 Abstract: A control algorithm is proposed to efficiently control the state, position, and height of a nonlinear dynamic model of a quadcopter. Based on feedback linearization, a state space model is presented for the system with the controller with a two-loop control structure designed and implemented in it. The inner and faster controller is responsible for adjusting the quadcopter height and angles, and the outer and slower controller is responsible for changing the desired figures of roll and pitch angles to control the system position. Whenever a rotor of the quadcopter rotor fails, the status and position of the system are converged and the system is stabilized. Simulation results based on different scenarios indicate the proper performance of the control system whenever there are external disturbances. Note that the gyroscopic effects because of the propeller rotation were not considered. PubDate: 2023-09-01 DOI: 10.11591/ijra.v12i3.pp228-239 Issue No:Vol. 12, No. 3 (2023)
Authors:Michael Leung, Ricardo Ortiz, Bruce W. Jo Pages: 240 - 247 Abstract: Mid-turbinate swab sampling is an effective way to detect the severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2) virus. Several articles discussed the importance and benefits of using robotic technology to alleviate healthcare workers’ daily burdens against coronavirus disease 2019 (COVID-19). Therefore, a semi-automated approach for collecting swab samples from the mid-turbinate area-approximately 4 cm inside the nose is proposed. The system utilizes a six-degrees-of-freedom (6-DOF) Doosan Robot M1509 and two smart visual sensors: one on the end effector and the other fixed to the side for estimating the angle of the nasal path. This work suggests a method of robot and human collaboration in the sampling process that could minimize infections from samplings and guarantee uniformly administered sampling processes. The effectiveness of this proposed work was tested on a live patient and a phantom head; meanwhile, the insertion process was only administered on the phantom head. Although the overall time of the experiment was greater than a manual swab, the feasibility of implementing robotic applications for COVID-19 swab sampling has been practically showcased in this paper. PubDate: 2023-09-01 DOI: 10.11591/ijra.v12i3.pp240-247 Issue No:Vol. 12, No. 3 (2023)
Authors:Ali Jebelli, Arezoo Mahabadi Pages: 248 - 261 Abstract: Today, the use of mobile robots and autonomous vehicles has increased due to their use in various industries, and their performance and duration of operation largely depend on the amount of energy consumed and their batteries. One of the ways to increase the operation time of robots is the use of solar panels that can charge their batteries while moving, but the amount of energy received from solar panels reduces their efficiency due to factors affecting them, such as the angle of the sun, weather conditions, and their use in mobile robots alone is not recommended. In this research, we introduce an electric circuit with very low losses to increase the received power of solar panels and increase their efficiency, which is able to supply the power of the robot through solar panels when the sunlight and the angle of radiation are suitable and charge the batteries through the maximum power point controller (MPPC), and by reducing the amount of energy received from the panels by changing the energy source to the battery, the duration of the system’s dependence on the battery has decreased, which increases the duration of the mobile robots. PubDate: 2023-09-01 DOI: 10.11591/ijra.v12i3.pp248-261 Issue No:Vol. 12, No. 3 (2023)
Authors:Ismail Rokhim, Nur Jamiludin Ramadhan, Zainun Najakh Pages: 262 - 273 Abstract: Since March 2020, coronavirus disease (COVID-19) has become a major global concern. Even in an emergency, medical personnel should avoid contact with COVID-19 patients. Mobile manipulators are a non-contact alternative to medical personnel for performing healthcare tasks such as distributing supplies to COVID-19-quarantined patients. In this study, patients use an Android application to order mobile manipulator robots, which include the Collaborative Manipulator Robot UR5e and the autonomous mobile robot MiR200 (abbreviated and referred to as CURe-Mi). The HTTP protocol is used for communication between the Android application and the robot. The experiment was conducted in a small room with several tables and bottles used to simulate hospital rooms and medications. The delivery testing results show that all four items were delivered successfully. The results of the manipulator robot and mobile robot movement accuracy tests show that the average error is 0.213 and 4.51 cm, respectively. The Android application performance test demonstrates that the application successfully sends commands to the mobile manipulator robot within its maximum range of 1,800 cm. The CURe-Mi mobile manipulator robot has successfully assisted medical personnel in handling several contactless COVID-19 patients serving missions. PubDate: 2023-09-01 DOI: 10.11591/ijra.v12i3.pp262-273 Issue No:Vol. 12, No. 3 (2023)
Authors:Wajeb Gharibi, Vladimir Hahanov, Svetlana Chumachenko, Eugenia Litvinova, Ivan Hahanov, Irina Hahanova Pages: 274 - 288 Abstract: The aim of the research is to create logic-free vector computing, leveraging read-write transactions in memory, to solve the problems of modeling and simulation stuck-at-fault combinations for complex logic elements and digital structures. At the same time, the problem of creating smart data structures based on logical vectors, truth tables, and deductive matrices is considered to simplify algorithms for parallel stuck-at-fault simulation. Vector computing is a computational process based on read-write transactions on bits of a binary vector of functionality, where the input data and faults are the addresses of the bits. A method for the synthesis of deductive vectors for propagating input fault lists is proposed, which has a quadratic computational complexity of read-write transactions. Deductive vectors, combined into a quadratic matrix, represent explicit data structures for parallel simulation of single and multiple stuck-at-faults. The initial information for constructing a deductive matrix is a logical vector and a bit-recoding matrix. Matrix is easily obtained using a recursive procedure based on the combinatorial properties of the truth table. Considering emerging trends, focused on in-memory computing, an algorithm for fault, as addresses, simulation is proposed, using logical and deductive vectors placed in memory. The simulation algorithm is proposed not to use commands of powerful processors. PubDate: 2023-09-01 DOI: 10.11591/ijra.v12i3.pp274-288 Issue No:Vol. 12, No. 3 (2023)
Authors:Naseer Ahmad, Muhammad Arsalan Pages: 289 - 299 Abstract: In the ultra-high temperature (UHT) process, fluid temperature is raised above 135 °C for a short period of time (typically 4 seconds) and then quickly cooled ensuring no microbes remain in the final product. To have better quality processed milk, a stringent temperature control system is necessary. To solve this problem a detailed control-oriented mathematical model of the heating system for UHT application is developed and a detailed block diagram is established by identifying various systems and signals. To draw the merits of a feedforward controller (transfer function or fuzzy logic based) and proportional-integral-derivative (PID) feedback compensator, a fuzzy PID hybrid controller is designed and simulated in a MATLAB environment. Findings of the simulation results indicate that the fuzzy-PID hybrid compensator concatenates the benefits of both controllers. PID controller processes the error signal and tracks the setpoint whereas the feedforward controller (transfer function or fuzzy) effectively rejects the disturbance signal’s effect on the controlled variable. The fuzzy-PID hybrid controller performs better than the individual PID or fuzzy controller. PubDate: 2023-09-01 DOI: 10.11591/ijra.v12i3.pp289-299 Issue No:Vol. 12, No. 3 (2023)
Authors:Mulyanto Mulyanto, Bedi Suprapty, Achmad Fanany Onnilita Gaffar, Muhammad Taufiq Sumadi Pages: 300 - 314 Abstract: The recirculating aquaculture system (RAS) is a land-based aquaculture facility, either open-air or indoors, that minimizes water consumption by filtering, adapting, and reusing water. Solid organic matter from fish waste and food waste directly becomes waste that needs to be eliminated because it is a source of increasing total ammonia nitrogen (TAN), total suspended solids (TSS), total dissolved solids (TDS), and also has an impact on reducing dissolved oxygen (DO). RAS requires a water level control system so the fish tank does not experience water shortages or floods, disrupting the aquatic aquaculture ecosystem. In this study, small-scale RAS is modeled using a 3-coupled tanks system approach with a tank configuration that follows the most straightforward RAS water recirculation process (fish tank, mechanic filter, biofilter). Clean water from the reservoir flows into the fish tank through a protein skimmer. This study applies the fuzzy logic controller (FLC) to control the water level in the protein skimmer and biofilter tanks by controlling the position of several valves where the placement positions of the valves have been determined according to system requirements. The study results show that the tuned single-input FLC has the best average output response characteristics with ts=50, h1ss=49.98, ess=0.02 in protein skimmer and ts=4700, h1ss=39.75, ess=0.25 in the tank system. PubDate: 2023-09-01 DOI: 10.11591/ijra.v12i3.pp300-314 Issue No:Vol. 12, No. 3 (2023)
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