IAES International Journal of Robotics and Automation (IJRA)
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Development of image super-resolution framework
Get PDFThere are some scenarios where the images taken are of low resolution and it is hard to judge the features from them, resulting in the need for enhancement. Super-resolution is a technique to produce a high-resolution image from a lower-resolution image. The intention here is to develop a system that enhances images of faces and satellite images by integrating these models and providing an interface to access this model. There have been various ways of achieving super-resolution using different techniques. Throughout the years, techniques involving deep learning methods, interpolation techniques, and recursive networks have been explored. We find it promising to use generative adversarial networks (GANs). The system has been deployed through Google Collaborate, Python libraries, and the TensorFlow framework. To assess the developed system, which consists of images, three metrics have been calculated. namely, peak signal-to-noise ratio, mean squared error, and structural similarity index. The model successfully demonstrated the capability of GANs by efficiently generating a high-resolution image from a low-resolution image for the given cases. The model would then be run on a standalone server for free Internet access for users to use super-resolution facial images and satellite images
An emotion recognition system: bridging the gap between humans-machines interaction
Get PDFHuman emotion recognition has emerged as a vital research area in recent years due to its widespread applications in psychology, healthcare, education, entertainment, and human-robot interaction. This research article comprehensively analyzes a machine learning-based six-emotion classification algorithm, focusing on its development, evaluation, and potential applications. The study aims to assess the algorithm's performance, identify its limitations, and discuss the importance of selecting appropriate image descriptors for accurate emotion classification. The algorithm achieved an overall accuracy of 92.23\%, showcasing its potential in various fields. However, the classification of specific emotions, particularly "excited" and "afraid", demonstrated some limitations, suggesting further refinement. The study also highlights the significance of choosing suitable image descriptors, with the manual distance calculation used in the framework proving effective. This article offers insights into developing and evaluating a six-emotion classification algorithm using a machine learning framework, emphasizing its strengths, limitations, and possible applications in multiple domains. The findings contribute to ongoing efforts in creating robust, accurate, and versatile emotion recognition systems that cater to the diverse needs of various applications across psychology, healthcare, robotics, education, and entertainment
Traffic lights time strategy for T-junctions of toll road gate
Get PDFVehicles wishing to pass on the toll road must diverge from the traffic flow on public roads. The toll road movement consists of low vehicles (LV) and heavy vehicles (HV). The public road movement is a mixed traffic flow consisting of LV, HV, motorcycles, and unmotorized vehicles. Traffic lights are used at the T-junction of the toll road gate for travel safety management. The traffic lights that implement a fixed-time strategy should be optimized for efficiency. This study aims to review the safety of travel management at T-junctions for the toll road gate when adaptive traffic lights are used. The structural complexity of mathematical modeling with Petri net is used to analyze and measure the feasibility study. Results illustrate that the structural complexity of the traffic lights that implement a fixed time strategy equals 0.387. It is equal to 0.489 for the adaptive traffic lights. The structural complexity of adaptive traffic lights is 25% higher than conventional systems that implement a fixed-time strategy. The adaptive traffic lights time strategy is feasible for travel safety for road users. The travel time is efficient and comfortable because the delay is low. Furthermore, traffic lights can adjust to the demand of vehicles queuing
3D human hands rendering by a six degrees of freedom collaborative robot and a single 2D camera
Get PDFHuman hands are essential in everyday tasks, mainly manipulating and grasping objects. Thus, accurate and precise three-dimensional (3D) models of digitally reconstructed hands are valuable to the world of ergonomics. A 3D scan-to-render system called the “3D hands model rendering using a 6-degrees of freedom (DoF) collaborative robot” is proposed to ensure that a person receives the best possible outcome for their unique anatomy. The description implies this is using a 6-DoF robot with a two-dimensional (2D) camera sensor that will encompass all forms of the production line in a timely, low-cost, precise, and accurate manner so that an individual can go to and scan their hand and have an actual 3D reconstruction print within the same facility, the same day. It is expected to generate an accurate hand model using structure from motion (SFM) system techniques to create a dense point cloud using photogrammetry. The point cloud is used to develop the tetrahedral mesh of the surface of the hand. This mesh is then refined to filter out the noise of the point cloud. The mesh can produce a precise 3D model that can tailor products to the consumer's needs. The results show the effectiveness of the 3D model of the hand
Real-time microreaction recognition system
Get PDFThis study constructed a real-time microreaction recognition system that can give real-time assistance to investigators. Test results indicated that the number of frames per second (30 or 190); angle of the camera, namely the front view of the interviewee or left (+45°) or right (−45°) view; and image resolution (480 or 680 p) did not have major effects on the system’s recognition ability. However, when the camera was placed at a distance of 300 cm, recognition did not always succeed. Value changes were larger when the camera was placed at an elevation 45° than when it was placed directly in front of the person being interrogated. Within a specific distance, the recognition results of the proposed real-time microreaction recognition system concurred with the six reaction case videos. In practice, only the distance and height of the camera must be adjusted in the real-time microreaction recognition system
On solving the kinematics and controlling of origami box-shaped robot
Get PDFNowadays, there are various research on transformable robot. The use of origami pattern for transformable robot can be found in many research. The disadvantages of traditional origami model are the suitable material for folding is zero thickness, complicated patterns and overconstrained mechanism. In this paper, the idea of designing 1 degree-of-freedom box-shaped robot is proposed and two types of robot design have been analyzed. The first design is the waterbomb robot, that uses the traditional origami pattern. The second model takes the Sarrus linkage as the main mechanism for the mobile robot. In both designs, only one motor is required for the transformation of the robot, making the robot light-weight and portable. This paper analyzes the kinematic and dynamic properties of two transformable robots by using MATLAB. The comparison of the torque required for forming 3D shape has been done for optimizing robot design. Finally, the real model optimized design is introduced to illustrate the proposed method.
Self-organization of a wheeled robotic swarm using virtual spring-damper mesh
Get PDFThe article analyzes the problem of self-organization of randomly placed wheeled robots around a stationary reference point, into a given shape of a regular polygon. The paper gives an answer to the question how virtual forces from virtual spring-damper connections between robots allow self-organization of the swarm into the desired shape. The presented method of control is described in detail with the description of i-th robot dynamics and tested numerically and experimentally. The swarm's self-organization is aimed at moving randomly spaced robots with a random frame orientation to a given distance to a reference point, reaching and maintaining a given distance between neighboring robots. The paper presents the results of numerical tests and experimental research and ends with discussion and conclusions. The paper's results could be expanded for applications related to spacial distribution of mobile robots
Robotic inspection and automated analysis system for advanced manufacturing
Get PDFCompanies have developed various systems to improve their processes. These processes’ focus has been to produce more quantity in less time. To accomplish this task, it is important to also consider defects. Defective products can cause delays in the production line, rework, and the loss of money, time, and resources. This project focused on developing an integrated inspection system. Previous research has been done regarding types of vision systems, in-line inspections, and feedback data collection. A programmable logic controller (PLC) was used to control when the conveyor belt starts and stops. When the object has reached a certain position, the camera detects if the object passed or failed the process. If the object fails, the robot will pick up the bottle and take it out of the line. Human-machine interface (HMI) was also integrated, which shows how many bottles have passed and failed with a light that will indicate if a certain object has passed or failed. Feedback from the inspection process can help solve potential issues from different machines and processes. The testbed was designed, integrated, and tested in the paper to perform a feedback analysis for the production line. The setup consisted of MicroLogix PLC, Fanuc robot LR Mate 200iD and Cognex camera
Model-based and machine learning-based high-level controller for autonomous vehicle navigation: lane centering and obstacles avoidance
Get PDFResearchers have been attempting to make the car drive autonomously. The environment perception together with safe guidance and control is an important task and are one of the big challenges when developing this kind of system. Geometrical or physical based models, machine learning based models and those based on a mixture of both models, are the three types of navigation methods used to resolve this problem. The last method takes advantage of the learning capability of machine learning models and uses the safeness of geometric models in order to better perform the navigation task. This paper presents a hybrid autonomous navigation methodology, which takes advantage of the learning capability of machine learning and uses the safeness of the dynamic window approach geometric method. Using a single camera and a 2D lidar sensor, this method actuates as a high-level controller, where optimal vehicle velocities are found, then applied by a low-level controller. The final algorithm is validated on CARLA Simulator environment, where the system proved to be capable to guide the vehicle in order to achieve the following tasks: lane keeping and obstacle avoidance
Design of a fuzzy logic proportional integral derivative controller of direct current motor speed control
Get PDFDirect current (DC) motor speed control is useful. Speed can be modified based on needs and operations. DC motors cannot control their speed. To control the DC motor’s speed, a dependable controller is needed. The DC motor speed will be controlled by a fuzzy logic proportional integral derivative controller (FLC-PID). The DC motor circuit’s electrical and mechanical components have been modeled mathematically. Ziegler-Nichols is used to tune the PID controller’s gain parameters. The FLC controller employs 3×3 membership function rules in conjunction with the MATLAB/Fuzzy Simulink toolbox. Real hardware was attached to the simulation to evaluate the DC motor speed control using the fuzzy logic PID controller. DC motors with FLC PID controllers, FLC controllers, and DC motors alone will be compared for the transient response. The DC motor with an FLC PID controller performed better in this study