IAES International Journal of Robotics and Automation (IJRA)
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Detecting African hoofed animals in aerial imagery using convolutional neural network
Get PDFSmall unmanned aerial vehicles applications had erupted in many fields including conservation management. Automatic object detection methods for such aerial imagery were in high demand to facilitate more efficient and economical wildlife management and research. This paper aimed to detect hoofed animals in aerial images taken from a quad-rotor in Southern Africa. Objects captured in this way were small both in absolute pixels and from an object-to-image ratio point of view, which were not perfectly suit for general purposed object detectors. We proposed a method based on the iconic Faster region-based convolutional neural networks (R-CNN) framework with atrous convolution layers in order to retain the spatial resolution of the feature map to detect small objects. A good choice of anchors was of prime importance in detecting small objects. The performance of the proposed Faster R-CNN with atrous convolutional filters in the backbone network was proven to be outstanding in our scenario by comparing to other object detection architectures
Increasing the operating depth of an autonomous underwater vehicle using an intelligent magnetic field
Get PDFDesigning and manufacturing a suitable body is one of the most effective factors in increasing the efficiency of autonomous underwater vehicles (AUVs). In fact, increasing the propulsive power of an AUV by reducing the frictional drag on its body and increasing its maneuverability will positively affect key parts of the AUV’s hardware and software such as control system, sensors, AUV vision, batteries and thrusters. On the other hand, a suitable body should have features such as lightness, underwater vehicle’s balance, high mechanical strength, and enough space for equipment. Therefore, the design and manufacture of the body requires a lot of analysis in terms of body material, aerodynamic calculations, etc., increases the overall cost. This paper aims to reduce the stress in the body of a Polytetrafluoroethylene (PTFE) underwater robot and to increase its operating depth without changing the body’s structure by using fuzzy logic to intelligently controlling the magnetic force generated by the repulsion between the coil and the cylindrical magnet, which saves energy, reduces battery consumption, and increases system performance. The results show that the robot performance depth increases by more than 50% without changing the robot body structure
Finite element analysis on permeability of cut-off wall for landfill
Get PDFFinite element method is an efficient numerical calculation method based on information technology, which can be used to solve complex equations in various problems. At present, the finite element method is mainly used to deal with seepage problems in dams, while there is less study on seepage in landfill. In this paper, finite element method is used to analyze the seepage of cut-off wall of a landfill in Jiangsu Province, and the movement of landfill leachate in cut-off wall under different conditions is simulated. The simulation results show that The cut-off wall can effectively slow down the seepage velocity of leachate; Under different conditions, the maximum gradient of the cut-off wall are 18.68 and 13.84 respectively, which conforms to Chinese national standard. Therefore, the design of cut-off wall is safe and reasonable, and filtration erosion will not occur; This simulation method combined with information technology can provide new solutions and ideas for other projects to verify safety and rationality
Design and implementation of automatic painting mobile robot
Get PDFWall painting is a repetitive, stressful, and hazardous process that makes it an ideal automation case. In the automotive industry, painting had been automated but not yet for the construction industry. However, there is a strong need for a mobile robot that can move to paint residential interior walls. In this study, we aim to design and implement an automatic painting mobile robot. The conceptual design of the proposed wall painting robot consisting paint mechanism with a spray gun and ultrasonic sensor. The spray gun is attached to a pulley mechanism that has linear motion. The ultrasonic sensor is used to detect the spray gun when it reached a certain limit. The DC motor rotates clockwise and counterclockwise based on the ultrasonic sensor condition made. The experimental results indicate that the robot was able to paint the walls smoothly vertically, and horizontally. The spraying gun structure's speed is at a tolerable speed of 0.07 m/s, which could be increased, but to provide high-quality painting without any gaps, the current speed was selected as the most suitable, without any harm to the working process
Radio frequency identification based smart parking system using Internet of Things
Get PDFThe ideas of shrewd urban communities have consistently been a fantasy. There have been headways produced using the recent years to make a shrewd city dream to reality with the advancement of innovation, smart gadgets are getting increasingly normal in regular daily existence. In this paper a radio frequency identification (RFID) based smart parking system using Internet of Things (IoT) innovation is actualized. The ultrasonic sensors are set before the parking spots and speaker is utilized for sign. On the off chance that the parking space is vacant, at that point light emitting diode (LED) will squint and the parking opening is full LED will be OFF. At the point when vehicle is left the RFID will peruse the data and cut the particular sum and by utilizing IoT location will be sent through short message service (SMS) to proprietor using global system for mobile communications (GSM) and global positioning system (GPS) advancements
Design and development of an irrigation mobile robot
Get PDFWater plays a significant role among other existing natural resources. The daily demand for water supplies is increasingly on the rise as the population grows. To minimize the consumption of water in irrigation, several proposals were suggested. The currently existing system known as the automated irrigation system for effective water resource use with the prediction of the weather (AISWP) functions with a single farm that lacks the reliability in the precision of weather forecasting. So, a robot-based irrigation system has been proposed to improve the performance of the system. To minimize the water usage for crops, an automated irrigation system has been developed which irrigates the field in acres. An additional characteristic of the system has also been given for the soil pH measurement to allow the use of fertilizers accordingly. The solar-powered robot is managed wirelessly by a designated application. The robot is attached with various sensors and with a high-resolution camera that tests crop conditions and senses the soil state. The application has been created to provide information about the soil’s condition such as temperature level, humidity level, water level, and level of nutrients to the PC/Laptop with the real-time values via the GSM module
Internet of Things-based home automation, energy management and smart security system
Get PDFObjects can easily be remotely sensed, monitored and controlled when home is automated using the Internet of Things (IoT); this will give room for direct integration of the real world into computerized systems. Energy consumption is defined as the degree of the amount of power expended by a given load in an electric circuit. Nowadays, inefficient techniques used in monitoring and control of power consuming devices has contributed immensely in the high rate of power consumption in our homes, institutions, business places, and marketplaces. The design and implementation of an IoT-based home automation, energy management and smart security system has been proposed in this paper. The components used in the development of the system unit include an ESP8266 Wi-Fi component and the universal Arduino imbedded controller. The proposed scheme is aimed at assisting and supporting an efficient usage of power, and by doing so, power consumption as well as the risk of fire outbreaks will be greatly reduced to the barest minimal. The capability of remotely monitoring and controlling both electrical and electronic appliances via a web application is the main feature of the proposed scheme. The scheme provides better efficiency and accuracy as well as economic benefits
Performance evaluation of industrial ethernet protocols for real-time fault detection based adaptive observer in networked control systems with network communication constraints
Get PDFIn this paper, the performance evaluation of industrial ethernet (EtherNet/IP, EtherCAT and PROFINET IRT) networks has been studied for choosing the right protocol in real-time fault detection based adaptive sliding mode observer in networked control systems (NCSs) under time network-induced delays, stochastic packet losses, access constraints and bounded disturbances. An adaptive sliding-mode observer based fault detection is presented. The dynamic hydroelectric power plant model is used to verify the effectiveness of the proposed method based on TrueTime and Matlab/ Simulink, corroborated our predictions that an ethernet for control automation technology (EtherCAT) protocol would be more appropriate to reduce the false alarm rate and increasing the efficiency of the remote control of industrial hydroelectric power plant
Control of teleoperation systems in the presence of cyber attacks: A survey
Get PDFThe teleoperation system is often composed of a human operator, a local master manipulator, and a remote slave manipulator that are connected by a communication network. This paper proposes a survey on feedback control design for the bilateral teleoperation systems (BTSs) in nominal situations and in the presence of cyber-attacks. The main idea of the presented methods is to achieve the stability of a delayed bilateral teleoperation system in the presence of several kinds of cyber attacks. In this paper, a comprehensive survey on control systems for BTSs under cyber-attacks is discussed. Finally, we discuss the current and future problems in this field
Portable wireless node design for smart agricultural system based on Internet of Things
Get PDFThis paper presents a pair of portable wireless nodes for a smart agricultural system to control and monitor the agricultural parameters based on Internet of Things (IoT). This system utilizes low-cost wireless communication through an nRF24L01 module between the sensor node and the controller node. The sensor node is placed on the agricultural area with a Li-Ion battery as a power supply, while the controller node is placed at the control and monitoring station. On the sensor node, there is a YL-69 soil moisture sensor and DS18B20 temperature sensor, while in the controller node there is a relay that can set watering on/off condition. In the controller node, there is also an ESP8266 WiFi module that serves to send data to the internet cloud for user monitoring. Both hardware nodes are built in small and portable size. The experimental result shows that the sensor node can transmit soil moisture and temperature data via RF wireless communication to the controller node. Watering is done automatically based on the condition of sensor values. In addition, this system can also be monitored through a website interface, so the users can easily find out the condition of their plant as long as there is internet access