Hasan Han¹, Oguzcan Karadeniz¹, Tugba Dalyan^2,*, Elena Battini Sonmez², Baykal Sarioglu¹

Intelligent Automation & Soft Computing, Vol.37, No.1, pp. 1209-1224, 2023, DOI:10.32604/iasc.2023.030674

Abstract Robot companions will soon be part of our everyday life and students in the engineering faculty must be trained to design, build, and interact with them. The two affordable robots presented in this paper have been designed and constructed by two undergraduate students; one artificial agent is based on the Nvidia Jetson Nano development board and the other one on a remote computer system. Moreover, the robots have been refined with an empathetic system, to make them more user-friendly. Since automatic facial expression recognition skills is a necessary pre-processing step for acknowledging emotions, this paper tested different variations of Convolutional… More >

Mahmoud Mohamed^1,2,*, Bdereddin Abdul Samad^1,3, Fatih Anayi¹, Michael Packianather¹, Khalid Yahya⁴

CMC-Computers, Materials & Continua, Vol.75, No.3, pp. 4681-4696, 2023, DOI:10.32604/cmc.2023.035312

Abstract The Robogymnast is a highly complex, three-link system based on the triple-inverted pendulum and is modelled on the human example of a gymnast suspended by their hands from the high bar and executing larger and larger upswings to eventually rotate fully. The links of the Robogymnast correspond respectively to the arms, trunk, and lower limbs of the gymnast, and from its three joints, one is under passive operation, while the remaining two are powered. The passive top joint poses severe challenges in attaining the smooth movement control needed to operate the Robogymnast effectively. This study assesses four types of controllers… More >

Kyungmin Sim, Jeong Hyun Yi, Haehyun Cho^*

CMC-Computers, Materials & Continua, Vol.75, No.2, pp. 3257-3274, 2023, DOI:10.32604/cmc.2023.036695

Abstract Despite the advances in automated vulnerability detection approaches, security vulnerabilities caused by design flaws in software systems are continuously appearing in real-world systems. Such security design flaws can bring unrestricted and misimplemented behaviors of a system and can lead to fatal vulnerabilities such as remote code execution or sensitive data leakage. Therefore, it is an essential task to discover unrestricted and misimplemented behaviors of a system. However, it is a daunting task for security experts to discover such vulnerabilities in advance because it is time-consuming and error-prone to analyze the whole code in detail. Also, most of the existing vulnerability… More >

Onder Alparslan^*, Omer Cetin

Intelligent Automation & Soft Computing, Vol.36, No.3, pp. 3355-3370, 2023, DOI:10.32604/iasc.2023.035689

Abstract Unknown closed spaces are a big challenge for the navigation of robots since there are no global and pre-defined positioning options in the area. One of the simplest and most efficient algorithms, the artificial potential field algorithm (APF), may provide real-time navigation in those places but fall into local minimum in some cases. To overcome this problem and to present alternative escape routes for a robot, possible crossing points in buildings may be detected by using object detection and included in the path planning algorithm. This study utilized a proposed sensor fusion method and an improved object classification method for… More >

Dahyeon Kim¹, Jiyoung Min¹, Yongwoo Song¹, Chulsu Kim², Junho Ahn^1,*

Intelligent Automation & Soft Computing, Vol.36, No.2, pp. 2315-2331, 2023, DOI:10.32604/iasc.2023.034394

Abstract Existing firefighting robots are focused on simple storage or fire suppression outside buildings rather than detection or recognition. Utilizing a large number of robots using expensive equipment is challenging. This study aims to increase the efficiency of search and rescue operations and the safety of firefighters by detecting and identifying the disaster site by recognizing collapsed areas, obstacles, and rescuers on-site. A fusion algorithm combining a camera and three-dimension light detection and ranging (3D LiDAR) is proposed to detect and localize the interiors of disaster sites. The algorithm detects obstacles by analyzing floor segmentation and edge patterns using a mask… More >

Gengyu Ge^1,2,*, Zhong Qin¹, Xin Chen¹

CMC-Computers, Materials & Continua, Vol.74, No.3, pp. 6351-6369, 2023, DOI:10.32604/cmc.2023.035832

Abstract Localization plays a vital role in the mobile robot navigation system and is a fundamental capability for the following path planning task. In an indoor environment where the global positioning system signal fails or becomes weak, the wireless sensor network (WSN) or simultaneous localization and mapping (SLAM) scheme gradually becomes a research hot spot. WSN method uses received signal strength indicator (RSSI) values to determine the position of the target signal node, however, the orientation of the target node is not clear. Besides, the distance error is large when the indoor signal receives interference. The laser SLAM-based method usually uses… More >

Fawad Naseer^1,*, Muhammad Nasir Khan¹, Zubair Nawaz², Qasim Awais³

CMC-Computers, Materials & Continua, Vol.74, No.3, pp. 6623-6639, 2023, DOI:10.32604/cmc.2023.035218

Abstract In this era of post-COVID-19, humans are psychologically restricted to interact less with other humans. According to the world health organization (WHO), there are many scenarios where human interactions cause severe multiplication of viruses from human to human and spread worldwide. Most healthcare systems shifted to isolation during the pandemic and a very restricted work environment. Investigations were done to overcome the remedy, and the researcher developed different techniques and recommended solutions. Telepresence robot was the solution achieved by all industries to continue their operations but with almost zero physical interaction with other humans. It played a vital role in… More >

M. S. Vivekanandan¹, T. Jesudas^2,*

Intelligent Automation & Soft Computing, Vol.36, No.2, pp. 1639-1652, 2023, DOI:10.32604/iasc.2023.032301

Abstract In an urban city, the daily challenges of managing cleanliness are the primary aspect of routine life, which requires a large number of resources, the manual process of labour, and budget. Street cleaning techniques include street sweepers going away to different metropolitan areas, manually verifying if the street required cleaning taking action. This research presents novel street garbage recognizing robotic navigation techniques by detecting the city’s street-level images and multi-level segmentation. For the large volume of the process, the deep learning-based methods can be better to achieve a high level of classification, object detection, and accuracy than other learning algorithms.… More >

Xiaoping Xie^*, Shijie Cheng, Xuyang Li

CMES-Computer Modeling in Engineering & Sciences, Vol.135, No.3, pp. 2425-2448, 2023, DOI:10.32604/cmes.2023.023116

Abstract This paper proposed method that combined transmission path analysis (TPA) and empirical mode decomposition (EMD) envelope analysis to solve the vibration problem of an industrial robot. Firstly, the deconvolution filter time-domain TPA method is proposed to trace the source along with the time variation. Secondly, the TPA method positioned the main source of robotic vibration under typically different working conditions. Thirdly, independent vibration testing of the Rotate Vector (RV) reducer is conducted under different loads and speeds, which are key components of an industrial robot. The method of EMD and Hilbert envelope was used to extract the fault feature of… More >

Saixuan Chen¹, Jie Yang^1,*, Guohua Cui¹, Fuzhou Niu², Baiqiang Yao¹, Yu Zhang¹

CMES-Computer Modeling in Engineering & Sciences, Vol.134, No.3, pp. 2021-2039, 2023, DOI:10.32604/cmes.2022.022669

Abstract This paper proposes a zero-moment control torque compensation technique. After compensating the gravity and friction of the robot, it must overcome a small inertial force to move in compliance with the external force. The principle of torque balance was used to realise the zero-moment dragging and teaching function of the lightweight collaborative robot. The robot parameter identification based on the least square method was used to accurately identify the robot torque sensitivity and friction parameters. When the robot joint rotates at a low speed, it can approximately satisfy the torque balance equation. The experiment uses the joint position and the… More >