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 >

Jianjun Yao^*, Chen Qian, Yikun Zhang, Geyang Yu

CMES-Computer Modeling in Engineering & Sciences, Vol.134, No.2, pp. 1283-1303, 2023, DOI:10.32604/cmes.2022.021328

Abstract The 6-DOF manipulator provides a new option for traditional shipbuilding for its advantages of vast working space, low power consumption, and excellent flexibility. However, the rotation of the end effector along the tool axis is functionally redundant when using a robotic arm for five-axis machining. In the process of ship construction, the performance of the parts’ protective coating needs to be machined to meet the Performance Standard of Protective Coatings (PSPC). The arbitrary redundancy configuration in path planning will result in drastic fluctuations in the robot joint angle, greatly reducing machining quality and efficiency. There have been some studies on… More >

Tsu-Yang Wu¹, Qian Meng¹, Lei Yang¹, Saru Kumari², Matin Pirouz^3,*

CMES-Computer Modeling in Engineering & Sciences, Vol.134, No.1, pp. 317-341, 2023, DOI:10.32604/cmes.2022.019595

Abstract The development of the Internet of Things has facilitated the rapid development of various industries. With the improvement in people’s living standards, people’s health requirements are steadily improving. However, owing to the scarcity of medical and health care resources in some areas, the demand for remote surgery has gradually increased. In this paper, we investigate remote surgery in the healthcare environment. Surgeons can operate robotic arms to perform remote surgery for patients, which substantially facilitates successful surgeries and saves lives. Recently, Kamil et al. proposed a secure protocol for surgery in the healthcare environment. However, after cryptanalyzing their protocol, we… More >

G. Pandiaraj^*, S. Muralidharan

Intelligent Automation & Soft Computing, Vol.35, No.3, pp. 3713-3726, 2023, DOI:10.32604/iasc.2023.031463

Abstract Four-wheeled, individual-driven, nonholonomic structured mobile robots are widely used in industries for automated work, inspection and exploration purposes. The trajectory tracking control of the four-wheel individual-driven mobile robot is one of the most blooming research topics due to its nonholonomic structure. The wheel velocities are separately adjusted to follow the trajectory in the old-fashioned kinematic control of skid-steered mobile robots. However, there is no consideration for robot dynamics when using a kinematic controller that solely addresses the robot chassis’s motion. As a result, the mobile robot has limited performance, such as chattering during curved movement. In this research work, a… More >

A. K. S. Saranya^1,*, T. Jaya²

Computer Systems Science and Engineering, Vol.45, No.1, pp. 545-562, 2023, DOI:10.32604/csse.2023.029975

Abstract Heartbeat detection stays central to cardiovascular an electrocardiogram (ECG) is used to help with disease diagnosis and management. Existing Convolutional Neural Network (CNN)-based methods suffer from the less generalization problem thus; the effectiveness and robustness of the traditional heartbeat detector methods cannot be guaranteed. In contrast, this work proposes a heartbeat detector Krill based Deep Neural Network Stacked Auto Encoders (KDNN-SAE) that computes the disease before the exact heart rate by combining features from multiple ECG Signals. Heartbeats are classified independently and multiple signals are fused to estimate life threatening conditions earlier without any error in classification of heart beat.… More >