International Journal of Intelligent Machines and Robotics
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International Journal of Intelligent Machines and Robotics (5 papers in press)
Contact points determination and validation for grasping of different objects by a four-finger robotic hand by Eram Neha, Mohd. Suhaib, Sudipto Mukherjee Abstract: Multi-finger robotic hands are analysed in comparison with human hands in terms of stable grasping and fine manipulation of different objects. Therefore, in order to attain a stable grasp, the contact points and the grip configuration must be selected in accordance with the grasp stability. In this paper, the four-fingered tendon actuated robotic hand is simulated to grasp different objects and determine the contact points of the fingertips on the surface of these objects. MATLAB SimMechanics tool is used to perform the simulation and 3D visualisation of the robotic hand where the fingers are controlled in order to grasp objects at the contact points. The obtained contact points are validated using the kinematics and geometric collision detection. These contact points are further utilised experimentally to determine the amount of weight required by the tendon to produce the flexion motion in order to grasp the object at the contact points. Keywords: contact points; robotic hand; tip prehension; flexion motion; tendon actuated; SimMechanics. DOI: 10.1504/IJIMR.2019.10023165
Workspace optimisation of 3R manipulator - a multi-objective approach by S. Panda, D. Mishra, B.B. Biswal Abstract: Optimum workspace with a compact manipulator is one of the decisive factors in the optimum design of robot manipulator. In this article the workspace volume of a 3R robot manipulator has been optimised on a multi-objective basis using differential evolution (DE) algorithm. An additional objective of this study is to synthesise the total void cross-section area. The proposed algorithm is tested on four diverse examples. The result obtained are compared with the results available in the literature. The key design kinematic parameters are identified through a statistical analysis. To ensure the practical applicability the proposed design approach has been tested on two industrial manipulators viz. KUKA KR-30 and Mitsubishi MRP-700A. Furthermore, it has been found that the predicted results of the simulation are in excellent agreement with the actual values. Keywords: optimisation; differential evolution; manipulator; workspace volume; CPU time. DOI: 10.1504/IJIMR.2019.10023166
Annotation of medical images using integral images and Gabor coefficients by Samira Bagheri, Hedieh Sajedi Abstract: Image annotation is one of the aspects of automatic classification algorithms. In this paper, we propose a learning-based algorithm for automatic medical image annotation based on local appearance cues by using integral images, Gabor transforms, AdaBoost and support vector machine (SVM) classification algorithm. The algorithm starts with a number of landmarks. By landmarks, we generate special sub-patches and extract features using Gabor transforms. In fact, Gabor filter is applied to integral image. AdaBoost in most cases can make a decision about the instances at this stage. To solve the misclassified cases, we combine similar classes and employ SVM/AdaBoost to recognise close instances. This approach is evaluated on large-scale radiograph images and several experiments have been done. At first, we specify five classes with the most number of images in ImageCLEF2008. Then, the proposed method is used for position identification task. At the end, our approach achieved the acceptable accuracies for multiclass radiograph annotation task, when compared to other algorithms. We obtain the accuracy of 95% for multiclass radiograph annotation and >99% for position identification task. Keywords: medical image annotation; landmark; integral image; Gabor transform; AdaBoost algorithm; support vector machine. DOI: 10.1504/IJIMR.2019.10023167
Design and structural analysis of a novel robot foot with 3-UPS/S parallel mechanism by Fuji Wang, Hongmei Zhang, Jianwei Ma, Youyang Zou Abstract: The foot plays an important role in performance of the legged robot. However, the foot which have been designed has various disadvantages which does not meet a series of robot requirements such as heavy load, damping and flexibility. So, a foot with 3-UPS/Sparallel mechanism is proposed in this paper, and it has various functions to achieve its goals. And a detailed discussion about a correlation between foot requirements and structure, mobility characteristics and geometrical constraints is presented. Then, based on the Bekker pressure-sinkage theory, foot-terrain interaction model is built and the soil deformation can be calculated to judge foot stable possibility. Finally, the foot dimensions are carried out, and then corresponding results are calculated to check working state in different terrains. The above analyses illustrate that the foot with 3-UPS/S parallel mechanism has good features, which validates the feasibility of applying this mechanism as a foot. Keywords: foot; parallel mechanism; stability analysis; structural analysis; legged robot. DOI: 10.1504/IJIMR.2019.10020605
Design and development for generation of real object virtual 3D model using laser scanning technology by Makarand M. Jadhav, Yogeshwar Durgude, Virendra Niranjan Umaje Abstract: Technology has evolved to generate or recreate anything that human brain is capable of dreaming. Many centuries old artefact was found in museum. A damaged and a recreated artefact both were kept adjacent to each other. The effort to recreate the replica of the model was a biggest challenge. This paper proposes to develop a real-time stationary 3D scanning system. The system scans a real object to translate into a virtual object. The associated data is utilised to build 3D digital model. A LASER unit operating at 650 nm with tilting angle of 600 is spaced 15 cm from web-cam. A triangulation technique helps to capture images in the range of 26 cm. Further, segmentation and contours estimate point cloud of the object. It is observed that developed model has an accuracy of 92-96% and relative error of 2-8%. The model is validated on conical flask, tiffion box and coffee mug objects. 3D scanners can be used in applications such as 3D printing, restore and recreate archaeological artefacts and in entertainment industry. Keywords: 3D scanner; 3D reconstruction; computer vision; LASER; triangulation; 3D printing. DOI: 10.1504/IJIMR.2019.10023169