Journal of Advances in Artificial Life Robotics
Volume 4, Issue 1 June2023
Research Article
1.Industrial Robot Introduction through Augmented Reality System
Takuya Matsumoto1, Eiji Hayashi2, Sakmongkon Chumkamon2, Ayumu Tominaga3, Abbe Mowshowitz4
1Department of Intelligent and Control Systems, Kyushu Institute of Technology,
680-4, Kawazu, Iizuka-city, Fukuoka, 820-8502, Japan
2Department of Mechanical Information Science and Technology, Kyushu Institute
of Technology, 680-4, Kawazu, Iizuka-city, Fukuoka, 820-8502, Japan
3Department of Creative Engineering Robotics and Mechatronics Course, National
Institute of Technology Kitakyushu College, 5-20-1 Shi, Kokuraminamiku,
Kitakyushu-city, Fukuoka, 802-0985, Japan
4Department of Computer Science, The City College of New York, 160 Convent
Avenue, New York, NY 10031, USA
pp. 1–5
ABSTRACT
In this research, we developed an application that allows AR simulations
to check safety ranges and operation details. Furthermore, we created a
user-friendly GUI, suitable for individuals with limited knowledge in robot
development. This application was developed using ARCore in Unity. By establishing
communication between ROS (Robot Operating System) and Unity to control
virtual robots, we achieved visualization of ROS-based robots in the AR
environment. With this AR application, the need for physical safety design
and verification of safety ranges during the introduction of robots in
small and medium-sized enterprises has been significantly reduced. As a
result, cost reduction in the implementation process can be expected, and
it offers a potential solution to the labor shortage issues in such enterprises.
In conclusion, the effectiveness of the AR application developed in this
research has been confirmed
ARTICLE INFO
Article History
Received 26 November 2022
Accepted 02 August 2023
Keywords
Grasp stability
Enveloping grasp
Grasp stiffness matrix
Curvature effects
JAALR4101
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Research Article
2.A Real and Synthetic Dataset for Robotic Vision in Outdoor Beach Environment
– BCRobo
Tan Chi Jie１, Takumi Tomokawa１, Shintaro Ogawa1, Ayumu Tominaga2, Sakmongkon Chumkamon
1, Eiji Hayashi1
1Department of Mechanical Information Science and Technology, Kyushu Institute
of Technology 680-4, Kawazu, Iizuka-City, Fukuoka, 820-8502, Japan
2Department of Creative Engineering Robotics and Mechatronics Course, National
Institute of Technology Kitakyushu College, 5-20-1 Shii, Kokuraminamiku,
Kitakyushu, Fukuoka, 802-0985, Japan
pp. 6–11
ABSTRACT
Datasets are one of the key elements which determine the performance of
a deep learning network. Urban environments datasets receive much attention
nowadays due to the rise of autonomous cars but off-road environment on
the other hand lacks quality datasets. Offroad environments need equal
attention as only 55% of the world’s population lives in urban areas. This
paper tackles this issue to close the gap of robotic visual perception
on the beach, one of the common offroad environments that lack attention
by presenting a real and synthetic dataset, namely BCRobo.
ARTICLE INFO
Article History
Received 02 December 2022
Accepted 13 July 2023
Keywords
Synthetic dataset
Computer vision
Real dataset
Field robotics
Image segmentation
JAALR4102
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Research Article
3.Table Tennis Tracker Web Application for Tournament Statistics Analysis
Mastaneh Mokayef1, Belal Khaled1, Chin Hong Wong2, Sew Sun Tiang1, Wei Hong Lim1, MHD Amen Summakieh1,
Miad Mokayef1
1Faculty of Engineering Technology and Built Environment, UCSI University,
Kuala Lumpur, 56000, Malaysia
2Maynooth International Engineering College, Fuzhou University, Fujian,
China
pp. 12–19
ABSTRACT
The aim of this project is to amplify the table tennis tournament analysis
via Web-Based application. Typically, the tournament scores used to be
collected and displayed manually. All the information used to be captured
by the referees during the matches, while most of the competitors provided
only basic information and real-time scores online. Over the years of technological
advancements, the modern development of software applications has helped
users perform useful tasks and retrieve useful data based on the requests.
The objective of this project is to develop a functional web application
that will retrieve or store table tennis tournament statistical data and
visualize them using tables, bar charts, pie charts, histograms as a medium
of demonstration for the user. Moreover, the application will perform specific
analysis on the scores and display insightful data about the tournament
for league structures investigation. The developed system will include
a database to store and retrieve data for display on the user interface.
The development of the project is fully stacked (front-end and back-end),
so it is built with the appropriate web technologies to function in the
background (PHP, MySQL, Apache) while displaying results (HTML, CSS, JavaScript)
on the page for the user. The project is managed using effective project
management methods to plan, design, implement, develop, and maintain the
application.
ARTICLE INFO
Article History
Received 15 December 2022
Accepted 29 August 2023
Keywords
Table tennis
Statistics
Web application
Tournaments
Scores
JAALR4103
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Research Article
4.Design and Application of Enhanced Grey Wolf Optimization-based Support
Vector Machine
Yi Zhao1, Qunpo Liu1,2, Hui Wang1, Yuxi Zhao1
1School of Electrical Engineering and Automation, Henan Polytechnic University,
2001 Century Avenue, Jiaozuo, (454003), Henan, China
2Henan International Joint Laboratory of Direct Drive and Control of Intelligent
Equipment, Jiaozuo 454000, China
pp. 20–26
ABSTRACT
An enhanced variant of the Grey Wolf Optimization (GWO) algorithm, known
as the Improved Grey Wolf Optimization (IGWO), was introduced with the
primary objective of improving the precision of apple's external quality
assessment categorization using Support Vector Machine (SVM) as the underlying
classifier.The IGWO algorithm incorporates several enhancements, including
the utilization of Logistic chaos mapping, a nonlinear convergence factor,
and Cauchy variation. Initially, diverse benchmark functions were employed
to assess the efficacy of the IGWO methodology. The experimental outcomes
demonstrated that the IGWO method significantly enhanced both the rate
of convergence and precision. Subsequently, an image processing approach
was employed to capture the exogenous characteristics of apples, which
were then utilized as the dataset. The IGWO method was employed to fine-tune
the regularization parameters and kernel parameters in the SVM, resulting
in the optimal IGWO-SVM classification model. Finally, a comparative analysis
was conducted between the classification results obtained from SVM, GMO-SVM,
and IGWO-SVM. The findings revealed that the IGWO-SVM model achieved the
peak accurate classification performance, surpassing the other methods.
ARTICLE INFO
Article History
Received 10 October 2022
Accepted 31 August 2023
Keywords
Apple external quality assessment
Enhanced grey wolf optimization arithmetic IGWO
Support vector machine
Reference function
IGWO-SVM
JAALR4104
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Research Article
5.Embedded Ball Launcher with Trajectory Path Analysis for Empowering Junior
Table Tennis Players
Mastaneh Mokayef, M.K.A Ahamed Khan, MHD Amen Summakieh, Lee Qi Jian, Miad
Mokayef
Faculty of Engineering Technology and Built Environment, UCSI University,
Kuala Lumpur, 56000, Malaysia
pp. 27–34
ABSTRACT
One of the most popular sports in Asia is Table Tennis, it requires close
supervision from a coach to assess the player's strengths and weaknesses.
To address this need, a personal Table Tennis trainer in the form of a
pitcher machine has been developed. The machine analyzes the player's practical
performance by examining the trajectory path of the ball. The system incorporates
a camera that tracks the movement of the table tennis ball. Images captured
by the camera are processed using OpenCV software, enabling the prediction
of the ball's flying trajectory based on its X and Y coordinates. This
analysis allows for an evaluation of the player's performance in different
directions. By utilizing a smartphone, the pitcher machine can be adjusted
to target the direction where the player's performance is weak, thereby
providing additional practice in that specific area. Although the proposed
system does not currently include spinning serves, it offers a suitable
platform for early-stage table tennis training. Experimental results demonstrate
the system's ability to perform acceptable performance analysis in complex
and cluttered environments.
ARTICLE INFO
Article History
Received 15 December 2022
Accepted 04 September 2023
Keywords
Table tennis launcher
Trajectory path
Performance analysis
Ball recognition
JAALR4105
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Research Article
6.Prototype of the Framework CATdd to Support Continuous Development in Test
Driven Development
Takeaki Miyashita1, Tetsuro Katayama1, Yoshihiro Kita2, Hisaaki Yamaba1, Kentaro Aburada1, Naonobu Okazaki1
1Department of Computer Science and Systems Engineering, Faculty of Engineering,
University of Miyazaki, Gakuen-kibanadai nishi, Miyazaki, 889-2192, Japan
2Department of Information Security, Faculty of Information Systems, Siebold
Campus, University of Nagasaki, 1-1-1 Manabino, Nagayo-cho, Nishi-Sonogi-gun,
Nagasaki, 851-2195, Japan
pp. 35–40
ABSTRACT
TDD is a development methodology to improve software quality. In this study,
we prototype the framework CATdd (Continuous Automated Test Driven Development),
which supports continuous development with TDD. CATdd reduces the time
of implementation step in TDD by generating new source code that passes
tests using LLM. CATdd maintains consistency with other source code in
the project by using existing source code and related source code to prompt.
As a result of the evaluation experiments, the time for the implementation
step in TDD was reduced by 94% for a simple task and by 56% for another
more complex task. In conclusion, CATdd is useful to support continuous
development.
ARTICLE INFO
Article History
Received 25 Nobember 2022
Accepted 04 September 2023
Keywords
Source code generation
Test driven development (TDD)
Large language model (LLM)
JAALR4106
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Research Article
7.Analysis of Nozzle Effects on Droplet Adhesion in Rice Cultivation Using
A Hexacopter Unmanned Aerial Vehicle
Hazry Desa, Muhammad Azizi Azizan, Nurfadzillah Ishak, Tan Yew Tian
Centre of Excellence for Unmanned Aerial Systems (COE-UAS), Universiti
Malaysia Perlis (UniMAP), Malaysia
pp. 41–45
ABSTRACT
This study investigated the potential of a hexacopter unmanned aerial vehicle
(UAV) spraying system as one of the agricultural spraying methods in Malaysia.
The altitude of the UAV he operated at 1.5 meters and under a wind speed
of 1.15 meters per second he tested three different nozzles. The uniformity
and spread of application in paddy field conditions were evaluated. ImageJ
software was used for evaluation. The results showed that using an electrostatic
centrifugal nozzle for droplet dispersion resulted in remarkable average
droplet densities, especially 134.03 deposits/cm2 in the upper region and
153.93 deposits/cm2 in the lower region. Furthermore, in the electrostatic
centrifugal nozzle, it was confirmed that 3478 droplets were deposited
in the upper region and 3255 droplets were deposited in the lower region.
ARTICLE INFO
Article History
Received 09 October 2022
Accepted 05 September 2023
Keywords
UAV
Spraying system
Nozzles
Droplet density
Average coverage
JAALR4107
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Research Article
8.Stability Analysis of Frictionless Planar Enveloping Grasps and Grasp Parameter
Effects
Takayoshi Yamada1, Hidehiko Yamamoto2
1Department of Mechanical Engineering, Gifu University, Yanagido 1-1, Gifu
501-1193, Japan.
2Gifu University, Yanagido 1-1, Gifu 501-1193, Japan
pp. 46–54
ABSTRACT
This paper discusses quasi-static grasp stability of frictionless enveloping
grasps in two dimensions. The stability is investigated from the viewpoint
of potential energy stored in the grasps. The system of the grasps is replaced
with elastic property, in which joint position and link surface properties
are represented by linear stiffness. The contact constraints between a
grasped object and finger links are formulated. The potential energy of
the grasp system is obtained from the stiffness and the joint and link
surface displacements. A wrench (i.e., force and moment) vector and a stiffness
matrix of the grasp system are derived from partial differentiations by
the pose (i.e., translation and rotation) displacement of the object. The
grasps are stable if both the wrench vector is zero and the matrix is positive
definite. The stability is evaluated by the eigenvalues of the matrix.
Since, in this paper, the wrench vector and the stiffness matrix are derived
in an analytical way, the matrix is given as a function of grasp positions,
grasp forces, local curvatures, joint and surface stiffnesses, and so on
at contact points, explicitly. We investigate curvature and stiffness effects
on the grasp system by partially differentiating the matrix by the curvatures
and stiffnesses. The positive definiteness of the matrix differentiations
is analyzed. Validity of our analysis is confirmed through numerical examples
ARTICLE INFO
Article History
Received 26 November 2022
Accepted 06 September 2023
Keywords
Robot
Hand
Enveloping grasp
Grasp stability
Wrench vector
Grasp stiffness matrix
Curvature effect
Stiffness effect
JAALR4108
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Research Article
9.Haze Predication Based on Image Quality Score
Heshalini Rajagopal1, Sayanth Sudheer2, Norrima Mokhtar3
1Institute of Computer Science and Digital Innovation, UCSI University,
56000 Kuala Lumpur, Malaysia
2Department of Electrical and Electronic Engineering, Manipal International
University, Malaysia
3Department of Electrical Engineering, Faculty of Engineering, University
of Malaya, Malaysia
pp. 55–58
ABSTRACT
Haze is a prevalent term within the field of image processing, encompassing
both naturally occurring phenomena and aerosols generated by human activities.
It gives rise to light scattering and absorption, leading to reduced image
visibility. This diminished clarity poses challenges for various photographic
and computer vision applications, including object recognition and localization.
Consequently, there is a growing need for a method to estimate haze density
accurately. In this research paper, we introduce a novel model called the
"haziness degree evaluator." This model enables the prediction
of haze density from a single image, eliminating the necessity for a reference
haze-free image. The proposed model quantifies haze density through the
optimization of an objective function that encompasses haze-related features
derived from correlation and computational analysis.
ARTICLE INFO
Article History
Received 06 August 2022
Accepted 08 September 2023
Keywords
Haze
Image quality assessment (IQA)
Image quality score
Haze prediction
JAALR4109
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Research Article
10.Key finder based on IoT
Sayanth Sudheer1, Heshalini Rajagopal2, Azam Mohammed Al-Qussari1, Norrima Mokhtar3
1Department of Electrical and Electronic Engineering, Manipal International
University, Malaysia
2Institute of Computer Science and Digital Innovation, UCSI University,
56000 Kuala Lumpur, Malaysia
3Department of Electrical Engineering, Faculty of Engineering, University
of Malaya, Malaysia
pp. 59–62
ABSTRACT
We realize we've misplaced our keys and are frustrated by a massive search
of the house. This paper develops a simple IoT-based key discovery method
that uses a NodeMCU, a buzzer, and a battery. The method involved creating
a key management method designed for key installation and developing a
website to assist with key location. With her Google Chrome browser on
the user's mobile phone, she can pinpoint the location of the lost key.
When the website presses the key search button, it will play an IoT key-related
beep and save time by streamlining the process. If you misplace your keys,
you may search all over the house, but in the end, you may not be able
to find them. This paper is extremely important in that it has developed
a method for quickly finding keys using the method described above.
ARTICLE INFO
Article History
Received 06 August 2022
Accepted 08 September 2023
Keywords
Key finder
Internet of things (IoT)
NodeMCU
Google chrom
JAALR4110
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