Journal of Robotics, Networking and Artificial LifeVolume 10, Issue 1,
June 2023

Research Article
1.Position-Based Contact Force Synchronous Control for Dual-Arm Cooperative Manipulators
Yang Zhang¹, Yingmin Jia^2
1School of Energy and Power Engineering, Beihang University (BUAA), Beijing 100191, China
²The Seventh Research Division and the Center for Information and Control, School of Automation Science and Electrical Engineering, Beihang University (BUAA), Beijing, 100191, China
pp. 1–5
ABSTRACT
The focus of this research is to propose a method known as position-based contact force synchronous control for cooperative manipulation of an object using a dual-arm manipulator. By defining relative positional and force errors between both manipulators and the object, these errors can be utilized in conjunction with a general impedance controller to enhance contact force accuracy during operation. This unique approach guarantees coordination between both arms while minimizing internal forces exerted on the object compared to conventional impedance control techniques.

ARTICLE INFO
Article History
Received 21 November 2022
Accepted 31 July 2023

Keywords
Synchronous control
Dual-arm cooperative manipulator
Force control
Relative error

JRNAL10101

Download article(PDF)

Research Article
2.Development of a Testbed AUV for Shallow Water Observation and Its Controller Evaluation
Yoshiki Tanaka, Toshimune Matsumura, Yuichiro Uemura, Kentaro Yanagise, Yuya Nishida, Kazuo Ishii
Graduate School of Life Science Systems Engineering, Kyushu Institute of Technology, 2-4 Hibikino, Wakamatsu, Kitakyushu, Fukuoka 808-0196, Japan
pp. 6–16
ABSTRACT
Recently, Autonomous Underwater Vehicles: AUVs are utilized as the tools for ocean survey and practical applications such as ocean mineral resources survey and marine biological investigations. We have developed an AUV “Tuna-Sand2” and have succeeded in automatic sampling of shells in sea trials at Suruga Bay in Japan. Tuna-Sand2 is designed for 2000m depth and 8 hours operation with the speed of 1 knot and has several computers for basic motion control with sensor handling, intelligent behaviors based on image processing and data transmission, however, the robot needs efforts in deployment and recovery because of weight and sizes, and must return to the surface in emergency conditions. That is, the system should be stable, reliable and conservative, and not suitable for testing new challenging algorithms and behaviors. We have developed a new AUV KYUBIC which can be operated by a few people as a small testbed of Tuna-Sand2 and have similar shape and thruster arrangement. In this paper, we describe the system architecture of KYUBIC and the experimental results in Underwater Robotics Competition in Okinawa 2020.

ARTICLE INFO
Article History
Received 21 November 2022
Accepted 31 July 2023

Keywords
Synchronous control
Dual-arm cooperative manipulator
Force control
Relative error

JRNAL10102

Download article(PDF)

Research Article
3.Development of a system to detect eye misalignment by using an Arm Cooperative Manipulators HMD equipped with eye-tracking capability
Kayoko Takatsuka, Yoki Nagatomo, Noriyuki Uchida, Takuya Ikeda, Masayuki Mukunoki, Naonobu Okazaki
Faculty of Engineering, University of Miyazaki, 1-1 Gakuen Kibanadai-nishi, Miyazaki-City, Miyazaki, Japan
pp. 17–24
ABSTRACT
This study aimed to reduce the effect of the examining environment on accuracy by using an eye movement detection system, a VR head-mounted display. We reproduced the inspection environment in a virtual reality environment and performed the cover test, a basic inspection technique for tropia and phoria. We then developed a system that uses eye data collected by eye tracking to detect the directions and magnitudes of eye misalignment. The Maddox method, an existing testing procedure, was used to verify the accuracy. We have confirmed its effectiveness in detecting the directions and magnitudes of horizontal eye misalignment.

ARTICLE INFO
Article History
Received 24 November 2022
Accepted 31 July 2023

Keywords
Eye position examination
Cover test
Tropia/phoria
Head-mounted display

JRNAL10103

Download article(PDF)

Research Article
4.Forward Kinematic of a Sphere Considering Slipping and Motion Analysis in Three Rollers
Kenji Kimura¹, Koki Ogata², Hiroyasu Hirai³, Takumi Ueda³, Kazuo Ishii^3
1Department of Control Engineering, National Institute of Technology, Matsue College, 14-4 Nishi-ikuma-cho, Matsue-shi, Shimane,690-8518, Japan
²DENSO, 2-1, Nagane, Sato-cho, Anjo-shi, 446-8511, Aichi, Japan
3Graduate School of Life Science and Engineering, Kyushu Institute of Technology, 2-4 Hibikino, Wakamatsu-ku, Kitakyushu-shi 808-0196, Fukuoka, Japan
pp. 25–32
ABSTRACT
Compared to mobile robots equipped with multiple rollers, spherical robots can move in all directions and are superior in durability and in their ability to climb steps. Slippage between balls and rollers is a significant problem in friction drives. However, previously established roller-driven ball kinematics model considers sliding on only two constraining rollers. In this research, we developed it, proposed a motion model of sphere with three-constraint rollers, and developed a mathematical model that simulates the angular velocity vector of the sphere and the slip vector at each contact point. And we considered the existence of an angular velocity vector of sphere adapted three constraint rollers from the viewpoint of forward kinematics and succeed demonstration of the trajectory of the endpoint of the angular velocity vector and slip velocity vector of sphere.

ARTICLE INFO
Article History
Received 24 November 2022
Accepted 17 August 2023

Keywords
Angular velocity vector of the sphere
Motion analysis of the sphere
Slip velocity vector of the sphere

JRNAL10104

Download article(PDF)

Research Article
5.Predicting the Weight of Grappling Noodle-like Objects using Vision Transformer and Autoencoder
Nattapat Koomklang¹, Prem Gamolped¹, Eiji Hayashi¹, Abbe Mowshowitz^2
1Department of Mechanical Information Science and Technology, Kyushu Institute of Technology, 680-4 Kawazu, Iizuka, Fukuoka 820-8502, Japan
²Department of Computer Science, The City College of New York, 160 Convent Avenue, New York, NY 10031, USA
pp. 33–38
ABSTRACT
This research paper presents a novel approach for accurate weight estimation in robotic manipulation of noodle-like objects. The proposed approach combines vision transformer and autoencoder techniques with action data and RGB-D encoding to enhance the capabilities of robots in manipulating objects with varying weights. A deep-learning neural network is introduced to estimate the grasping action of a robot for picking up noodle-like objects using RGB-D camera input, a 6-finger gripper, and Cartesian movement. The hardware setup and characteristics of the noodle-like objects are described. The study builds upon previous work in RGB-D perception, weight estimation, and deep learning, addressing the limitations of existing methods by incorporating robot actions. The effectiveness of vision transformers, autoencoders, self-supervised deep reinforcement learning, and deep residual learning in robotic manipulation is discussed. The proposed approach leverages the Transformer network to encode sequential and spatial information for weight estimation. Experimental evaluation on a dataset of 20,000 samples collected from real environments demonstrates the effectiveness and accuracy of the proposed approach in grappling noodle-like objects. This research contributes to advancements in robotic manipulation, enabling robots to manipulate objects with varying weights in real-world scenarios.

ARTICLE INFO
Article History
Received 02 December 2022
Accepted 17 August 2023

Keywords
Robotic manipulation
Weight estimation
Noodle-like objects
Vision transformer
Autoencoder
RGB-D encoding
Deep learning
Transformer network

JRNAL10105

Download article(PDF)

Research Article
6.Artificial Neural Network Based Image Detection Applied to Foot Massage Machines
Chun-Chieh Wang
Department of Electrical Engineering, National Yunlin University of Science and Technology, 123 University Road, Section 3, Douliou, Yunlin 64002, Taiwan
pp. 39–42
ABSTRACT
For nearly two decades, many massage machine (MM) manufacturers have developed a lot of distinct types of FMM. Common massage goods on the sale are roller and pressing models. However, stimulating all acupuncture points (AP) is extremely hard for distinct sizes of feet accurately. Besides, the massage roller cannot be manipulated all alone. Thence, the author proposed a novel computer vision skillfulness to make out the foot acupuncture points (FAP) by ANN. First, the sole of users’ soles is captured and image preprocessing procedures are executed to segment the region of interest (ROI) of soles. FAP is mapped to foot images (FI) to obtain reference massage positions. Afterwards, the YCbCr color space is used to part the brightness to get done the segmentation of the FI in the skin detection. To improve the success rate of image segmentation (IS), ANN is used to train plantar image set. Finally, a FMM was redesigned to raise the rate of ID and user convenience. Experimental results confirm the practicality of the proposed ID method for FMM.

ARTICLE INFO
Article History
Received 25 November 2022
Accepted 01 September 2023

Keywords
Artificial neural network (ANN)
Foot massage machines (FMM)
Image detection (ID)

JRNAL10106

Download article(PDF)

Research Article
7.Choosing Between Coverage Vs. Path Efficiency for Unmanned Aerial Systems: A Case Study Utilizing Hector Quadrotor UAV In ROS
Anees ul Husnain¹, Norrima Binti Mokhtar¹, Noraisyah Binti Mohamed Shah¹, Mahidzal Bin Dahari¹, Muhammad Syazni Ikmal Bin Ramlee¹, Heshalini Rajagopal², Masahiro Iwahashi^3
1Applied Control and Robotics Laboratory, Level 4 Blok M, Faculty of Engineering, University of Malaya, 50603 Kuala Lumpur, Malaysia
²Institute of Computer Science and Digital Innovation, UCSI University, 56000 Kuala Lumpur, Malaysia
³Information, Telecommunication and Control System Group, Nagaoka University of Technology, Niigata, Japan
pp. 43–53
ABSTRACT
Efficient strategies for achieving comprehensive area coverage are imperative in the context of search and exploration missions carried out by patrolling UAVs. Diverse methodologies pertaining to coverage path planning were meticulously examined and assessed within the ROS-Gazebo simulation environment, utilizing the Hector quadrotor model. While the concept of opting for an optimal coverage-oriented path is captivating, it necessitates a trade-off, as it often demands a higher frequency of maneuvers to effectively encompass the designated region. Furthermore, the typical oversight of the robots' hardware limitations is prevalent. This study undertook an analysis of the interplay between coverage area and coverage path, employing techniques such as raster-scan exploration, expanding spiral searches, and zigzag pattern coverage, all aimed at enhancing the selection of the most appropriate path. Furthermore, this research delved into investigating the implications arising from the hardware limitations intrinsic to the Hector quadrotor UAV when simulated within the ROS environment. The assessment metrics encompassed variables including the proportion of the area covered, the count of executed turns, and the time taken by the UAV to complete the maneuvers. The outcomes strongly advocate for the inclusion of hardware limitations in both path planning and path structure considerations in order to attain optimal outcomes.

ARTICLE INFO
Article History
Received 01 November 2022
Accepted 01 September 2023

Keywords
Area coverage
Path planning
Coverage path
UAVs
ROS
Gazebo

JRNAL10107

Download article(PDF)

Research Article
8.Interactive Beating Drum Unity Game
Chung-Wen Hung¹, Cheng-Lung Ko¹, Wen-Huei Chou^2
1Department of Electrical Engineering, National Yunlin University of Science & Technology, 123 University Road, Section 3, Douliou, Yunlin 64002, Taiwan, R.O.C
²Department of Digital Media Design, National Yunlin University of Science and Technology, 123 University Road, Section 3, Douliou, Yunlin 64002, Taiwan, R.O.C
pp. 54–60
ABSTRACT
In this research, we introduce an interactive beating drum game built on the Unity game engine. Our objective is to address the social and mental health impacts of the pandemic, particularly among older individuals. Using the Unity engine, we have developed a sports and social platform. And we employed Bluetooth Low Energy (BLE) chip to transmit drumming signals to the Unity engine following the Bluetooth (BT) protocol. Then, the user interface on the tablet in our game will show the drum locations beat by user. Our game offers single player mode and multiplayer mode. The multiplayer mode provides social network features. Players need to strike the falling icons on the drum in conformity with the rhythm of the music. The game will assess precision and give reward points at the end of the game. In accordance with experimental findings, the elderly participants considered that the system is user-friendliness

ARTICLE INFO
Article History
Received 01 November 2022
Accepted 11 September 2023

Keywords
Interactive game
Unity
BLE

JRNAL10108

Download article(PDF)

Research Article
9.The Potential and Readiness of Unmanned Aerial System (UAS) Implementation in the Development of Construction Work
Nurfadzillah Ishak¹, Muhammad Azizi Azizan¹, Hazry Desa^2
1Faculty of Civil Engineering & Technology, Universiti Malaysia Perlis, Perlis, Malaysia, Centre of Excellence for Unmanned Aerial System, Universiti Malaysia Perlis, Perlis, Malaysia
²Faculty of Electrical Engineering & Technology, Universiti Malaysia Perlis, Perlis, Malaysia, Centre of Excellence for Unmanned Aerial System, Universiti Malaysia Perlis, Perlis, Malaysia
pp. 61–65
ABSTRACT
Unmanned aerial system technology is being used more and more frequently in the construction sector today. Over the past ten years, unmanned aerial systems (UAS) have developed into cutting-edge military technology and readily available consumer goods. Unmanned aerial system technology is being used more and more frequently in the construction business today. Drone applications are shifting more and more toward productive remote procedures that can be carried out in a variety of building industry settings. Remote sensing tools for Unmanned Aerial Systems can be used to examine and assess the status of ongoing building construction projects. This research will let building construction professionals see how remote sensing technology may replace human paper-based supervision and an unorganized database for the existing traditional construction job progression method.

ARTICLE INFO
Article History
Received 09 October 2022
Accepted 12 September 2023

Keywords
Potential
Readiness
UAS
Construction work

JRNAL10109

Download article(PDF)

Research Article
10.Improving Performance of Spike Pattern Detection Using Close-to-Biology Spiking Neuronal Network
Takuya Nanami, Takashi Kohno
Institute of Industrial Science, The University of Tokyo, Tokyo, Japan
pp. 66–70
ABSTRACT
In the nervous system, there is a broad variety of neuron types, each exhibiting distinct firing properties. Although these neurons are considered important, the understanding of their role in information processing remains limited. In this study, we constructed a simple network using a piecewise quadratic neuron (PQN) model that can reproduce a variety of neuronal activities. Further, we examined the effect of various neuronal dynamics on the success rate of a biologically plausible spike-pattern detection task. The simulation results showed that certain mathematical structures increased the success rate of spike-pattern detection.

ARTICLE INFO
Article History
Received 25 November 2022
Accepted 08 September 2023

Keywords
PQN model
Spike pattern detection
Spiking neuron model
Spiking neuronal network

JRNAL10110

Download article(PDF)

Research Article
11.Experimental Analysis of Flight Altitude for Enhanced Agricultural Drone Spraying Performance
Hazry Desa, Muhammad Azizi Azizan, Nurfadzillah Ishak, Teh Xi Hang
Centre of Excellence for Unmanned Aerial Systems (COE-UAS), Universiti Malaysia Perlis (UniMAP), Malaysia
pp. 71–76
ABSTRACT
Effective rice field management and the proper application of agricultural chemicals are crucial for ensuring agricultural product quality. These chemicals control weeds and protect against insect pests, which can harm crop yields and quality. This research explores the relationship between the altitude at which agricultural drones spray chemicals, spray uniformity, and chemical dispersion. The study assesses drone operations at heights of 1m, 1.5m, and 2m above hollow cone nozzles in 2.8m/s wind conditions. It aims to evaluate droplet uniformity and dispersion on water-sensitive paper placed on paddy plants, analyzed with ImageJ software. Results show that at 1.5m height, there's a significantly higher average droplet density, with 162.7 deposits/cm² in the upper region and 161.8 deposits/cm² in the lower region. Additionally, coverage is notably increased, at 55.21% for the upper region and 51.4% for the lower region. This research highlights the importance of optimal drone altitude for efficient chemical application in rice fields, improving crop protection and yield.

ARTICLE INFO
Article History
Received 09 October 2022
Accepted 20 September 2023

Keywords
Agriculture drone
Spraying system
Droplet density

JRNAL10111

Download article(PDF)

Research Article
12.Report on Underwater Robot Festival Junior Division Aimed at Marine-Debris Cleanup
Takayuki Matsuo¹, Masanori Sato², Masayoshi Ozawa³, Seiichiro Miura⁴, Masakazu Arima⁵, Kazuo Ishii^6
1National Institute Technology, Kitakyushu College, 2-20-1, Shii, Kokuraminami-ku, kitakyushu-shi, Fukuoka 802-0985, Japan
²Nagasaki Institute of Applied Science, 536, Aba-machi, Nagasaki-shi, Nagasaki 851-0193, Japan
³Kobe City College of Technology, 8-3, Gakuenhigashi-machi, Nishi-ku, Koube-shi, Hyogo 651-2194, Japan
4National Institute of Technology, Tokuyama College, 3538 Gakuendai, Shunan-shi, Yamagichi, 745-8585, Japan
⁵Osaka Metropolitan University, 1-1 Gakuen-cho, Naka-ku, Sakai, Osaka, 599-8531, Japan
⁶Department of Life Science and System Engineering, Graduate School of Kyushu Institute of Technology, 2-4, Hibikino, Wakamatsu-ku, Kitakyushu-shi, Fukuoka 808-0196, Japan
pp. 77–83
ABSTRACT
A marine-cleaning robot competition was featured at the junior division of the Eighth Underwater Robot Festival held at Iwakuni, Japan in 2022. The theme of the competition was “Life Below Water,” which is the 14th goal of SDGs, and consisted of poster presentations on marine-debris problems and a robot competition to compete in debris-collection ability. In addition, questionnaires were sent out before and after the competition to analyze the level of understanding of robot development and SDGs after the competition. This paper reports an outline of the junior division and results of the educational effect using questionnaire analysis.

ARTICLE INFO
Article History
Received 29 November 2022
Accepted 03 July 2023

Keywords
Robot competition
Education of robotics

JRNAL10112

Download article(PDF)

Research Article
13.Experimental Study of Underwater RF Communication for Live Video Transmission for AUVs Application
Raji Alahmad¹, Kazuo Ishii¹, Yuya Nishida¹, Yuki Fukumoto², Tohlu Matsushima^2
1Department of Human Intelligence Systems, Kyushu Institute of Technology, 2-4 Hibikino, Wakamatsu, Kitakyushu, Fukuoka, 808-0196 Japan.
²Department of Electrical and Electronic Engineering, Kyushu Institute of Technology, 1-1 Sensuicho, Tobata, Kitakyushu, Fukuoka, 804-550 Japan
pp. 84–90
ABSTRACT
Autonomous Underwater Vehicles (AUVs) require long-distance communication, especially in the deep sea. Acoustics communication and wireless optical communication have limitations of low latency and water conditions effects respectively. Radiofrequency (RF) communication provides a high data rate with free orientation of the transmitter/receiver antennas. However, electromagnetic waves are highly restricted by high attenuation over short distances in the underwater medium. In this study, we investigated the RF communication in a tank full of seawater. A loop antenna and rectangular antenna were used for the base station and AUV respectively. The experiments were conducted to measure the transmission rate with different distances between the base station and the AUV using both User Datagram Protocol (UDP) and Transmission Control Protocol (TCP). Live video streaming with framerate analysis was considered. The results show the effect of the distance between the transmitter and receiver on the transmission rate, in addition, to the antenna's stability has huge effects on the connection stability. We successfully achieved a High-Definition (HD) video streaming with 25fps for over 1 meter.

ARTICLE INFO
Article History
Received 05 December 2022
Accepted 14 September 2023

Keywords
AUV
Rf communication
Network
Frame rate
Underwater video streaming

JRNAL10113

Download article(PDF)

Research Article
14.Analysis of Self Determination Factors for Continuance Intention on Online Learning Management System
Mochamad Chandra Saputra¹, Tetsuro Katayama², Yoshihiro Kita³, Hisaaki Yamaba², Kentaro Aburada², Naonobu Okazaki²,
Satrio Agung Wicaksono^1
1Faculty of Computer Science, Brawijaya University, Malang, Indonesia
²University of Miyazaki, Japan
³University of Nagasaki, Japan
pp. 91–95
ABSTRACT
The COVID-19 pandemic outbreak transformed the paradigm of the educational process. Many educational institutions, including the University, mainly the Faculty of Computer Science, Brawijaya University, have experienced success with learning through the Internet. The continuance intention factor for using an online learning management system is important to ensure learning sustainability. This study investigates continuance intention factor by using self determination model as a research model. The objective of this study is to find the factor factors affecting students' continuance intention toward online learning management systems. The proposed model is useful for investigating continuance intention factors. The study finds that intrinsic regulation, external regulation, identified regulation, and introjected regulation significantly positive impact on continuance intention in learning management systems. Finally, this study provides suggestions for the Faculty to improve the continuance intention of the student in using an online learning management system.

ARTICLE INFO
Article History
Received 22 November 2022
Accepted 14 October 2023

Keywords
Learning management system
Self determination
Continuance intention

JRNAL10114

Download article(PDF)

Research Article
15.Real-Time Weather Data for Environment, Social, and Governance (ESG) Decision-Making
Hu Jiahao¹, Neesha Jothi¹, Heshalini Rajagopal¹, Sook Fern Yeo², Kay Hooi Keoy^3
1Institute of Computer Science and Digital Innovation, UCSI University, 56000 Kuala Lumpur, Malaysia
²Faculty of Business, Multimedia University, Jalan Ayer Keroh Lama,75450 Melaka, Malaysia
³Graduate Business School, UCSI University, 56000 Kuala Lumpur, Malaysia
pp. 96–104
ABSTRACT
In the 21st century, the Internet has undergone unprecedented growth in technology and accessibility, contributing to the achievement of various Sustainable Development Goals (SDGs) related to digital inclusion and technological advancement. This era witnessed the ubiquitous presence of personal computers in daily life, enabling people to access vital information online, thus promoting digital literacy and access to information (SDG 4, SDG 9, SDG 16). Moreover, the rapid expansion of mobile technology has marked a significant milestone in the development of mobile devices, aligning with SDG 9, which emphasizes innovation and infrastructure development. Android and iOS platforms currently dominate the mobile landscape, offering a range of opportunities and challenges for developers. However, the prevalent practice of developing applications exclusively for a single platform has resulted in suboptimal development efficiency, hindering progress toward SDG 9 and sustainability in technological advancements (ESG). In response, developers have begun to explore cross-platform technologies, which not only streamline development across different platforms but also contribute to cost-efficiency and resource optimization (SDG 12). This paradigm shift in development approaches presents a unique opportunity to meet the growing demand for real-time, precise, and diverse weather information. In response, this study proposes the creation of a mobile application-based weather forecast system. This system places a strong emphasis on user interface (UI) design and the successful implementation of key functionalities, promoting user-friendly access to weather data and aligning with the principles of inclusive design and technological accessibility (SDG 4). In summary, this research endeavors to harness the advancements in mobile technology and cross-platform development to deliver an innovative weather forecast system, ultimately contributing to the broader goals of digital inclusion, technological sustainability, and user-centric design in line with SDGs and ESG principles.

ARTICLE INFO
Article History
Received 06 August 2022
Accepted 25 September 2023

Keywords
Weather forecast
Mobile application
User interface

JRNAL10115

Download article(PDF)