https://www.engineegroup.us/journals/annals-of-robotics-and-automation A Peertechz Open Access Journal en-us 22 Aug, 2025 https://www.engineegroup.us/articles/ARA-9-120.php A system for robust speaker verification based on four recognition approaches and methods (classifiers) is proposed, in order to use different statistical characteristics of the speech parameters. These methods are: 1) Prototype Distribution Maps (PDM); 2) AR-vector models (ARVM); 3) Two-level approach: the first level uses several PDMs for preprocessing, and the second employs multilayer perceptron (MLP) networks; 4) Gaussian speaker’s models combined with the arithmetic-harmonic sphericity measure (GMAHSM). These classifiers generate four preliminary classification decisions. The reliability and confidence of these preliminary decisions are evaluated by means of a weighting algorithm. The weights are assigned using the relative measures to the most similar speakers (or cohorts), i.e. a Cohort Normalization technique is implemented. The final classification is then performed using simple logical and threshold rules. The speech signals of 92 speakers have been analyzed. The speaker verification accuracy was over 98%. Robust impostors’ detection was observed, because the classifiers never fail simultaneously. 09 Aug, 2024 https://www.engineegroup.us/articles/ARA-8-119.php The vast domain of Bio-inspired Robotics has been nourished with several key-themes of design over the years and those are, no doubt conceptually brilliant. The size effect of such bio-robotic gadgets was also tackled through modern-age manufacturing as well as assembly technologies and we have got experimental gadgets like worm robots as outcome. However, in all such prototypes of miniature bio-robots and/or worm robots, the essence of biological science has been missing to date. The concept of bio-inspired team robots having near-identical features, symbolizing biological off-springs was not explored hitherto. We are attempting to provide a novel autonomous assistive robotic system having ‘Mother’ and ‘Daughter(s)’ for use in agricultural fields. Our design has been nucleated from a famous biological worm, namely, Caenorhabditis elegans (C.elegans) which has a fully-developed reproductive system, notwithstanding its length (~ 1 mm.) or even the diameter (~ 50 microns). In this paper, we will report the technological ideation design of a representative ‘Mother-Daughter’ Worm Robotic system by naturally inheriting the reproductive mechanism of the biological C.elegans worm (barring the size effect). 02 Mar, 2024 https://www.engineegroup.us/articles/ARA-8-118.php The domain of Flexible Robotic Systems (FRS) is an exciting ensemble of global robotics research of the present decade, which unfurls various real-time data like rheology, vibration, sensor fusion, and non-linear coupled dynamics for control. As some of these features, especially strain-induced deflection and vibration, are inherent in FRS, the design and prototype development of multiple degrees-of-freedom flexible robots is highly challenging. The paper addresses the aforementioned design paradigms of FRS through logical understanding by giving importance to the manufacturable design-variables. Further, these design issues for the firmware of higher-order FRS have been explained with a focus on the novel design and hardware development of a prototype multi-link serial-chain FRS fitted with a miniaturized gripper at the free end. Besides hardware realization, the paper brings out an interesting feature in experimental robotics, namely, the evaluation of the natural frequency of vibration of a flexible manipulator using real-time data on dynamic strain produced within its body. This niche methodology gets propelled by the data from multiple strain-detecting sensors placed judiciously over the links of the FRS. Guided by this lemma, a novel theoretical analysis of the optimal placement of strain-sensors over the external surface of the FRS is described. Additionally, the paper dwells on a novel scheme for dynamic analysis as well as control system logic for the developed FRS. This research provides a complete canvas of design, modeling, firmware development, and experimental ab initio evaluation of perpetual in-situ vibration of a typical serial-chain FRS 23 Jan, 2024 https://www.engineegroup.us/articles/ARA-8-117.php Surveillance robots provide troops with real-time information about their surroundings, including enemy positions, terrain, and potential threats. This information is invaluable for making informed decisions and ensuring the safety of military personnel. Geo-fenced robots are robots equipped with technology that restricts their movements within predefined geographic boundaries. These boundaries are typically established using GPS or other location-based technologies. In applications like the military, geo-fencing can be used to establish secure zones. Geo-fencing helps prevent robots from entering hazardous areas, reducing the risk of damage to the robot and potential harm to friendly forces or civilians This project aims at Digital twinning of robots by creating a virtual replica or model of a physical robot in a digital environment. Digital twinning allows engineers and designers to simulate and test the robot’s behavior, performance, and capabilities in a virtual environment before building the physical robot. This can lead to increased efficiency, reduced downtime, and cost savings. In this project, LiDAR (Light Detection and Ranging) sensor data is integrated with a digital twinned robot to create a virtual reproduction of the robot and its surroundings. LiDAR is a remote sensing technology that maps the robot’s surroundings in fine detail using 3D point clouds by measuring distances using laser pulses. Here we make use of RPLIDAR A1 M8 and acquire data from it using ROS with the help of a RaspberryPi4B Controller. Simulink is used to create a 3D model of the robot’s environment and the robot itself. Reinforcement learning and pure pursuit algorithms are used for developing them. This project discusses the need for geofenced autonomous robots and emphasizes the security and reliability it brings to military applications. 13 Dec, 2023 https://www.engineegroup.us/articles/ARA-7-116.php Flexible Robotic Systems, by and large, are prone to inherent vibration that recreates itself in several modal frequencies. This in-situ vibration in flexible robots or in any such complaint robotic unit becomes tricky so far as the control system architecture is concerned. Thus, customization of the design and firmware of higher-order flexible robots is highly challenging due to its inherent parameters related to real-time vibration. Vibration in flexible robots has been investigated hitherto from the standpoint of frequency & amplitude tuple, sidetracking the important paradigm of looping of the trajectories. This work has added a technological niche in bringing out the intrinsic dynamics of this vibration from a mathematical perspective of trajectory formation so as to understand the mechanics of spiraling loops while a flexible/compliant robotic system is vibrating under natural conditions. The analytical modeling of the said in-situ vibration has been experimented with through an indigenous single-link flexible robot, fitted with a miniature gripper. 28 Sep, 2022 https://www.engineegroup.us/articles/ARA-6-115.php Recently, robots have been developed to reduce human resources and observation time in a fast, booming, and rapidly growing technology. In this study, a surveillance robot is designed and manufactured to move around a given surrounding, preferably a domestic environment, record video & audio and send the information to the user through a network. The robot is allowed to be controlled wirelessly using Raspberry Pi technology from a location remotely using IoT technology. This sensor-based robot uses the Raspberry Pi with Ethernet, WI-Fi and Bluetooth for networking purposes. Python is chosen as the programming language in both autonomous and semi-autonomous modes. The manufactured robot was experimentally tested. The recorded videos, images and audio are successfully transferred through a WiFi network to the end user. The user could also control and move the robot in different directions for specific demands. The designed simple robot interests users to record and transfer information for the safety of their indoors. 14 Dec, 2021 https://www.engineegroup.us/articles/ARA-5-114.php In the field of medical robotics, many studies have called for the integration of end-users in the innovation process. The objective is to identify the factors that facilitate (or not) the use of the designed robots and thus try to guarantee their diffusion in the care services. This recommendation was followed in the ROBO-K project. The ROBO-K project proposes the design and development of a mobile, interactive robot dedicated to gait rehabilitation. This project was initiated by BA Healthcare, a medical robotics company. The design of a robot was accompanied to achieve the targeted therapeutic objectives by taking into account the requirements related to the needs of the patients and the practitioners; the care activity and the institutions involved. A follow-up by the social acceptability of the technology led to focus the innovation process on a co-construction activity involving all stakeholders. This co-construction activity was decisive, as it guided the definition of functional expectations and the technical specifications of the prototype developed. It was completed by a test phase of the prototype (in a care situation for 5 months). The results show the relevance to involve all the stakeholders in all the design and development phases of the robotic device. However, they underline the difficulties or limits linked to this type of approach in terms of innovation. 19 Aug, 2021 https://www.engineegroup.us/articles/ARA-5-113.php Nowadays, many cars are equipped with Advanced Driving Assistance Systems (ADAS), from cruise control to collision detection and speed limit signalling. In recent years, the scientific community has carried out a lot of research in the field of autonomous driving system with the aim of improving fuel consumption, traffic and safety, but it is still a developing field that will require a lot of work despite the great progress. This paper proposes a new approach to road safety, introducing an autonomous driving system that intervenes when dangerous situations occur or when the driver is not able to drive, keeping the passengers and the other vehicles safe. A Linear Time Varying (LTV) Model Predictive Control (MPC) is proposed to control the vehicle minimising the lateral error with respect to lane centre while maintaining a constant speed. The lane centre is estimated by the lane boundaries that are supposed to be given by a vision detection system. The risk situation is evaluated by the slip angle and rate. 18 Aug, 2021 https://www.engineegroup.us/articles/ARA-5-112.php Circular external fixators using hexapod struts are a valuable tool in the treatment of complex, multiplanar limb deformities. The benefits of external fixation technology are well documented and include excellent biomechanical fixation allowing weight bearing and range of motion of joints during treatment, as well as superb versatility to manage a host of challenging clinical pathologies. Despite these advantages, proper treatment with a hexapod external fixation device depends on the patient’s ability to manually adjust the six struts according to a demanding treatment plan. Without strict adherence to the treatment plan, prolonged treatment, worsening deformity, or even the need for further surgery become possible. Orthospin’s Autostrut technology provides a solution to the drawbacks of external fixation treatment by automating the strut-adjustment process. A control box automatically turns motorized struts according to the physician’s treatment plan and sends real-time updates to the physician’s phone or computer. This allows him or her to closely monitor the treatment process and make necessary adjustments as needed. Orthospin technology is FDA approved and given its success in early applications is ready for more widespread use. 03 Aug, 2021 https://www.engineegroup.us/articles/ARA-5-111.php There is no doubt that Artificial Intelligence (AI) is a topic that is attracting increasing attention from different communities, business and academic. AI adoption and implementation is faced by the difficulty of interpreting and trusting the outcomes of AI algorithms. Several ethical issues related to AI adoption such as algorithms and data bias are among the factors that hinder AI adoption by the business world. This study aims to highlight and classify the most important research that have been published on AI explainability and ethical issues. The main finding from this research refer to the necessity of forming proper comprehension of advantages and disadvantages offered by Explainable AI techniques. This work concludes that the interpretability of AI models needs to be investigated using innovative approaches such as data visualisation in conjunction with the requirements and constraints associated with data confidentiality and bias as well as the auditability, fairness and accountability of the AI model. 03 Jul, 2021 https://www.engineegroup.us/articles/ARA-5-110.php Artificial intelligence technologies have been extensively used to decipher water quality and characterization. Fewer studies have employed these techniques in the purpose of optimizing a water treatment process. Here, we apply unsupervised machine learning techniques for the optimization of the choice of membranes, following the different constraints and conditions encountered. The adopted data analysis techniques are the Principal Component Analysis (PCA) and the Hierarchical Cluster Analysis (HCA). Both methods showed their capacity to reveal resemblance and discrepancies between different membrane types and based on several properties. PCA is more appreciated than HCA as it removes any intercorrelation between factors and it helps in a better understanding of different trends of the dataset by establishing a Scores-Factors relation. 11 Jun, 2021 https://www.engineegroup.us/articles/ARA-5-109.php The additive manufacture is a fabrication process that has taken huge steps in the last decade, even though the first researches and prototypes are around since almost forty years ago. In this article, a design method for a Parallel Kinematics Robot for Additive Manufacturing Applications is proposed. A numerical model is obtained from the kinematics of the robot for which the design, construction and assembly are planned using recycled materials and equipment. The control of the robot is done using open source software, allowing the planning of trajectories in the Cartesian space on a maximum designed cylindrical workspace of 300mm in diameter by 300mm high. At the end of the work the robot was identified, the kinematic model was validated and considerations for future works were given. 22 May, 2021 https://www.engineegroup.us/articles/ARA-5-108.php While degrading mobility, one of the major concerns affecting the independent ability of elderly / disabled people to live. Mobility assistive technologies are now being built to uplift people’s living conditions. However, improvements are required to existing mobility assistive devices. This paper explores designing and building a smart wheel chair with several control interfaces. A version of the smart wheelchair device was built based on a currently accessible traditional wheelchair on the market, with the introduction of similar electrical and mechanical developments. To improve user involvement, the system includes speech and gesture-control interfaces as addition to the Mobile Application for controlling the Wheel Chair. Particulars are presented regarding the mechanical design, the smart wheelchair’s electrical and control system. Experiments were carried out to verify the functionality of the smart wheelchair that was developed. Furthermore addition, a user study evaluated the user preferences between the different controlling interfaces, and the results are presented. 14 Apr, 2021 https://www.engineegroup.us/articles/ARA-5-107.php Purpose: Glenoid replacement is an integral component of Total Shoulder Arthroplasty (TSA); however, glenoid component loosening, and premature wear can result from poor glenoid bone preparation and initial implant placement. Surgical robots have been used in some arthroplasty procedures to improve accuracy, but not in TSA. Moreover, arthroplasty robotics has very low acceptance rates due to increased complexity compared to traditional surgical instrumentation, and difficulty incorporating optical tracking systems into the surgical workflow. This study introduces a novel robot navigation system based on reaction force feedback, and its implementation in TSA. Methods: Robotic glenoid preparation utilizing Force-Space Navigation was tested against traditional surgical methods in shoulder analogs. Both Walch Type A1 and B2 shoulder models were used, with the B2’s treated with augmented glenoid implants. Implant positioning and orientation for both techniques were compared to pre-operative plans. Results: For standard implants in Type A1 glenoids, net placement errors were 1.5 ± 0.5mm and 2.6 ± 2.3° for the robot, and 1.6 ± 0.3mm and 5.0 ± 1.9° for the surgeon. For augmented implants in B2 glenoids, errors were 2.2 ± 0.4mm and 2.9 ± 0.9° for the robot, and 3.0 ± 0.4mm and 4.5 ± 1.5° for the surgeon. Traditional surgical techniques were less accurate in all Cartesian directions with the augmented implant, and less accurate in face rotation with the standard implant. Implant design affected the robot’s accuracy in only the medial-lateral direction, while the surgeon was affected in all three directions, and also in face rotation. Conclusion: Robotic glenoid preparation utilizing Force-Space Navigation matched or outperformed traditional methods in most metrics, which demonstrates its viability for TSA. Further validation is needed in cadaveric specimens. 30 Dec, 2020 https://www.engineegroup.us/articles/ARA-4-106.php In this paper passive Infrared sensor “PIR” based security system is introduced. With this sensor we can save power, and effective management at low cost and requires small memory space. The PIR sensor is responsible for detecting the change in infrared radiation levels when an intruder or human is passed through the system or space where it is arranged. Depending on the change in radiation levels the change in voltages occurs and then with this voltage the signal is amplified and hence the sound will be produced. Thus it is helpful in various applications and areas . This type of system has many advantages compared to the existing system.  26 Nov, 2020 https://www.engineegroup.us/articles/ARA-4-105.php It is estimated that the world population aged 65+ will triple from 6.9% to 20% by 2050 [1]. Across the world, different countries are at various stages in this super-ageing journey. Japan is the most rapidly ageing society with 28.2% now in this age group; in contrast, emerging economies such as India have some of the world’s youngest populations (6.1% aged 65+) [2]. The creation of super-aged societies will be without parallel in human history. While people may be living longer, it is also important to consider their Quality of Life (QoL), whether these additional years are ‘healthy life years’ [3]. 11 Aug, 2020 https://www.engineegroup.us/articles/ARA-4-104.php Despite its inherent complexity and wide dynamic variability, healthy human gait is distinguished by smoothness, stability and flexibility with minimal energy consumption. This is in part achieved by the human body’s superb inherent joint compliance. In particular, the ankle joint plays an important role with its continuous variable stiffness, as compared to the stiffness of the knee and hip joints which remain nearly constant during the loading phases of the gait cycle. This paper presents a proof-ofconcept of a bio-inspired unpowered-compliant ankle exoskeleton designed to assist in human walking and reduce the biological demands of the calf muscle. An unpowered variable stiffness mechanism was developed and integrated onto the ankle exoskeleton to harness gait energy and enhance the ankle’s biomechanical capabilities. The prototype was fabricated and validated on healthy subjects using preliminary experimental tests. The device uses a variable stiffness mechanism, which manually enables five levels of stiffness to replicate and compliment the human ankle’s range of motion. A slider is triggered by a passive mechanical clutch, which controls spring engagement. By engaging different levels on the slider, the system produces five different levels of stiffness in the range of 0.8-4.7 N.m.rad-1. The ankle exoskeleton presented here offers a promising opportunity to adjust ankle compliance and improve the robustness of walking by providing users with further adaptability. 31 Jul, 2020 https://www.engineegroup.us/articles/ARA-4-103.php Concentric Tube Continuum Robot (CTR) is a group of continuum robots which is composed of concentric tubes that can be axially translated and rotated at the base relative to one another. Their inverse kinematic is challenging due to their redundancy. On the other hand, knowledge about the inverse kinematics of the concentric-tube continuum robot is essential for control purposes. There are many solutions for reaching to a specific target point because of the redundancy of these kinds of robots. In this paper, a new method for solving the inverse kinematics of these kinds of robots is presented. The most common type of these robots consisting of three tubes is considered for this study, and the genetic algorithm technique is employed to optimize the solution of this problem. Minimum energy principle equations are used in this method. It is assumed that the robot moves in a free space, so the environment force on this robot is neglected. Also, it is supposed that the curvature of each tube remains constant along the tube. According to the results, a small error of the order 0.01mm was observed using the presented method, which is acceptable for most applications. Finally, the parameters of robot is optimized with concentration on accuracy and the overall length of the robot, which is an important parameter for stability. 25 Apr, 2020 https://www.engineegroup.us/articles/ARA-4-102.php Big data is currently a huge industry that has grown significantly every year. Big data is being used by machine learning and deep learning algorithm to study, analyze and parse big data and then drive useful and beneficial results. However, most of the real datasets are collected through different organizations and social media and mainly fall under the category of Big Data applications. One of the biggest and most drawbacks of such datasets is an imbalance representation of samples from different categories. In such case, the classifiers and deep learning techniques are not capable of handling issues like these. A majority of existing works tend to overlook these issues. Typical data balancing methods in the literature resort to data resampling whether it is under sampling a majority class samples or oversampling the minority class of samples. In this work, we focus on the minority sample and ignore the majority ones. Many researchers have done many works as most of the work suffers from over sampling or form the generated noise in the dataset. Additionally, works are either suitable for either big data or small data. Moreover, some other work suffers from a long processing time as complicated algorithms are used with many steps to fix the imbalance problem. Therefore, we introduce a new algorithm that deals with all these issues. We have created a short example to explain briefly how the SMOTE works and why we need to enhance the SMOTE and we have done this by using a very well-known imbalance dataset that we downloaded from the Kaggle website. We collect the results by using Azure machine learning platform. Then, we compare the results to see that the model is functional just good with SMOTE and way better than without it. 11 Mar, 2017 https://www.engineegroup.us/articles/ARA-1-101.php Laparoscopic ventral mesh rectopexy is the gold standard treatment for external rectal prolapse and an excellent treatment for symptomatic internal rectal prolapse. However, there is a recurrence rate for this procedure, part of which can be attributed to the untreated posterior rectal prolapse component.