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Papers by Arbnor Pajaziti

NWSA Academic Journals, 2019

2016 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)

Advanced driver's assist systems for optional self-driving vehicles require highly reliable n... more Advanced driver's assist systems for optional self-driving vehicles require highly reliable navigation capabilities to ensure dependable autonomous function of vehicle safety and driver assistance. Radars, lidars and cameras have found widespread application in nearly all vehicle brands for this purpose. In this paper we present the implementation of these sensors for constructing a 360-degree field of view of the vehicle surrounding. A stereo vision system is complemented by several long, mid and short-range radar sensors. The data gathered from the advanced sensors is prioritized and fused to create a model of the surrounding. The system is being tested on an autonomous car vehicle. In particular, this paper discusses three clustering algorithms that were tested.

Springer eBooks, Aug 25, 2020

The purpose of this paper is to describe the application of the GPS/Arc/GIS telecommunication Sys... more The purpose of this paper is to describe the application of the GPS/Arc/GIS telecommunication System in transport and traffic to identify the accident blackspot locations in the city of Pristina, Kosovo. It is also outlined the basics of GPS (Global Positioning System)–GIS (Geographic Information System) technology and the application of this technology in the research area. Further, the analysis are made of the application of GPS-GIS technology in traffic and transport with possibilities for future use of this technology for the municipality of Pristina. In this paper, the maps have been made with GPS data and have been compared with the conventional way of accident records. Here is shown how GPS/Arc/GIS combination gives the accurate black spot identification, rather than relying on assumed data for the location.

Strojnícky časopis - Journal of Mechanical Engineering

This study describes a method for swinging up and stabilizing a double inverted pendulum (DIP) in... more This study describes a method for swinging up and stabilizing a double inverted pendulum (DIP) in real-time utilizing a PID-LQR combined control system. Firstly, a dynamic model of the double inverted pendulum system is made up and the equations of motion are constructed. The pendulum then is moved from its unstable position to a stable one using a PID-LQR controller. A comparison of the PID-LQR controller’s output and suggestions for improving system stability is presented and is suggested combined control system.

Advances in Intelligent Systems and Computing, 2018

This paper is focused on improvement of the humanoid robot walking by conducting dynamic walking ... more This paper is focused on improvement of the humanoid robot walking by conducting dynamic walking experiments, based on human pattern gait parameters. The proposed approach has been tested and implemented to the Bioloid robot, firmly by simulating the robot on the Matlab program. Humanoid interaction considers that the robot starts and finishes the walk with the Double Support Feet (DSF). In this paper is presented the kinematic model of the Bioloid robot based on Denavit-Hartenberg (D-H) convention. To imitate the human walking, a three dimensions trajectory of the feet and the hip has been developed. For the design of the trajectories, first motion constraints during walking have been derived based on the human walking pattern. The sinusoidal spline interpolation is used to find the smooth trajectories for the foot and the hip in both single and double support phases are implemented on the Bioloid robot. In order to realize the humanoid walking in the sense of static stability, the robot’s centre of gravity during the walking was located within the support foot area. After tests with different step lengths and step heights, we are able to analyse the end-effector of each walking parameter before implementation into the real humanoid robot.

Advances in Intelligent Systems and Computing, 2019

The paper focuses on testing and analysis of the walking robot to attain the robustness of the ro... more The paper focuses on testing and analysis of the walking robot to attain the robustness of the robot at the scale of today’s robots, to make a few steps and to be able to make some movements that a human can do with his feet, such as landing, walking, etc. From the results obtained by the simulations and the real robot with 10 D.o.F. (Degrees of Freedom) it can be seen that the performance during the movement is of a satisfactory level and comparable to the results of the Gait Control Algorithms of other authors.

IFAC Proceedings Volumes, 2013

In this paper, the Control Algorithm Design of a pick & place three dimensional robot has been de... more In this paper, the Control Algorithm Design of a pick & place three dimensional robot has been developed. The proposed algorithm is based on the pick - place robot task of identification of the cylinders with same diameters, different heights and three different colors with random position coordinates within the workshop. Performance of the Control Scheme has shown promising results toward finding the short path of moving the cylinders to the certain position.

In this paper is presented a new algorithm for global path planning to a goal for a mobile robot ... more In this paper is presented a new algorithm for global path planning to a goal for a mobile robot using Fuzzy Logic (FL) and Genetic Algorithm (GA). We have also shown the detection and avoidance of static and dynamic obstacles in a closed environment using a single camera to record the state of environment in which the mobile robot operates. This is done by mapping the environment and optimization using genetic algorithm. During this process for the mobile robot steps generated by Fuzzy logic algorithm have been taken, in order to reach the target. Locations of target and obstacles to find an optimal path are given in a 2-D workplace environment. Besides, optimization steps of path finding; also we did not use real sensors for avoiding obstacle. This problem is solved by using virtual sensors to achieve fast detection and response. For the given mobile robot model, the results of simulation have been also shown by figures.

The purpose of this paper is to construct and program a prosthetic hand that can make various com... more The purpose of this paper is to construct and program a prosthetic hand that can make various complex, coordinated movements based on command from sensors. The main objective of this scientific paper is to research and design a prosthetic hand prototype, including the development of algorithms for intelligent systems that will be used for self-control. As a product of this project is a prosthetic arm customized for a selected patient, which is able to meet some human requirements. And the same hand is given in service to the patient designed for daily use.

Using Robots in Hazardous Environments, 2011

Abstract: This chapter presents a dynamic algorithm to control a biped robot during walking on th... more Abstract: This chapter presents a dynamic algorithm to control a biped robot during walking on the ground with obstacles. The proposed algorithm generates walking patterns with desired stable margin and walking speed. The hip and foot trajectories are generated based on cubic polynomial interpolation of the initial and final conditions of the biped robot’s position, velocity and acceleration. This guarantees a constant velocity and a smooth transition between the single and double support phases. In order to verify the effectiveness, the proposed algorithm is implemented using the e-nuvo biped robot. The simulations and experimental results show a good performance of the proposed algorithm.

Symmetry, 2021

This paper introduces a new scheme for sliding mode control using symmetry principles for a rotat... more This paper introduces a new scheme for sliding mode control using symmetry principles for a rotating inverted pendulum, with the possibility of extension of this control scheme to other dynamic systems. This was proven for swing up and stabilisation control problems via the new sliding mode control scheme using both simulations and experiments of rotary inverted pendulum (RIP) underactuated systems. According to the Lyapunov theory, a section of the pendulum was compensated with a scale error in the upright position, as the desired trajectory was followed by the pendulum arm section. As the RIP’s dynamic equations were nonlinearly complex and coupled, the complex internal dynamics made the task of controller design difficult. The system control for the pathway of the reference model of the rotational actuator with the application of the sliding mode technique for moving back and forth up the inverted pendulum’s structure, till the arm to reach the linear range round the vertical upr...

Collaborative Robots [Working Title]

This paper deals with future robots that will be developed to assist and/or partially replace hum... more This paper deals with future robots that will be developed to assist and/or partially replace human activities that would provide for humans very much and frequently needed general-types of repetitive services for their daily tasks and engagements. As indeed the very name of humanoid robots intensely suggests, these engagements despite being routinely self-understood by implication as necessities of daily life, their frequency and repetitiveness, alongside other necessities of distributed elements of an increasingly intelligent daily environment, impose the need for deployment of various kinds of robots. It is to be assumed that there will be middle grounds between different types of humanoid robots, depending on the strength of their field of application. Collaborative robots that are conceived and intended to work i.e., collaborate safely with humans in a joint and shared workspace will expand and develop and be applied in increasingly diverse functions and working environments. N...

International Journal of Advanced Computer Science and Applications

The aim of this paper is the design, simulation, construction and programming of the autonomous v... more The aim of this paper is the design, simulation, construction and programming of the autonomous vehicle, capable of obstacle avoidance, object tracking also image and video processing. The vehicle will use a built-in camera for evaluating and navigating the terrain, a six-axis accelerometer and gyro for calculating angular velocities and accelerations, Arduino for interfacing with motors as well as with Raspberry Pi which is the main on-board computer. The design of the vehicle is performed in Autodesk Fusion 360. Most of the mechanical parts have been 3D printed. In order to control the chassis of the vehicle through the microcontrollers, the development of the PCB was required. On top of this, a camera has been added to the vehicle, in order to achieve obstacle avoidance and perform object tracking. The video processing required to achieve these goals is done by using OpenCV and Convolutional Neural Network. Among other objectives of this paper is the detection of traffic signs. The application of the Convolutional Neural Network algorithm after some of the examinations made has shown greater precision in recognizing STOP traffic sign of different positions and occlusion ratios, and finding the path for the fastest time.