Search results for: meaningful human control

Authors: Nicholas Lambert, Seungyeon Ryu, Mehmet Mulla, Albert Kim

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In this paper, an interactive in-car interface called HoloDash is presented. It is intended to provide information and infotainment in both autonomous vehicles and ‘connected cars’, vehicles equipped with Internet access via cellular services. The research focuses on the development of interactive avatars for this system and its gesture-based control system. This is a case study for the development of a possible human-centred means of presenting a connected or autonomous vehicle’s On-Board Diagnostics through a projected ‘holographic’ infotainment system. This system is termed a Holographic Human Vehicle Interface (HHIV), as it utilises a dashboard projection unit and gesture detection. The research also examines the suitability for gestures in an automotive environment, given that it might be used in both driver-controlled and driverless vehicles. Using Human Centred Design methods, questions were posed to test subjects and preferences discovered in terms of the gesture interface and the user experience for passengers within the vehicle. These affirm the benefits of this mode of visual communication for both connected and driverless cars.

Keywords: gesture, holographic interface, human-computer interaction, user-centered design

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Authors: Diom Loreen Ndum, Omarine Njimanted

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With increasing automation in clinical laboratories, the requirements for quality control materials have greatly increased in order to monitor daily performance. The constant use of commercial control material is not economically feasible for many developing countries because of non-availability or the high-cost of the materials. Therefore, preparation and use of in-house quality control serum will be a very cost-effective measure with respect to laboratory needs.The objective of this study was to determine the efficacy of in-house prepared pooled sera with respect to commercially acquired control sample for routine internal quality control at the Nkwen District Hospital Laboratory. This was an analytical study, serum was taken from leftover serum samples of 5 healthy adult blood donors at the blood bank of Nkwen District Hospital, which had been screened negative for human immunodeficiency virus (HIV), hepatitis C virus (HCV) and Hepatitis B antigens (HBsAg), and were pooled together in a sterile container. From the pooled sera, sixty aliquots of 150µL each were prepared. Forty aliquots of 150µL each of commercially acquired samples were prepared after reconstitution and stored in a deep freezer at − 20°C until it was required for analysis. This study started from the 9th June to 12th August 2022. Every day, alongside with commercial control sample, one aliquot of pooled sera was removed from the deep freezer and allowed to thaw before analyzed for the following parameters: blood urea, serum creatinine, aspartate aminotransferase (AST), alanine aminotransferase (ALT), potassium and sodium. After getting the first 20 values for each parameter of pooled sera, the mean, standard deviation and coefficient of variation were calculated, and a Levey-Jennings (L-J) chart established. The mean and standard deviation for commercially acquired control sample was provided by the manufacturer. The following results were observed; pooled sera had lesser standard deviation for creatinine, urea and AST than commercially acquired control samples. There was statistically significant difference (p<0.05) between the mean values of creatinine, urea and AST for in-house quality control when compared with commercial control. The coefficient of variation for the parameters for both commercial control and in-house control samples were less than 30%, which is an acceptable difference. The L-J charts revealed shifts and trends (warning signs), so troubleshooting and corrective measures were taken. In conclusion, in-house quality control sample prepared from pooled serum can be a good control sample for routine internal quality control.

Keywords: internal quality control, levey-jennings chart, pooled sera, shifts, trends, westgard rules

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Authors: M. W. Sun, Y. Zhang, L. M. Zhang, Z. H. Wang, Z. Q. Chen

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In the realm of flight control, the Proportional- Derivative (PD) control is still widely used for the attitude control in practice, particularly for the pitch control, and the attitude dynamics using PD controller should be investigated deeply. According to the empirical knowledge about the unstable flight dynamics, the control parameter combination conditions to generate sole or finite number of closed-loop oscillations, which is a quite smooth response and is more preferred by practitioners, are presented in analytical or numerical manners. To analyze the effects of the combination conditions of the control parameters, the roots of several polynomials are sought to obtain feasible solutions. These conditions can also be plotted in a 2-D plane which makes the conditions be more explicit by using multiple interval operations. Finally, numerical examples are used to validate the proposed methods and some comparisons are also performed.

Keywords: attitude control, dynamic performance, numerical solving method, interval, unstable flight dynamics

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Authors: Soltani Amir, Hu Jiaxin

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Determination of optimal parameters of a passive control system device is the primary objective of this study. Expanding upon the use of control devices in wind and earthquake hazard reduction has led to development of various control systems. The advantage of non-linearity characteristics in a passive control device and the optimal control method using LQR algorithm are explained in this study. Finally, this paper introduces a simple approach to determine optimum parameters of a nonlinear viscous damper for vibration control of structures. A MATLAB program is used to produce the dynamic motion of the structure considering the stiffness matrix of the SDOF frame and the non-linear damping effect. This study concluded that the proposed system (variable damping system) has better performance in system response control than a linear damping system. Also, according to the energy dissipation graph, the total energy loss is greater in non-linear damping system than other systems.

Keywords: passive control system, damping devices, viscous dampers, control algorithm

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Authors: Ali Mausmi, Ahmed Abbou, Rachid El Akhrif

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This research paper aims to reduce the chattering phenomenon due to control by sliding mode control applied on a wind energy conversion system based on the doubly fed induction generator (DFIG). Our goal is to offset the effect of parametric uncertainties and come as close as possible to the dynamic response solicited by the control law in the ideal case and therefore force the active and reactive power generated by the DFIG to accurately follow the reference values which are provided to it. The simulation results using Matlab / Simulink demonstrate the efficiency and performance of the proposed technique while maintaining the simplicity of control by first order sliding mode.

Keywords: control of speed, correction of the equivalent command, induction generator, sliding mode

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Authors: Waleed S. Alwaneen

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In many countries, cow dung is used as farm manure and for biogas production. Several bacterial strains associated with cow dung such as Campylobacter, Salmonella sp. and Escherichia coli cause serious human diseases. The objective of the present study was to investigate the use of insect larvae including fruit beetle, waxworms and tiger worms to improve the breakdown of agricultural wastes and reduce their pathogen loads. Fresh cow faeces were collected from a cattle farm and distributed into plastic boxes (100 g/box). Each box was provided with 10 larvae of fruit beetle, Waxworms and Tiger worms, respectively. There were 3 replicates in each treatment including the control. Bacteria were isolated weekly from both control and cow faeces to which larvae were added to determine the bacterial populations. Results revealed that the bacterial load was higher in the cow faeces treated with fruit beetles than in the control, while the bacterial load was lower in the cow faeces treated with waxworms and tiger worms than in the control. The activities of the fruit beetle larvae led to the cow faeces being liquefied which provided a more conducive growing media for bacteria. Therefore, higher bacterial load in the cow faeces treated with fruit beetle might be attributed to the liquefaction of cow faeces.

Keywords: fruit beetle, waxworms, tiger worms, waste conditioning, composting

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Authors: Aneesh Babu, S. P. Anusha

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A dynamic signal control system combines traditional traffic lights with an array of sensors to intelligently control vehicle and pedestrian traffic. The present study focus on evaluating the performance of dynamic signal control systems for mixed traffic conditions. Data collected from four different approaches to a typical four-legged signalized intersection at Trivandrum city in the Kerala state of India is used for the study. Performance of three other dynamic signal control methods, namely (i) Non-sequential method (ii) Webster design for consecutive signal cycle using flow as input, and (iii) dynamic signal control using RFID delay as input, were evaluated. The evaluation of the dynamic signal control systems was carried out using a calibrated VISSIM microsimulation model. Python programming was used to integrate the dynamic signal control algorithm through the COM interface in VISSIM. The intersection delay obtained from different dynamic signal control methods was compared with the delay obtained from fixed signal control. Based on the study results, it was observed that the intersection delay was reduced significantly by using dynamic signal control methods. The dynamic signal control method using delay from RFID sensors resulted in a higher percentage reduction in delay and hence is a suitable choice for implementation under mixed traffic conditions. The developed dynamic signal control strategies can be implemented in ITS applications under mixed traffic conditions.

Keywords: dynamic signal control, intersection delay, mixed traffic conditions, RFID sensors

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Authors: Brahmi Brahim, Mohammad Habibur Rahman, Maarouf Saad, Cristóbal Ochoa Luna

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A repetitive training movement is an efficient method to improve the ability and movement performance of stroke survivors and help them to recover their lost motor function and acquire new skills. The ETS-MARSE is seven degrees of freedom (DOF) exoskeleton robot developed to be worn on the lateral side of the right upper-extremity to assist and rehabilitate the patients with upper-extremity dysfunction resulting from stroke. Practically, rehabilitation activities are repetitive tasks, which make the assistive/robotic systems to suffer from repetitive/periodic uncertainties and external perturbations induced by the high-order dynamic model (seven DOF) and interaction with human muscle which impact on the tracking performance and even on the stability of the exoskeleton. To ensure the robustness and the stability of the robot, a new nonlinear backstepping control was implemented with designed tests performed by healthy subjects. In order to limit and to reject the periodic/repetitive disturbances, an iterative estimator was integrated into the control of the system. The estimator does not need the precise dynamic model of the exoskeleton. Experimental results confirm the robustness and accuracy of the controller performance to deal with the external perturbation, and the effectiveness of the iterative estimator to reject the repetitive/periodic disturbances.

Keywords: backstepping control, iterative control, Rehabilitation, ETS-MARSE

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Authors: Kanpop Saion, Sakreya Chitwong

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Control of superheated steam temperature in the steam generation is essential for the efficiency safety and increment age of the boiler. Conventional cascade PID temperature control in the super heater is known to be efficient to compensate disturbance. However, the complex of thermal power plant due to nonlinearity, load disturbance and time delay of steam of superheater system is bigger than other control systems. The cascade loop with feed forward steam temperature control with energy balance compensator using thermodynamic model has been used for the compensation the complex structure of superheater. In order to improve the performance of steam temperature control. The experiment is implemented for 100% load steady and load changing state. The cascade with feed forward with energy balance steam temperature control has stabilized the system as well.

Keywords: cascade with feed forward, boiler, superheated steam temperature control, enthalpy balance

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Authors: Miftahuddin Khilji

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The concept of human right is not alien to Islam. The Shari‘ah requires all its followers the sense of responsibility to perform their duties first and then claim their rights. This eventually guarantees the protection of human rights and ensures a peaceful society. The ultimate goal of Shari‘ah is to preserve five basic necessities which are also known as Maqasid ul Shari‘ah or Objectives of Islamic Law. This goal ensures for the members of society their rights without harming public welfare. Despite of the fact that human rights have been fully guaranteed by Islam and their compliance is required by Allah Almighty; not by any legislative body or other sovereign such as kings etc. However, many western writers, organizations and so called liberal thinkers try to create concerns, doubts and misconceptions in minds of the society members. A number of issues are pointed out and people are misguided about the concept of human rights in Islam. This paper aims to discuss main the concept of human rights in the light of perfect and balanced system of laws and principles of Shari‘ah and address those misconceptions and doubts by analyzing them and answering to questions raised about the subject. It would be an effort to prove that human rights are much more significant to Shari‘ah more than any other national or international legislative body.

Keywords: human rights, Islamic law, law, Shariah

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Authors: Sule Pallavi, Shah Priyank, Thavkar Amit, Mehta Suyog, Rohira Poonam

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Minoxidil is used topically to help hair growth in the treatment of male androgenetic alopecia. The objective of this study is to compare irritation potential of three conventional formulation of minoxidil 5% topical solution of in human patch test. The study was a single centre, double blind, non-randomized controlled study in 56 healthy adult Indian subjects. Occlusive patch test for 24 hours was performed with three formulation of minoxidil 5% topical solution. Products tested included aqueous based minoxidil 5% (AnasureTM 5%, Sun Pharma, India – Brand A), alcohol based minoxidil 5% (Brand B) and aqueous based minoxidil 5% (Brand C). Isotonic saline 0.9% and 1% w/w sodium lauryl sulphate were included as negative control and positive control respectively. Patches were applied and removed after 24hours. The skin reaction was assessed and clinically scored 24 hours after the removal of the patches under constant artificial daylight source using Draize scale (0-4 points scale for erythema/wrinkles/dryness and for oedema). A combined mean score up to 2.0/8.0 indicates a product is “non-irritant” and score between 2.0/8.0 and 4.0/8.0 indicates “mildly irritant” and score above 4.0/8.0 indicates “irritant”. Follow-up was scheduled after one week to confirm recovery for any reaction. The procedure of the patch test followed the principles outlined by Bureau of Indian standards (BIS) (IS 4011:2018; Methods of Test for safety evaluation of Cosmetics-3rd revision). Fifty six subjects with mean age 30.9 years (27 males and 29 females) participated in the study. The combined mean score (± standard deviation) were: 0.13 ± 0.33 (Brand A), 0.39 ± 0.49 (Brand B), 0.22 ± 0.41 (Brand C), 2.91 ± 0.79 (Positive control) and 0.02 ± 0.13 (Negative control). The mean score of Brand A (Sun Pharma product) was significantly lower than Brand B (p=0.001) and was comparable with Brand C (p=0.21). The combined mean erythema score (± standard deviation) were: 0.09 ± 0.29 (Brand A), 0.27 ± 0.5 (Brand B), 0.18 ± 0.39 (Brand C), 2.02 ± 0.49 (Positive control) and 0.0 ± 0.0 (Negative control). The mean erythema score of Brand A was significantly lower than Brand B (p=0.01) and was comparable with Brand C (p=0.16). Any reaction observed at 24hours after patch removal subsided in a week. All the three topical formulation of minoxidil 5% were non-irritant. Brand A of 5% minoxidil (Sun Pharma) was found to be least irritant than Brand B and Brand C based on the combined mean score and mean erythema score in the human patch test as per the BIS, IS 4011;2018.

Keywords: erythema, irritation, minoxidil, patch test

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Authors: M-M. Mohamed Ahmed, Nacer K. M’Sirdi, Aziz Naamane

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In this paper, a longitudinal and lateral control approach based on a nonlinear observer is proposed for a convoy of autonomous vehicles to follow a desired trajectory. To authors best knowledge, this topic has not yet been sufficiently addressed in the literature for the control of multi vehicles. The modeling of the convoy of the vehicles is revisited using a robotic method for simulation purposes and control design. With these models, a sliding mode observer is proposed to estimate the states of each vehicle in the convoy from the available sensors, then a sliding mode control based on this observer is used to control the longitudinal and lateral movement. The validation and performance evaluation are done using the well-known driving simulator Scanner-Studio. The results are presented for different maneuvers of 5 vehicles.

Keywords: autonomous vehicles, convoy, non-linear control, non-linear observer, sliding mode

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Authors: Hartani Kada, Merah Abdelkader

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Aiming at the high nonlinearities and unmatched uncertainties of the intelligent electric vehicles’ dynamic system, this paper presents a lateral motion control algorithm for intelligent electric vehicles with four in-wheel motors. A fuzzy logic procedure is presented and formulated to realize lateral control in lane change. The vehicle dynamics model and a desired target tracking model were established in this paper. A fuzzy logic controller was designed for integrated active front steering (AFS) and direct yaw moment control (DYC) in order to improve vehicle handling performance and stability, and a fuzzy controller for the automatic steering problem. The simulation results demonstrate the strong robustness and excellent tracking performance of the control algorithm that is proposed.

Keywords: fuzzy logic, lateral control, AFS, DYC, electric car technology, longitudinal control, lateral motion

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Authors: M. Pramila Devi, N. V. N. Indra Kiran

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Control charts, predominantly in the form of X-bar chart, are important tools in statistical process control (SPC). They are useful in determining whether a process is behaving as intended or there are some unnatural causes of variation. A process is out of control if a point falls outside the control limits or a series of point’s exhibit an unnatural pattern. In this paper, a study is carried out on four training algorithms for CCPs recognition. For those algorithms optimal structure is identified and then they are studied for type I and type II errors for generalization without early stopping and with early stopping and the best one is proposed.

Keywords: control chart pattern recognition, neural network, backpropagation, generalization, early stopping

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Authors: Oliver Ohneiser, Francesca De Crescenzio, Gianluca Di Flumeri, Jan Kraemer, Bruno Berberian, Sara Bagassi, Nicolina Sciaraffa, Pietro Aricò, Gianluca Borghini, Fabio Babiloni

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An increasing degree of automation in air traffic will also change the role of the air traffic controller (ATCO). ATCOs will fulfill significantly more monitoring tasks compared to today. However, this rather passive role may lead to Out-Of-The-Loop (OOTL) effects comprising vigilance decrement and less situation awareness. The project MINIMA (Mitigating Negative Impacts of Monitoring high levels of Automation) has conceived a system to control and mitigate such OOTL phenomena. In order to demonstrate the MINIMA concept, an experimental simulation set-up has been designed. This set-up consists of two parts: 1) a Task Environment (TE) comprising a Terminal Maneuvering Area (TMA) simulator as well as 2) a Vigilance and Attention Controller (VAC) based on neurophysiological data recording such as electroencephalography (EEG) and eye-tracking devices. The current vigilance level and the attention focus of the controller are measured during the ATCO’s active work in front of the human machine interface (HMI). The derived vigilance level and attention trigger adaptive automation functionalities in the TE to avoid OOTL effects. This paper describes the full-scale experimental set-up and the component development work towards it. Hence, it encompasses a pre-test whose results influenced the development of the VAC as well as the functionalities of the final TE and the two VAC’s sub-components.

Keywords: automation, human factors, air traffic controller, MINIMA, OOTL (Out-Of-The-Loop), EEG (Electroencephalography), HMI (Human Machine Interface)

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Authors: Najm Alotaibi

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Human motion capture has become one of the major area of interest in the field of computer vision. Some of the major application areas that have been rapidly evolving include the advanced human interfaces, virtual reality and security/surveillance systems. This study provides a brief overview of the techniques and applications used for the markerless human motion capture, which deals with analyzing the human motion in the form of mathematical formulations. The major contribution of this research is that it classifies the computer vision based techniques of human motion capture based on the taxonomy, and then breaks its down into four systematically different categories of tracking, initialization, pose estimation and recognition. The detailed descriptions and the relationships descriptions are given for the techniques of tracking and pose estimation. The subcategories of each process are further described. Various hypotheses have been used by the researchers in this domain are surveyed and the evolution of these techniques have been explained. It has been concluded in the survey that most researchers have focused on using the mathematical body models for the markerless motion capture.

Keywords: human motion capture, computer vision, vision-based, tracking

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Authors: Aymen Sekhri, Emmanuel Kwabena Frimpong, Bolaji Mubarak Ayeyemi, Aleksi Hirvonen, Matias Hirvonen, Tedros Tesfay Andemichael

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Fixation identification, which involves isolating and identifying fixations and saccades in eye-tracking protocols, is an important aspect of eye-movement data processing that can have a big impact on higher-level analyses. However, fixation identification techniques are frequently discussed informally and rarely compared in any meaningful way. With two state-of-the-art algorithms, we will implement fixation detection and analysis in this work. The velocity threshold fixation algorithm is the first algorithm, and it identifies fixation based on a threshold value. For eye movement detection, the second approach is U'n' Eye, a deep neural network algorithm. The goal of this project is to analyze and visualize eye-tracking data from an eye gaze dataset that has been provided. The data was collected in a scenario in which individuals were shown photos and asked whether or not they recognized them. The results of the two-fixation detection approach are contrasted and visualized in this paper.

Keywords: human-computer interaction, eye-tracking, CNN, fixations, saccades

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Authors: Mohammad Motiee

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From Kierkegaard to Sartre, the concept of 'being' was debated over various angles in the philosophy of being. Then, the futility, nothingness and absurdity of human condition in the world were all justified and led to a kind of solution by different approaches like Christianity, loss of faith, authentic existence and responsibility. In an extreme concern, the human condition in the world was pondered in different ways and the philosophy of thought tried to render an awareness of such condition for human beings. The present study aims at illustration of some approaches presented by prominent existentialists to justify the controversies in the concept of existence in human life.

Keywords: existence, existentialism, alienation, being

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Authors: Wayan Widhiada, Cok Indra Partha, Gusti Ngurah Nitya Santhiarsa

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The purpose of this paper is to investigate the sophistication of the use of Proportional Integral and Derivative Control to control the kinematic motion of the mobile robot manipulator. Simulation and experimental methods will be used to investigate the sophistication of PID control to control the mobile robot arm in the collection and placement of several kinds of objects quickly, accurately and correctly. Mathematical modeling will be done by utilizing the integration of Solidworks and MATLAB / Simmechanics software. This method works by converting the physical model file into the xml file. This method is easy, fast and accurate done in modeling and design robotics. The automatic control design of this robot manipulator will be validated in simulations and experimental in control labs as evidence that the mobile robot manipulator gripper control design can achieve the best performance such as the error signal is lower than 5%, small overshoot and get steady signal response as quickly.

Keywords: control analysis, kinematics motion, mobile robot manipulator, performance

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Authors: Tamanda Kamwendo

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The concept of benefit sharing has been a prominent global debate in the world, gaining traction in human research ethics. Despite its prevalence, the concept of benefit sharing is not without controversy over its meaning and justification. This is due to the fact that it lacks a broadly accepted definition and many proponents discuss benefit sharing by arguing for its necessity rather than engaging in critical intellectual engagement with technical issues such as what it implies. What is clear in the literature is that the underlying premise of benefit-sharing is that research involving underprivileged and marginalized people is currently unjust and inequitable because these people are denied access to these gains; thus, benefit-sharing arrangements are required for these research projects to be just and equitable. This paper, therefore, investigates the discourses and justifications behind the concept of benefit sharing to human participants, particularly when dealing with human genomics research. Furthermore, considering that benefit sharing is generally viewed as a transaction between research organizations and research participants, it raises ethical concerns concerning the commodification of human material and undermines the sanctity of the human genome. This is predicated on the idea that research sponsors would be compelled to deliver a minimum set of possible benefits to research participants and communities in exchange for their involvement in the study. There is, therefore, need to protect benefit-sharing practices in international health research by developing a governance legal framework. A legal framework of benefit sharing will also dispel the issue of commodification of human material where human genomic research is done.

Keywords: benefit sharing, human participants, human genomic research, ethical concerns

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Authors: Ali Oveysi Sarabi

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In this paper, controller design for the attitude and altitude dynamics of an outdoor quadrotor, which is constructed with low cost actuators and drivers, is aimed. Before designing the controller, the quadrotor is modeled mathematically in Matlab-Simulink environment. To control attitude dynamics, linear quadratic regulator (LQR) based controllers are designed, simulated and applied to the system. Two different proportional-integral-derivative action (PID) controllers are designed to control yaw and altitude dynamics. During the implementation of the designed controllers, different test setups are used. Designed controllers are implemented and tuned on the real system using xPC Target. Tests show that these basic control structures are successful to control the attitude and altitude dynamics.

Keywords: helicopter balance, flight dynamics, autonomous landing, control robotics

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Authors: Kazuya Sato, Toru Kasahara, Junji Kuroda

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In this paper, an autonomous hovering control method of multicopter using only Web camera is proposed. Recently, various control method of an autonomous flight for multicopter are proposed. But, in the previously proposed methods, a motion capture system (i.e., OptiTrack) and laser range finder are often used to measure the position and posture of multicopter. To achieve an autonomous flight control of multicopter with simple equipment, we propose an autonomous flight control method using AR marker and Web camera. AR marker can measure the position of multicopter with Cartesian coordinate in three dimensional, then its position connects with aileron, elevator, and accelerator throttle operation. A simple PID control method is applied to the each operation and adjust the controller gains. Experimental result are given to show the effectiveness of our proposed method. Moreover, another simple operation method for autonomous flight control multicopter is also proposed.

Keywords: autonomous hovering control, multicopter, Web camera, operation

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Authors: Azin Karami, Bahareh Heydari

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There is a difference between national sovereignty ( national security guarantee) and human rights standards (human security guarantee). Under the pretext of providing security for the majority, Governments violate human rights standards and lead to populism. This paper illustrates despite the human rights standards of non-citizens, they mostly confront different practical and social realities. (a large gap between the reality and the truth). This paper has focused on one of vulnerable irregular non-citizens immigrants from Mediterranean . In addition, it has considered challenges of the basic and primary human rights standards of this group. It shows how government policies affect the flow of irregular immigration. This paper is based upon UN data about Mediterranean immigrants and polls answered by 68 people who intended to migrate from Mediterranean (28 female and 40 male people, the average age of 30 to 40). The model is supposed to be a convenient one to present objective, real evidence of irregular immigrants and discusses the challenges that this group of immigrants confront them .This paper shows clear concept of immigrants.

Keywords: human rights, human security, national sovereignty, irregular immigrants

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Authors: Abolfazl Zaraki, Yoshikatsu Hayashi, Harry Thorpe, Vincent Strong, Gisle-Andre Larsen, William Holderbaum

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Thanks to the high maneuverability of the cable-driven hyper-redundant manipulators (HRMs), this class of robots has shown a superior capability in highly confined and unstructured space applications. Although the large number of degrees of freedom (DOF) of HRMs enhances the motion flexibility and the robot’s reachability range, it highly increases the complexity of the kinematic configuration which makes the kinematic control problem very challenging or even impossible to solve. This paper presents our current progress achieved on the development of a kinematic-based leader-follower control system which is designed to control not only the robot’s body posture but also to control the trajectory of the robot’s movement in a semi-autonomous manner (the human operator is retained in the robot’s control loop). To obtain the forward kinematic model, the coordinate frames are established by the classical Denavit–Hartenburg (D-H) convention for a hyper-redundant serial manipulator which has a controlled cables-driven mechanism. To solve the inverse kinematics of the robot, unlike the conventional methods, a leader-follower mechanism, based on the sequential inverse kinematic, is followed. Using this mechanism, the inverse kinematic problem is solved for all sequential joints starting from the head joint to the base joint of the robot. To verify the kinematic design and simulate the robot motion, the MATLAB robotic toolbox is used. The simulation result demonstrated the promising capability of the proposed leader-follower control system in controlling the robot motion and trajectory in our confined space application.

Keywords: hyper-redundant robots, kinematic analysis, semi-autonomous control, serial manipulators

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Authors: D. Maneetham

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The developed exoskeleton device has to control joints between shoulder and arm. Exoskeleton device can help patients with hemiplegia upper so that the patient can help themselves in their daily life. Exoskeleton device includes a robot arm wear that looks like the movement is similar to the normal arm. Exoskeleton arm is powered by the motor through the cable with a control system that developed to control the movement of the joint of a robot arm. The arm will include the shoulder, the elbow, and the wrist. The control system is used Arduino Mega 2560 controller and the operation of the DC motor through the relay module. The control system can be divided into two modes such as the manual control with the joystick mode and automatically control with the movement of the head by Gyro sensor. The controller is also designed to move between the shoulder and the arm movement from their original location. Results have shown that the controller gave the best performance and all movements can be controlled.

Keywords: exoskeleton arm, hemiplegia upper, shoulder and arm, stroke

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Authors: M. Doumi, K. Tahir, A. Miloudi, A. G. Aissaoui, C. Belfedal, S. Tahir

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This paper presents a three-phase grid-connected photovoltaic generation system with unity power factor for any situation of solar radiation based on voltage-oriented control (VOC). An input voltage clamping technique is proposed to control the power between the grid and photovoltaic system, where it is intended to achieve the maximum power point operation. This method uses a Perturb and Observe (P&O) controller. The main objective of this work is to compare the energy production unit performances by the use of two types of controllers (namely, classical PI and Sliding Mode (SM) Controllers) for the grid inverter control. The proposed control has a hierarchical structure with a grid side control level to regulate the power (PQ) and the current injected to the grid and to obtain a common DC voltage constant. To show the effectiveness of both control methods performances analysis of the system are analyzed and compared by simulation and results included in this paper.

Keywords: grid connected photovoltaic, MPPT, inverter control, classical PI, sliding mode, DC voltage constant, voltage-oriented control, VOC

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Authors: Martina Kaufmann, Thomas Goetz, Anastasiya A. Lipnevich, Reinhard Pekrun

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Positive emotions have been shown to benefit from optimistic perceptions, even if these perceptions are illusory. The current research investigated the impact of illusions of control on positive emotions. There is empirical evidence showing that people are more emotionally attentive to losses than to gains. Hence, we expected that, compared to gains, losses in illusory control would have a stronger impact on positive emotions. The results of two experimental studies support this assumption: Participants who experienced gains in illusory control showed no substantial change in positive emotions. However, positive emotions decreased when they perceived a loss in illusory control. These results suggest that a loss of illusory control (but not a gain thereof) mediates the impact of the situation on individuals’ positive emotions. Implications for emotion theory and practice are discussed.

Keywords: cognitive appraisal, control, illusions, optimism, positive emotions

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Authors: Akbar Khodavirdizadeh, Ali Nemati Babaylou, Hassan Moomivand

Abstract:

The history of human access to water technique has been one of the factors in the formation of human civilizations in the ancient world. The technique that makes surface water and groundwater accessible to humans on the ground has been a clever technique in human life to reach the water. In this study, while examining the water technique of ancient Iran using the Qanats technique, the water supply system of different regions of the ancient world were also studied and compared. Six groups of the ancient region of ancient Greece (Archaic 480-750 BC and Classical 223-480 BC), Urartu in Tuspa (600-850 BC), Petra (106-168 BC), Ancient Rome (265 BC), and the ancient United States (1450 BC) and ancient Iranian water technologies were studied under water supply systems. Past water technologies in these areas: water transmission systems in primary urban centers, use of water structures in water control, use of bridges in water transfer, construction of waterways for water transfer, storage of rainfall, construction of various types of pottery- ceramic, lead, wood and stone pipes have been used in water transfer, flood control, water reservoirs, dams, channel, wells, and Qanat. The central plateau of Iran is one of the arid and desert regions. Archaeological, geomorphological, and paleontological studies of the central region of the Iranian plateau showed that without the use of Qanats, the possibility of urban civilization in this region was difficult and even impossible. Zarch aqueduct is the most important aqueduct in Yazd region. Qanat of Zarch is a plain Qanat with a gallery length of 80 km; its mother well is 85 m deep and has 2115 well shafts. The main purpose of building the Qanat of Zārch was to access the groundwater source and transfer it to the surface of the ground. Regarding the structure of the aqueduct and the technique of transferring water from the groundwater source to the surface, it has a great impact on being different from other water techniques in the ancient world. The results show that the use of water technologies in ancient is very important to understand the history of humanity in the use of hydraulic techniques.

Keywords: ancient water technologies, groundwaters, qanat, human history, Ancient Iran

Procedia PDF Downloads 87

Authors: Sun Lim, Kyun Jung

Abstract:

In this paper, we describe the control strategy of high speed parallel robot system with EtherCAT network. This work deals the parallel robot system with centralized control on the real-time operating system such as window TwinCAT3. Most control scheme and algorithm is implemented master platform on the PC, the input and output interface is ported on the slave side. The data is transferred by maximum 20usecond with 1000byte. EtherCAT is very high speed and stable industrial network. The control strategy with EtherCAT is very useful and robust on Ethernet network environment. The developed parallel robot is controlled pre-design nonlinear controller for 6G/0.43 cycle time of pick and place motion tracking. The experiment shows the good design and validation of the controller.

Keywords: parallel robot control, etherCAT, nonlinear control, parallel robot inverse kinematic

Procedia PDF Downloads 543

Authors: Adeleke Omolade

Abstract:

The study investigated the impacts of capital goods' import and human capital on the economic growth of the Sub Sahahra Africa (SSA). 30 countries were used in the Panel- ARDL analysis where economic growth is the dependent variables and capital goods' import, human capital, primary export, investment exchange rate, among others were used as the independent variables. The result from the panel analysis indicates that capital goods' import will significantly and positively influence economic growth but human capital fails to have significant positive impact on economic growth of the SSA. Earlier the trend analysis and the correlation results have shown that there is a weak association between capital goods' import and human capital in the SSA. The results offer an expository analysis that reveals that the quality of the human capital is very germane to the effective utilization of capital goods' import for the purpose of growth in a primary goods' export dominated region like the SSA.

Keywords: capital goods import, economic growth, human capital, Sub-Sahara Africa

Procedia PDF Downloads 210