Search results for: robotic navigation

Authors: A. Alem, Y. Dahmani, A. Hadjali, A. Boualem

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Managing the problem of the conflict, either by using the Dempster-Shafer theory, or by the application of the fusion process to push researchers in recent years to find ways to get to make best decisions especially; for information systems, vision, robotic and wireless sensor networks. In this paper we are interested to take account of the conflict in the combination step that took the conflict into account and tries to manage such a way that it does not influence the decision step, the conflict what from reliable sources. According to [1], the conflict lead to erroneous decisions in cases where was with strong degrees between sources of information, if the conflict is more than the maximum of the functions of belief mass K > max1...n (mi (A)), then the decision becomes impossible. We will demonstrate in this paper that the multiplication of mass functions by coefficients of reliability is a decreasing function; it leads to the reduction of conflict and a good decision. The definition of reliability coefficients accurately and multiply them by the mass functions of each information source to resolve the conflict and allow deciding whether the degree of conflict. The evaluation of this technique is done by a use case; a comparison of the combination of springs with a maximum conflict without, and with reliability coefficients.

Keywords: Dempster-Shafer theory, fusion process, conflict managing, reliability factors, decision

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Authors: Yun-Pang Flötteröd, Jakob Erdmann

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The human behaviors during evacuations are quite complex. One of the critical behaviors which affect the efficiency of evacuation is route choice. Therefore, the respective simulation modeling work needs to function properly. In this paper, Simulation of Urban Mobility’s (SUMO) current dynamic route modeling during evacuation, i.e. the rerouting functions, is examined with a real case study. The result consistency of the simulation and the reality is checked as well. Four influence factors (1) time to get information, (2) probability to cancel a trip, (3) probability to use navigation equipment, and (4) rerouting and information updating period are considered to analyze possible traffic impacts during the evacuation and to examine the rerouting functions in SUMO. Furthermore, some behavioral characters of the case study are analyzed with use of the corresponding detector data and applied in the simulation. The experiment results show that the dynamic route modeling in SUMO can deal with the proposed scenarios properly. Some issues and function needs related to route choice are discussed and further improvements are suggested.

Keywords: evacuation, microscopic traffic simulation, rerouting, SUMO

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Authors: R. Sri Karthi Krishna, A. Saravana Kumar, Kesava Brahmaji, V. S. Vinoj

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The lunar surface may contain rough and non-uniform terrain with dips and peaks. Soft-landing is a method of landing the lander on the lunar surface without any damage to the vehicle. This project focuses on finding a safe landing site for the vehicle by developing a method for the lateral velocity determination of the lunar lander. This is done by processing the real time images obtained by means of an on-board vision sensor. The hazard avoidance phase of the soft-landing starts when the vehicle is about 200 m above the lunar surface. Here, the lander has a very low velocity of about 10 cm/s:vertical and 5 m/s:horizontal. On the detection of a hazard the lander is navigated by controlling the vertical and lateral velocity. In order to find an appropriate landing site and to accordingly navigate, the lander image processing is performed continuously. The images are taken continuously until the landing site is determined, and the lander safely lands on the lunar surface. By integrating this vision-based navigation with the INS a better accuracy for the soft-landing of the lunar lander can be obtained.

Keywords: vision aided INS, image processing, lateral velocity estimation, materials engineering

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Authors: Mohammed Qasim, Kyoung-Dae Kim

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In this paper, we present the design of the super-ellipsoidal potential function (SEPF), that can be used for autonomous collision avoidance of an unmanned aerial vehicle (UAV) in a 3-dimensional space. In the design of SEPF, we have the full control over the shape and size of the potential function. In particular, we can adjust the length, width, height, and the amount of flattening at the tips of the potential function so that the collision avoidance motion vector generated from the potential function can be adjusted accordingly. Based on the idea of the SEPF, we also propose an approach for the local autonomy of a UAV for its collision avoidance when the UAV is teleoperated by a human operator. In our proposed approach, a teleoperated UAV can not only avoid collision autonomously with other surrounding objects but also track the operator’s control input as closely as possible. As a result, an operator can always be in control of the UAV for his/her high-level guidance and navigation task without worrying too much about the UAVs collision avoidance while it is being teleoperated. The effectiveness of the proposed approach is demonstrated through a human-in-the-loop simulation of quadrotor UAV teleoperation using virtual robot experimentation platform (v-rep) and Matlab programs.

Keywords: artificial potential function, autonomous collision avoidance, teleoperation, quadrotor

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Authors: Ahmed Tarek, Ahmed Alveed

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Vehicle routing problem is a well-known re-search avenue in computing. Modern vehicle routing is more focused with the GPS-based coordinate system, as the state-of-the-art vehicle, and trucking systems are equipped with digital navigation. In this paper, a new two dimensional coordinate-based algorithm for addressing the vehicle routing problem for a supply chain network is proposed and explored, and the algorithm is compared with other available, and recently devised heuristics. For the algorithms discussed, which includes the pro-posed coordinate-based search heuristic as well, the advantages and the disadvantages associated with the heuristics are explored. The proposed algorithm is studied from the stand point of a small supermarket chain delivery network that supplies to its stores in four different states around the East Coast area, and is trying to optimize its trucking delivery cost. Minimizing the delivery cost for the supply network of a supermarket chain is important to ensure its business success.

Keywords: coordinate-based optimal routing, Hamiltonian Circuit, heuristic algorithm, traveling salesman problem, vehicle routing problem

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Authors: Eman Alarfaj, Hissah Alabdullatif, Huda Alabdullatif, Ghazal Albakri, Nor Shahriza Abdul Karim

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Autism Spectrum Disorder is extensively spread amid children; it affects their social, communication and interactive skills. As robotics technology has been proven to be a significant helpful utility those able individuals to overcome their disabilities. Robotic technology is used in ASD therapy. The purpose of this research is to show how Nao robots can improve the social skills for children who suffer from autism in Saudi Arabia by interacting with the autistic child and perform a number of tasks. The objective of this research is to identify, implement, and test the effectiveness of the module for interacting with ASD children in an autism center in Saudi Arabia. The methodology in this study followed the ten layers of protocol that needs to be followed during any human-robot interaction. Also, in order to elicit the scenario module, TEACCH Autism Program was adopted. Six different qualified interaction modules have been elicited and designed in this study; the robot will be programmed to perform these modules in a series of controlled interaction sessions with the Autistic children to enhance their social skills.

Keywords: humanoid robot Nao, ASD, human-robot interaction, social skills

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Authors: David Julian Bernal Melgarejo

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Inland Waterway Transportation (IWT) is playing an important role in national transport systems, water transportation is considered to be safe, energy efficient and environmentally friendly mode of transport, considering all the benefits of IWT the Colombian government is planning to restore the Magdalena’s River navigability, embrace waterway transportation in Colombia could strength competitiveness while reduce most of the transport externalities. However, the current situation of the Magdalena deplorable, the most important river of Colombia has been abandoned for decades and the solution is beyond of a single administrative entity. This paper analyzes the outcomes of the Navigation And Inland Waterway Action and Development in Europe (NAIADES) program as a prospective to develop a sustainable program in Colombia. In order to guarantee the long-term future, and the adaptability of the program a research based on individual interviews with stakeholders and policy experts were carried out, findings support the idea of lack of integration within governmental institution, develop marketing strategies and human resources.

Keywords: inland waterway transportation, logistics, sustainability, multimodal transport systems, water transportation

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Authors: Caspar Goeke, Holger Finger, Dorena Diekamp, Peter König

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Online-based research has recently gained increasing attention from various fields of research in the cognitive sciences. Technological advances in the form of online crowdsourcing (Amazon Mechanical Turk), open data repositories (Open Science Framework), and online analysis (Ipython notebook) offer rich possibilities to improve, validate, and speed up research. However, until today there is no cross-platform integration of these subsystems. Furthermore, implementation of online studies still suffers from the complex implementation (server infrastructure, database programming, security considerations etc.). Here we propose and test a new JavaScript framework that enables researchers to conduct any kind of behavioral research in the browser without the need to program a single line of code. In particular our framework offers the possibility to manipulate and combine the experimental stimuli via a graphical editor, directly in the browser. Moreover, we included an action-event system that can be used to handle user interactions, interactively change stimuli properties or store participants’ responses. Besides traditional recordings such as reaction time, mouse and keyboard presses, the tool offers webcam based eye and face-tracking. On top of these features our framework also takes care about the participant recruitment, via crowdsourcing platforms such as Amazon Mechanical Turk. Furthermore, the build in functionality of google translate will ensure automatic text translations of the experimental content. Thereby, thousands of participants from different cultures and nationalities can be recruited literally within hours. Finally, the recorded data can be visualized and cleaned online, and then exported into the desired formats (csv, xls, sav, mat) for statistical analysis. Alternatively, the data can also be analyzed online within our framework using the integrated Ipython notebook. The framework was designed such that studies can be used interchangeably between researchers. This will support not only the idea of open data repositories but also constitutes the possibility to share and reuse the experimental designs and analyses such that the validity of the paradigms will be improved. Particularly, sharing and integrating the experimental designs and analysis will lead to an increased consistency of experimental paradigms. To demonstrate the functionality of the framework we present the results of a pilot study in the field of spatial navigation that was conducted using the framework. Specifically, we recruited over 2000 subjects with various cultural backgrounds and consequently analyzed performance difference in dependence on the factors culture, gender and age. Overall, our results demonstrate a strong influence of cultural factors in spatial cognition. Such an influence has not yet been reported before and would not have been possible to show without the massive amount of data collected via our framework. In fact, these findings shed new lights on cultural differences in spatial navigation. As a consequence we conclude that our new framework constitutes a wide range of advantages for online research and a methodological innovation, by which new insights can be revealed on the basis of massive data collection.

Keywords: cultural differences, crowdsourcing, JavaScript framework, methodological innovation, online data collection, online study, spatial cognition

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Authors: Ahmed M. Al-Hasem

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A study of the tidal current behavior and bathymetric changes was undertaken in order to establish an information base for future coastal management. The average velocity for tidal current was 0.46 m/s and the maximum velocity was 1.08 m/s during ebb tide. During spring tides, maximum velocities range from 0.90 m/s to 1.08 m/s, whereas maximum velocities vary from 0.40 m/s to 0.60 m/s during neap tides. Despite greater current velocities during flood tide, the bathymetric features enhance the dominance of the ebb tide. This can be related to the abundance of fine sediments from the ebb current approaching the study area, and the relatively coarser sediment from the approaching flood current. Significant bathymetric changes for the period from 1985 to 1998 were found with dominance of erosion process. Approximately 96.5% of depth changes occurred within the depth change classes of -5 m to 5 m. The high erosion processes within the study area will subsequently result in high accretion processes, particularly in the north, the location of the proposed Boubyan Port and its navigation channel.

Keywords: bathymetric change, Boubyan island, GIS, Khor Abdullah, tidal current behavior

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Authors: Adewole A. Ayoade, Marshall R. Sweatt, John P. H. Steele, Qi Han, Khaled Al-Wahedi, Hamad Karki, William A. Yearsley

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Understanding the behavioral characteristics of sensors is a crucial step in fusing data from several sensors of different types. This paper introduces a practical, real-time approach to integrate heterogeneous sensor data to achieve higher accuracy than would be possible from any one individual sensor in localizing a mobile robot. We use this approach in both indoor and outdoor environments and it is especially appropriate for those environments like oil and gas refineries due to their sparse and featureless nature. We have studied the individual contribution of each sensor data to the overall combined accuracy achieved from the fusion process. A Sequential Update Extended Kalman Filter(EKF) using validation gates was used to integrate GPS data, Compass data, WiFi data, Inertial Measurement Unit(IMU) data, Vehicle Velocity, and pose estimates from Fiducial marker system. Results show that the approach can enable a mobile robot to navigate autonomously in any environment using a priori information.

Keywords: inspection mobile robot, navigation, sensor fusion, sequential update extended Kalman filter

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Authors: M. V. Chidananda Murthy, M. Z. Kurian, H. S. Guruprasad

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Image restoration in the process of communication is one of the emerging fields in the image processing. The motion analysis processing is the simplest case to detect motion in an image. Applications of motion analysis widely spread in many areas such as surveillance, remote sensing, film industry, navigation of autonomous vehicles, etc. The scene may contain multiple moving objects, by using motion analysis techniques the blur caused by the movement of the objects can be enhanced by filling-in occluded regions and reconstruction of transparent objects, and it also removes the motion blurring. This paper presents the design and comparison of various motion detection and enhancement filters. Median filter, Linear image deconvolution, Inverse filter, Pseudoinverse filter, Wiener filter, Lucy Richardson filter and Blind deconvolution filters are used to remove the blur. In this work, we have considered different types and different amount of blur for the analysis. Mean Square Error (MSE) and Peak Signal to Noise Ration (PSNR) are used to evaluate the performance of the filters. The designed system has been implemented in Matlab software and tested for synthetic and real-time images.

Keywords: image enhancement, motion analysis, motion detection, motion estimation

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Authors: Hussam Alrabaiah

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Some new projects (new proposed harbor, recreational projects) are considered in the eastern coasts of Dammam city, Saudi Arabia. Dredging operations would significantly alter coast hydrological and sediment transport processes. It is important that the project areas must keep flushing the fresh sea water in and out with good water quality parameters, which are currently facing increased pressure from urbanization and navigation requirements in conjunction with industrial developments. A suspended solids or sediments are expected to affect the flora and fauna in that area. Governing advection-diffusion equations are considered to understand the consequences of such projects. A numerical modeling study is developed to study the effect of dredging and, in particular, the suspended sediments concentrations (mg/L) changed in the region. The results were obtained using finite element method using an in-house or commercial software. Results show some consistency with data observed in that region. Recommendations based on results could be formulated for decision makers to protect the environment in the long term.

Keywords: finite element, method, suspended solids transport, advection-diffusion

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Authors: Chia-Ju Peng, Shih-Jui Chen

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This paper proposes a method to discriminate electroencephalogram (EEG) signals between different concentration states using empirical mode decomposition (EMD). Brain-computer interface (BCI), also called brain-machine interface, is a direct communication pathway between the brain and an external device without the inherent pathway such as the peripheral nervous system or skeletal muscles. Attention level is a common index as a control signal of BCI systems. The EEG signals acquired from people paying attention or in relaxation, respectively, are decomposed into a set of intrinsic mode functions (IMF) by EMD. Fast Fourier transform (FFT) analysis is then applied to each IMF to obtain the frequency spectrums. By observing power spectrums of IMFs, the proposed method has the better identification of EEG attention level than the original EEG signals between different concentration states. The band power of IMF3 is the most obvious especially in β wave, which corresponds to fully awake and generally alert. The signal processing method and results of this experiment paves a new way for BCI robotic system using the attention-level control strategy. The integrated signal processing method reveals appropriate information for discrimination of the attention and relaxation, contributing to a more enhanced BCI performance.

Keywords: biomedical engineering, brain computer interface, electroencephalography, rehabilitation

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Authors: Bassem M. Darwish, Robert H. Ablove

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Introduction: Total knee arthroscopy (TKA) is a commonly performed procedure in patients with end-stage osteoarthritis and inaccuracy of component alignment in TKA has been shown to have many adverse post-operative outcomes such as accelerated implant wear, reduced functional outcomes, and shorter overall implant survival. Robotic surgical systems have been introduced to try and improve joint alignment and functional outcomes in knee arthroscopy, one recent iteration is the ROSA knee system, released to the market in 2019. The objective of this scoping review is to map the available evidence, identify the current types of evidence, and identify knowledge gaps to guide future studies on patient outcomes following ROSA-assisted total knee arthroplasties. Methods: An electronic search was conducted in accordance with the Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA) extension for scoping reviews. Search terms included ROSA, knee arthroscopy, osteoarthritis, robotic, and malalignment. Types of study participants included patients with osteoarthritis, ages 18 and older, male or female, who received manual TKA (mTKA) or ROSA-assisted TKA (rTKA), and human patients or cadavers. Published, peer-reviewed controlled trials, observational studies, and case series were included. Case reports were not included in article review. Resulting articles were first screened based on title and abstract. Articles meeting inclusion criteria based on title and abstract review then underwent full-text review by the same reviewer. Results: This scoping review identified 11 total studies, 3 prospective observational studies, and 8 retrospective observational studies - a total of 970 rTKA patients and 1745 mTKA patients. There were no case series or randomized controlled trials comparing rTKA and mTKA. Patient-centered outcomes showed promise for rTKA, where it frequently showed significantly favorable functional outcomes, measured via KOOS-JR, VAS, KSS, OKS, FJS, and PROMIS scores, at various times postoperatively. However, there was much discrepancy about which score yielded significance at which postoperative follow-up. Complication rates, reoperation rates, and LOS were very similar between mTKA and rTKA groups. Studies also showed rTKA had more accurate joint alignment within the 0 ± 3o corridor and had significantly higher rates of achieving postoperative joint angles similar to the preoperative plan. Finally, there was major agreement that rTKA cases take significantly longer time at the start, however, there is a rapid learning curve. Once past the learning curve, rTKA cases are performed in a similar time to mTKA and reduced physician stress and strain. Conclusion: The ROSA knee system represents a promising option for the management of osteoarthritis via total knee arthroscopy. The studies reviewed in this paper favor the patient-centered function outcomes, joint alignments, and physician health implications of the ROSA knee system to conventional total knee arthroscopy. Further study is warranted, however, to better understand recovery periods, longer-term functional outcomes, operative fatigue, and reduction in radiation exposure.

Keywords: arthroplasty, knee, robotics, malalignment

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Authors: Martin Doran, Roy Sterritt, George Wilkie

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The majority of today’s mobile robots are very dependent on battery power. Mobile robots can operate untethered for a number of hours but eventually they will need to recharge their batteries in-order to continue to function. While computer processing and sensors have become cheaper and more powerful each year, battery development has progress very little. They are slow to re-charge, inefficient and lagging behind in the general progression of robotic development we see today. However, batteries are relatively cheap and when fully charged, can supply high power output necessary for operating heavy mobile robots. As there are no cheap alternatives to batteries, we need to find efficient ways to manage the power that batteries provide during their operational lifetime. This paper proposes the use of autonomic principles of self-adaption to address the behavioral changes a battery experiences as it gets older. In life, as we get older, we cannot perform tasks in the same way as we did in our youth; these tasks generally take longer to perform and require more of our energy to complete. Batteries also suffer from a form of degradation. As a battery gets older, it loses the ability to retain the same charge capacity it would have when brand new. This paper investigates how we can adapt the current state of a battery charge and cycle count, to the requirements of a mobile robot to perform its tasks.

Keywords: autonomic, self-adaptive, self-optimising, degradation

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Authors: Janusz Bedkowski, Grzegorz Kisala, Michal Wlasiuk, Piotr Pokorski

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Ground-truth data is essential for VO (Visual Odometry) and SLAM (Simultaneous Localization and Mapping) quantitative evaluation using e.g. ATE (Absolute Trajectory Error) and RPE (Relative Pose Error). Many open-access data sets provide raw and ground-truth data for benchmark purposes. The issue appears when one would like to validate Visual Odometry and/or SLAM approaches on data captured using the device for which the algorithm is targeted for example mobile phone and disseminate data for other researchers. For this reason, we propose an open source, open hardware groundtruth system that provides an accurate and precise trajectory with a 3D point cloud. It is based on LiDAR Livox Mid-360 with a non-repetitive scanning pattern, on-board Raspberry Pi 4B computer, battery and software for off-line calculations (camera to LiDAR calibration, LiDAR odometry, SLAM, georeferencing). We show how this system can be used for the evaluation of various the state of the art algorithms (Stella SLAM, ORB SLAM3, DSO) in typical indoor monocular VO/SLAM.

Keywords: SLAM, ground truth, navigation, LiDAR, visual odometry, mapping

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Authors: Chaudhary Muhammad Aqdus Ilyas, Matthias Rehm, Kamal Nasrollahi, Thomas B. Moeslund

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This paper presents the investigation of data collection procedures, associated with robots when placed with traumatic brain injured (TBI) patients for rehabilitation purposes through facial expression and mood analysis. Rehabilitation after TBI is very crucial due to nature of injury and variation in recovery time. It is advantageous to analyze these emotional signals in a contactless manner, due to the non-supportive behavior of patients, limited muscle movements and increase in negative emotional expressions. This work aims at the development of framework where robots can recognize TBI emotions through facial expressions to perform rehabilitation tasks by physical, cognitive or interactive activities. The result of these studies shows that with customized data collection strategies, proposed framework identify facial and emotional expressions more accurately that can be utilized in enhancing recovery treatment and social interaction in robotic context.

Keywords: computer vision, convolution neural network- long short term memory network (CNN-LSTM), facial expression and mood recognition, multimodal (RGB-thermal) analysis, rehabilitation, robots, traumatic brain injured patients

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Authors: Henni Sid Ahmed, Belbachir Mohamed Faouzi, Jean Caelen

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Behavior recognition has been studied for realizing drivers assisting system and automated navigation and is an important studied field in the intelligent Building. In this paper, a recognition method of behavior recognition separated from a real image was studied. Images were divided into several categories according to the actual weather, distance and angle of view etc. SIFT was firstly used to detect key points and describe them because the SIFT (Scale Invariant Feature Transform) features were invariant to image scale and rotation and were robust to changes in the viewpoint and illumination. My goal is to develop a robust and reliable system which is composed of two fixed cameras in every room of intelligent building which are connected to a computer for acquisition of video sequences, with a program using these video sequences as inputs, we use SIFT represented different images of video sequences, and SVM (support vector machine) Lights as a programming tool for classification of images in order to classify people’s behaviors in the intelligent building in order to give maximum comfort with optimized energy consumption.

Keywords: video analysis, people behavior, intelligent building, classification

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Authors: Adrienne Kline, Jaydip Desai

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Electroencephalogram (EEG) is a noninvasive technique that registers signals originating from the firing of neurons in the brain. The Emotiv EEG Neuroheadset is a consumer product comprised of 14 EEG channels and was used to record the reactions of the neurons within the brain to two forms of stimuli in 10 participants. These stimuli consisted of auditory and visual formats that provided directions of ‘right’ or ‘left.’ Participants were instructed to raise their right or left arm in accordance with the instruction given. A scenario in OpenViBE was generated to both stimulate the participants while recording their data. In OpenViBE, the Graz Motor BCI Stimulator algorithm was configured to govern the duration and number of visual stimuli. Utilizing EEGLAB under the cross platform MATLAB®, the electrodes most stimulated during the study were defined. Data outputs from EEGLAB were analyzed using IBM SPSS Statistics® Version 20. This aided in determining the electrodes to use in the development of a brain-machine interface (BMI) using real-time EEG signals from the Emotiv EEG Neuroheadset. Signal processing and feature extraction were accomplished via the Simulink® signal processing toolbox. An Arduino™ Duemilanove microcontroller was used to link the Emotiv EEG Neuroheadset and the right and left Mecha TE™ Hands.

Keywords: brain-machine interface, EEGLAB, emotiv EEG neuroheadset, OpenViBE, simulink

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Authors: Shweda Mohan, J. L. Nandagopal, S. Amritha

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This paper focuses on the dynamic modelling of unicycle robot. Two main concepts used for balancing unicycle robot are: reaction wheel pendulum and inverted pendulum. The pitch axis is modelled as inverted pendulum and roll axis is modelled as reaction wheel pendulum. The unicycle yaw dynamics is not considered which makes the derivation of dynamics relatively simple. For the roll controller, sliding-mode controller has been adopted and optimal methods are used to minimize switching-function chattering. For pitch controller, an LQR controller has been implemented to drive the unicycle robot to follow the desired velocity trajectory. The pitching and rolling balance could be achieved by two DC motors. Unicycle robot is a non-holonomic, non-linear, static unbalance system that has the minimal number of point contact to the ground, therefore, it is a perfect platform for researchers to study motion and balance control. These real-time solutions will be a viable solution for advanced robotic systems and controls.

Keywords: decoupled dynamics, linear quadratic regulator (LQR) control, Lyapunov function sliding mode control, unicycle robot, velocity and trajectory control

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Authors: A. A. Hassani, M. Nasri Nasrabadi

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According to population growth and increasing water needs of industrial and agricultural sections and lack of existing water sources, also increases of wastewater and new wastewater treatment plant construction’s high costs, it is inevitable to reuse wastewater with the approach of increasing wastewater treatment capacity and output sewage quality. In this regard, the first sewage reuse plan in industrial uses was designed with the approach of qualitative and quantitative improvement due to the increased organic load of the output sewage of Qom Shokohieh city’s’ in wastewater treatment plant. This research investigated qualitative factors COD, BOD, TSS, TDS, and input and output heavy metal of MBR-RO system and ability of increase wastewater acceptance capacity by existing in wastewater treatment plant. For this purpose, experimental results of seven-month navigation system have been used from 07/01/2013 to 02/01/2014. Existing data analysis showed that MBR system is able to remove 93.2% COD, 94.4% BOD, 13.8% TDS, 98% heavy metals and RO system is able to remove 98.9% TDS. This study showed that MBR-RO integration system is able to increase the capacity of refinery by 30%.

Keywords: industrial wastewater, wastewater reuse, MBR, RO

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Authors: Yanto Budisusanto, Aulia Rachmawati

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Land navigation technology that is being developed is Google Street View to provide 360° street views, enabling the user to know the road conditions physically with the photo display. For climbers, especially beginners, detail information of climbing terrain is needed so climbers can prepare supplies and strategies before climbing. Therefore, we built a mountaineer guide application named Mountain Photo Sphere. This application displays a 360̊ panoramic view of mountain hiking trail and important points along the hiking path and its surrounding conditions. By combining panoramic photos 360̊ and tracking paths from coordinate data, a virtual tour will be formed. It is built using Java language and Android Studio. The hiking trail map composed by Google Maps API (Gaining access to google maps), Google GEO API (Gaining access to google maps), and OpenStreetMap API (Getting map files to be accessed offline on the Application). This application can be accessed offline so that climbers can use the application during climbing activities.

Keywords: google street view, panoramic photo 360°, mountain hiking, mountain photo sphere

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Authors: Salvador Treviño-Martinez, Christian Reich-Lopez

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This paper investigates the relationship between website appeal and brand value outcomes (brand attraction, brand loyalty, brand relationship, and brand experience), considering the mediating effect of emotional attractiveness. Data were collected from 221 customers of a quick-service restaurant in Culiacan, Mexico, using an online survey distributed via WhatsApp, following the clients' navigation of the restaurant's website. The study employed PLS-SEM to test the proposed hypotheses and performed 5,000 bootstrapping subsamples to obtain results. The findings indicate that consistent image, a key component of website appeal, has a statistically significant direct and mediated effect (through emotional attractiveness) on the aforementioned brand outcomes. The study's limitations include the convenience sampling method and the single company client database used for the sample composition. This research contributes to the branding and website quality literature by testing nine hypotheses using the Stimuli-Organism-Response theoretical approach in an underexplored context: quick-service restaurants in Latin America.

Keywords: website appeal, branding, emotional attractiveness, consistent image, website quality

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Authors: Emre Akyürek, Anthony Huynh, Tatiana Kalganova

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The Ambidextrous Robot Hand is a robotic device with the purpose to mimic either the gestures of a right or a left hand. The symmetrical behavior of its fingers allows them to bend in one way or another keeping a compliant and anthropomorphic shape. However, in addition to gestures they can reproduce on both sides, an asymmetrical mechanical design with a three tendons routing has been engineered to reduce the number of actuators. As a consequence, control algorithms must be adapted to drive efficiently the ambidextrous fingers from one position to another and to include grasping features. These movements are controlled by pneumatic muscles, which are nonlinear actuators. As their elasticity constantly varies when they are under actuation, the length of pneumatic muscles and the force they provide may differ for a same value of pressurized air. The control algorithms introduced in this paper take both the fingers asymmetrical design and the pneumatic muscles nonlinearity into account to permit an accurate control of the Ambidextrous Robot Hand. The finger motion is achieved by combining a classic PID controller with a phase plane switching control that turns the gain constants into dynamic values. The grasping ability is made possible because of a sliding mode control that makes the fingers adapt to the shape of an object before strengthening their positions.

Keywords: ambidextrous hand, intelligent algorithms, nonlinear actuators, pneumatic muscles, robotics, sliding control

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Authors: Fatemeh Sadat Sharifi, A. A. Bidokhti, M. Ezam, F. Ahmadi Givi

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This study focuses on the tidal oscillation and its speed to create a general pattern in seas. The purpose of the analysis is to find out the amplitude and phase for several important tidal components. Therefore, Regional Ocean Models (ROMS) was rendered to consider the correlation and accuracy of this pattern. Finding tidal harmonic components allows us to predict tide at this region. Better prediction of these tides, making standard platform, making suitable wave breakers, helping coastal building, navigation, fisheries, port management and tsunami research. Result shows a fair accuracy in the SSH. It reveals tidal currents are highest in Hormuz Strait and the narrow and shallow region between Kish Island. To investigate flow patterns of the region, the results of limited size model of FVCOM were utilized. Many features of the present day view of ocean circulation have some precedent in tidal and long- wave studies. Tidal waves are categorized to be among the long waves. So that tidal currents studies have indeed effects in subsequent studies of sea and ocean circulations.

Keywords: barotropic tide, FVCOM, numerical model, OTPS, ROMS

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Authors: Majed M. Mustafa, Abdulrahman A. Altassan

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In recent years, ensuring accessibility for all individuals, particularly those with mobility impairments, has gained significant attention in Saudi Arabia. This research aims to evaluate wheelchair accessibility in shopping centers, malls, and stores across the kingdom, highlighting its critical role in promoting inclusivity and equal access. The study will focus on the availability and quality of ramps, automatic doors, lifts, accessible restrooms, and overall ease of navigation for wheelchair users. Utilizing a mixed-methods approach, the research will employ site assessments, user surveys, and interviews with facility managers to gather comprehensive data. Preliminary findings indicate that while some facilities have made strides in accessibility, there are still numerous areas requiring improvement. The study will provide targeted recommendations to enhance accessibility, ensuring that all users can navigate shopping environments with ease and dignity. Conclusively, this research underscores the need for continuous efforts and policy enhancements to achieve universal design standards in public spaces within Saudi Arabia.

Keywords: automatic doors, equal access, ramp quality, wheelchair accessibility

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Authors: Adrian Sebastian, Chris Gillespie

Abstract:

We describe a case of diffuse rectal involvement with cap polyposis, manifesting with a protein-losing colopathy and occurring in the setting of advanced mechanical pelvic floor dysfunction. A 59-year-old male with a 5-year history of persistent excessive flatulence, defecatory difficulties, and diarrhea. He had extensive cap polyposis of the entire rectum endoscopically. His symptoms progressed to severe fecal incontinence with mucus leakage, pelvic pain, weight loss, and hypoalbuminemia. Clinical examination exhibited severe perineal descent, a large rectocele, poor anal squeeze, and a poor defecatory technique. After a trial of nonoperative therapies addressing his defecatory dysfunction, and Helicobacter pylori eradication, surgical resection was offered due to severe symptoms with ongoing incontinence and protein loss with no other reasonable options. A robotic abdominoperineal resection with a permanent colostomy was performed, followed by an uncomplicated recovery. Our observation of coexisting mechanical pelvic floor changes in this patient lends weight to the concept of a prolapse-related phenomenon in the pathophysiology of this rare condition.

Keywords: cap polyposis, pelvic dysfunction, fecal incontinence, case report

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Authors: Md. Moinul Islam, N. M. Golam Zakaria

Abstract:

Seakeeping analysis of catamaran vessels in the earlier stages of design has become an important issue as it dictates the seakeeping characteristics, and it ensures safe navigation during the voyage. In the present paper, a 3D numerical method for the seakeeping prediction of catamaran vessel is presented using the 3D Green Function method. Both steady and unsteady potential flow problem is dealt with here. Using 3D linearized potential theory, the dynamic wave loads and the subsequent response of the vessel is computed. For validation of the numerical procedure catamaran vessel composed of twin, Wigley form demi-hull is used. The results of the present calculation are compared with the available experimental data and also with other calculations. The numerical procedure is also carried out for NPL-based round bilge catamaran, and hydrodynamic coefficients along with heave and pitch motion responses are presented for various Froude number. The results obtained by the present numerical method are found to be in fairly good agreement with the available data. This can be used as a design tool for predicting the seakeeping behavior of catamaran ships in waves.

Keywords: catamaran, hydrodynamic coefficients , motion response, 3D green function

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Authors: Gopi Kandaswamy, P. Balamuralidhar

Abstract:

Fully autonomous small Unmanned Aerial Vehicles (UAVs) are increasingly being used in many commercial applications. Although a lot of research has been done to develop safe, reliable and durable UAVs, accidents due to electronic and structural failures are not uncommon and pose a huge safety risk to the UAV operators and the public. Hence there is a strong need for an automated health monitoring system for UAVs with a view to minimizing mission failures thereby increasing safety. This paper describes our approach to monitoring the electronic and structural components in a small UAV without the need for additional sensors to do the monitoring. Our system monitors data from four sources; sensors, navigation algorithms, control inputs from the operator and flight controller outputs. It then does statistical analysis on the data and applies a rule based engine to detect failures. This information can then be fed back into the UAV and a decision to continue or abort the mission can be taken automatically by the UAV and independent of the operator. Our system has been verified using data obtained from real flights over the past year from UAVs of various sizes that have been designed and deployed by us for various applications.

Keywords: fault detection, health monitoring, unmanned aerial vehicles, vibration analysis

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Authors: Ahemd Sameer, Braj Bhushan

Abstract:

The objective of our study was to compare wayfinding strategies to remember route while navigation in an unfamiliar homogenous environment. Two videos developed using free ware Trimble Sketchup© each having nine identical turns (3 right, 3 left, 3 straight) with no distinguishing feature at any turn. Thirt-two male post-graduate students of IIT Kanpur participated in the study. The experiment was conducted in three phases. In the first phase participant generated a list of personally known items to be used as landmarks. In the second phase participant saw the first video and was required to remember the sequence of turns. In the second video participant was required to imagine a landmark from the list generated in the first phase at each turn and associate the turn with it. In both the task the participant was asked to recall the sequence of turns as it appeared in the video. In the third phase, which was 20 minutes after the second phase, participants again recalled the sequence of turns. Results showed that performance in the first condition i.e. without use of landmarks was better than imaginary landmark condition. The difference, however, became significant when the participant were tested again about 30 minutes later though performance was still better in no-landmark condition. The finding is surprising given the past research in memory and is explained in terms of cognitive factors such as mental workload.

Keywords: Wayfinding, Landmark, Homogenous Environment, Memory

Procedia PDF Downloads 446