Search results for: marine robotics

Authors: Misbah Javaid, Vladimir Estivill-Castro, Rene Hexel

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The field of robotics is advancing rapidly to the point where robots have become an integral part of the modern society. These robots collaborate and contribute productively with humans and compensate some shortcomings from human abilities and complement them with their skills. Effective teamwork of humans and robots demands to investigate the critical issue of trust. The field of human-computer interaction (HCI) has already examined trust humans place in technical systems mostly on issues like reliability and accuracy of performance. Early work in the area of expert systems suggested that automatic generation of explanations improved trust and acceptability of these systems. In this work, we augmented a robot with the user-invoked explanation generation proficiency. To measure explanations effect on human’s level of trust, we collected subjective survey measures and behavioral data in a human-robot team task into an interactive, adversarial and partial information environment. The results showed that with the explanation capability humans not only understand and recognize robot as an expert team partner. But, it was also observed that human's learning and human-robot team performance also significantly improved because of the meaningful interaction with the robot in the human-robot team. Moreover, by observing distinctive outcomes, we expect our research outcomes will also provide insights into further improvement of human-robot trustworthy relationships.

Keywords: explanation interface, adversaries, partial observability, trust building

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Authors: Martin Leroux, Sylvain Brisebois

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Eating a meal is among the Activities of Daily Living, but it takes a lot of time and effort for people with physical or functional limitations. Dedicated technologies are cumbersome and not portable, while general-purpose assistive robots such as wheelchair-based manipulators are too hard to control for elaborate continuous motion like eating. Eating with such devices has not previously been automated, since there existed no description of a feeding motion for uncontrolled environments. In this paper, we introduce a feeding mode for assistive manipulators, including a mathematical description of trajectories for motions that are difficult to perform manually such as gathering and scooping food at a defined/desired pace. We implement these trajectories in a sequence of movements for a semi-automated feeding mode which can be controlled with a very simple 3-button interface, allowing the user to have control over the feeding pace. Finally, we demonstrate the feeding mode with a JACO robotic arm and compare the eating speed, measured in bites per minute of three eating methods: a healthy person eating unaided, a person with upper limb limitations or disability using JACO with manual control, and a person with limitations using JACO with the feeding mode. We found that the feeding mode allows eating about 5 bites per minute, which should be sufficient to eat a meal under 30min.

Keywords: assistive robotics, automated feeding, elderly care, trajectory design, human-robot interaction

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Authors: T. Pakulski, L. Kryza, A. Linossier

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The BEar Articulated TeleRobotic Inspection and Clasping Extremity is a lightweight, 5 DoF robotic manipulator for the Berlin Educational Assistant Rover (BEAR). BEAR is one of the educational planetary rovers developed under the Space Rover projects at the Chair of Space Technology of the Technische Universität Berlin. The projects serve to conduct research and train engineers by developing rovers for competitions like the European Rover Challenge and the DLR SpaceBot Cup. BEATRICE is the result of a cost-driven design process to deliver a simple but capable platform for a variety of competition tasks: object grasping and manipulation, inspection, instrument wielding and more. The manipulator’s simple mechatronic design, based on a combination of servomotors and stepper motors with planetary gearboxes, also makes it a practical tool for developing embedded control systems. The platform’s initial implementation relies on tele-operated control but is fully instrumented for future autonomous functionality. This paper describes BEATRICE’s development from its preliminary link model to its structural and mechatronic design, embedded control and AI and T. In parallel, it examines the influence of budget constraints and high personnel turnover commonly associated with student teams on the manipulator’s design. Finally, it comments on the utility of robot design projects for educating future engineers.

Keywords: education, low-cost, manipulator, robotics, rover

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Authors: Samuel Knox, Verdon Crann, Peyman Amiri, William Crowther

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There exists a shortage of open-source firmware for allowing researchers to focus on implementing high-level planning and control strategies for multi aerial robotic systems in simulation and experiment. Within this body of work, practical firmware is presented, which performs all supplementary tasks, including communications, pre and post-experiment procedures, and emergency safety measures. This allows researchers to implement high-level planning and control algorithms for path planning, traffic management, flight formation and swarming of aerial robots. The framework is built in Python using the MAVSDK library, which is compatible with flight controllers running PX4 firmware and onboard computers based on Linux. Communication is performed using Wi-Fi and the MQTT protocol, currently implemented using a centralized broker. Finally, a graphical user interface (GUI) has been developed to send general commands and monitor the agents. This framework enables researchers to prepare customized planning and control algorithms in a modular manner. Studies can be performed experimentally and in simulation using PX4 software in the loop (SITL) and the Gazebo simulator. An example experimental use case of the framework is presented using novel distributed planning and control strategies. The demonstration is performed using off-the-shelf components and minimal setup.

Keywords: aerial robotics, distributed framework, experimental, planning and control

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Authors: Viranshu Kumar, Hitesh Arora, Pradeep Joshi

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SS 304 is Austenitic stainless steel with Chromium and Nickel as basic constituents. It has excellent corrosion resistance properties and very good weldability. Austenitic stainless steels have superior mechanical properties at high temperatures and are used extensively in a range of applications. SS 304L has wide applications in various industries viz. Nuclear, Pharmaceutical, marine, chemical etc. due to its excellent applications and ease of joining this material has become very popular for fabrication as well as weld surfacing. Austenitic stainless steels have a tendency to form chromium depleted zones at the grain boundaries during welding and heat treatment, where chromium combines with available carbon in the vicinity of the grain boundaries, to produce an area depleted in chromium, and thus becomes susceptible to intergranular corrosion. This phenomenon is known as sensitization.

Keywords: sensitization, SS 304, GTAW, mechanical properties, carbideprecipitationHAZ, microstructure, micro hardness, tensile strength

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Authors: Jie Zhao, Meng Su

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Image recognition, as one of the most critical technologies in computer vision, works to help machine-like robotics understand a scene, that is, if deployed appropriately, will trigger the revolution in remote sensing and industry automation. With the developments of AI technologies, there are many prevailing and sophisticated neural networks as technologies developed for image recognition. However, computer vision platforms as hardware, supporting neural networks for image recognition, as crucial as the neural network technologies, need to be more congruently addressed as the research subjects. In contrast, different computer vision platforms are deterministic to leverage the performance of different neural networks for recognition. In this paper, three different computer vision platforms – Jetson Nano(with 4GB), a standalone laptop(with RTX 3000s, using CUDA), and Google Colab (web-based, using GPU) are explored and four prominent neural network architectures (including AlexNet, VGG(16/19), GoogleNet, and ResNet(18/34/50)), are investigated. In the context of pairwise usage between different computer vision platforms and distinctive neural networks, with the merits of recognition accuracy and time efficiency, the performances are evaluated. In the case study using public imageNets, our findings provide a nuanced perspective on optimizing image recognition tasks across Edge-AI platforms, offering guidance on selecting appropriate neural network structures to maximize performance under hardware constraints.

Keywords: alexNet, VGG, googleNet, resNet, Jetson nano, CUDA, COCO-NET, cifar10, imageNet large scale visual recognition challenge (ILSVRC), google colab

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Authors: Dongho Kim, Sung Choi, Kyowoong Pee, Youngsik Cho, Seungwoo Jeong, Soo-Ho Kim

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This study is about the orbital TIG welding robot system which travels on the guide rail installed on the pipe, and welds and tracks the pipe seam using the LVS (Laser Vision Sensor) joint profile data. The orbital welding robot system consists of the robot, welder, controller, and LVS. Moreover we can define the relationship between welding travel speed and wire feed speed, and we can make the linear equation using the maximum and minimum amount of weld metal. Using the linear equation we can determine the welding travel speed and the wire feed speed accurately corresponding to the area of weld captured by LVS. We applied this orbital TIG welding robot system to the stainless steel or duplex pipe on DSME (Daewoo Shipbuilding and Marine Engineering Co. Ltd.,) shipyard and the result of radiographic test is almost perfect. (Defect rate: 0.033%).

Keywords: adaptive welding, automatic welding, pipe welding, orbital welding, laser vision sensor, LVS, welding D/B

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Authors: Magdalena Idzikowska, Katarzyna Pająk, Kamil Kowalczyk

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Seafloor topography is a fundamental issue in geological, geophysical, and oceanographic studies. Single-beam or multibeam sonars attached to the hulls of ships are used to emit a hydroacoustic signal from transducers and reproduce the topography of the seabed. This solution provides relevant accuracy and spatial resolution. Bathymetric data from ships surveys provides National Centers for Environmental Information – National Oceanic and Atmospheric Administration. Unfortunately, most of the seabed is still unidentified, as there are still many gaps to be explored between ship survey tracks. Moreover, such measurements are very expensive and time-consuming. The solution is raster bathymetric models shared by The General Bathymetric Chart of the Oceans. The offered products are a compilation of different sets of data - raw or processed. Indirect data for the development of bathymetric models are also measurements of gravity anomalies. Some forms of seafloor relief (e.g. seamounts) increase the force of the Earth's pull, leading to changes in the sea surface. Based on satellite altimetry data, Sea Surface Height and marine gravity anomalies can be estimated, and based on the anomalies, it’s possible to infer the structure of the seabed. The main goal of the work is to create regional bathymetric models and models of the sea surface in the area of the east coast of North America – a region of seamounts and undulating seafloor. The research includes an analysis of the methods and techniques used, an evaluation of the interpolation algorithms used, model thickening, and the creation of grid models. Obtained data are raster bathymetric models in NetCDF format, survey data from multibeam soundings in MB-System format, and satellite altimetry data from Copernicus Marine Environment Monitoring Service. The methodology includes data extraction, processing, mapping, and spatial analysis. Visualization of the obtained results was carried out with Geographic Information System tools. The result is an extension of the state of the knowledge of the quality and usefulness of the data used for seabed and sea surface modeling and knowledge of the accuracy of the generated models. Sea level is averaged over time and space (excluding waves, tides, etc.). Its changes, along with knowledge of the topography of the ocean floor - inform us indirectly about the volume of the entire water ocean. The true shape of the ocean surface is further varied by such phenomena as tides, differences in atmospheric pressure, wind systems, thermal expansion of water, or phases of ocean circulation. Depending on the location of the point, the higher the depth, the lower the trend of sea level change. Studies show that combining data sets, from different sources, with different accuracies can affect the quality of sea surface and seafloor topography models.

Keywords: seafloor, sea surface height, bathymetry, satellite altimetry

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Authors: Alix Limoges, William Bruch, Christophe Yohia, Jacques Piazzola

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A number of questions arise concerning the long-term impact of the contribution of marine aerosol fluxes generated at the air-sea interface on the occurrence of intense events (storms, floods, etc.) in the coastal environment. To this end, knowledge is needed on sea-spray emission rates and the atmospheric dynamics of the corresponding particles. Our aim is to implement the mesoscale model MESO-NH on the study area using an accurate sea-spray source function to estimate heat fluxes and impact on the precipitations. Based on an original and complete sea-spray source function, which covers a large size spectrum since taking into consideration the sea-spray produced by both bubble bursting and surface tearing process, we propose a comparison between model simulations and experimental data obtained during an oceanic scientific cruise on board the navy ship Atalante. The results show the relevance of the sea-spray flux calculations as well as their impact on the heat fluxes and AOD.

Keywords: atmospheric models, sea-spray source, sea-spray dynamics, aerosols

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Authors: Asma Aid, Samira Amokrane, Djamel Nibou, Hadj Mekatel

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The marine Enteromorpha Compressa (L.) (ECL) biomass was used as a low-cost biological adsorbent for the removal of Cr⁶⁺, Co²⁺ and Ni²⁺ ions from artificially contaminated aqueous solutions. The operating variables pH, the initial concentration C₀, the solid/liquid ratio R and the temperature T were studied. A full factorial experimental design technique enabled us to obtain a mathematical model describing the adsorption of Cr⁶⁺, Co²⁺ and Ni²⁺ ions and to study the main effects and interactions among operational parameters. The equilibrium isotherm has been analyzed by Langmuir, Freundlich, and Dubinin-Radushkevich models; it has been found that the adsorption process follows the Langmuir model for the used ions. Kinetic studies showed that the pseudo-second-order model correlates our experimental data. Thermodynamic parameters showed the endothermic heat of adsorption and the spontaneity of the adsorption process for Cr⁶⁺ ions and exothermic heat of adsorption for Co²⁺ and Ni²⁺ ions.

Keywords: enteromorpha Compressa, adsorption process, Cr⁶⁺, Co²⁺ and Ni²⁺, equilibrium isotherm

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Authors: Salma Aboussalam, Karima Khalil, Khalid Elkalay

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An Ecopath model was employed to investigate the trophic structure, function, and current state of the Moroccan Mediterranean Sea ecosystem. The model incorporated 31 functional groups, including 21 fish species, 7 invertebrates, 2 primary producers, and a detritus group. The trophic interactions among these groups were analyzed, revealing an average trophic transfer efficiency of 23%. The results indicated that the ecosystem produced more energy than it consumed, with high respiration and consumption rates. Indicators of stability and development were low for the Finn cycle index (13.97), system omnivory index (0.18), and average Finn path length (3.09), indicating a disturbed ecosystem with a linear trophic structure. Keystone species were identified through the use of the keystone index and mixed trophic impact analysis, with demersal invertebrates, zooplankton, and cephalopods found to have a significant impact on other groups.

Keywords: Ecopath, food web, trophic flux, Moroccan Mediterranean Sea

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Authors: Beatriz Rebocho, Elisabete Valente, Carla Palma, Andreia Guilherme, Filipa Bessa, Paula Sobral

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The global accumulation of plastic in the oceans is a growing problem. Plastic is transported from its source to the oceans via rivers, which are considered the main route for plastic particles from land-based sources to the ocean. These plastics undergo physical and chemical degradation resulting in microplastics. The i-Plastic project aims to understand and predict the dispersion, accumulation and impacts of microplastics (5 mm to 1 µm) and nano plastics (below 1 µm) in marine environments from the tropical and temperate land-ocean interface to the open ocean under distinct flow and climate regimes. Seasonal monitoring of the fluxes of microplastics was carried out in (three) coastal areas in Brazil, Portugal and Spain. The present work shows the first results of in-situ seasonal monitoring and mapping of microplastics in ocean waters between Ovar and Vieira de Leiria (Portugal), in which 43 surface water samples and 43 water column samples were collected in contrasting seasons (spring and autumn). The spring and autumn surface water samples were collected with a 300 µm and 150 µm pore neuston net, respectively. In both campaigns, water column samples were collected using a conical mesh with a 150 µm pore. The experimental procedure comprises the following steps: i) sieving by a metal sieve; ii) digestion with potassium hydroxide to remove the organic matter original from the sample matrix. After a filtration step, the content is retained on a membrane and observed under a stereomicroscope, and physical and chemical characterization (type, color, size, and polymer composition) of the microparticles is performed. Results showed that 84% and 88% of the surface water and water column samples were contaminated with microplastics, respectively. Surface water samples collected during the spring campaign averaged 0.35 MP.m-3, while surface water samples collected during autumn recorded 0.39 MP.m-3. Water column samples from the spring campaign had an average of 1.46 MP.m-3, while those from the autumn recorded 2.54 MP.m-3. In the spring, all microplastics found were fibers, predominantly black and blue. In autumn, the dominant particles found in the surface waters were fibers, while in the water column, fragments were dominant. In spring, the average size of surface water particles was 888 μm, while in the water column was 1063 μm. In autumn, the average size of surface and water column microplastics was 1333 μm and 1393 μm, respectively. The main polymers identified by Attenuated Total Reflectance (ATR) and micro-ATR Fourier Transform Infrared (FTIR) spectroscopy from all samples were low-density polyethylene (LDPE), polypropylene (PP), polyethylene terephthalate (PET), and polyvinyl chloride (PVC). The significant difference between the microplastic concentration in the water column between the two campaigns could be due to the remixing of the water masses that occurred that week due to the occurrence of a storm. This work presents preliminary results since the i-Plastic project is still in progress. These results will contribute to the understanding of the spatial and temporal dispersion and accumulation of microplastics in this marine environment.

Keywords: microplastics, Portugal, Atlantic Ocean, water column, surface water

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Authors: Chanida Tangjai Benchalak Muangmeesri, Dechrit Maneetham

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Collection of marine garbage in the modern world, where technology is vital to existence. Consequently, technology can assist in reducing the duplicate labor in the subject of collecting trash in the water that must be done the same way repeatedly owing to the consequence of suffering an emerging disease or COVID-19. This is due to the rapid advancement of technology. As a result, solid trash and plastic garbage are increasing. Agricultural gardens, canals, ponds, and water basins are all sources of water. Building boat-like instruments for rubbish collection in the water will be done this time. It has two control options, boat control via remote control and boat control via an Internet of Things system. A solar panel with a power output of 40 watts powers the system being able to store so accurate and precise waste collection, allowing for thorough water cleaning. The primary goals are to keep the water's surface clean and assess its quality to support the aquatic ecology.

Keywords: automatic boat, water treatment, cleaning machine, iot

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Authors: Ahbdelfattah M. Khourshid, T. Elabeidi

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Friction Stir Welding (FSW), a solid state joining technique, is widely being used for joining Al alloys for aerospace, marine automotive and many other applications of commercial importance. FSW were carried out using a vertical milling machine on Al 5083 alloy pipe. These pipe sections are relatively small in diameter, 5mm, and relatively thin walled, 2mm. In this study, 5083 aluminum alloy pipe were welded as similar alloy joints using (FSW) process in order to investigate mechanical and microstructural properties .rotation speed 1400 r.p.m and weld speed 10,40,70 mm/min. In order to investigate the effect of welding speeds on mechanical properties, metallographic and mechanical tests were carried out on the welded areas. Vickers hardness profile and tensile tests of the joints as a metallurgical investigation, Optic Microscopy and Scanning Electron Microscopy (SEM) were used for base and weld zones.

Keywords: friction stir welding (FSW), Al alloys, mechanical properties, microstructure

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Authors: M. Bellakhal, M. Bellakhal, L. Aleya

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The specific composition and abundance of dinoflagellate resistance cysts in relation to environmental factors were studied from the superficial sediment at 123 stations in the Bizerte lagoon. 48 morphotypes of dinoflagellate cysts were identified, mainly dominated by Brigantidinium simplex, Votadinum spinosum, Alexandrium pacificum, Alexandrium pseudogonyaulax, and Lingulodinum machaerophorum. The density of cysts ranged from 1276 to 20126 cysts g⁻¹ dry sediment. Significant differences in the distribution pattern of the cysts were recorded, which allowed us to distinguish two areas; thus the inner areas of the lagoon have an abundance of cysts greater than the areas with marine influence. Ballast water discharges and shellfish culture may be incriminated as potential sources of introduction of species, particularly potentially toxic ones such as A. pacificum and Polysphaeridium zoharyi, without neglecting the role of currents in cyst distribution. Cyst mapping can be used as an indicator of potential foci of future toxic species blooms in this ecosystem.

Keywords: Bizerta Lagoon, cysts, dinoflagellates, mapping

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Authors: Shivani Verma, Amit Agrawal, Pankaj Kumar Meena, Ashish B. Deoghare

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Over the decade robotics has been a major area of interest among the researchers and scientists in reducing human efforts. The need for robots to replace human work in different dangerous fields such as underground mining, nuclear power station and war against terrorist attack has gained huge attention. Most of the robot design is based on human structure popularly known as humanoid robots. However, the problems encountered in humanoid robots includes low speed of movement, misbalancing in structure, poor load carrying capacity, etc. The simplification and adaptation of the fundamental design principles seen in animals have led to the creation of bio-inspired robots. But the major challenges observed in naturally inspired robot include complexity in structure, several degrees of freedom and energy storage problem. The present work focuses on design and fabrication of a bionic quadruped walking robot which is based on different joint of quadruped mammals like a dog, cheetah, etc. The design focuses on the structure of the robot body which consists of four legs having three degrees of freedom per leg and the electronics system involved in it. The robot is built using readily available plastics and metals. The proposed robot is simple in construction and is able to move through uneven terrain, detect and locate obstacles and take images while carrying additional loads which may include hardware and sensors. The robot will find possible application in the artificial intelligence sector.

Keywords: artificial intelligence, bionic, quadruped robot, degree of freedom

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Authors: Han Ik Park, Jeong Hyeon Seong, Dong Seop Han, Su-Chul Shin, Young Chul Park

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A Spudcan is mounted on the lower leg of the jack-up rig, a device for preventing a rollover of a structure and to support the structure in a stable sea floor. At the time of inserting the surface of the spud can to penetrate when the sand layer is stable and smoothly pulled to the clay layer, and at that time of recovery when uploading the spud can is equipped with a water injection device. In this study, it is significant to optimize the shape of pipelines holes for water injection device and it was set in two kinds of shape, the oval and round. Interpretation of the subject into the site of Gulf of Mexico offshore Wind Turbine Installation Vessels (WTIV)was chosen as a target platform. Using the ANSYS Workbench commercial programs, optimal design was conducted. The results of this study can be applied to the hole-shaped design of various marine structures.

Keywords: kriging method, jack-up rig, shape optimization, spudcan

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Authors: Nino Abesadze, Marine Mindorashvili, Nino Paresashvili

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The main purpose of the article is to make complex statistical analysis of tourist expenses of foreign visitors. We used mixed technique of selection that implies rules of random and proportional selection. Computer software SPSS was used to compute statistical data for corresponding analysis. Corresponding methodology of tourism statistics was implemented according to international standards. Important information was collected and grouped from the major Georgian airports. Techniques of statistical observation were prepared. A representative population of foreign visitors and a rule of selection of respondents were determined. We have a trend of growth of tourist numbers and share of tourists from post-soviet countries constantly increases. Level of satisfaction with tourist facilities and quality of service has grown, but still we have a problem of disparity between quality of service and prices. The design of tourist expenses of foreign visitors is diverse; competitiveness of tourist products of Georgian tourist companies is higher.

Keywords: tourist, expenses, methods, statistics, analysis

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Authors: Temiloluwa J. Akinyemi, Denis W. Aheto, Wisdom Akpalu

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Capture fisheries in developing countries provide significant animal protein and directly supports the livelihoods of several communities. However, the misperception of biophysical dynamics owing to a lack of adequate scientific data has contributed to the suboptimal management in marine capture fisheries. This is because yield and catch potentials are sensitive to the quality of catch and effort data. Yet, studies on fisheries data collection practices in developing countries are hard to find. This study investigates the data collection methods utilized by fisheries technical officers within the four fishing regions of Ghana. We found that the officers employed data collection and sampling procedures which were not consistent with the technical guidelines curated by FAO. For example, 50 instead of 166 landing sites were sampled, while 290 instead of 372 canoes were sampled. We argue that such sampling errors could result in the over-capitalization of capture fish stocks and significant losses in resource rents.

Keywords: Fisheries data quality, fisheries management, Ghana, Sustainable Fisheries

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Authors: I. Algul, G. Akgun, H. Kurtaran

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Dynamic analysis of composite doubly curved panels with variable thickness subjected to different pulse types using Generalized Differential Quadrature method (GDQ) is presented in this study. Panels with variable thickness are used in the construction of aerospace and marine industry. Giving variable thickness to panels can allow the designer to get optimum structural efficiency. For this reason, estimating the response of variable thickness panels is very important to design more reliable structures under dynamic loads. Dynamic equations for composite panels with variable thickness are obtained using virtual work principle. Partial derivatives in the equation of motion are expressed with GDQ and Newmark average acceleration scheme is used for temporal discretization. Several examples are used to highlight the effectiveness of the proposed method. Results are compared with finite element method. Effects of taper ratios, boundary conditions and loading type on the response of composite panel are investigated.

Keywords: differential quadrature method, doubly curved panels, laminated composite materials, small displacement

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Authors: Selin Guney, Andres Riquelme

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The traditional bio-economic method for fisheries modeling uses some estimate of the growth parameters and the system carrying capacity from a biological model for the population dynamics (usually a logistic population growth model) which is then analyzed as a traditional production function. The stock dynamic is transformed into a revenue function and then compared with the extraction costs to estimate the maximum economic yield. In this paper, the logistic population growth model for the population is combined with a forecast of the abundance and location of the stock by using a generalized additive model approach. The paper focuses on the Chilean hake population. This method allows for the incorporation of climatic variables and the interaction with other marine species, which in turn will increase the reliability of the estimates and generate better extraction paths for different conservation objectives, such as the maximum biological yield or the maximum economic yield.

Keywords: bio-economic, fisheries, GAM, production

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Authors: Sean O'Callaghan

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Around 2011/2012, a whole new genre of Christian religious writing began to emerge, focused on the role of advanced technologies, particularly the GRIN technologies (Genetics, Robotics, Information Technology and Nanotechnology), in bringing about a techno-apocalypse, leading to catastrophic events which would usher in the end of the world. This genre, at first niche, has now begun to grow in significance in many quarters of the more fundamentalist and biblically literalist branches of evangelicalism. It approaches science and technology with more than extreme skepticism. It accuses transhumanists of being in league with satanic powers and a satanic agenda and contextualizes transhumanist scientific progress in terms of its service to what it believes to be a soon to come Antichrist figure. The genre has moved beyond literature and videos about its message can be found on YouTube and other forums, where many of the presentations there get well over a quarter of a million views. This paper will examine the genre and its genesis, referring to the key figures involved in spreading the anti-intellectualist and anti-scientific message. It will demonstrate how this genre of writing is similar in many respects to other forms of apocalyptic writing which have emerged in the twentieth and twenty-first centuries, all in response to both scientific and political events which are interpreted in the light of biblical prophecy. It will also set the genre in the context of a contemporary pre-occupation with conspiracy theory. The conclusions of the research conducted in this field by the author are that it does a grave disservice to both the scientific and Christian audiences which it targets, by misrepresenting scientific advances and by creating a hermeneutic of suspicion which makes it impossible for Christians to place their trust in scientific claims.

Keywords: antichrist, catastrophic, Christian, techno-apocalypse

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Authors: Prathiksha Kamath, Pratibha Jamkhandi, Prateek Ghanti, Priyanshu Gupta, M. Lakshmi Neelima

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Combining Image Captioning and Visual Question Answering (VQA) tasks have emerged as a new and exciting research area. The image captioning task involves generating a textual description that summarizes the content of the image. VQA aims to answer a natural language question about the image. Both these tasks include computer vision and natural language processing (NLP) and require a deep understanding of the content of the image and semantic relationship within the image and the ability to generate a response in natural language. There has been remarkable growth in both these tasks with rapid advancement in deep learning. In this paper, we present a comprehensive review of recent progress in combining image captioning and visual question-answering (VQA) tasks. We first discuss both image captioning and VQA tasks individually and then the various ways in which both these tasks can be integrated. We also analyze the challenges associated with these tasks and ways to overcome them. We finally discuss the various datasets and evaluation metrics used in these tasks. This paper concludes with the need for generating captions based on the context and captions that are able to answer the most likely asked questions about the image so as to aid the VQA task. Overall, this review highlights the significant progress made in combining image captioning and VQA, as well as the ongoing challenges and opportunities for further research in this exciting and rapidly evolving field, which has the potential to improve the performance of real-world applications such as autonomous vehicles, robotics, and image search.

Keywords: image captioning, visual question answering, deep learning, natural language processing

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Authors: Almas Rajguru

Abstract:

The Oligocene succession of the Tapti- Daman area is one of the established petroleum plays in Tapti-Daman block of the Mumbai Offshore Basin. Despite good control and production history, the sand geometry and continuity of reservoir character of these sediments are less understood as most reservoirs are thin and fall below seismic resolution. The present work focuses on a detailed analysis of the Early Oligocene Mahuva Formation at the reservoir scale through laboratory studies (sedimentology and biostratigraphy) of core and sidewall cores in integration with electro logs for firming up facies’ distribution, micro-depositional environment and sequence stratigraphy, diagenesis and reservoir characterization from seventeen wells from North Tapti-C-37 area in Tapti Daman Block, WOB. The thick shale/claystone with thin interbeds of sandstone and siltstones of deeper marine in the lower part of Mahuva Fm represents deposition in a transgressive regime. The overlying interbedded sandstone, glauconitic-siltstone/fine-grained sandstone, and thin beds of packstone/grainstone within highly fissile shale were deposited in a prograding tide-dominated delta during late-rise normal regression. Nine litho facies (F1-F9) representing deposition in various microenvironments of the tide-dominated delta are identified based on their characteristic sediment texture, structure and microfacies. Massive, gritty sandstone (F1) with poorly sorted sands lithic fragments with calcareous and Fe-rich matrix represents channel fill sediments. High-angle cross-stratified sandstone (F2) deposited in rapidly shifting/migrating bars under strong tidal currents. F3 records the laterally accreted tidal-channel point bars. F3 (low-angle cross-stratified to parallel bedded sandstone) and F4 (Clean sandstone) are often associated with F2 in a tidal bar complex. F5 (interbedded thin sand and mud) and F6 (bioturbated sandstone) represent tidal flat deposits. High energy open marine carbonate shoals (F8) and fossiliferous sandstone in offshore bars (F7) represent deepening up facies. Shallow marine standstill conditions facilitated the deposition of thick shale (F9) beds. The reservoir facies (F1-F6) are commonly poorly to moderately sorted; bimodal, immature sandstone represented by quartz-wacke. The framework grains are sub-angular to sub-rounded, medium to coarse-grained (occasionally gritty) embedded within argillaceous (kaolinite/chlorite/chamosite) to highly Fe-rich matrix (sideritic). The facies F7 and F8, representing the sandy packstone and grainstone facies, respectively, exhibit poor reservoir characteristics due to sanitization, diagenetic compaction and matrix-filled intergranular spaces. The various diagenetic features such as the presence of authigenic clays (kaolinite/dickite/smectite); ferruginous minerals like siderite, pyrite, hematite and other iron oxides; bioturbations; glauconite; calcite and quartz cementation, precipitation of gypsum, pressure solution and other compaction effects are identified. These diagenetic features, wherever present, have reduced porosity and permeability thereby adversely affecting reservoir quality. Tidal bar sandstones possess good reservoir characteristics such as moderate to good sorting, fair to good porosity and geometry that facilitates efficient lateral extension and vertical thickness of reservoir. The sand bodies of F2, F3 and F4 facies of Well L, M and Q deposited in a tidal bar complex exhibit good reservoir quality represented by relatively cleaner, poorly burrowed, loose, friable sandstone with good porosity. Sandstone facies around these wells could prove a potential hydrocarbon reservoir and could be considered for further exploration.

Keywords: reservoir sedimentology, facies analysis, HST, tide dominated delta, tidal bars

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Authors: M. Al-Roumi, A. Al-Yaqout, A. Al-Baz

Abstract:

Recently, sea cucumbers have shown to be significant to global trade and incomes due to their high commercial value for the pharmaceutical and cosmetics industry. This rising demand for sea cucumber products has created increasing harvest stress on the natural populations and led to the depletion of sea cucumbers stocks worldwide and accordingly there is a big concern on the marine environment's health worldwide. Few species have been reported and identified via morophlogical features only. Several sea cucumber species were collected from the North West side reefs at Qaruh Island, and the north side of Umm Al-Maradem Island in Kuwait waters, in the north-western Arabian Gulf, in order to identify the sea cucumber species available in the Kuwaiti waters. The identified species were Holothuria atra, Holothuria arenicola, Holothuria hilla and Holothuria impatiens. Species identification was made using morphological keys and review of their ossicles. This paper reports the species Stichopus hermanni from Kuwait.

Keywords: Stichopus hermanni, Kuwait waters, Arabian Gulf, ossicles

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Authors: Julia B. Kischkat, Charlie D. Waters

Abstract:

This research aims to understand the factors that may affect the survival and productivity of Pacific salmonids through two components. The first component is lab-based and aims to improve high-performance liquid chromatography to better quantify vitamin deficiencies such as thiamine. The lab work is conducted at the National Oceanic and Atmospheric Administration (NOAA) Ted Stevens Marine Research Institute in Juneau, Alaska. Deficiencies in thiamine have been shown to reduce the survival of salmonids at early life stages. The second component involves the analysis of a 22-year data set of migration timing of juvenile Coho Salmon, Dolly Varden, Steelhead, and returning adult Steelhead at Little Port Walter, Alaska. The statistical analysis quantifies their migration fluctuations and whether they correlate to various environmental conditions such as temperature, salinity, and precipitation.

Keywords: climate change, smolt timing, phenology, migration timing, salmon, time series analysis, ecology, chemistry, fisheries science

Procedia PDF Downloads 91

Authors: Kamran Siddique, Hiroyuki Asada, Yoshifumi Ogami

Abstract:

The use of Micro Gas Turbine (MGT) as the engine in Unmanned Aerobic Vehicles (UAVs) and power source in Robotics is widespread these days. Research has been conducted in the past decade or so to improve the performance of different components of MGT. This type of engine has interrelated components which have non-linear characteristics. Therefore, the overall engine performance depends on the individual engine element’s performance. Computational Fluid Dynamics (CFD) is one of the simulation method tools used to analyze or even optimize MGT system performance. In this study, the compressor of the MGT is designed, and performance optimization is being done using CFD. Performance of the micro compressor is improved in order to increase the overall performance of MGT. A high value of pressure ratio is to be achieved by studying the effect of change of different operating parameters like mass flow rate and revolutions per minute (RPM) and aerodynamical and geometrical parameters on the pressure ratio of the compressor. Two types of compressor designs are considered in this study; 3D centrifugal and ‘planar’ designs. For a 10 mm impeller, the planar model is the simplest compressor model with the ease in manufacturability. On the other hand, 3D centrifugal model, although more efficient, is very difficult to manufacture using current microfabrication resources. Therefore, the planar model is the best-suited model for a micro compressor. So. a planar micro compressor has been designed that has a good pressure ratio, and it is easy to manufacture using current microfabrication technologies. Future work is to fabricate the compressor to get experimental results and validate the theoretical model.

Keywords: computational fluid dynamics, microfabrication, MEMS, unmanned aerobic vehicles

Procedia PDF Downloads 124

Authors: S. Schröder, P. Ennen, T. Langer, S. Müller, M. Shehadeh, M. Haberstroh, F. Hees

Abstract:

Since a bit over a year ago, Festo AG and Co. KG, Festo Didactic SE, robomotion GmbH, the researchers of the Cybernetics-Lab IMA/ZLW and IfU, as well as the Human-Computer Interaction Center at the RWTH Aachen University, have been working together in the focal point of assembly competences to realize different scenarios in the field of human-machine interaction (HMI). In the framework of project ARIZ, questions concerning the future of production within the fourth industrial revolution are dealt with. There are many perspectives of human-robot collaboration that consist Industry 4.0 on an individual, organization and enterprise level, and these will be addressed in ARIZ. The aim of the ARIZ projects is to link AI-Approaches to assembly problems and to implement them as prototypes in demonstrators. To do so, island and flow based production scenarios will be simulated and realized as prototypes. These prototypes will serve as applications of flexible robotics as well as AI-based planning and control of production process. Using the demonstrators, human interaction strategies will be examined with an information system on one hand, and a robotic system on the other. During the tests, prototypes of workspaces that illustrate prospective production work forms will be represented. The human being will remain a central element in future productions and will increasingly be in charge of managerial tasks. Questions thus arise within the overall perspective, primarily concerning the role of humans within these technological revolutions, as well as their ability to act and design respectively to the acceptance of such systems. Roles, such as the 'Trainer' of intelligent systems may become a possibility in such assembly scenarios.

Keywords: human-machine interaction, information technology, island based production, assembly competences

Procedia PDF Downloads 185

Authors: Ben Amar Cheba, Taha Ibrahim Zaghloul, Mohamad Hisham El-Massry, Ahmad Rafik El-Mahdy

Abstract:

Seventy two bacterial strains with ability to degrade chitin were isolated during a screening program. One of the most potent isolates (strain R2) was identified as Bacillus sp. using conventional methods as well as 16S rRNA technique and submitted in the Gen Bank sequence database as Bacillus sp. R2 with a given accession number DQ 923161. This strain was able to produce high levels of extracellular chitinase. The chitinase of Bacillus sp. R2 hydrolyzed several chitinous substrates preferentially and showed a maximum activity toward the β chitin such as Calmar pen and squid bone chitins with the folds 1.47 and 1.23 respectively. The enzyme also exhibited a substrate binding capacity of more than 70% for squid chitin, shrimp shell colloidal chitin, chitosan and prawn shell chitin. The chitinase showed a moderate antifungal activity against many phytopathogenic fungi such as Aspergillus niger, A. flavus, Penicillium degitatum and Fusarium calmorum.This strain could be a suitable candidate for chitinase production on an industrial scale for using as promising antifungal biopestecide.

Keywords: antifungal activity, Bacillus sp. R2, chitinase, substrate specificity

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Authors: Waleed Sulaiman Shingaly

Abstract:

The Ordivician-Khabour Formation from the Northern Thrust Zone of Iraqi-Kurdistan comprises between 500 and 800 m of alternating predominantly greenish-grey sandstones, siltstones and shales. The succession has revealed an abundant ichnofossils characterized by 11 ichnogenus, namely: Helminthopsis, Gordia, Cruziana, Rusophycus, Monomorphichnus, Rhizocorallium, Thalassinoide, Planolite, Paleophycus, Deplocraterion and Skolithose. Ethologically these ichnogenera display dwelling and feeding activities of the infaunal organisms. This association of ichnofossils contains elements of the Skolithose and Cruziana ichnofacies. The presence of Skolithos ichnofacies indicates sandy shifting substrate and high energy conditions in foreshore zone while the Cruziana ichnofacies indicate unconsolidated, poorly sorted soft substrate and low energy condition in the shore face/offshore zone. These ichnogenera indicate shoreface-offshore zone of shallow-marine environment for the deposition of the rocks of the Khabour Formation.

Keywords: Ichnofossils, shoreface-offshore zone, Khabour Formation, Iraq

Procedia PDF Downloads 501