Search results for: soft robot shape control

Authors: M. Bazin, I. Bouguir, D. Combe, V. Germain, G. Lassade

Abstract:

The problem of managing a fleet of quad-rotor drones in a completely unknown environment is analyzed in the present paper. This work is following the footsteps of other studies about how should be managed the movements of a swarm of elements that have to stay gathered throughout their activities. In this paper we aim to demonstrate the limitations of a system where absolutely all the calculations and physical movements of our elements are done by one single external element. The strategy of control is an adaptive approach which takes into account the explored environment. This is made possible thanks to a set of command rules which can guide the drones through various missions with defined goal. The result of the mission is independent of the nature of environment and the number of drones in the fleet. This strategy is based on a simultaneous usage of different data: obstacles positions, real-time positions of all drones and relative positions between the different drones. The present work is made with the Robot Operating System and used several open-source projects on localization and usage of drones.

Keywords: cooperative guidance, distributed control, unmanned aerial vehicle, obstacle avoidance

Procedia PDF Downloads 302

Authors: Yeon-Jong Jeong, Jun-Hong Park, Hyuk Choi

Abstract:

In this study, we have studied the design of intermediate die in multipass drawing. Research has been continuously studied because of the advantage of better dimensional accuracy, smooth surface and improved mechanical properties in the case of drawing. Among them, multipass drawing, which is a method to realize complicated shape by drawing, was discussed in this study. The most important factor in the multipass drawing is the dimensional accuracy and simplify the process. To accomplish this, a multistage shape drawing was performed using various intermediate die shape designs, and finite element analysis was performed.

Keywords: FEM (Finite Element Method), multipass drawing, intermediate die, hollow pipe

Procedia PDF Downloads 316

Authors: Haijie Li, Xuping Zhang

Abstract:

This paper presents a computationally efficient method for the modeling of robot manipulators with flexible links and joints. This approach combines the Discrete Time Transfer Matrix Method with the Finite Segment Method, in which the flexible links are discretized by a number of rigid segments connected by torsion springs; and the flexibility of joints are modeled by torsion springs. The proposed method avoids the global dynamics and has the advantage of modeling non-uniform manipulators. Experiments and simulations of a single-link flexible manipulator are conducted for verifying the proposed methodologies. The simulations of a three-link robot arm with links and joints flexibility are also performed.

Keywords: flexible manipulator, transfer matrix method, linearization, finite segment method

Procedia PDF Downloads 428

Authors: A. Hadj Taieb, H. Ennouri

Abstract:

The current study aimed to investigate the effect that optical illusion garments have on a woman’s self-perception of her own body shape. First, we created different optical illusion garment by using color contrasts. Second, a short survey based on visual perception is addressed to women in order to compare the different optical illusion garments to determine if they met the established 'ideal' body shape. A ‘visual analysis method’ was used to investigate the clothing models with optical illusions. The theories in relation with the optical illusion were used through this method. The effects of the optical illusion of color contrast on body shape in the fashion sector were tried to be revealed.

Keywords: optical illusion, color contrasts, body image perception, self-esteem

Procedia PDF Downloads 273

Authors: Gia Lam Le, Dennis T. Bergado, Thi Ngoc Truc Nguyen

Abstract:

This study focuses on behaviors of improved soft clay using prefabricated vertical drain (PVD) combined with vacuum and electro-osmotic preloading. Large-scale consolidations of reconstituted soft Bangkok clay were conducted for PVD improvement with vacuum (vacuum-PVD), and vacuum combined with heat (vacuum-thermo-PVD). The research revealed that vacuum-thermo-PVD gives high efficiency of the consolidation rate compared to the vacuum-PVD. In addition, the magnitude of settlement of the specimen improved by the vacuum-thermo-PVD is higher than the vacuum-PVD because the assistance of heat causes the collapse of the clay structure. Particularly, to reach 90% degree of consolidation, the thermal-vacuum-PVD reduced about 58% consolidation time compared to the vacuum-PVD. The increase in consolidation rate is resulted from the increase in horizontal coefficient of consolidation, Ch, the reduction of the smear effect expressed by the ratio of the horizontal hydraulic conductivity in the undisturbed zone, kh, and the horizontal hydraulic conductivity in the smeared zone, ks. Furthermore, the shear strength, Su, increased about 100% when compared using the vacuum-thermal-PVD to the vacuum PVD. In addition, numerical simulations gave reasonable results compared to the laboratory data.

Keywords: PVD improvement, vacuum preloading, prefabricated vertical drain, thermal PVD

Procedia PDF Downloads 465

Authors: Osama Abdallah Mohammed Enan, Amin Babiker A/Nabi Mustafa

Abstract:

The aim of this study is to evaluate and analyze different parameters of WCDMA (wideband code division multiplication). Moreover, this study also incorporates brief yet throughout analysis of WCDMA’s components as well as its internal architecture. This study also examines different power controls. These power controls may include open loop power control, closed or inner group loop power control and outer loop power control. Different handover techniques or methods of WCDMA are also illustrated in this study. These handovers may include hard handover, inter system handover and soft and softer handover. Different duplexing techniques are also described in the paper. This study has also presented an idea about different parameters of WCDMA that leads the system towards QoS issues. This may help the operator in designing and developing adequate network configuration. In addition to this, the study has also investigated various parameters including Bit Energy per Noise Spectral Density (Eb/No), Noise rise, and Bit Error Rate (BER). After simulating these parameters, using MATLAB environment, it was investigated that, for a given Eb/No value the system capacity increase by increasing the reuse factor. Besides that, it was also analyzed that, noise rise is decreasing for lower data rates and for lower interference levels. Finally, it was examined that, BER increase by using one type of modulation technique than using other type of modulation technique.

Keywords: duplexing, handover, loop power control, WCDMA

Procedia PDF Downloads 214

Authors: Naser Alajmi, Ali Alobaidly, Mubarak Alhajri, Salem Salamah, Muhammad Alsubaie

Abstract:

Iterative Learning Control (ILC) known to be a controlling tool to overcome periodic disturbances for repetitive systems. This technique is required to let the error signal tends to zero as the number of operation increases. The learning process that lies within this context is strongly dependent on the initial input which if selected properly tends to let the learning process be more effective compared to the case where a system starts from blind. ILC uses previous recorded execution data to update the following execution/trial input such that a reference trajectory is followed to a high accuracy. Error convergence in ILC is generally highly dependent on the input applied to a plant for trial $1$, thus a good choice of initial starting input signal would make learning faster and as a consequence the error tends to zero faster as well. In the work presented within, an upper limit based on the Singular Values Principle (SV) is derived for the initial input signal applied at trial $1$ such that the system follow the reference in less number of trials without responding aggressively or exceeding the working envelope where a system is required to move within in a robot arm, for example. Simulation results presented illustrate the theory introduced within this paper.

Keywords: initial input, iterative learning control, maximum input, singular values

Procedia PDF Downloads 240

Authors: Luiz F. J. Maia

Abstract:

This paper presents an approach to fuzzy control, with the use of new pertinence functions, applied in the case of an inverted pendulum. Appropriate definitions of pertinence functions to fuzzy sets make possible the implementation of the controller with only one control rule, resulting in a smooth control surface. The fuzzy control system can be implemented with analog devices, affording a true real-time performance.

Keywords: control surface, fuzzy control, Inverted pendulum, pertinence functions

Procedia PDF Downloads 449

Authors: Safitri Nur Wulandari, M. Ivan Adi Perdana, Prathisto L. Panuntun Unggul, R. Dary Wira Mahadika

Abstract:

In road construction on the soft soil, we need a soil improvement method to improve the soil bearing capacity of the land base so that the soil can withstand the traffic loads. Most of the land in Indonesia has a soft soil, where soft soil is a type of clay that has the consistency of very soft to medium stiff, undrained shear strength, Cu <0:25 kg/cm2, or the estimated value of NSPT <5 blows/ft. This study focuses on the analysis of the effect on preloading load (embarkment) to the amount of settlement ratio on the under of embarkment that will impact on the building cracks around of embarkment. The method used in this research is a superposition method for embarkment distribution on 27 locations with undisturbed soil samples at some borehole point in Java and Kalimantan, Indonesia. Then correlating the results of settlement plate monitoring on the field with Asaoka method. The results of settlement plate monitoring taken from an embarkment of Ahmad Yani airport in Semarang on 32 points. Where the value of Cc (index compressible) soil data based on some laboratory test results, while the value of Cc is not tested obtained from empirical formula Ardhana and Mochtar, 1999. From this research, the results of the field monitoring showed almost the same results with an empirical formulation with the standard deviation of 4% where the formulation of the empirical results of this analysis obtained by linear formula. Value empirical linear formula is to determine the effect of compression heap area as high as 4,25 m is 3,1209x + y = 0.0026 for the slope of the embankment 1: 8 for the same analysis with an initial height of embankment on the field. Provided that at the edge of the embankment settlement worth is not equal to 0 but at a quarter of embankment has a settlement ratio average 0.951 and at the edge of embankment has a settlement ratio 0,049. The influence areas around of embankment are approximately 1 meter for slope 1:8 and 7 meters for slope 1:2. So, it can cause the building cracks, to build in sustainable development.

Keywords: building cracks, influence area, settlement plate, soft soil, empirical formula, embankment

Procedia PDF Downloads 344

Authors: Tae Kyu An

Abstract:

We demonstrate repurposing linear micropatterns on the CD as a master mold to fabricate TIPS-PEN microwires. From the micropatterns on CDs, we replicated polyurethane acrylate (PUA) templates which are robust and flexible until submicrometer scale patterns. Subsequently, 1.5 μm TIPS-PEN microwires separated by 1.5 μm were grown. Using crystal analysis tools with polarized optical microscopy and X-ray diffraction measurement, it was revealed that each TIPS-PEN microwires are highly crystalline and uniform compared to spin-coated films. It is attributed to the template-guided growth of TIPS-PEN crystals along the linear template, thus the OFETs comprised of TIPS-PEN microwires displayed the high field-effect mobility.

Keywords: compact disk, macro patterning, OFET, soft lithography

Procedia PDF Downloads 239

Authors: Esmaeil Abbaszadeh Molaei, Zongyan Zhou, Aibing Yu

Abstract:

The applications of liquid fluidizations have been increased in many parts of industries such as particle classification, backwashing of granular filters, crystal growth, leaching and washing, and bioreactors due to high-efficient liquid–solid contact, favorable mass and heat transfer, high operation flexibilities, and reduced back mixing of phases. In most of these multiphase operations the particles properties, i.e. size, density, and shape, may change during the process because of attrition, coalescence or chemical reactions. Previous studies, either experimentally or numerically, mainly have focused on studies of liquid-solid fluidized beds containing spherical particles; however, the role of particle shape on the hydrodynamics of liquid fluidized beds is still not well-known. A three-dimensional Discrete Element Model (DEM) and Computational Fluid Dynamics (CFD) are coupled to study the influence of particles shape on particles and liquid flow patterns in liquid-solid fluidized beds. In the simulations, ellipsoid particles are used to study the shape factor since they can represent a wide range of particles shape from oblate and sphere to prolate shape particles. Different particle shapes from oblate (disk shape) to elongated particles (rod shape) are selected to investigate the effect of aspect ratio on different flow characteristics such as general particles and liquid flow pattern, pressure drop, and particles orientation. First, the model is verified based on experimental observations, then further detail analyses are made. It was found that spherical particles showed a uniform particle distribution in the bed, which resulted in uniform pressure drop along the bed height. However for particles with aspect ratios less than one (disk-shape), some particles were carried into the freeboard region, and the interface between the bed and freeboard was not easy to be determined. A few particle also intended to leave the bed. On the other hand, prolate particles showed different behaviour in the bed. They caused unstable interface and some flow channeling was observed for low liquid velocities. Because of the non-uniform particles flow pattern for particles with aspect ratios lower (oblate) and more (prolate) than one, the pressure drop distribution in the bed was not observed as uniform as what was found for spherical particles.

Keywords: CFD, DEM, ellipsoid, fluidization, multiphase flow, non-spherical, simulation

Procedia PDF Downloads 309

Authors: Ahmed Nassim Moulai Khatir

Abstract:

Fin field effect transistors (FinFETs) deliver superior levels of scalability than the classical structure of MOSFETs by offering the elimination of short channel effects. Modern FinFETs are 3D structures that rise above the planar substrate, but some of these structures have inclined surfaces, which results in trapezoidal cross sections instead of rectangular sections usually used. Fin cross section shape of FinFETs results in some device issues, like potential distribution performance. This work analyzes that impact with three-dimensional numeric simulation of several triple-gate FinFETs with various top and bottom widths of fin. Results of the simulation show that the potential distribution and the electrical field in the fin depend on the sidewall inclination angle.

Keywords: FinFET, cross section shape, SILVACO, trapezoidal FinFETs

Procedia PDF Downloads 47

Authors: Nini Johana Marín Rodríguez, William Fernando Oquendo Patino

Abstract:

In this work, we model a coupled system where we explore the effects of steady and random behavior on a linear system like an extension of the classic Strogatz model. This is exemplified by modeling a couple love dynamics as a linear system of two coupled differential equations and studying its stability for four types of lovers chosen as CC='Cautious- Cautious', OO='Only other feelings', OP='Opposites' and RR='Romeo the Robot'. We explore the effects of, first, introducing saturation, and second, adding a random variation to one of the CC-type lover, which will shape his character by trying to model how its variability influences the dynamics between love and hate in couple in a long run relationship. This work could also be useful to model other kind of systems where interactions can be modeled as linear systems with external or internal random influence. We found the final results are not easy to predict and a strong dependence on initial conditions appear, which a signature of chaos.

Keywords: differential equations, dynamical systems, linear system, love dynamics

Procedia PDF Downloads 353

Authors: Reyhane Hamed Kamran

Abstract:

Early stage morphogenesis requires the execution of complex systems that direct the nearby conduct of gatherings of cells. The organization of such instruments has been, for the most part, deciphered through the recognizable proof of moderated groups of flagging pathways that spatially and transiently control cell conduct. In any case, how this data is handled to control cell shape and cell elements is an open territory of examination. The structure that rises up out of differing controls, for example, cell science, material science, and formative science, focuses to bond and cortical actin arranges as controllers of cell surface mechanics. In this specific circumstance, a scope of formative marvels can be clarified by the guideline of cell surface pressure.

Keywords: cell, tissue damage, morphogenesis, cell conduct

Procedia PDF Downloads 105

Authors: Narin Salehiyan

Abstract:

Early stage morphogenesis requires the execution of complex systems that direct the nearby conduct of gatherings of cells. The organization of such instruments has been, for the most part, deciphered through the recognizable proof of moderated groups of flagging pathways that spatially and transiently control cell conduct. In any case, how this data is handled to control cell shape and cell elements is an open territory of examination. The structure that rises up out of differing controls, for example, cell science, material science and formative science, focuses to bond and cortical actin arranges as controllers of cell surface mechanics. In this specific circumstance, a scope of formative marvels can be clarified by the guideline of cell surface pressure.

Keywords: cell, tissue damage, morphogenesis, cell conduct

Procedia PDF Downloads 81

Authors: Hojjat Mohammadi, Randall Divito, Gary J. E. Kramer

Abstract:

Tunnelling and pipe jacking in very soft soils (fat clays), even with an Earth Pressure Balance tunnel boring machine (EPBM), can cause large ground displacements. In this study, the short-term and long-term ground and tunnel response is predicted for twin, pipe-jacked EPBM 3 meter diameter tunnels with a narrow pillar width. Initial modelling indicated complete closure of the annulus gap at the tail shield onto the centrifugally cast, glass-fiber-reinforced, polymer mortar jacking pipe (FRP). Numerical modelling was employed to simulate the excavation and support installation sequence, examine the ground response during excavation, confirm the adequacy of the pillar width and check the structural adequacy of the installed pipe. In the numerical models, Mohr-Coulomb constitutive model with the effect of unloading was adopted for the fat clays, while for the bedrock layer, the generalized Hoek-Brown was employed. The numerical models considered explicit excavation sequences and different levels of ground convergence prior to support installation. The well-studied excavation sequences made the analysis possible for this study on a very soft clay, otherwise, obtaining the convergency in the numerical analysis would be impossible. The predicted results indicate that the ground displacements around the tunnel and its effect on the pipe would be acceptable despite predictions of large zones of plastic behaviour around the tunnels and within the entire pillar between them due to excavation-induced ground movements.

Keywords: finite element modeling (FEM), pipe-jacked tunneling, very soft clay, EPBM

Procedia PDF Downloads 82

Authors: Sulafah Basahel

Abstract:

Nowadays, Higher Education Institutions (HEIs) around the world are attempting to utilize Information and Communication Technologies (ICTs) to enhance learning process and strategies of knowledge delivery for students through Distance Education (DE) system. Stakeholders in DE system face a complex situation of different ill-defined and related issues that influence decision making process. In this study system thinking as a body of knowledge is used to explore the emergent properties that produced from these connections between issues and could have either positive or negative outcomes for the DE development. Checkland Soft System Methodology (SSM) - Mode 2 is employed in a cultural context of Saudi Arabia for more knowledge acquisition purposes among multiple stakeholders in DE rather than solving problems to achieve an overall development of DE system. This paper will discuss some political, cultural issues and connections between them that impact on effectiveness of stakeholders’ activities and relations. This study will significantly contribute to both system thinking and education fields by leading decision makers in DE to reconsider future plans, strategies and right actions for more successful educational practices.

Keywords: distance education, higher education institutions, ill-defined issues, soft system methodology-Mode 2

Procedia PDF Downloads 270

Authors: Saeed Mahjoub Moghadas, Farhad Asadi, Shahed Torkamandi, Hassan Moradi, Mahmood Purgamshidian

Abstract:

In this paper, we present real-time obstacle avoidance approach for both autonomous and non-autonomous DS-based controllers and also based on dynamical systems (DS) method. In this approach, we can modulate the original dynamics of the controller and it allows us to determine safety margin and different types of DS to increase the robot’s reactiveness in the face of uncertainty in the localization of the obstacle and especially when robot moves very fast in changeable complex environments. The method is validated in simulation and influence of different autonomous and non-autonomous DS such as limit cycles, and unstable DS on this algorithm and also the position of different obstacles in complex environment is explained. Finally, we describe how the avoidance trajectories can be verified through different parameters such as safety factor.

Keywords: limit cycles, nonlinear dynamical system, real time obstacle avoidance, DS-based controllers

Procedia PDF Downloads 388

Authors: Fouad Inel, Lakhdar Khochemane

Abstract:

This article presents a comparative response specification performance between two controllers of three and four cable based robots for various applications. The main objective of this work is: the first is to use the direct and inverse geometric model to study and simulate the end effector position of the robot with three and four cables. A graphical user interface has been implemented in order to visualizing the position of the robot. Secondly, we present the determination of static and dynamic tensions and lengths of cables required to flow different trajectories. At the end, we study the response of our systems in closed loop with a Proportional-IntegratedDerivative (PID) and Proportional-Integrated (PD) controllers then this last are compared the results of the same examples using MATLAB/Simulink; we found that the PID method gives the better performance, such as rapidly speed response, settling time, compared to PD controller.

Keywords: dynamic modeling, geometric modeling, graphical user interface, open loop, parallel cable-based robots, PID/PD controllers

Procedia PDF Downloads 421

Authors: Muhammad Afief Maruf

Abstract:

Kacapuri foundation is the traditional shallow foundation of building which has been used since long by traditional communities in Borneo, Indonesia. Kacapuri foundation is a foundation that uses a combination of ironwood (eusideroxylon zwageri) as a column and truss and softwood (Melaleuca leucadendra syn. M. leucadendron) as a raft. In today's modern era, ironwood happened to be a rare item, and it is protected by the Indonesian government. This condition then triggers the idea to maintain the shape of the traditional foundation by modifying the material. The suggestion is replacing the ironwood column with reinforced concrete column. In addition, the number of stem softwood is added to sustain the burden of replacing the column material. Although this modified form of Kacapuri foundation is currently still not been tested in applications in society, some research on the modified Kacapuri foundation has been conducted by some researchers and government unit. This paper will try to give an overview of the theoretical foundation bearing capacity Kacapuri modifications applied to the soft alluvial soil located in Borneo, Indonesia, where the original form of Kacapuri is implemented this whole time. The foundation is modeled buried depth in 2m below the ground surface and also below the ground water level. The calculation of the theoretical bearing capacity and then is calculated based on the bearing capacity equation suggested Skempton, Terzaghi and Ohsuki using the data of soft alluvial soil in Borneo. The result will then compared with the bearing capacity of the Kacapuri foundation original design from some previous research. The results show that the ultimate bearing capacity of the Modified Kacapuri foundation using Skempton equation amounted to 329,26 kN, Terzaghi for 456,804kN, and according Ohsaki amounted to 491,972 kN. The ultimate bearing capacity of the original Kacapuri foundation model based on Skempton equation is 18,23 kN. This result shows that the modification added the ultimate bearing capacity of the foundation, although the replacement of ironwood to reinforced concrete will also add some dead load to the total load itself.

Keywords: bearing capacity, Kacapuri, modified foundation, shallow foundation

Procedia PDF Downloads 367

Authors: Lina Lukusa, Ulrike Rivett

Abstract:

Poor water management can increase the extreme pressure already faced by water scarcity. Unless water management is addressed holistically, water quality and quantity will continue to degrade. A holistic approach to water management named Water Sensitive Urban Design (WSUD) has thus been created to facilitate the effective management of water. Traditionally, water management has employed a linear design approach, while WSUD requires a systematic, cyclical approach. In simple terms, WSUD assumes that everything is connected. Hence, it is critical for different stakeholders involved in WSUD to engage and reach a consensus on a solution. However, many stakeholders in WSUD have conflicting interests. Using the soft system methodology (SSM), developed by Peter Checkland, as a problem-solving method, decision-makers can understand this problematic situation from different world views. The SSM addresses ill and complex challenging situations involving human activities in a complex structured scenario. This paper demonstrates how SSM can be applied to understand the complexity of stakeholder engagement in WSUD. The paper concludes that SSM is an adequate solution to understand a complex problem better and then propose efficient solutions.

Keywords: co-design, ICT platform, soft systems methodology, water sensitive urban design

Procedia PDF Downloads 121

Authors: Kausar Ali

Abstract:

There are several ground treatment techniques which may meet the twin objectives of increasing the bearing capacity with simultaneous reduction of settlements, but the use of stone columns is one of the most suited techniques for flexible structures such as embankments, oil storage tanks etc. that can tolerate some settlement and used worldwide. However, when the stone columns in very soft soils are loaded; stone columns undergo excessive settlement due to low lateral confinement provided by the soft soil, leading to the failure of the structure. The poor performance of stone columns under these conditions can be improved by encasing the columns with a suitable geosynthetic. In this study, the effect of reinforcement on bearing capacity of composite soil has been investigated by conducting laboratory model tests on floating and end bearing long stone columns with l/d ratio of 12. The columns were reinforced by providing geosynthetic encasement over varying column length (upper 25%, 50%, 75%, and 100% column length). In this study, a group of columns has been used instead of single column, because in the field, columns used for the purpose always remain in groups. The tests indicate that the encasement over the full column length gives higher failure stress as compared to the encasement over the partial column length for both floating and end bearing long columns. The performance of end-bearing columns was found much better than the floating columns.

Keywords: geosynthetic, ground improvement, soft clay, stone column

Procedia PDF Downloads 431

Authors: D. Kokt, T. F. Dreyer

Abstract:

The main objective of the study was to design a mentoring programme aimed at developing the soft skills of mentors. The mentors are all employed by a multinational corporation. The company had a mentoring plan in place that did not yield the required results, especially related to the development of soft skills. This prompted the researchers to conduct an extensive literature review followed by a mixed methods approach to ascertain the best practices in developing the soft skills of mentors. The outcomes of the study led to the development of a structured mentoring programme using 25 modules to be completed by mentors. The design incorporated a blended modular approach using both face-to-face teaching and teaching supported by Information Communication Technology (ICT). Blended learning was ideal as the ICT component helped to minimise instructor-mentor physical contact as part of the health measures during the Covid-19 pandemic. The blended learning approach also allowed instructors and mentors an online or offline mode, so that mentors could have more time for creative and cooperative exercises. A range of delivery methodologies were spread out across the different modules to ensure mentor engagement and accelerate mentor development. This included concept development through in-person instructor-led training sessions, concept development through virtual instructor-led training sessions, simulations, case studies, e-learning, role plays, interactive learning using mentoring toolkits, and experiential learning through application. The mentor development journey included formal modular competency assessments. All modules contained post-competency assessment consisting of 10 questions (comprising of a combination of explanatory questions and multiple-choice questions) to ensure understanding and deal with identified competency gaps. The minimum pass mark for all modular competency assessments was 80%. Mentors were allowed to retake the assessment if they scored less than 80% until they demonstrated understanding at the required level.

Keywords: mentor, mentee, soft skills, mentor development, blended learning, modular approach

Procedia PDF Downloads 28

Authors: Dibyendu Roy, V. Ramu Reddy, Parijat Deshpande, Ranjan Dasgupta

Abstract:

Imaging of underwater objects is primarily conducted by acoustic imagery due to the severe attenuation of electro-magnetic waves in water. Acoustic imagery underwater has varied range of significant applications such as side-scan sonar, mine hunting sonar. It also finds utility in other domains such as imaging of body tissues via ultrasonography and non-destructive testing of objects. In this paper, we explore the feasibility of using active acoustic imagery in air and simulate phased array beamforming techniques available in literature for various array designs to achieve a suitable acoustic sensor array design for a portable mobile robot which can be applied to detect the presence/absence of anomalous objects in a room. The multi-path reflection effects especially in enclosed rooms and environmental noise factors are currently not simulated and will be dealt with during the experimental phase. The related hardware is designed with the same feasibility criterion that the developed system needs to be deployed on a portable mobile robot. There is a trade of between image resolution and range with the array size, number of elements and the imaging frequency and has to be iteratively simulated to achieve the desired acoustic sensor array design. The designed acoustic imaging array system is to be mounted on a portable mobile robot and targeted for use in surveillance missions for intruder alerts and imaging objects during dark and smoky scenarios where conventional optic based systems do not function well.

Keywords: acoustic sensor array, acoustic imagery, anomaly detection, phased array beamforming

Procedia PDF Downloads 409

Authors: J. G. Batista, L. J. de Bessa Neto, M. A. F. B. Lima, J. R. Leite, J. I. de Andrade Nunes

Abstract:

The robot manipulator is an equipment that stands out for two reasons: Firstly because of its characteristics of movement and reprogramming, resembling the arm; secondly, by adding several areas of knowledge of science and engineering. The present work shows the development of the prototype of a robotic manipulator driven by a Programmable Logic Controller (PLC), having two degrees of freedom, which allows the movement and displacement of mechanical parts, tools, and objects in general of small size, through an electronic system. The aim is to study direct and inverse kinematics of the robotic manipulator to describe the translation and rotation between two adjacent links of the robot through the Denavit-Hartenberg parameters. Currently, due to the many resources that microcomputer systems offer us, robotics is going through a period of continuous growth that will allow, in a short time, the development of intelligent robots with the capacity to perform operations that require flexibility, speed and precision.

Keywords: Denavit-Hartenberg, direct and inverse kinematics, microcontrollers, robotic manipulator

Procedia PDF Downloads 347

Authors: Hassnen M. Jafer, W. Atherton, F. Ruddock, E. Loffil

Abstract:

Waste materials or sometimes called by-product materials have been increasingly used as construction material to reduce the usage of cement in different construction projects. In the field of soil stabilisation, waste materials such as pulverised fuel ash (PFA), biomass fly ash (BFA), sewage sludge ash (SSA), etc., have been used since 1960s in last century. In this study, a particular type of a waste material (WM) was used in soft soil stabilisation as a cement replacement, as well as, the effect of mechanical activation, using grinding, on the performance of this WM was also investigated. The WM used in this study is a by-product resulted from the incineration processes between 1000 and 1200oc in domestic power generation plant using a fluidized bed combustion system. The stabilised soil in this study was an intermediate plasticity silty clayey soil with medium organic matter content. The experimental works were conducted first to find the optimum content of WM by carrying out Atterberg limits and unconfined compressive strength (UCS) tests on soil samples contained (0, 3, 6, 9, 12, and 15%) of WM by the dry weight of soil. The UCS test was carried out on specimens provided to different curing periods (zero, 7, 14, and 28 days). Moreover, the optimum percentage of the WM was subject to different periods of grinding (10, 20, 30, 40mins) using mortar and pestle grinder to find the effect of grinding and its optimum time by conducting UCS test. The results indicated that the WM used in this study improved the physical properties of the soft soil where the index of plasticity (IP) was decreased significantly from 21 to 13.10 with 15% of WM. Meanwhile, the results of UCS test indicated that 12% of WM was the optimum and this percentage developed the UCS value from 202kPa to 700kPa for 28 days cured samples. Along with the time of grinding, the results revealed that 10 minutes of grinding was the best for mechanical activation for the WM used in this study.

Keywords: soft soil stabilisation, waste materials, grinding, and unconfined compressive strength

Procedia PDF Downloads 280

Authors: Rania Raouf Sedky

Abstract:

Adaptive architecture relates to buildings specifically designed to adapt to their residents and their environments. To design a biologically adaptive system, we can observe how living creatures in nature constantly adapt to different external and internal stimuli to be a great inspiration. The issue is not just how to create a system that is capable of change but also how to find the quality of change and determine the incentive to adapt. The research examines the possibilities of transforming spaces using the human body as an active tool. The research also aims to design and build an effective dynamic structural system that can be applied on an architectural scale and integrate them all into the creation of a new adaptive system that allows us to conceive a new way to design, build and experience architecture in a dynamic manner. The main objective was to address the possibility of a reciprocal transformation between the user and the architectural element so that the architecture can adapt to the user, as the user adapts to architecture. The motivation is the desire to deal with the psychological benefits of an environment that can respond and thus empathize with human emotions through its ability to adapt to the user. Adaptive affiliations of kinematic structures have been discussed in architectural research for more than a decade, and these issues have proven their effectiveness in developing kinematic structures, responsive and adaptive, and their contribution to 'smart architecture'. A wide range of strategies have been used in building complex kinetic and robotic systems mechanisms to achieve convertibility and adaptability in engineering and architecture. One of the main contributions of this research is to explore how the physical environment can change its shape to accommodate different spatial displays based on the movement of the user’s body. The main focus is on the relationship between materials, shape, and interactive control systems. The intention is to develop a scenario where the user can move, and the structure interacts without any physical contact. The soft form of shifting language and interaction control technology will provide new possibilities for enriching human-environmental interactions. How can we imagine a space in which to construct and understand its users through physical gestures, visual expressions, and response accordingly? How can we imagine a space whose interaction depends not only on preprogrammed operations but on real-time feedback from its users? The research also raises some important questions for the future. What would be the appropriate structure to show physical interaction with the dynamic world? This study concludes with a strong belief in the future of responsive motor structures. We imagine that they are developing the current structure and that they will radically change the way spaces are tested. These structures have obvious advantages in terms of energy performance and the ability to adapt to the needs of users. The research highlights the interface between remote sensing and a responsive environment to explore the possibility of an interactive architecture that adapts to and responds to user movements. This study ends with a strong belief in the future of responsive motor structures. We envision that it will improve the current structure and that it will bring a fundamental change to the way in which spaces are tested.

Keywords: adaptive architecture, interactive architecture, responsive architecture, tensegrity

Procedia PDF Downloads 156

Authors: David A. Padilla, Rodolfo Villamizar

Abstract:

In recent years, closed loop control strategies have been developed in order to establish a healthy glucose profile in type 1 diabetic mellitus (T1DM) patients. However, the controller itself is unable to define a suitable reference trajectory for glucose. In this paper, a control strategy Is proposed where the shape of the reference trajectory is generated bases in the amount of carbohydrates present during the digestive process, due to the effect of carbohydrate intake. Since there no exists a sensor to measure the amount of carbohydrates consumed, an estimator is proposed. Thus this paper presents the entire process of designing a carbohydrate estimator, which allows estimate disturbance for a predictive controller (MPC) in a T1MD patient, the estimation will be used to establish a profile of reference and improve the response of the controller by providing the estimated information of ingested carbohydrates. The dynamics of the diabetic model used are due to the equations described by the UVA/Padova model of the T1DMS simulator, the system was developed and simulated in Simulink, taking into account the noise and limitations of the glucose control system actuators.

Keywords: estimation, glucose control, predictive controller, MPC, UVA/Padova

Procedia PDF Downloads 261

Authors: Khaing Yadana Swe, Lillie Dewan

Abstract:

At present, the cascade PID control is widely used to control the super-heating temperature (main steam temperature). As the main steam temperature has the characteristics of large inertia, large time-delay, and time varying, etc., conventional PID control strategy can not achieve good control performance. In order to overcome the bad performance and deficiencies of main steam temperature control system, Model Free Adaptive Control (MFAC) P cascade control system is proposed in this paper. By substituting MFAC in PID of the main control loop of the main steam temperature control, it can overcome time delays, non-linearity, disturbance and time variation.

Keywords: model-free adaptive control, cascade control, adaptive control, PID

Procedia PDF Downloads 602

Authors: Saifurahman Fayiz

Abstract:

Geo-strategically and geo-politically location of Afghanistan has endured the consideration of Indian government policy. Afghanistan has a durable and widespread economic, historical, military, and cultural relationship with India. Afghanistan has significant and durable bilateral relations with its neighbor India. India has enjoyed friendly relations with Afghanistan since 1947. After the collapse of the Taliban regime, India and Afghanistan started diplomatic relations. The relationship between the two countries was friendly and stable. The objective of this research is to study the India- Afghanistan relationship from 2001 to 2021 from different aspects. The research conducted a qualitative research method based on descriptive. The research findings propose that India should expand its soft power in Afghanistan, and India’s foreign policy in Afghanistan should be evaluated.

Keywords: relation, policy, soft power, sector

Procedia PDF Downloads 164