Search results for: robotic systems

Authors: M. J. Park, S. H. Lee, C. H. Lee, O. M. Kwon

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This paper investigates stability problem for linear systems of neutral type with time-varying delay. By constructing various Lyapunov-Krasovskii functional, and utilizing some mathematical techniques, the sufficient stability conditions for the systems are established in terms of linear matrix inequalities (LMIs), which can be easily solved by various effective optimization algorithms. Finally, some illustrative examples are given to show the effectiveness of the proposed criterion.

Keywords: neutral systems, time-delay, stability, Lyapnov method, LMI

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Authors: Elena A. Troubitsyna

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Designers of modern safety-critical control systems are increasingly relying on networking to provide the systems with advanced functionality and satisfy customer’s needs. However, networking nature of modern control systems also brings new technological challenges associated with ensuring system safety in the presence of openness and hence, potential security threats. In this paper, we propose a methodology that relies on systems-theoretic analysis to enable an integrated analysis of safety and security requirements of controlling software. We demonstrate how to create a safety case – a structured argument about system safety – with explicit representation of both safety and security goals. Our approach provides the designers with a systematic approach to analysing safety and security interdependencies while designing safety-critical control systems.

Keywords: controlling software, integrated analysis, security, safety-security co-engineering

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Authors: Alia Abdul Ghaffar, Tom Richardson

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A model reference adaptive control and a fixed gain LQR control were implemented in the height controller of a quadrotor that has parametric uncertainties due to the act of picking up an object of unknown dimension and mass. It is shown that an adaptive control, unlike a fixed gain control, is capable of ensuring a stable tracking performance under such condition, although adaptive control suffers from several limitations. The combination of both adaptive and fixed gain control in the controller architecture results in an enhanced tracking performance in the presence of parametric uncertainties.

Keywords: UAV, quadrotor, robotic arm augmentation, model reference adaptive control, LQR control

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Authors: Lan Yang, Kathryn Cormican, Ming Yu

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ISO/IEC/IEEE 15288: 2015, Systems and Software Engineering - System Life Cycle Processes is an international standard that provides generic top-level process descriptions to support systems engineering (SE). However, the processes defined in the standard needs improvement to lift integrity and consistency. The goal of this research is to explore the way by building an ontology model for the SE standard to manage the knowledge of SE. The ontology model gives a whole picture of the SE knowledge domain by building connections between SE concepts. Moreover, it creates a hierarchical classification of the concepts to fulfil different requirements of displaying and analysing SE knowledge.

Keywords: knowledge management, model-based systems engineering, ontology modelling, systems engineering ontology

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Authors: G. González, J. Ramírez, A. Rubiano

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This article describes different patented systems for safe use in vehicles based on GPS technology, speed sensors, gyroscopes, maps, communication systems, and monitors, that inform the driver about traffic jam, obstruction in the road, speed limits, among others. Once the information is analyzed and contrasted to final propose new technical needs to be solved.

Keywords: GPS, information technology, telecommunications, communication networks, gyroscope, environmental pollution

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Authors: Gauthier Lefevre, Holger Kohlmann, Sebastien Saitzek, Rachel Desfeux, Adlane Sayede

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Hydrogen is a promising energy carrier, compatible with the sustainable energy concept. In this context, solid-state hydrogen-storage is the key challenge in developing hydrogen economy. The capability of absorption of large quantities of hydrogen makes intermetallic systems of particular interest. In this study, efforts have been devoted to the theoretical investigation of binary systems with constraints consideration. On the one hand, besides considering hydrogen-storage, a reinvestigation of crystal structures of the palladium-arsenic system shows, with experimental validations, that binary systems could still currently present new or unknown relevant structures. On the other hand, various binary Mg-based systems were theoretically scrutinized in order to find new interesting alloys for hydrogen storage. Taking the effect of pressure into account reveals a wide range of alternative structures, changing radically the stable compounds of studied binary systems. Similar constraints, induced by Pulsed Laser Deposition, have been applied to binary systems, and results are presented.

Keywords: binary systems, evolutionary algorithm, first principles study, pulsed laser deposition

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Authors: Raya A. Jones

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This paper interrogates online representations of robot companions for children, including promotional material by manufacturers, media articles and technology blogs. The significance of the study lies in its contribution to understanding attitudes to robots. The prospect of childcare robots is particularly controversial ethically, and is associated with emotive arguments. The sampled material is restricted to relatively recent posts (the past three years) though the analysis identifies both continuous and changing themes across the past decade. The method extrapolates social representations theory towards examining the ways in which information about robotic products is provided for the general public. Implications for social acceptance of robot companions for the home and robot ethics are considered.

Keywords: acceptance of robots, childcare robots, ethics, social representations

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Authors: Dong Sang Yoo

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We consider nonlinear uncertain systems such that a priori information of the uncertainties is not available. For such systems, we assume that the upper bound of the uncertainties is represented as a Fredholm integral equation of the first kind and we propose an adaptation law that is capable of estimating the upper bound and design a continuous robust control which renders nonlinear uncertain systems ultimately bounded.

Keywords: adaptive control, estimation, Fredholm integral, uncertain system

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Authors: Bassem M. Darwish, Robert H. Ablove

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

Keywords: arthroplasty, knee, robotics, malalignment

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Authors: Cornelius Femi Popoola

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This study investigated logistics information systems in the distribution of flour in Nigeria. A case study design was used and 50 staff of Honeywell Flour Mill was sampled for the study. Data generated through a questionnaire were analysed using correlation and regression analysis. The findings of the study revealed that logistic information systems such as e-commerce, interactive telephone systems and electronic data interchange positively correlated with the distribution of flour in Honeywell Flour Mill. Finding also deduced that e-commerce, interactive telephone systems and electronic data interchange jointly and positively contribute to the distribution of flour in Honeywell Flour Mill in Nigeria (R = .935; Adj. R2 = .642; F (3,47) = 14.739; p < .05). The study therefore recommended that Honeywell Flour Mill should upgrade their logistic information systems to computer-to-computer communication of business transactions and documents, as well adopt new technology such as, tracking-and-tracing systems (barcode scanning for packages and palettes), tracking vehicles with Global Positioning System (GPS), measuring vehicle performance with ‘black boxes’ (containing logistic data), and Automatic Equipment Identification (AEI) into their systems.

Keywords: e-commerce, electronic data interchange, flour distribution, information system, interactive telephone systems

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Authors: Mohamed Hassan Abdullahi

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Decomposition is used as a synthesis tool in several physical systems. It can also be used for tearing and restructuring, which is large-scale system analysis. On the other hand, the commutativity of series-connected systems has fascinated the interest of researchers, and its advantages have been emphasized in the literature. The presentation looks into the necessary conditions for decomposing any third-order discrete-time linear time-varying system into a commutative pair of first- and second-order systems. Additional requirements are derived in the case of nonzero initial conditions. MATLAB simulations are used to verify the findings. The work is unique and is being published for the first time. It is critical from the standpoints of synthesis and/or design. Because many design techniques in engineering systems rely on tearing and reconstruction, this is the process of putting together simple components to create a finished product. Furthermore, it is demonstrated that regarding sensitivity to initial conditions, some combinations may be better than others. The results of this work can be extended for the decomposition of fourth-order discrete-time linear time-varying systems into lower-order commutative pairs, as two second-order commutative subsystems or one first-order and one third-order commutative subsystems.

Keywords: commutativity, decomposition, discrete time-varying systems, systems

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Authors: Man Young Kim

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To reduce the NOx emission in a Diesel vehicle, such various after treatment systems as SCR, LNC, and LNT are frequently visited as promising systems. Among others, urea-based SCR systems are known to be stable, effective technologies that can reduce NOx emissions most efficiently from diesel exhaust systems. In this study, therefore, effect of urea injector installation angle on the evaporation and mixing characteristics is investigated to find optimum operation conditions. It can be found that the injection angle significantly affects the thermal behavior of the urea-water solution in the diesel exhaust gases.

Keywords: selective catalytic reduction (SCR), evaporation, thermolysis, urea-water solution (UWS), injector installation angle

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Authors: A. Al-Rashidi, A. El-Hamalawi

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In this paper, a performance study was conducted to investigate single and dual-axis PV systems to generate electricity in five different sites in Kuwait. Relevant data were obtained by using two sources for validation purposes. A commercial software, PVsyst, was used to analyse the data, such as metrological data and other input parameters, and compute the performance parameters such as capacity factor (CF) and final yield (YF). The results indicated that single and dual-axis PV systems would be very beneficial to electricity generation in Kuwait as an alternative source to conventional power plants, especially with the increased demand over time. The ranges were also found to be competitive in comparison to leading countries using similar systems. A significant increase in CF and YF values around 24% and 28.8% was achieved related to the use of single and dual systems, respectively.

Keywords: single-axis and dual-axis photovoltaic systems, capacity factor, final yield, Kuwait

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Authors: Bastian Haarmann, Likas Sikorski

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In this paper, we introduce an NLG application for the automatic creation of ready-to-publish texts from big data. The fully automatic generated stories have a high resemblance to the style in which the human writer would draw up a news story. Topics may include soccer games, stock exchange market reports, weather forecasts and many more. The generation of the texts runs according to the human language production. Each generated text is unique. Ready-to-publish stories written by a computer application can help humans to quickly grasp the outcomes of big data analyses, save time-consuming pre-formulations for journalists and cater to rather small audiences by offering stories that would otherwise not exist.

Keywords: big data, natural language generation, publishing, robotic journalism

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Authors: Abdullah Eqal Al Mazrooei

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In this paper, we introduce a mathematical algorithm which is used for estimating the states in the bilinear systems. This algorithm uses a special linearization of the second-order term by using the best available information about the state of the system. This technique makes our algorithm generalizes the well-known Kalman estimators. The system which is used here is of the bilinear class, the evolution of this model is linear-bilinear in the state of the system. Our algorithm can be used with linear and bilinear systems. We also here introduced a real application for the new algorithm to prove the feasibility and the efficiency for it.

Keywords: estimation algorithm, bilinear systems, Kakman filter, second order linearization

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Authors: K. Jithendra Gowd, Ch. Sai Babu, S. Sivanagaraju

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Electric power systems are daily exposed to service interruption mainly due to faults and human accidental interference. Short circuit currents are responsible for several types of disturbances in power systems. The fault currents are high and the voltages are reduced at the time of fault. This paper presents two suitable methods, consideration of fault resistance and Distributed Generator are implemented and analyzed for the enhancement of voltage profile during fault conditions. Fault resistance is a critical parameter of electric power systems operation due to its stochastic nature. If not considered, this parameter may interfere in fault analysis studies and protection scheme efficiency. The effect of Distributed Generator is also considered. The proposed methods are tested on the IEEE 37 bus test systems and the results are compared.

Keywords: distributed generation, electrical distribution systems, fault resistance

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Authors: B. H. Aitchanov, Sh. K. Aitchanova, O. A. Baimuratov

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This paper is focused on dynamic pulse-frequency modulation (DPFM) control systems. Currently, the control law based on DPFM control signals is widely used in direct digital control subsystems introduced in the automated control systems of technological processes. Statistical analysis of automatic control systems is reduced to its construction of functional relationships between the statistical characteristics of the errors processes and input processes. Structural and dynamic Volterra models of digital pulse-frequency control systems can be used to develop methods for generating the dependencies, differing accuracy, requiring the amount of information about the statistical characteristics of input processes and computing labor intensity of their use.

Keywords: digital dynamic pulse-frequency control systems, dynamic pulse-frequency modulation, control object, discrete filter, impulse device, microcontroller

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Authors: Keerthi S. Shetty, Annappa Basava

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In recent years, modelling of biological systems represented by biochemical reactions has become increasingly important in Systems Biology. Biological systems represented by biochemical reactions are highly stochastic in nature. Probabilistic model is often used to describe such systems. One of the main challenges in Systems biology is to combine absolute experimental data into probabilistic model. This challenge arises because (1) some molecules may be present in relatively small quantities, (2) there is a switching between individual elements present in the system, and (3) the process is inherently stochastic on the level at which observations are made. In this paper, we describe a novel idea of combining absolute experimental data into probabilistic model using tool R2. Through a case study of the Transcription Process in Prokaryotes we explain how biological systems can be written as probabilistic program to combine experimental data into the model. The model developed is then analysed in terms of intrinsic noise and exact sampling of switching times between individual elements in the system. We have mainly concentrated on inferring number of genes in ON and OFF states from experimental data.

Keywords: systems biology, probabilistic model, inference, biology, model

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Authors: Moqbil S. Alenazi, Magdy. M. Elkhateeb

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A comprehensive photometric study and evolutionary state for the newly discovered Beta Lyr systems V0487 Lac, V0566 Hya, and V0666 Lac were carried out by means of their first photometric observations. New times of minima were estimated from the observed light curves, and first (O-C) curves were established for all systems. A windows interface version of the Wilson and Devinney code (W-D) based on model atmospheres and a pass band prescription have been used for the radiative treatment. The accepted models reveal some absolute parameters for the studied systems, which are used in adopting the spectral type of the system's components and their evolutionary status. Distances to each system were calculated, and physical properties were estimated. Locations of the systems on the theoreticalmass–luminosity and mass–radius relations revealed a good fit for all systems components except for the secondary component of the system V0487 Lac.

Keywords: eclipsing binaries, light curve modelling, evolutionary state

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Authors: W. A. Gonçalves, E. P. Souza, C. R. Alcântara

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The ISCCP-Tracking database offers an opportunity to study physical and morphological characteristics of Convective Systems based on geostationary meteorological satellites. This database contains 26 years of tracking of Convective Systems for the entire globe. Then, Tropical Squall Lines which occur in Brazil are certainly within the database. In this study, we propose a methodology for identification of these systems based on the ISCCP-Tracking database. A physical and morphological characterization of these systems is also shown. The proposed methodology is firstly based on the year of 2007. The Squall Lines were subjectively identified by visually analyzing infrared images from GOES-12. Based on this identification, the same systems were identified within the ISCCP-Tracking database. It is known, and it was also observed that the Squall Lines which occur on the north coast of Brazil develop parallel to the coast, influenced by the sea breeze. In addition, it was also observed that the eccentricity of the identified systems was greater than 0.7. Then, a methodology based on the inclination (based on the coast) and eccentricity (greater than 0.7) of the Convective Systems was applied in order to identify and characterize Tropical Squall Lines in Brazil. These thresholds were applied back in the ISCCP-Tracking database for the year of 2007. It was observed that other systems, which were not Squall Lines, were also identified. Then, we decided to call all systems identified by the inclination and eccentricity thresholds as Linear Convective Systems, instead of Squall Lines. After this step, the Linear Convective Systems were identified and characterized for the entire database, from 1983 to 2008. The physical and morphological characteristics of these systems were compared to those systems which did not have the required inclination and eccentricity to be called Linear Convective Systems. The results showed that the convection associated with the Linear Convective Systems seems to be more intense and organized than in the other systems. This affirmation is based on all ISCCP-Tracking variables analyzed. This type of methodology, which explores 26 years of satellite data by an objective analysis, was not previously explored in the literature. The physical and morphological characterization of the Linear Convective Systems based on 26 years of data is of a great importance and should be used in many branches of atmospheric sciences.

Keywords: squall lines, convective systems, linear convective systems, ISCCP-Tracking

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Authors: Luis Andrey Fajardo Fajardo

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We are immersed in complex systems. The human brain, the galaxies, the snowflakes are examples of complex systems. An area of interest in Complex systems is the chaos theory. This revolutionary field of science presents different ways of study than determinism and reductionism. Here is where in junction with the Nonlinear DSP, chaos theory offer valuable techniques that establish a link between time series and complex theory in terms of complex networks, so that, the study of signals can be explored from the graph theory. Recently, some people had purposed a method to transform time series in graphs, but no one had developed a suitable implementation in Python with signals extracted from Chaotic Systems or Complex systems. That’s why the implementation in Python of an existing method to transform one dimensional chaotic signals from time domain to graph domain and some measures that may reveal information not extracted in the time domain is proposed.

Keywords: Python, complex systems, graph theory, dynamical systems

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Authors: Zakariyya Hassan Abdullahi, Zainab Suleiman Abdullahi, Nuhu Alhaji Muhammad

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In this paper, a thorough review of photovoltaic and photovoltaic thermal systems is done on the basis of its performance based on electrical as well as thermal output. Photovoltaic systems are classified according to their use, i.e., electricity production, and thermal, Photovoltaic systems behave in an extraordinary and useful way, they react to light by transforming part of it into electricity useful way and unique, since photovoltaic and thermal applications along with the electricity production. The application of various photovoltaic systems is also discussed in detail. The performance analysis including all aspects, e.g., electrical, thermal, energy, and energy efficiency are also discussed. A case study for PV and PV/T system based on energetic analysis is presented.

Keywords: photovoltaic, renewable, performance, efficiency, energy

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Authors: Haci Mehmet Guzey, Levent Acar

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In this paper, a novel decentralized controller is developed for linear systems with nonlinear unknown interconnections. A model linear decoupled system is assigned for each system. By using the difference actual and model state dynamics, the problem is formulated as inverse problem. Then, the interconnected dynamics are approximated by using Galerkin’s expansion method for inverse problems. Two different sets of orthogonal basis functions are utilized to approximate the interconnected dynamics. Approximated interconnections are utilized in the controller to cancel the interconnections and decouple the systems. Subsequently, the interconnected systems behave as a collection of decoupled systems.

Keywords: decentralized control, inverse problems, large scale systems, nonlinear interconnections, basis functions, system identification

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Authors: Graziano Chesi

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The topological entropy plays a key role in linear dynamical systems, allowing one to establish the existence of stabilizing feedback controllers for linear systems in the presence of communications constraints. This paper addresses the determination of a robust value of the topological entropy in nonlinear dynamical systems, specifically the largest value of the topological entropy over all linearized models in a region of interest of the state space. It is shown that a sufficient condition for establishing upper bounds of the sought robust value of the topological entropy can be given in terms of a semidefinite program (SDP), which belongs to the class of convex optimization problems.

Keywords: non-linear system, communication constraint, topological entropy

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Authors: Lucjan Setlak, Emil Ruda

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The subject of this paper is to review, comparative analysis and simulation of selected components of power electronic systems (PES), consistent with the concept of a more electric aircraft (MEA). Comparative analysis and simulation in software environment MATLAB / Simulink were carried out based on a group of representatives of civil aircraft (B-787, A-380) and military (F-22 Raptor, F-35) in the context of multi-pulse converters used in them (6- and 12-pulse, and 18- and 24-pulse), which are key components of high-tech electronics on-board power systems of autonomous power systems (ASE) of modern aircraft (airplanes of the future).

Keywords: converters, electric machines, MEA (more electric aircraft), PES (power electronics systems)

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Authors: Ouahab Kadri, Leila Hayet Mouss

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In this paper, we present three diagnostic modules for complex and dynamic systems. These modules are based on three ant colony algorithms, which are AntTreeStoch, Lumer & Faieta and Binary ant colony. We chose these algorithms for their simplicity and their wide application range. However, we cannot use these algorithms in their basement forms as they have several limitations. To use these algorithms in a diagnostic system, we have proposed three variants. We have tested these algorithms on datasets issued from two industrial systems, which are clinkering system and pasteurization system.

Keywords: ant colony algorithms, complex and dynamic systems, diagnosis, classification, optimization

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Authors: Gulshad Azatova, Aleksandr Kapitonov, Natig Aminov

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Multiagent systems have gained significant attention in various fields, such as robotics, autonomous vehicles, and distributed computing, where multiple agents cooperate and communicate to achieve complex tasks. Efficient communication among agents is a crucial aspect of these systems, as it directly impacts their overall performance and scalability. This scholarly work provides an exploration of essential communication elements and conducts a comparative assessment of diverse protocols utilized in multiagent systems. The emphasis lies in scrutinizing the strengths, weaknesses, and applicability of these protocols across various scenarios. The research also sheds light on emerging trends within communication protocols for multiagent systems, including the incorporation of machine learning methods and the adoption of blockchain-based solutions to ensure secure communication. These trends provide valuable insights into the evolving landscape of multiagent systems and their communication protocols.

Keywords: communication, multi-agent systems, protocols, consensus

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Authors: Alireza Abbasi Moshaii, Shaghayegh Nasiri, Mehdi Tale Masouleh

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The main purpose of this study is static analysis of two three-degree of freedom parallel mechanisms: 3-RCC and 3-RRS. Geometry of these mechanisms is expressed and static equilibrium equations are derived for the whole chains. For these mechanisms due to the equal number of equations and unknowns, the solution is as same as 3-RCC mechanism. Mathematical software is used to solve the equations. In order to prove the results obtained from solving the equations of mechanisms, their CAD model has been simulated and their static is analysed in ADAMS software. Due to symmetrical geometry of the mechanisms, the force and external torque acting on the end-effecter have been considered asymmetric to prove the generality of the solution method. Finally, the results of both softwares, for both mechanisms are extracted and compared as graphs. The good achieved comparison between the results indicates the accuracy of the analysis.

Keywords: robotic, static analysis, 3-RCC, 3-RRS

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Authors: Achim Kampker, Peter Burggräf, Moritz Krunke, Hanno Voet

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As a reaction to current challenges in factory planning, many companies think about introducing factory standards to lower planning times and decrease planning costs. If these factory standards are set-up with a high level of modularity, they are defined as modular factory systems. This paper deals with the main current problems in the application of modular factory systems in practice and presents a solution approach with its basic models. The methodology is based on methods from factory planning but also uses the tools of other disciplines like product development or technology management to deal with the high complexity, which the development of modular factory systems implies. The four basic models that such a methodology has to contain are introduced and pointed out.

Keywords: factory planning, modular factory systems, factory standards, cost-benefit analysis

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Authors: Hailah Alballaa, Azeddine Chikh

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Several challenges impede the adoption of Recommender Systems for Technology Enhanced Learning (TEL): to collect and identify possible datasets; to select between different recommender approaches; to evaluate their performances. The aim is of this paper is twofold: First, it aims to introduce a survey on the most significant work in this area. Second, it aims at identifying possible research directions.

Keywords: datasets, content-based filtering, recommender systems, TEL

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