Search results for: cooperative robotics

Authors: Farid Noor Romadlon

Abstract:

Welcoming the ASEAN Economic Community and globalization, people need to have a good communication skill. Being able to speak English is one of important qualification in this skill and as global citizen. This study focused on fostering fresh graduate students’ confidence in speaking English. So, students have good performance in speaking. There were thirty (30) students from first semester of English Education Department who joined Intensive Course class as the subject. They had poor motivation to speak English since English is a foreign language which is not exposed in their environment. This study used Three Communicative Activities technique in twelve successive meetings totally. It was done in two cycles (six meetings for each) since there were some activities should be improved in the first session (cycle). Oral test was administered to find the quantitative result and observation conducted to strengthen the finding. The result indicated that Three Communicative Activities improved students’ confidence in speaking English. They had significant progress in their performance in the class. The technique which allowed students to have more spaces to explore and express their ideas to their friends increased their confidence in their performance. The group or cooperative activities stimulated students to think critically in the discussion and promoted their confidence to talk more.

Keywords: students’ confidence, three communicative activities, speaking, Muria Kudus University

Procedia PDF Downloads 188

Authors: Muhammad Ilyas, Awais Khan, Syed Ali Raza Shah

Abstract:

DC motors are widely used in industries to provide mechanical power in speed and torque. The position and speed control of DC motors is getting the interest of the scientific community in robotics, especially in the robotic arm, a flexible joint manipulator. The current research work is based on position control of DC motors using experimental investigations in LabVIEW. The linear control strategy is applied to track the position and speed of the DC motor with comparative analysis in the LabVIEW platform and simulation analysis in MATLAB. The tracking error in hardware setup based on LabVIEW programming is slightly greater than simulation analysis in MATLAB due to the inertial load of the motor during steady-state conditions. The controller output shows the input voltage applied to the dc motor varies between 0-8V to ensure minimal steady error while tracking the position and speed of the DC motor.

Keywords: DC motor, labview, proportional integral derivative control, position tracking, speed tracking

Procedia PDF Downloads 76

Authors: Elissa D. Ledoux, Eric J. Barth

Abstract:

Producing custom orthotic devices is a time-consuming and iterative process. Efficiency could be increased with a smart CAD program to rapidly generate custom part files for 3D printing, reducing the need for a skilled orthosis technician as well as the hands-on time required. Anthropometric data for the hand was analyzed in order to determine dimensional relationships and reduce the number of measurements needed to parameterize the hand. Using these relationships, a smart CAD package was developed to produce custom sized hand orthosis parts downloadable for 3D printing. Results showed that the number of anatomical parameters required could be reduced from 8 to 3, and the relationships hold for 5th to 95th percentile male hands. CAD parts regenerate correctly for the same range. This package could significantly impact the orthotics industry in terms of expedited production and reduction of required human resources and patient contact.

Keywords: CAD, hand, orthosis, orthotic, rehabilitation robotics, upper limb

Procedia PDF Downloads 195

Authors: C. Gebauer, C. Henke, R. Vossen

Abstract:

Within the Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2020, a team of unmanned aerial vehicles (UAV) is used to capture intruder drones by physical interaction. The challenge is motivated by UAV safety. The purpose of this work is to investigate the agility of a quadcopter being controlled visually. The aim is to track and follow a highly dynamic target, e.g., an intruder quadcopter. The following is realized in close range and the opponent has a velocity of up to 10 m/s. Additional limitations are given by the hardware itself, where only monocular vision is present, and no additional knowledge about the targets state is available. An image based visual servoing (IBVS) approach is applied in combination with a Linear Quadratic Regulator (LQR). The IBVS is integrated into the LQR and an optimal trajectory is computed within the projected three-dimensional image-space. The approach has been evaluated on real quadcopter systems in different flight scenarios to demonstrate the system's stability.

Keywords: image based visual servoing, quadcopter, dynamic object tracking, linear-quadratic regulator

Procedia PDF Downloads 124

Authors: Farnaz Farzin, Julie C. Thomson, Rob Dekkers, Geoff Whittam

Abstract:

Research has shown that techno-entrepreneurship is economically significant. Therefore, it is suggested that teaching techno-entrepreneurship may be important because such programmes would prepare current and future generations of learners to recognize and act on high-technology opportunities. Education in techno-entrepreneurship may increase the knowledge of how to start one’s own enterprise and recognize the technological opportunities for commercialisation to improve decision-making about starting a new venture; also it influence decisions about capturing the business opportunities and turning them into successful ventures. Universities can play a main role in connecting and networking techno-entrepreneurship students towards a cooperative attitude with real business practice and industry knowledge. To investigate and answer whether education for techno-entrepreneurs really helps, this paper chooses a comparison of literature reviews as its method of research. Then, 6 different studies were selected. These particular papers were selected based on a keywords search and as their aim, objectives, and gaps were close to the current research. In addition, they were all based on the influence of techno-entrepreneurship education in self-employment and intention of students to start new ventures. The findings showed that teaching techno-entrepreneurship education may have an influence on students’ intention and their future self-employment, but which courses should be covered and the duration of programmes needs further investigation.

Keywords: techno entrepreneurship education, training, higher education, intention, self-employment

Procedia PDF Downloads 311

Authors: Pavel Chmelar, Martin Dobrovolny

Abstract:

Laser projection or laser footprint detection is today widely used in many fields of robotics, measurement, or electronics. The system accuracy strictly depends on precise laser footprint detection on target objects. This article deals with the laser line detection based on the RGB segmentation and the component labeling. As a measurement device was used the developed optical rangefinder. The optical rangefinder is equipped with vertical sweeping of the laser beam and high quality camera. This system was developed mainly for automatic exploration and mapping of unknown spaces. In the first section is presented a new detection algorithm. In the second section are presented measurements results. The measurements were performed in variable light conditions in interiors. The last part of the article present achieved results and their differences between day and night measurements.

Keywords: color segmentation, component labelling, laser line detection, automatic mapping, distance measurement, vector map

Procedia PDF Downloads 398

Authors: Madhavi T., Sireesha Sakhamuri, Hema Sri A., Harika K.

Abstract:

Today as technological advancements are taking place, these advancements are being used by the armed forces to reduce the risk of their losses and to defeat their enemies. The development of sophisticated technology relies mostly on the use of high- tech weapons or machinery. Robotics is one of the hot spheres of the modern age in which nations concentrate on the state of war and peace for military purposes. They have been in use for demining and rescue operations for some time now but are being propelled by using them for combat and spy missions. This project focuses on creating a LoRa-based spying robot with a wireless IP camera attached to it that can rising the human target. This robot transmits the signal via an IP camera to the base station. One of this project’s major applications can be analyzed using a PC that can be used to control the robot’s movement. The robot sends the signal through the LoRa transceiver at the base station to the LoRa transceiver mounted on the robot. With this function, the, robot can relay videos in real- time along with anti-collision capabilities and the enemies in the war zone cannot recognize them. More importantly, this project focuses on increasing communication using LoRa.

Keywords: lora, IP cam, metal detector, laser shoot

Procedia PDF Downloads 77

Authors: Taweechai Nuntawisuttiwong, Natasha Dejdumrong

Abstract:

Geometric modeling plays an important role in the constructions and manufacturing of curve, surface and solid modeling. Their algorithms are critically important not only in the automobile, ship and aircraft manufacturing business, but are also absolutely necessary in a wide variety of modern applications, e.g., robotics, optimization, computer vision, data analytics and visualization. The calculation and display of geometric objects can be accomplished by these six techniques: Polynomial basis, Recursive, Iterative, Coefficient matrix, Polar form approach and Pyramidal algorithms. In this research, the coefficient matrix (simply called monomial form approach) will be used to model polynomial rectangular patches, i.e., Said-Ball, Wang-Ball, DP, Dejdumrong and NB1 surfaces. Some examples of the monomial forms for these surface modeling are illustrated in many aspects, e.g., construction, derivatives, model transformation, degree elevation and degress reduction.

Keywords: monomial forms, rectangular surfaces, CAGD curves, monomial matrix applications

Procedia PDF Downloads 126

Authors: Jędrzej Minda

Abstract:

In aviation, a very narrow spectrum of control inceptors exists, namely centre sticks, side-sticks, pedals, and yokes. However, new types of aircraft are emerging, and with them, a need for new inceptors. A manned multicopter created at AGH University of Science and Technology is an aircraft in which the pilot takes a specific orientation in which classical inceptors may be impractical to use. In this paper, a unique kind of control inceptor is described, which aims to provide a handling quality not unlike standard solutions, and provide a firm grip point for the pilot without the risk of involuntary stick movement. Simulations of the pilot-inceptor model were performed in order to compare the dynamic amplification factors of the design described in this paper with the classical one. A functional prototype is built on which drone pilots carry out a comfort-of-use evaluation. This paper provides a general overview of the project, including a literature review, reasoning behind components selection, and mechanism design finalized by conclusions.

Keywords: mechanisms, mechatronics, embedded control, serious gaming for training rescue missions, rescue robotics

Procedia PDF Downloads 52

Authors: E. O. Fakoya, B. G. Abiona, W. O. Oyediran, A. M. Omoare

Abstract:

This study examined the socio-economic effects of micro-credit on small scale poultry farmers’ livelihood in Ado Odo-Ota Local Government area of Ogun State. Purposive sampling method was used to select eighty (80) small scale poultry farmers that benefited in micro credit. Interview guide was used to obtain information on the respondents’ socio-economic characteristic, sources of micro-credit and the effects of micro-credit on their livelihood. The results revealed that most of the respondents (77.50 %) were males while half (40.00%) of the respondents were between the ages of 31-40 years. A high proportion (72.50%) of the respondents had formal education. The major sources of micro credit to small scale poultry farmers were cooperative society (47.50%) and personal savings (20.00%). The findings also revealed that micro-credit had positive effect on the assets and livelihoods of small scale poultry farmers’ livelihood. Results of t-test analysis showed a significant difference between the effects before and after micro-credit on small-scale poultry farmers’ Livelihood at p < 0.05. The study recommends that formal lending institution should be given necessary support by government to enable poultry farmers have access to credit facilities in the study area.

Keywords: micro-credit, effects, livelihood, poultry farmers, socio-economic, small scale

Procedia PDF Downloads 407

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

Abstract:

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

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

Procedia PDF Downloads 383

Authors: Nihal Murali, Kunal Gupta, Surekha Bhanot

Abstract:

Training of artificial neural networks (ANNs) using reinforcement learning (RL) techniques is being widely discussed in the robot learning literature. The high model complexity of ANNs along with the model-free nature of RL algorithms provides a desirable combination for many robotics applications. There is a huge need for algorithms that generalize using raw sensory inputs, such as vision, without any hand-engineered features or domain heuristics. In this paper, the standard control problem of line following robot was used as a test-bed, and an ANN controller for the robot was trained on images from a live video feed using Q-learning. A virtual agent was first trained in simulation environment and then deployed onto a robot’s hardware. The robot successfully learns to traverse a wide range of curves and displays excellent generalization ability. Qualitative analysis of the evolution of policies, performance and weights of the network provide insights into the nature and convergence of the learning algorithm.

Keywords: artificial neural networks, q-learning, reinforcement learning, robot learning

Procedia PDF Downloads 351

Authors: Abdullah Bajelan, Adel Akbarimajd

Abstract:

Object manipulation techniques in robotics can be categorized in two major groups including manipulation with grasp and manipulation without grasp. The original aim of this paper is to develop an object manipulation method where in addition to being grasp-less, the manipulation task is done in a passive approach. In this method, linear and angular positions of the object are changed and its manipulation path is controlled. The manipulation path is a helix track with constant radius and incline. The method presented in this paper proposes a system which has not the actuator and the active controller. So this system requires a passive mechanical intelligence to convey the object from the status of the source along the specified path to the goal state. This intelligent is created based on utilizing the geometry of the system components. A general set up for the components of the system is considered to satisfy the required conditions. Then after kinematical analysis, detailed dimensions and geometry of the mechanism is obtained. The kinematical results are verified by simulation in ADAMS.

Keywords: mechanical intelligence, object manipulation, passive mechanism, passive non-prehensile manipulation

Procedia PDF Downloads 462

Authors: Ali Afaghi, Sehraneh Ghaemi

Abstract:

The coordination of the multi-agent systems has been one of the interesting topic in recent years, because of its potential applications in many branches of science and engineering such as sensor networks, flocking, underwater vehicles and etc. In the most of the related studies, it is assumed that the dynamics of the multi-agent systems are integer-order and linear and the multi-agent systems with the fractional-order nonlinear dynamics are rarely considered. However many phenomena in nature cannot be described within integer-order and linear characteristics. This paper investigates the leader-following consensus problem for a class of nonlinear fractional-order multi-agent systems based on observer-based cooperative control. In the system, the dynamics of each follower and leader are nonlinear. For a multi-agent system with fixed directed topology firstly, an observer-based consensus protocol is proposed based on the relative observer states of neighboring agents. Secondly, based on the property of the stability theory of fractional-order system, some sufficient conditions are presented for the asymptotical stability of the observer-based fractional-order control systems. The proposed method is applied on a five-agent system with the fractional-order nonlinear dynamics and unavailable states. The simulation example shows that the proposed scenario results in the good performance and can be used in many practical applications.

Keywords: fractional-order multi-agent systems, leader-following consensus, nonlinear dynamics, directed graphs

Procedia PDF Downloads 370

Authors: Eurico Lima Basto, Ofélia Pinto, Anabela Silva, Amélia Ferreira-Da-Silva

Abstract:

The purpose if this study is two-fold: on the one hand, to identify the accounting information systems implemented in third sector organizations, as well as its components, its tools and the decisions and control purposes they serve; on the other hand, and by confronting these two theories - institutional theory versus rational choice – we intent to go further by understanding the reasons behind the adoption of the aforementioned tools. Data has been collected from third sector organizations operating in Portugal. Our sample includes all juridical types of organizations such as foundations, cooperative, associations or private institutions of social solidarity. The questionnaire contained sixteen close-ended questions and four open-questions. Results confirm the theoretical perspective of institutionalism. Most third sector organizations operating in Portugal implemented only traditional accounting tools like standard accounting statements, cost accounting, budgeting. Moreover, there is clear evidence that the decisions about the implementation of these tools were coercive oriented. With this study it is intended to contribute to a better understanding of the context of third sector organizations in Portugal, in particular the role that accounting plays in this sector, with a special focus on management accounting tools, and the factors that influence their use and the degree of their usefulness in the process of decision making.

Keywords: third sector, accounting tools, institutional theory, Portugal, descriptive research

Procedia PDF Downloads 287

Authors: Catherine McWhorter

Abstract:

Robotics is a fast-evolving field lacking comprehensive and harm-mitigating regulation; it also lacks critical data on how human-robot interaction (HRI) may affect human psychology. As most anthropomorphic robots are intended as substitutes for humans, this paper asserts that the commercial robotics industry should be preemptively regulated at the federal level such that robots capable of embodying a victim role in criminal scenarios (“vicbots”) are prohibited until clinical studies determine their effects on the user and society. The results of these studies should then inform more permanent legislation that strives to mitigate risks of harm without infringing upon fundamental rights or stifling innovation. This paper explores these concepts through the lens of the sex robot industry. The sexbot industry offers some of the most realistic, interactive, and customizable robots for sale today. From approximately 2010 until 2017, some sex robot producers, such as True Companion, actively promoted ‘vicbot’ culture with personalities like “Frigid Farrah” and “Young Yoko” but received significant public backlash for fetishizing rape and pedophilia. Today, “Frigid Farrah” and “Young Yoko” appear to have vanished. Sexbot producers have replaced preprogrammed vicbot personalities in favor of one generic, customizable personality. According to the manufacturer ainidoll.com, when asked, there is only one thing the user won’t be able to program the sexbot to do – “…give you drama”. The ability to customize vicbot personas is possible with today’s generic personality sexbots and may undermine the intent of some current legislative efforts. Current debate on the effects of vicbots indicates a lack of consensus. Some scholars suggest vicbots may reduce the rate of actual sex crimes, and some suggest that vicbots will, in fact, create sex criminals, while others cite their potential for rehabilitation. Vicbots may have value in some instances when prescribed by medical professionals, but the overall uncertainty and lack of data further underscore the need for preemptive regulation and clinical research. Existing literature on exposure to media violence and its effects on prosocial behavior, human aggression, and addiction may serve as launch points for specific studies into the hyperrealism of vicbots. Of course, the customization, anthropomorphism and artificial intelligence of sexbots, and therefore more mainstream robots, will continue to evolve. The existing sexbot industry offers an opportunity to preemptively regulate and to research answers to these and many more questions before this type of technology becomes even more advanced and mainstream. Robots pose complicated moral, ethical, and legal challenges, most of which are beyond the scope of this paper. By examining the possibility for custom vicbots via the sexbots industry, reviewing existing literature on regulation, media violence, and vicbot user effects, this paper strives to underscore the need for preemptive federal regulation prohibiting vicbot capabilities in robots while advocating for further research into the potential for the user and societal harm by the same.

Keywords: human-robot interaction effects, regulation, research, robots

Procedia PDF Downloads 167

Authors: Chigozirim Onwusiribe, Jude Mbanasor

Abstract:

Egusi Melon (Citrullus Lanatus Thunb. Mansf ) is a very important oil seed that serves a major ingredient in the diet of most of the households in Nigeria. Egusi Melon is very nutritious and very important in meeting the food security needs of Nigerians. Egusi Melon is cultivated in most farm enterprise in South East Nigeria but the profitability of its value chain needs to be investigated. This study analyzed the profitability of the Egusi Melon value chain. Specifically this study developed a value chain map for Egusi Melon, analysed the profitability of each stage of the Egusi Melon Value chain and analysed the determinants of the profitability of the Egusi Melon at each stage of the value chain. Multi stage sampling technique was used to select 125 farm enterprises with similar capacity and characteristics. Questionnaire and interview were used to elicit the required data while descriptive statistics, Food and Agriculture Organization Value Chain Analysis Tool, profitability ratios and multiple regression analysis were used for the data analysis. One of the findings showed that the stages of the Egusi Melon value chain are very profitable. Based on the findings, we recommend the provision of grants by government and donor agencies to the farm enterprises through their cooperative societies, this will provide the necessary funds for the local fabrication of value addition and processing equipment to suit their unique value addition needs not met by the imported equipment.

Keywords: value, chain, melon, farm, enterprises

Procedia PDF Downloads 100

Authors: Shanshan Guo, Xiaoying Zhu, Dominik Jańczewski, Koon Gee Neoh

Abstract:

Surface charge and wettability are two prominent physical factors governing cell adhesion and have been extensively studied in the literature. However, a comparison between the two driving forces in terms of their independent and cooperative effects in affecting cell adhesion is rarely explored on a systematic and quantitative level. Herein, we formulate a protocol which allows two-dimensional and independent control over both surface charge and wettability. This protocol enables the unambiguous comparison of the effects of these two properties on cell adhesion. This strategy is implemented by controlling both the relative thickness of polyion layers in the layer-by-layer assembly and the polyion side chain chemical structures. The 2D property matrix spans surface isoelectric point ranging from 5 to 9 and water contact angle from 35º to 70º, with other interferential factors (e.g. roughness) eliminated. The interplay between these two surface variables influences 3T3 fibroblast cell adhesion. The results show that both surface charge and wettability have an effect on its adhesion. The combined effects of positive charge and hydrophilicity led to the highest cell adhesion whereas negative charge and hydrophobicity led to the lowest cell adhesion. Our design strategy can potentially form the basis for studying the distinct behaviors of electrostatic force or wettability driven interfacial phenomena and serving as a reference in future studies assessing cell adhesion to surfaces with known charge and wettability within the property range studied here.

Keywords: cell adhesion, layer-by-layer, surface charge, surface wettability

Procedia PDF Downloads 240

Authors: Behnaz Sohani, Ifeoluwa Joshua Adigun, Amir Rahmani, Khaled Goher

Abstract:

This paper provides initial results on the efficacy of the designed ergonomic-oriented neck support to mitigate and alleviate tension neck syndrome musculoskeletal disorder. This is done using both simulations and measurements. Tension Neck Syndrome Musculoskeletal Disorder (TNS MSD) causes discomfort in the muscles around the neck and shoulder. TNS MSD is one of the leading causes of early retirement. This research focuses on the design of an adaptive neck supporter by integrating a soft actuator massager to help deliver a soothing massage. The massager and adaptive neck supporter prototype were validated by finite element analysis prior to fabrication to envisage the feasibility of the design concept. Then a prototype for the massager was fabricated and tested for concept validation. Future work will be focused on fabricating the full-scale prototype and upgrading and optimizing the design concept for the adaptive neck supporter.

Keywords: adaptive neck supporter, tension neck syndrome, musculoskeletal disorder, soft actuator massager, soft robotics

Procedia PDF Downloads 78

Authors: F. Hamidi, N. Amiri, H. Mishmast Nehi

Abstract:

The Bilevel Programming (BP) model has been presented for a decision making process that consists of two decision makers in a hierarchical structure. In fact, BP is a model for a static two person game (the leader player in the upper level and the follower player in the lower level) wherein each player tries to optimize his/her personal objective function under dependent constraints; this game is sequential and non-cooperative. The decision making variables are divided between the two players and one’s choice affects the other’s benefit and choices. In other words, BP consists of two nested optimization problems with two objective functions (upper and lower) where the constraint region of the upper level problem is implicitly determined by the lower level problem. In real cases, the coefficients of an optimization problem may not be precise, i.e. they may be interval. In this paper we develop an algorithm for solving interval bilevel linear fractional programming problems. That is to say, bilevel problems in which both objective functions are linear fractional, the coefficients are interval and the common constraint region is a polyhedron. From the original problem, the best and the worst bilevel linear fractional problems have been derived and then, using the extended Charnes and Cooper transformation, each fractional problem can be reduced to a linear problem. Then we can find the best and the worst optimal values of the leader objective function by two algorithms.

Keywords: best and worst optimal solutions, bilevel programming, fractional, interval coefficients

Procedia PDF Downloads 420

Authors: Mostafa Mjahed

Abstract:

Tilt Rotor UAVs (Unmanned Aerial Vehicles) are naturally unstable and difficult to maneuver. The purpose of this paper is to design controllers for the stabilization and trajectory tracking of this type of UAV. To this end, artificial intelligence methods have been exploited. First, the dynamics of this UAV was modeled using the Lagrange-Euler method. The conventional method based on Proportional, Integral and Derivative (PID) control was applied by decoupling the different flight modes. To improve stability and trajectory tracking of the Tilt Rotor, the fuzzy approach and the technique of multilayer neural networks (NN) has been used. Thus, Fuzzy Proportional Integral and Derivative (FPID) and Neural Network-based Proportional Integral and Derivative controllers (NNPID) have been developed. The meta-heuristic approach based on Particle Swarm Optimization (PSO) method allowed adjusting the setting parameters of NNPID controller, giving us an improved NNPID-PSO controller. Simulation results under the Matlab environment show the efficiency of the approaches adopted. Besides, the Tilt Rotor UAV has become stable and follows different types of trajectories with acceptable precision. The Fuzzy, NN and NN-PSO-based approaches demonstrated their robustness because the presence of the disturbances did not alter the stability or the trajectory tracking of the Tilt Rotor UAV.

Keywords: neural network, fuzzy logic, PSO, PID, trajectory tracking, tilt-rotor UAV

Procedia PDF Downloads 93

Authors: Le Fu, Rui Wu, Gang Feng Liu, Jie Zhao

Abstract:

Normally, impedance control methods are based on a model that connects a spring and damper in parallel. The series connection, namely the Maxwell model, has emerged as a counterpart and draw the attention of robotics researchers. In the theoretical analysis, it turns out that the two pattern are both equivalents to some extent, but notable differences of response characteristics exist, especially in the effect of damping viscosity. However, this novel impedance control design is lack of validation on realistic robot platforms. In this study, stability analysis and experimental evaluation are achieved using a 3-fingered Barrett® robotic hand BH8-282 endowed with tactile sensing, mounted on a torque-controlled lightweight and collaborative robot KUKA® LBR iiwa 14 R820. Object handover and incoming objects catching tasks are executed for validation and analysis. Experimental results show that the series connection pattern has much better performance in natural impact or shock absorption, which indicate promising applications in robots’ safe and physical interaction with humans and objects in various environments.

Keywords: impedance control, Maxwell model, force control, dexterous manipulation

Procedia PDF Downloads 481

Authors: Wen Li, Zhengyu Bai, Qi Zhang

Abstract:

The demand for smart scheduling platform in agriculture, particularly in the scheduling process of machinery equipment, is high. With the continuous development of agricultural machinery equipment technology, a large number of agricultural machinery equipment and agricultural machinery cooperative service organizations continue to appear in China. The large area of cultivated land and a large number of agricultural activities in the central and western regions of China have made the demand for smart and efficient agricultural machinery equipment scheduling platforms more intense. In this study, we design and implement a platform for agricultural machinery equipment scheduling to allocate agricultural machinery equipment resources reasonably. With agricultural machinery equipment scheduling platform taken as the research object, we discuss its research significance and value, use the service blueprint technology to analyze and characterize the agricultural machinery equipment schedule workflow, the network analytic method to obtain the demand platform function requirements, and divide the platform functions through the platform function division diagram. Simultaneously, based on the case-based reasoning (CBR) algorithm, the equipment scheduling module of the agricultural machinery equipment scheduling platform is realized; finally, a design scheme of the agricultural machinery equipment scheduling platform architecture is provided, and the visualization interface of the platform is established via VB programming language. It provides design ideas and theoretical support for the construction of a modern agricultural equipment information scheduling platform.

Keywords: case-based reasoning, service blueprint, system design, ANP, VB programming language

Procedia PDF Downloads 143

Authors: Lemoussi Somia, Ouali Mohammed, Zemirline Adel

Abstract:

In precision engineering, including precision positioning, micro-manipulation, robotic systems... a majority of these applications actuated by piezo stack used the compliant amplifier mechanism to amplifying motion and guiding it as needed utilize the flexibility of their components, in this paper, we present a novel approach introducing a symmetric structure comprising three stages, featuring rectangular flexure hinges with a compact size of 77mm×42mm×10mm. This design provides the capability for rotation, translation or a combination of both movements in both directions. The system allows for a displacement of 2107.5 μm when the input displacement of PZT is 50 μm while considering the material constraints of the aluminum alloy (7075 T6) which has a maximum admissible stress of 500 MPa However, our proposed design imposes additional constraints to ensure the stress remains below 361 MPa for optimal performance. These findings were obtained through finite element simulations conducted using ANSYS Workbench. Furthermore, our module facilitates precise control of various components within robotic systems, allowing for adjustable speeds based on specific requirements or desired outcomes.

Keywords: robotic, piezoelectric, compliant mechanism, flexure hinge

Procedia PDF Downloads 54

Authors: Kalat P. Duniya

Abstract:

A number of technologies expected to increase maize productivity have been introduced by several research programs at national and international level. To this end, the study sought to identify the factors influencing adoption intensity of certified maize varieties. The data used were obtained from a sample household survey of 406 maize farmers, conducted in the northern guinea savannah of Nigeria through multistage stratified sampling, structured questionnaire. A triple hurdle model was adopted to estimate the determinants of adoption intensity; considering awareness, adoption, and intensity as three separate stages. The result showed that the drivers of farmers’ awareness, adoption, and intensity of usage may not necessarily be the same, and where they are, not of the same magnitude and direction. However, factors which were found to be statistically significant were age, education, membership of association and frequency of extension advice. In addition, awareness and adoption of the technologies were likely to be increased with male respondents. Farmers that were members of either community organizations or cooperative organizations had a higher tendency of being aware and adopting certified maize seed varieties. It was also discovered that though some of the farmers were fully aware of the existence of some certified maize varieties, majority lacked detailed knowledge and technical know-how. There is a need for creation of awareness through an excellent trained extension and restructuring of the educational sector to improve on the adoption process as well as improve maize productivity in the country.

Keywords: adoption, awareness, maize farmers, Nigeria, regression

Procedia PDF Downloads 142

Authors: Aliasghar Arab

Abstract:

Autonomous robots interacting with humans, as safety-critical nonlinear control systems, are complex closed-loop cyber-physical dynamical machines. Keeping these intelligent yet complicated systems safe and smooth during their operations is challenging. The aim of the safe predictive output feedback linearization control synthesis is to design a novel controller for smooth trajectory following while unsafe situations must be avoided. The controller design should obtain a linearized output for smoothness and invariance to a safety subset. Inspired by finite-horizon nonlinear model predictive control, the problem is formulated as constrained nonlinear dynamic programming. The safety constraints can be defined as control barrier functions. Avoiding unsafe maneuvers and performing smooth motions increases the predictability of the robot’s movement for humans when robots and people are working together. Our results demonstrate the proposed output linearization method obeys the safety constraints and, compared to existing safety-guaranteed methods, is smoother and performs better.

Keywords: robotics, collaborative robots, safety, autonomous robots

Procedia PDF Downloads 76

Authors: Ambuj Kumar Gautam, V. Vasu

Abstract:

This paper introduces a head movement based Human Machine Interface (HMI) that uses the right and left movements of head to control a robot motion. Here we present an approach for making an effective technique for real-time face orientation information system, to control a robot which can be efficiently used for Electrical Powered Wheelchair (EPW). Basically this project aims at application related to HMI. The system (machine) identifies the orientation of the face movement with respect to the pixel values of image in a certain areas. Initially we take an image and divide that whole image into three parts on the basis of its number of columns. On the basis of orientation of face, maximum pixel value of approximate same range of (R, G, and B value of a pixel) lie in one of divided parts of image. This information we transfer to the microcontroller through serial communication port and control the motion of robot like forward motion, left and right turn and stop in real time by using head movements.

Keywords: electrical powered wheelchair (EPW), human machine interface (HMI), robotics, microcontroller

Procedia PDF Downloads 263

Authors: K. K. Lee, H. W. Han, H. L. Kang, T. A. Kim, S. H. Han

Abstract:

For the robust optimization of the manufacturing product design, there are design objectives that must be achieved, such as a minimization of the mean and standard deviation in objective functions within the required sensitivity constraints. The authors utilized the sensitivity of objective functions and constraints with respect to the effective design variables to reduce the computational burden associated with the evaluation of the probabilities. The individual mean and sensitivity values could be estimated easily by using the 9 level orthogonal array based response surface models optimized by the stepwise regression. The present study evaluates a proposed procedure from the robust optimization of rubber domes that are commonly used for keyboard switching, by using the 9 level orthogonal array and stepwise regression along with a desirability function. In addition, a new robust optimization process, i.e., the I2GEO (Identify, Integrate, Generate, Explore and Optimize), was proposed on the basis of the robust optimization in rubber domes. The optimized results from the response surface models and the estimated results by using the finite element analysis were consistent within a small margin of error. The standard deviation of objective function is decreasing 54.17% with suggested sensitivity based robust optimization. (Business for Cooperative R&D between Industry, Academy, and Research Institute funded Korea Small and Medium Business Administration in 2017, S2455569)

Keywords: objective function, orthogonal array, response surface model, robust optimization, stepwise regression

Procedia PDF Downloads 262

Authors: Kazuko Sakamoto

Abstract:

Anthropomorphic agents have been successful in areas where there are many human interactions, such as education and medical care. The persuasive effect is also expected in e-shopping sites on the web. This indicates that customer service is not necessarily human but can play that role. However, the 'humanity' in anthropomorphism sometimes has a risk of working negatively. In general, as the appearance of anthropomorphic agents approaches humans, it is thought that their affinity with humans increases. However, when the degree of similarity reaches a certain level, it gives the user a weird feeling. This is the 'eerie valley' phenomenon. This is a concept used in the world of robotics, but it seems to be applicable to anthropomorphic agents such as characters. Then what kind of design can you accept as an anthropomorphic agent that gives you a feeling of friendliness or good feeling without causing discomfort or fear to people? This study focused on this point and examined what design and characteristics would be effective for marketing communication. As a result of the investigation, it was found that there is no need for gaze and blinking, the size of the eyes is normal or large, and the impression evaluation is higher when the structure is as simple as possible. Conversely, agents with high eye-gaze and white-eye ratios had low evaluations, and the negative impact on eye-gaze was particularly large.

Keywords: anthropomorphicgents, design evaluation, marketing communication, customer service

Procedia PDF Downloads 88

Authors: Iwuchukwu J. C., Mbah C.

Abstract:

There seems to be dearth on information on how oil bean is being exploited, processed and conserved locally. This gap stifles initiatives on the evaluation of the suitability of the methods used and the invention of new and better methods. The study; therefore, assesses activities of processors in domestication/conservation and processing of oil bean (Pentaclethra macrophylla) Enugu State, South East Nigeria. Three agricultural zones, three blocks, nine circles and seventy-two respondents that were purposively selected made up the sample for the study. Data were presented in percentage, chart and mean score. The result shows that processors of oil bean in the area were middle-aged, married with relatively large household size and long years of experience in processing. They sourced oil bean they processed from people’s farmland and sourced information on processing of oil bean from friends and relatives. Activities involved in processing of oil bean were boiling, dehulling, washing, sieving, slicing, wrapping. However, the sequence of these activities varies among these processors. Little or nothing was done by the processors towards the conservation of the crop while poor storage and processing facilities and lack of knowledge on modern preservation technique were major constraints to processing of oil bean in the area. The study concluded that efforts should be made by governments and processors through cooperative group in provision of processing and storage facility for oil bean while research institute should conserve and generate improved specie of the crop to arouse interest of the farmers and processors on the crop which will invariably increase productivity.

Keywords: conservation, domestication, oil bean, processing

Procedia PDF Downloads 281