Search results for: ground robot

Authors: Andrew R. Willis, Kevin Brink, Kathleen Dipple

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This article describes a software package called ROS-georegistration intended for use with the robot operating system (ROS) and the Gazebo 3D simulation environment. ROSgeoregistration provides tools for the simulation, test, and deployment of aerial georegistration algorithms and is available at github.com/uncc-visionlab/rosgeoregistration. A model creation package is provided which downloads multi-spectral images from the Google Earth Engine database and, if necessary, incorporates these images into a single, possibly very large, reference image. Additionally a Gazebo plugin which uses the real-time sensor pose and image formation model to generate simulated imagery using the specified reference image is provided along with related plugins for UAV relevant data. The novelty of this work is threefold: (1) this is the first system to link the massive multi-spectral imaging database of Google’s Earth Engine to the Gazebo simulator, (2) this is the first example of a system that can simulate geospatially and radiometrically accurate imagery from multiple sensor views of the same terrain region, and (3) integration with other UAS tools creates a new holistic UAS simulation environment to support UAS system and subsystem development where real-world testing would generally be prohibitive. Sensed imagery and ground truth registration information is published to client applications which can receive imagery synchronously with telemetry from other payload sensors, e.g., IMU, GPS/GNSS, barometer, and windspeed sensor data. To highlight functionality, we demonstrate ROSgeoregistration for simulating Electro-Optical (EO) and Synthetic Aperture Radar (SAR) image sensors and an example use case for developing and evaluating image-based UAS position feedback, i.e., pose for image-based Guidance Navigation and Control (GNC) applications.

Keywords: EO-to-EO, EO-to-SAR, flight simulation, georegistration, image generation, robot operating system, vision-based navigation

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Authors: Ricardo A. Martins, Matheus S. da Silva, Gabriel H. F. Iarossi, Helen C. M. Senefonte, Cinthyan R. S. C. de Barbosa

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This paper is the development of a concept of the man/robot interaction. More accurately in developing of an autistic child that have more troubles with interaction, here offers an efficient solution, even though simple; however, less studied for this public. This concept is based on code applied thought out the Lego NXT kit, built for the interpretation of the robot, thereby can create this interaction in a constructive way for children suffering with Autism.

Keywords: lego NXT, interaction, BricX, autismo, ANN (Artificial Neural Network), MLP back propagation, hidden layers

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Authors: Altab Hossain, Shakerul Islam, Golamur R. Khan, Abu Zafar M. Salahuddin

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An effective identification of breakdowns is of premier importance for the safe and reliable operation of Nuclear Power Plants (NPP) and its associated facilities. A great number of monitoring and diagnosis methodologies are applied and used worldwide in areas such as industry, automobiles, hospitals, and power plant to detect and reduce human disasters. The potential consequences of several hazardous activities may harm the society using nuclear and its associated facilities. Hence, one of the most popular and effective methods to ensure safety and monitor the entire nuclear facility and imply risk-free operation without human interference during the hazardous situation is using a robot. Therefore, in this study, an advanced autonomous robot has been designed and developed that can monitor several parameters in the NPP to ensure the safety and do some risky job in case of nuclear disaster. The robot consisted of autonomous track following unit, data processing and transmitting unit can follow a straight line and take turn as the bank greater than 90 degrees. The developed robot can analyze various parameters such as temperature, altitude, radiation, obstacle, humidity, detecting fire, measuring distance, ultrasonic scan and taking the heat of any particular object. It has an ability to broadcast live stream and can record the document to its own server memory. There is a separate control unit constructed with a baseboard which processes the recorded data and a transmitter which transmits the processed data. To make the robot user-friendly, the code is developed such a way that a user can control any of robotic arm as per types of work. To control at any place and without the track, there is an advanced code has been developed to take manual overwrite. Through this process, administrator who has logged in permission to Dynamic Host Client Protocol (DHCP) can make the handover of the control of the robot. In this process, this robot is provided maximum nuclear security from being hacked. Not only NPP, this robot can be used to maximize the real-time monitoring system of any nuclear facility as well as nuclear material transportation and decomposition system.

Keywords: nuclear power plant, radiation, dynamic host client protocol, nuclear security

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Authors: Xia Chen, Hua-Quan Yang, Shi-Hua Zhou

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Alkali-active sandstone aggregate was ground by vertical and ball mill into particles with residue over 45 μm less than 12%, and investigations have been launched on particles distribution and characterization of ground sandstone powder, fluidity, heat of hydration, strength as well as hydration products morphology of pastes with incorporation of ground sandstone powder. Results indicated that ground alkali-active sandstone powder with residue over 45 μm less than 8% was easily obtainable, and specific surface area was more sensitive to characterize its fineness with extension of grinding length. Incorporation of sandstone powder resulted in higher water demand and lower strength, advanced hydration of C₃A and C₂S within 3days and refined pore structure. Based on its manufacturing, characteristics and influence on properties of pastes, it was concluded that sandstone powder was a good selection for use in concrete as mineral admixture.

Keywords: concrete, mineral admixture, hydration, structure

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Authors: P. S. Thein, S. Pramumijoyo, K. S. Brotopuspito, J. Kiyono, W. Wilopo, A. Furukawa, A. Setianto

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In this study, we estimated the seismic ground motion parameters based on microtremor measurements at Palu City. Several earthquakes have struck along the Palu-Koro Fault during recent years. The USGS epicenter, magnitude Mw 6.3 event that occurred on January 23, 2005 caused several casualties. We conducted a microtremor survey to estimate the strong ground motion distribution during the earthquake. From this survey we produced a map of the peak ground acceleration, velocity, seismic vulnerability index and ground shear strain maps in Palu City. We performed single observations of microtremor at 151 sites in Palu City. We also conducted 8-site microtremors array investigation to gain a representative determination of the soil condition of subsurface structures in Palu City. From the array observations, Palu City corresponds to relatively soil condition with Vs ≤ 300 m/s, the predominant periods due to horizontal vertical ratios (HVSRs) are in the range of 0.4 to 1.8 s and the frequency are in the range of 0.7 to 3.3 Hz. Strong ground motions of the Palu area were predicted based on the empirical stochastic green’s function method. Peak ground acceleration and velocity becomes more than 400 gal and 30 kine in some areas, which causes severe damage for buildings in high probability. Microtremor survey results showed that in hilly areas had low seismic vulnerability index and ground shear strain, whereas in coastal alluvium was composed of material having a high seismic vulnerability and ground shear strain indication.

Keywords: Palu-Koro fault, microtremor, peak ground acceleration, peak ground velocity, seismic vulnerability index

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Authors: Mohamed Elassaly

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The damage status of RC buildings is greatly influenced by the characteristics of the imposed ground motion. Peak Ground Acceleration and frequency contents are considered the main two factors that affect ground motion characteristics; hence, affecting the seismic response of RC structures and consequently their damage state. A detailed investigation on the combined effects of these two factors on damage assessment of RC buildings, is carried out. Twenty one earthquake records are analyzed and arranged into three groups, according to their frequency contents. These records are used in an investigation to define the expected damage state that would be attained by RC buildings, if subjected to varying ground motion characteristics. The damage assessment is conducted through examining drift ratios and damage indices of the overall structure and the significant structural components of RC building. Base and story shear of RC building model, are also investigated, for cases when the model is subjected to the chosen twenty one earthquake records. Nonlinear dynamic analyses are performed on a 2-dimensional model of a 12-story R.C. building.

Keywords: damage, frequency content, ground motion, PGA, RC building, seismic

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Authors: Farhad Sedaghati, Shahram Pezeshk

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Regional variations in strong ground motions for the Iranian Plateau have been investigated by using a simple statistical method called Analysis of Variance (ANOVA). In this respect, a large database consisting of 1157 records occurring within the Iranian Plateau with moment magnitudes of greater than or equal to 5 and Joyner-Boore distances up to 200 km has been considered. Geometric averages of horizontal peak ground accelerations (PGA) as well as 5% damped linear elastic response spectral accelerations (SA) at periods of 0.2, 0.5, 1.0, and 2.0 sec are used as strong motion parameters. The initial database is divided into two different datasets, for Northern Iran (NI) and Central and Southern Iran (CSI). The comparison between strong ground motions of these two regions reveals that there is no evidence for significant differences; therefore, data from these two regions may be combined to estimate the unknown coefficients of attenuation relationships.

Keywords: ANOVA, attenuation relationships, Iranian Plateau, PGA, regional variation, SA, strong ground motion

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Authors: Robson C. Santos, Julio C. P. Ribeiro, Iorran M. de Castro, Luan C. F. Rodrigues, Sandro R. L. Silva, Diego M. Quesada

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The work aims to develop a robot in the form of autonomous vehicle to detect, inspection and mapping of underground pipelines through the ATmega328 Arduino platform. Hardware prototyping very similar to C / C ++ language that facilitates its use in robotics open source, resembles PLC used in large industrial processes. The robot will traverse the surface independently of direct human action, in order to automate the process of detecting buried pipes, guided by electromagnetic induction. The induction comes from coils that sends the signal to the Arduino microcontroller contained in that will make the difference in intensity and the treatment of the information, then this determines actions to electrical components such as relays and motors, allowing the prototype to move on the surface and getting the necessary information. The robot was developed by electrical and electronic assemblies that allowed test your application. The assembly is made up of metal detector coils, circuit boards and microprocessor, which interconnected circuits previously developed can determine, process control and mechanical actions for a robot (autonomous car) that will make the detection and mapping of buried pipelines plates.

Keywords: robotic, metal detector, embedded system, pipeline inspection

Procedia PDF Downloads 589

Authors: Uriel Martinez-Hernandez, Luke W. Boorman, Hamideh Kerdegari, Tony J. Prescott

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In this paper, we present architecture for the study of telepresence, immersion and human-robot interaction. The architecture is built around a wearable interface, developed here, that provides the human with visual, audio and tactile feedback from a remote location. We have chosen to interface the system with the iCub humanoid robot, as it mimics many human sensory modalities, such as vision, with gaze control and tactile feedback. This allows for a straightforward integration of multiple sensory modalities, but also offers a more complete immersion experience for the human. These systems are integrated, controlled and synchronised by an architecture developed for telepresence and human-robot interaction. Our wearable interface allows human participants to observe and explore a remote location, while also being able to communicate verbally with humans located in the remote environment. Our approach has been tested from local, domestic and business venues, using wired, wireless and Internet based connections. This has involved the implementation of data compression to maintain data quality to improve the immersion experience. Initial testing has shown the wearable interface to be robust. The system will endow humans with the ability to explore and interact with other humans at remote locations using multiple sensing modalities.

Keywords: telepresence, telerobotics, human-robot interaction, virtual reality

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Authors: Masoud Mahdavi

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The use of sloping lands is increasing due to the reduction of suitable lands for the construction of buildings. In the design and construction of buildings on sloping lands, the foundation has special loading conditions that require the designer and executor to use the slopped foundation. The creation of underground cavities, including urban and subway tunnels, sewers, urban facilities, etc., inside the ground, causes the behavior of the foundation to be unknown. In the present study, using Abacus software, a 45-degree stepped foundation on the ground is designed. The foundations are placed on the ground in a cohesive (no-hole) manner with circular cavities that show the effect of increasing the cross-sectional area of ​​the underground cavities on the foundation's performance. The Kobe earthquake struck the foundation and ground for two seconds. The underground cavities have a circular cross-sectional area with a radius of 5 m, which is located at a depth of 22.54 m above the ground. The results showed that as the number of underground cavities increased, von Mises stress (in the vertical direction) increased. With the increase in the number of underground cavities, the plastic strain on the ground has increased. Also, with the increase in the number of underground cavities, the change in location and speed in the foundation has increased.

Keywords: stepped foundation, sloping ground, Kobe earthquake, Abaqus software, underground excavations

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Authors: A. S. Gorobtsov, A. S. Polyanina, A. E. Andreev

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The movement of points feet of the anthropomorphous robot in space occurs along some stable trajectory of a known form. A large number of modifications to the methods of control of biped robots indicate the fundamental complexity of the problem of stability of the program trajectory and, consequently, the stability of the control for the deviation for this trajectory. Existing gait generators use piecewise interpolation of program trajectories. This leads to jumps in the acceleration at the boundaries of sites. Another interpolation can be realized using differential equations with fractional derivatives. In work, the approach to synthesis of generators of program trajectories is considered. The resulting system of nonlinear differential equations describes a smooth trajectory of movement having rectilinear sites. The method is based on the theory of an asymptotic stability of invariant sets. The stability of such systems in the area of localization of oscillatory processes is investigated. The boundary of the area is a bounded closed surface. In the corresponding subspaces of the oscillatory circuits, the resulting stable limit cycles are curves having rectilinear sites. The solution of the problem is carried out by means of synthesis of a set of the continuous smooth controls with feedback. The necessary geometry of closed trajectories of movement is obtained due to the introduction of high-order nonlinearities in the control of stabilization systems. The offered method was used for the generation of trajectories of movement of point’s feet of the anthropomorphous robot. The synthesis of the robot's program movement was carried out by means of the inverse method.

Keywords: control, limits cycle, robot, stability

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Authors: Entfellner Manuel, Wannenmacher Helmut, Reisenbauer Josef, Schubert Wulf

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When tunnelling in overstressed weak rocks ("squeezing ground"), two basic design approaches are available: the resistance principle, and the yielding principle. The resistance principle relies on rigid support systems to withstand the ground pressure. Alternatively, the yielding principle prioritizes controlled deformation, allowing the ground to deform without compromising tunnel integrity. This paper highlights the beneficial factors of the yielding principle for conventionally excavated tunnels in overstressed weak rocks. Especially the application of a ductile shotcrete lining with yielding elements is analysed in detail. Construction costs, safety, short- and long-term stabilities are discussed.

Keywords: squeezing ground, yielding principle, yielding element, conventional tunneling

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Authors: M. H. Korayem, Sh. Ameri, N. Yousefi Lademakhi

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To ensure the stability of closed-loop nonlinear model predictive control (NMPC) within a finite horizon, there is a need for appropriate design terminal ingredients, which can be a time-consuming and challenging effort. Otherwise, in order to ensure the stability of the control system, it is necessary to consider an infinite predictive horizon. Increasing the prediction horizon increases computational demand and slows down the implementation of the method. In this study, a new technique has been proposed to ensure system stability without terminal ingredients. This technique has been employed in the design of the NMPC algorithm, leading to a reduction in the computational complexity of designing terminal ingredients and computational burden. The studied system is a wheeled mobile robot (WMR) subjected to non-holonomic constraints. Simulation has been investigated for two problems: trajectory tracking and adjustment mode.

Keywords: wheeled mobile robot, nonlinear model predictive control, stability, without terminal ingredients

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Authors: Amirreza Kosari, Hossein Maghsoudi, Malahat Givar

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In this study, the three-dimensional optimal path planning of a flying robot for Terrain Following / Terrain Avoidance (TF/TA) purposes using Direct Collocation has been investigated. To this purpose, firstly, the appropriate equations of motion representing the flying robot translational movement have been described. The three-dimensional optimal path planning of the flying vehicle in terrain following/terrain avoidance maneuver is formulated as an optimal control problem. The terrain profile, as the main allowable height constraint has been modeled using Fractal Generation Method. The resulting optimal control problem is discretized by applying Direct Collocation numerical technique, and then transformed into a Nonlinear Programming Problem (NLP). The efficacy of the proposed method is demonstrated by extensive simulations, and in particular, it is verified that this approach could produce a solution satisfying almost all performance and environmental constraints encountering a low-level flying maneuver

Keywords: path planning, terrain following, optimal control, nonlinear programming

Procedia PDF Downloads 162

Authors: Mehrnoosh Abouzari, Shahrokh Sahraei

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Arrival of artificial intelligence or smart robots in the modern world put them in charge on pericise and at risk. So acting human activities with robots makes criminal or civil responsibilities for their acts or behavior. The practical usage of smart robots has entered them in to a unique situation when naturalization happens and smart robots are identifies as members of society. There would be some legal situation by adopting these new smart citizens. The first situation is about legal responsibility of robots. Recognizing the naturalization of robot involves some basic right , so humans have the rights of employment, property, housing, using energy and other human rights may be employed for robots. So how would be the practice of these rights in the society and if some problems happens with these rights, how would the civil responsibility and punishment? May we consider them as population and count on the social programs? The second episode is about the criminal responsibility of robots in important activity instead of human that is the aim of inventing robots with handling works in AI technology , but the problem arises when some accidents are happened by robots who are in charge of important activities like army, surgery, transporting, judgement and so on. Moreover, recognizing independent identification for robots in the legal world by register ID cards, naturalization and civilian rights makes and prepare the same rights and obligations of human. So, the civil responsibility is not avoidable and if the robot commit a crime it would have criminal responsibility and have to be punished. The basic component of criminal responsibility may changes in so situation. For example, if designation for criminal responsibility bounds to human by sane, maturity, voluntariness, it would be for robots by being intelligent, good programming, not being hacked and so on. So it is irrational to punish robots by prisoning , execution and other human punishments for body. We may determine to make digital punishments like changing or repairing programs, exchanging some parts of its body or wreck it down completely. Finally the responsibility of the smart robot creators, programmers, the boss in chief, the organization who employed robot, the government which permitted to use robot in important bases and activities , will be analyzing and investigating in their article.

Keywords: robot, artificial intelligence, personality, responsibility

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Authors: Lahcene Boukelkoul

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The influence of finite ground conductivity is of great importance in calculating the induced voltages from the radiated electromagnetic fields due to lightning. In this paper, we try to give a comprehensive approach to calculate the impact of the ground on the radiated electromagnetic fields to lightning. The vertical component of lightning electric field is calculated with a reasonable approximation assuming a perfectly conducting ground in case the observation point does not exceed a few kilometres from the lightning channel. However, for distant observation points the radiated vertical component of lightning electric field is attenuated due finitely conducting ground. The attenuation is calculated using the expression elaborated for both low and high frequencies. The horizontal component of the electric field, however, is more affected by a finite conductivity of a ground. Besides, the contribution of the horizontal component of the electric field, to induced voltages on an overhead transmission line, is greater than that of the vertical component. Therefore, the calculation of the horizontal electric field is great concern for the simulation of lightning-induced voltages. For field to transmission lines coupling the ground impedance is calculated for early time behaviour and for low frequency range.

Keywords: power engineering, radiated electromagnetic fields, lightning-induced voltages, lightning electric field

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Authors: Michael D. Vinod, Hadi Khabbaz

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Construction of infrastructure above or adjacent to landfills is becoming more common to capitalize on the limited space available within urban areas. However, development above landfills is a challenging task due to large voids, the presence of organic matter, heterogeneous nature of waste and ambiguity surrounding landfill settlement prediction. Prior to construction of infrastructure above landfills, ground improvement techniques are being employed to improve the geotechnical properties of landfill material. Although the ground improvement techniques have little impact on long term biodegradation and creep related landfill settlement, they have shown some notable short term success with a variety of techniques, including methods for verifying the level of effectiveness of ground improvement techniques. This paper provides geotechnical and landfill engineers a guideline for selection of landfill ground improvement techniques and their suitability to project-specific sites. Ground improvement methods assessed and compared in this paper include concrete injected columns (CIC), dynamic compaction, rapid impact compaction (RIC), preloading, high energy impact compaction (HEIC), vibro compaction, vibro replacement, chemical stabilization and the inclusion of geosynthetics such as geocells. For each ground improvement technique a summary of the existing theory, benefits, limitations, suitable modern ground improvement monitoring methods, the applicability of ground improvement techniques for landfills and supporting case studies are provided. The authors highlight the importance of implementing cost-effective monitoring techniques to allow observation and necessary remediation of the subsidence effects associated with long term landfill settlement. These ground improvement techniques are primarily for the purpose of construction above closed landfills to cater for transport infrastructure loading.

Keywords: closed landfills, ground improvement, monitoring, settlement, transport infrastructure

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Authors: Luis F. Recalde, Daniela A. Bastidas, Dayana E. Gallegos, Patricia N. Constante, Victor H. Andaluz

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This article presents a non-immersive virtual lab-oratory to emulate the behavior of the Mitsubishi Melfa RV 2SDB robotic arm, allowing students and users to acquire skills and experience related to real robots, augmenting the access and learning of robotics in Universidad de las Fuerzas Armadas (ESPE). It was developed using the mathematical model of the robotic arm, thus defining the parameters for virtual recreation. The environment, interaction, and behavior of the robotic arm were developed in a graphic engine (Unity3D) to emulate learning tasks such as in a robotics laboratory. In the virtual system, four inputs were developed for the movement of the robot arm; further, to program the robot, a user interface was created where the user selects the trajectory such as point to point, line, arc, or circle. Finally, the hypothesis of the industrial robotic learning process is validated through the level of knowledge acquired after using the system.

Keywords: virtual learning, robot arm, non-immersive reality, mathematical model

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Authors: Masud Karim, Md. Solaiman Mia, Saifuddin Md. Tareeq, Md. Hasanuzzaman

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Autism Spectrum Disorder (ASD) is a neurodevelopment disorder. Such disorder is found in childhood life. Children with ASD have less capabilities in communication and social skills. Therapies are used to develop communication and social skills. Recently researchers have been trying to use robots in such therapies. In this paper, we have presented social skill learning test cases for children with ASD. Autism conditions are measured in 30 children in a special school. Among them, twelve children are selected who have equal ASD conditions. Then six children participated in training with humans, and another six children participated in training with robots. The learning session continued for one week and three hours each day. We have taken an assessment test before the learning sessions. After completing the learning sessions, we have taken another assessment test. We have found better performances from children who have participated in robotic sessions rather than the children who have participated in human sessions.

Keywords: children with ASD, NAO robot, human-robot interaction, social skills

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Authors: Gnanadeep Gudapati, V. Annie Grace

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A broadband circular polarization (CP) feature is designed for a CPW-fed planar printed monopole antenna. A rectangle patch and an improved ground plane make up the antenna. The antenna's impedance bandwidth can be increased by adding a vertical stub and a horizontal slit in the ground plane. The measured results show that the proposed antenna has a wide 10-dB return loss bandwidth of 70.2% (4.35GHz, 3.7-8.1GHz) centered at 4.2 GHz.

Keywords: CPW-fed, circular polarised, FR4 epoxy, slit and stub

Procedia PDF Downloads 119

Authors: Khenfer-Koummich Fatma, Hendel Fatiha, Mesbahi Larbi

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this paper presents an approach based on Hidden Markov Models (HMM: Hidden Markov Model) using HTK tools. The goal is to create a man-machine interface with a voice recognition system that allows the operator to tele-operate a mentor robot to execute specific tasks as rotate, raise, close, etc. This system should take into account different levels of environmental noise. This approach has been applied to isolated words representing the robot commands spoken in two languages: French and Arabic. The recognition rate obtained is the same in both speeches, Arabic and French in the neutral words. However, there is a slight difference in favor of the Arabic speech when Gaussian white noise is added with a Signal to Noise Ratio (SNR) equal to 30 db, the Arabic speech recognition rate is 69% and 80% for French speech recognition rate. This can be explained by the ability of phonetic context of each speech when the noise is added.

Keywords: voice command, HMM, TIMIT, noise, HTK, Arabic, speech recognition

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Authors: Martin Doran, Roy Sterritt, George Wilkie

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NASA, ESA, and NSSC space agencies have plans to put planetary rovers on Mars in 2020. For these future planetary rovers to succeed, they will heavily depend on sensors to detect obstacles. This will also become of vital importance in the future, if rovers become less dependent on commands received from earth-based control and more dependent on self-configuration and self-decision making. These planetary rovers will face harsh environments and the possibility of hardware failure is high, as seen in missions from the past. In this paper, we focus on using Autonomic principles where self-healing, self-optimization, and self-adaption are explored using the MAPE-K model and expanding this model to encapsulate the attributes such as Awareness, Analysis, and Adjustment (AAA-3). In the experimentation, a Pioneer P3-DX research robot is used to simulate a planetary rover. The sonar sensors on the P3-DX robot are used to simulate the sensors on a planetary rover (even though in reality, sonar sensors cannot operate in a vacuum). Experiments using the P3-DX robot focus on how our software system can be adapted with the loss of sonar sensor functionality. The autonomic manager system is responsible for the decision making on how to make use of remaining ‘enabled’ sonars sensors to compensate for those sonar sensors that are ‘disabled’. The key to this research is that the robot can still detect objects even with reduced sonar sensor capability.

Keywords: autonomic, self-adaption, self-healing, self-optimization

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Authors: Satyam Raikwar, Thomas Herlitzius, Jens Fehrmann

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In recent years, the autonomous navigation of orchard and field robots is an emerging technology of the mobile robotics in agriculture. One of the core aspects of autonomous navigation builds upon path planning, which is still a crucial issue. Generally, for simple representation, the path planning for a mobile robot is performed in a two-dimensional space, which creates a path between the start and goal point. This paper presents the automatic path planning approach for robots used in orchards and vineyards using occupancy grid maps with field consideration. The orchards and vineyards are usually structured environment and their topology is assumed to be constant over time; therefore, in this approach, an RGB image of a field is used as a working environment. These images undergone different image processing operations and then discretized into two-dimensional grid matrices. The individual grid or cell of these grid matrices represents the occupancy of the space, whether it is free or occupied. The grid matrix represents the robot workspace for motion and path planning. After the grid matrix is described, a probabilistic roadmap (PRM) path algorithm is used to create the obstacle-free path over these occupancy grids. The path created by this method was successfully verified in the test area. Furthermore, this approach is used in the navigation of the orchard robot.

Keywords: orchard robots, automatic path planning, occupancy grid, probabilistic roadmap

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Authors: Omer Yeni

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Ground strata failure or fall-of-ground is one of the underground mines' most prominent catastrophic risks. Mining companies use various methods/technics to prevent and critically control the associated risks. Some of those are safety by design, excavation methods, ground support, training, and competency, which all require quality control and assurance activities to confirm their efficiencies and performances and identify improvement opportunities through monitoring. However, many mining companies use quality control (QC) methods without quality assurance (QA), and they call it QA/QC together as a habit. From a simple definition, QC is a method of detecting defects, and QA is a method of preventing defects. Testing the final products at the end of the production line is not the way of proper QA/QC application but testing every component before assembly and the final product once completed. The installed ground support elements are some final products mining companies use to prevent ground strata failure. Testing the final product (i.e., rock bolt pull testing, shotcrete strength test, etc.) with QC methods only while those areas are already accessible; is not like testing an airplane full of passengers right after the production line or testing a car after the sale. Can only QC methods be called QA/QC? Can QA/QC activities be numerically scored for each critical control implemented to assess ground strata failure potential? Can numerical scores be used to identify Geotechnical Risk Rating (GRR) to determine the ground strata failure risk and its probability? This paper sets out to provide a specific QA/QC methodology to manage and confirm efficiencies and performances of the implemented critical controls and a numerical approach through the Geotechnical Risk Rating (GRR) process to assess ground strata failure risk to determine the gaps where proactive action is required to evaluate the probability of ground strata failures in underground mines.

Keywords: fall of ground, ground strata failure, QA/QC, underground

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Authors: S. K. Ling, A. K. H. Kwan

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The production of SCC (self-consolidating concrete) generally requires a fairy high paste volume, ranging from 35% to 40% of the total concrete volume. Such high paste volume would lead to low dimensional stability and high carbon footprint. Direct lowering the paste volume would deteriorate the performance of SCC, especially the passing ability. It is often observed that at narrow gap of congested reinforcements, the paste often flows in the front leaving the coarse aggregate particle behind to block the subsequent flow of concrete. Herein, it is suggested to increase the mortar volume through incorporating ground sand with a mean size of 0.3 mm while keeping the paste volume small. Trial concrete mixes with paste volumes of 30% and 34% and different ground sand contents have been tested to demonstrate how the paste volume can be lowered without sacrificing the passing ability. Overall, the results demonstrated that the addition of ground sand would enable the achievement of high passing ability at a relatively small paste volume.

Keywords: ground sand, mortar volume, paste volume, self-consolidating concrete

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Authors: Zengmin Tian, Bin Lv, Rui Hui, Yupeng Liu, Chuan Wang, Qing Liu, Hongyu Li, Yan Qi, Li Song

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Objective Robot was used for replacement of the frame in recent years. The paper is to investigate the safety and effectiveness of frameless stereotactic surgery in the treatment of children with cerebral palsy. Methods Clinical data of 425 children with spastic cerebral palsy were retrospectively analyzed. The patients were treated with robot-assistant frameless stereotactic surgery of nuclear mass destruction. The motor function was evaluated by gross motor function measure-88 (GMFM-88) before the operation, 1 week and 3 months after the operation respectively. The statistical analysis was performed. Results The postoperative CT showed that the destruction area covered the predetermined target in all the patients. Minimal bleeding of puncture channel occurred in 2 patient, and mild fever in 3 cases. Otherwise, there was no severe surgical complication occurred. The GMFM-88 scores were 49.1±22.5 before the operation, 52.8±24.2 and 64.2±21.4 at the time of 1 week and 3 months after the operation, respectively. There was statistical difference between before and after the operation (P<0.01). After 3 months, the total effective rate was 98.1%, and the average improvement rate of motor function was 24.3% . Conclusion Replaced the traditional frame, the robot-assistant frameless stereotactic surgery is safe and reliable for children with spastic cerebral palsy, which has positive significance in improving patients’ motor function.

Keywords: cerebral palsy, robotics, stereotactic techniques, frameless operation

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Authors: Matevž Breška, Iztok Peruš, Vlado Stankovski

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Systematic overview of existing Ground Motion Prediction Equations (GMPEs) has been published by Douglas. The number of earthquake recordings that have been used for fitting these equations has increased in the past decades. The current PF-L database contains 3550 recordings. Since the GMPEs frequently model the peak ground acceleration (PGA) the goal of the present study was to refit a selection of 44 of the existing equation models for PGA in light of the latest data. The algorithm Levenberg-Marquardt was used for fitting the coefficients of the equations and the results are evaluated both quantitatively by presenting the root mean squared error (RMSE) and qualitatively by drawing graphs of the five best fitted equations. The RMSE was found to be as low as 0.08 for the best equation models. The newly estimated coefficients vary from the values published in the original works.

Keywords: Ground Motion Prediction Equations, Levenberg-Marquardt algorithm, refitting PF-L database, peak ground acceleration

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Authors: Fernando P. Silva, Valter J. S. Leite, Erivelton G. Nepomuceno

Abstract:

In this paper, a nonlinear controller design for an omnidirectional mobile is presented. The robot controller consists of an inner-loop controller and an outer-loop controller, the first is designed using state feedback (robust allocation) and the second controller is designed based on Robust Multi Inversion (RMI) approach. The objective of RMI controller is rendering the robust inversion of the dynamic, when the model is affected by uncertainties. A model nonlinear MIMO of an omni-directional robot (small-league of Robocup) is used to simulate the RMI approach. The parameters of linear and nonlinear model are varied to cause modelling uncertainties among the model and the real model (real system) generating an error in inner-loop controller signal that must be compensated by RMI controller. The simulation test results show that the RMI is capable of compensating the uncertainties and keep the system stable and controlled under uncertainties.

Keywords: robust multi inversion, omni-directional robot, robocup, nonlinear control

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Authors: Seyed Sadegh Naseralavi, Sadegh Balaghi, Ehsan Khojastehfar

Abstract:

Time history dynamic analysis of structures is considered as an exact method while being computationally intensive. Filtration of earthquake strong ground motions applying wavelet transform is an approach towards reduction of computational efforts, particularly in optimization of structures against seismic effects. Wavelet transforms are categorized into continuum and discrete transforms. Since earthquake strong ground motion is a discrete function, the discrete wavelet transform is applied in the present paper. Wavelet transform reduces analysis time by filtration of non-effective frequencies of strong ground motion. Filtration process may be repeated several times while the approximation induces more errors. In this paper, strong ground motion of earthquake has been filtered once applying each wavelet. Strong ground motion of Northridge earthquake is filtered applying various wavelets and dynamic analysis of sampled shear and moment frames is implemented. The error, regarding application of each wavelet, is computed based on comparison of dynamic response of sampled structures with exact responses. Exact responses are computed by dynamic analysis of structures applying non-filtered strong ground motion.

Keywords: wavelet transform, computational error, computational duration, strong ground motion data

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Authors: Bogusław Schreyer

Abstract:

The paper enquires on the two methods of the wheeled robot braking torque control. Those two methods are applied when the adhesion coefficient under left side wheels is different from the adhesion coefficient under the right side wheels. In case of the select-low (SL) method the braking torque on both wheels is controlled by the signals originating from the wheels on the side of the lower adhesion. In the select-high (SH) method the torque is controlled by the signals originating from the wheels on the side of the higher adhesion. The SL method is securing stable and secure robot behaviors during the braking process. However, the efficiency of this method is relatively low. The SH method is more efficient in terms of time and braking distance but in some situations may cause wheels blocking. It is important to monitor the velocity of all wheels and then take a decision about the braking torque distribution accordingly. In case of the SH method the braking torque slope may require significant decrease in order to avoid wheel blocking.

Keywords: select-high, select-low, torque distribution, wheeled robots

Procedia PDF Downloads 95