Search results for: parallel identical machines

Authors: Atilla Bayram

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This paper presents the trajectory tracking control of a spatial redundant hybrid manipulator. This manipulator consists of two parallel manipulators which are a variable geometry truss (VGT) module. In fact, each VGT module with 3-degress of freedom (DOF) is a planar parallel manipulator and their operational planes of these VGT modules are arranged to be orthogonal to each other. Also, the manipulator contains a twist motion part attached to the top of the second VGT module to supply the missing orientation of the endeffector. These three modules constitute totally 7-DOF hybrid (parallel-parallel) redundant spatial manipulator. The forward kinematics equations of this manipulator are obtained, then, according to these equations, the inverse kinematics is solved based on an optimization with the joint limit avoidance. The dynamic equations are formed by using virtual work method. In order to test the performance of the redundant manipulator and the controllers presented, two different desired trajectories are followed by using the computed force control method and a switching control method. The switching control method is combined with the computed force control method and genetic algorithm. In the switching control method, the genetic algorithm is only used for fine tuning in the compensation of the trajectory tracking errors.

Keywords: computed force method, genetic algorithm, hybrid manipulator, inverse kinematics of redundant manipulators, variable geometry truss

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Authors: Omid Khodabakhshi, Amir Rozdel

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The subject of cloud computing security research has allocated a number of challenges and competitions because the data center is comprised of complex private information and are always faced various risks of information disclosure by hacker attacks or internal enemies. Accordingly, the security of virtual machines in the cloud computing infrastructure layer is very important. So far, there are many software solutions to develop security in virtual machines. But using software alone is not enough to solve security problems. The purpose of this article is to examine the challenges and security requirements for accessing and storing data in an insecure cloud environment. In other words, in this article, a structure is proposed for the implementation of highly isolated security-sensitive codes using secure computing hardware in virtual environments. It also allows remote code validation with inputs and outputs. We provide these security features even in situations where the BIOS, the operating system, and even the super-supervisor are infected. To achieve these goals, we will use the hardware support provided by the new Intel and AMD processors, as well as the TPM security chip. In conclusion, the use of these technologies ultimately creates a root of dynamic trust and reduces TCB to security-sensitive codes.

Keywords: code, cloud computing, security, virtual machines

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Authors: Aziza Ben Halima, Julien Bert, Dimitris Visvikis

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In this paper, we propose designing and evaluating a parallel co-manipulated robot dedicated to low-dose-rate prostate brachytherapy. We developed 6 degrees of freedom compact and lightweight robot easy to install in the operating room thanks to its parallel design. This robotic system provides a co-manipulation allowing the surgeon to keep control of the needle’s insertion and consequently to improve the acceptability of the plan for the clinic. The best dimension’s configuration was solved by calculating the geometric model and using an optimization approach. The aim was to ensure the whole coverage of the prostate volume and consider the allowed free space around the patient that includes the ultrasound probe. The final robot dimensions fit in a cube of 300 300 300 mm³. A prototype was 3D printed, and the robot workspace was measured experimentally. The results show that the proposed robotic system satisfies the medical application requirements and permits the needle to reach any point within the prostate.

Keywords: medical robotics, co-manipulation, prostate brachytherapy, optimization

Procedia PDF Downloads 171

Authors: Gunasekaran Raja, Ramkumar Jayaraman

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In this paper, we consider CCL-N (Cooperative Cross Layer Network) topology based on the cross layer (both centralized and distributed) environment to form network communities. Various performance metrics related to the IEEE 802.16 networks are discussed to design CCL-N Topology. In CCL-N topology, nodes are classified as master nodes (Master Base Station [MBS]) and serving nodes (Relay Station [RS]). Nodes communities are organized based on the networking terminologies. Based on CCL-N Topology, various simulation analyses for both transparent and non-transparent relays are tabulated and throughput efficiency is calculated. Weighted load balancing problem plays a challenging role in IEEE 802.16 network. CoTS (Concurrent Transmission Scheduling) Scheme is formulated in terms of three aspects – transmission mechanism based on identical communities, different communities and identical node communities. CoTS scheme helps in identifying the weighted load balancing problem. Based on the analytical results, modularity value is inversely proportional to that of the error value. The modularity value plays a key role in solving the CoTS problem based on hop count. The transmission mechanism for identical node community has no impact since modularity value is same for all the network groups. In this paper three aspects of communities based on the modularity value which helps in solving the problem of weighted load balancing and CoTS are discussed.

Keywords: cross layer network topology, concurrent scheduling, modularity value, network communities and weighted load balancing

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Authors: Muhammad Waqar Aziz, Syed Abdul Baqi Shah

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The execution time analysis is fundamental to the successful design and execution of real-time embedded software. In such analysis, the Worst-Case Execution Time (WCET) of a program is a key measure, on the basis of which system tasks are scheduled. The WCET analysis of embedded software is also needed for system understanding and to guarantee its behavior. WCET analysis can be performed statically (without executing the program) or dynamically (through measurement). Traditionally, research on the WCET analysis assumes sequential code running on single-core platforms. However, as computation is steadily moving towards using a combination of parallel programs and multi-core hardware, new challenges in WCET analysis need to be addressed. In this article, we report our experiences of performing the WCET analysis of Parallel Embedded Software (PES) running on multi-core platform. The primary purpose was to investigate how WCET estimates of PES can be computed statically, and how they can be derived dynamically. Our experiences, as reported in this article, include the challenges we faced, possible suggestions to these challenges and the workarounds that were developed. This article also provides observations on the benefits and drawbacks of deriving the WCET estimates using the said methods and provides useful recommendations for further research in this area.

Keywords: embedded software, worst-case execution-time analysis, static flow analysis, measurement-based analysis, parallel computing

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Authors: Arash Rahmani, Ahmad Ghanbari, Abbas Baghernezhad, Babak Safaei

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In the design of parallel manipulators, usually mean value of a dexterity measure over the workspace volume is considered as the objective function to be used in optimization algorithms. The mentioned indexes in a hybrid parallel manipulator (HPM) are quite complicated to solve thanks to infinite solutions for every point within the workspace of the redundant manipulators. In this paper, spatial isotropic design axioms are extended as a well-known method for optimum design of manipulators. An upper limit for the isotropy measure of HPM is calculated and instead of computing and minimizing isotropy measure, minimizing the obtained limit is considered. To this end, two different objective functions are suggested which are obtained from objective functions of comprising modules. Finally, by using genetic algorithm (GA), the best geometric parameters for a specific hybrid parallel robot which is composed of two modified Gough-Stewart platforms (MGSP) are achieved.

Keywords: hybrid manipulator, spatial isotropy, genetic algorithm, optimum design

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Authors: T. Mohammed Chikouche, K. Hartani

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Based on the analysis of basic direct torque control, a parallel master slave for four in-wheel permanent magnet synchronous motors (PMSM) fed by two three phase inverters used in electric vehicle is proposed in this paper. A conventional system with multi-inverter and multi-machine comprises a three phase inverter for each machine to be controlled. Another approach consists in using only one three-phase inverter to supply several permanent magnet synchronous machines. A modified direct torque control (DTC) algorithm is used for the control of the bi-machine traction system. Simulation results show that the proposed control strategy is well adapted for the synchronism of this system and provide good speed tracking performance.

Keywords: electric vehicle, multi-machine single-inverter system, multi-machine multi-inverter control, in-wheel motor, master-slave control

Procedia PDF Downloads 190

Authors: Saleh Elawgali

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In order to present the effect of the dynamic eccentricity on the stator currents of squirrel cage induction machines, the current spectrums of a 550 kW induction motor was calculated for the cases of full symmetry and dynamic eccentricity. The calculations presented in this paper are based on the Poly-Harmonic Model accounting for static and dynamic eccentricity, stator and rotor slotting, parallel branches as well as cage asymmetry. The calculations were followed by Fourier analysis of the stator currents in steady state operation. The paper presents the stator current spectrums for full symmetry and dynamic eccentricity cases, and demonstrates the harmonics present in each case. The effect of dynamic eccentricity is demonstrating via comparing the current spectrums related to dynamic eccentricity cases with the full symmetry one.

Keywords: current spectrum, dynamic eccentricity, harmonics, Induction machine, slot harmonic zone.

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Authors: Dawoon Choi, Jian Li, Yunhyun Cho

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Axial Flux Permanent Magnet (AFPM) machines have been widely used in various applications due to their important merits, such as compact structure, high efficiency and high torque density. This paper presents one of the most important characteristics in the design process of the AFPM device, which is a recent issue. To design AFPM machine, the predicting electromagnetic forces between the permanent magnets and stator is important. Because of the magnitude of electromagnetic force affects many characteristics such as machine size, noise, vibration, and quality of output power. Theoretically, this force is canceled by the equilibrium of force when it is in the middle of the gap, but it is inevitable to deviate due to manufacturing problems in actual machine. Such as large scale wind generator, because of the huge attractive force between rotor and stator disks, this is more serious in getting large power applications such as large. This paper represents the characteristics of Double-Stator Inner –Rotor AFPM machines when it has rotor eccentricity. And, unbalanced air-gap and inclined air-gap condition which is caused by rotor offset and tilt in a double-stator single inner-rotor AFPM machine are each studied in electromagnetic and mechanical aspects. The output voltage and cogging torque under un-normal air-gap condition of AF machines are firstly calculated using a combined analytical and numerical methods, followed by a structure analysis to study the effect to mechanical stress, deformation and bending forces on bearings. Results and conclusions given in this paper are instructive for the successful development of AFPM machines.

Keywords: axial flux permanent magnet machine, inclined air gap, unbalanced air gap, rotor eccentricity

Procedia PDF Downloads 179

Authors: Yoji Yamato

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In this paper, we propose an automatic verification technology of software patches for user virtual environments on IaaS Cloud to decrease verification costs of patches. In these days, IaaS services have been spread and many users can customize virtual machines on IaaS Cloud like their own private servers. Regarding to software patches of OS or middleware installed on virtual machines, users need to adopt and verify these patches by themselves. This task increases operation costs of users. Our proposed method replicates user virtual environments, extracts verification test cases for user virtual environments from test case DB, distributes patches to virtual machines on replicated environments and conducts those test cases automatically on replicated environments. We have implemented the proposed method on OpenStack using Jenkins and confirmed the feasibility. Using the implementation, we confirmed the effectiveness of test case creation efforts by our proposed idea of 2-tier abstraction of software functions and test cases. We also evaluated the automatic verification performance of environment replications, test cases extractions and test cases conductions.

Keywords: OpenStack, cloud computing, automatic verification, jenkins

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Authors: Aliaksandr Huminski

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Semantic Role Labeling (SRL) as shallow semantic parsing approach includes recognition and labeling arguments of a verb in a sentence. Verb participants are linked with specific semantic roles (Agent, Patient, Instrument, Location, etc.). Thus, SRL can answer on key questions such as ‘Who’, ‘When’, ‘What’, ‘Where’ in a text and it is widely applied in dialog systems, question-answering, named entity recognition, information retrieval, and other fields of NLP. However, SRL has the following flaw: Two sentences with identical (or almost identical) meaning can have different semantic role structures. Let consider 2 sentences: (1) John put butter on the bread. (2) John buttered the bread. SRL for (1) and (2) will be significantly different. For the verb put in (1) it is [Agent + Patient + Goal], but for the verb butter in (2) it is [Agent + Goal]. It happens because of one of the most interesting and intriguing features of a verb: Its ability to capture participants as in the case of the verb butter, or their features as, say, in the case of the verb drink where the participant’s feature being liquid is shared with the verb. This capture looks like a total fusion of meaning and cannot be decomposed in direct way (in comparison with compound verbs like babysit or breastfeed). From this perspective, SRL looks really shallow to represent semantic structure. If the key point in semantic representation is an opportunity to use it for making inferences and finding hidden reasons, it assumes by default that two different but semantically identical sentences must have the same semantic structure. Otherwise we will have different inferences from the same meaning. To overcome the above-mentioned flaw, the following approach is suggested. Assume that: P is a participant of relation; F is a feature of a participant; Vcp is a verb that captures a participant; Vcf is a verb that captures a feature of a participant; Vpr is a primitive verb or a verb that does not capture any participant and represents only a relation. In another word, a primitive verb is a verb whose meaning does not include meanings from its surroundings. Then Vcp and Vcf can be decomposed as: Vcp = Vpr +P; Vcf = Vpr +F. If all Vcp and Vcf will be represented this way, then primitive verbs Vpr can be considered as a canonical form for SRL. As a result of that, there will be no hidden participants caught by a verb since all participants will be explicitly unfolded. An obvious example of Vpr is the verb go, which represents pure movement. In this case the verb drink can be represented as man-made movement of liquid into specific direction. Extraction and using primitive verbs for SRL create a canonical representation unique for semantically identical sentences. It leads to the unification of semantic representation. In this case, the critical flaw related to SRL will be resolved.

Keywords: decomposition, labeling, primitive verbs, semantic roles

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Authors: J. Otegui, M. Agirre, M. A. Cestau, H. Erauskin

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The increasing accessibility of mid-priced additive manufacturing (AM) systems offers a chance to incorporate this technology into engineering instruction. Furthermore, AM facilitates the creation of manufacturing designs, enhancing the efficiency of various machines. One example of these machines is the Stirling cycle engine. It encompasses complex thermodynamic machinery, revealing various aspects of mechanical engineering expertise upon closer inspection. In this publication, the application of Stirling Engines fabricated via additive manufacturing techniques will be showcased for the purpose of instructive design and product enhancement. The performance of a Stirling engine's conventional displacer and piston is contrasted. The outcomes of utilizing this instructional tool in teaching are demonstrated.

Keywords: 3D printing, additive manufacturing, mechanical design, stirling engine.

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Authors: Hamdy Ahmed Ashour

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This paper studies the parallel operation of rotary frequency converters which can be used within a ship micro-grid system and also to supply ships and equipment in a harbour during off-sail and maintenance periods with their suitable voltage and frequency requirements in order to overcome the possible associated problems of overloading on a single converter. The paper theoretically and experimentally investigated the operation of 3-ph induction motor / 3-ph synchronous generator based rotary converters set. Concept of operation and merits of such converters has been discussed. Overall dynamic simulation model of two parallel operated rotary converters has been developed. Active and reactive load sharing of the two converters has been analyzed. Experimental setup has been implemented for proof of concept and practical validation. Simulation and experimental results have been obtained and well correlated; showing how the rotary converters based setup can be manipulated to achieve different requirements of operating conditions.

Keywords: experimental, frequency-converters, load-sharing, marine-applications, simulation, synchronization

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Authors: Juang R. Matangaran, Qi Adlan

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Industrial plantation forest in Indonesia was developed in 1983, and since then, several companies have been successfully planted a total area of concessionaire approximately 10 million hectares. Currently, these plantation forests have their annual harvesting period. In the timber harvesting process, amount part of the trees generally become logging residue. Tree parts such as branches, twigs, defected stem and leaves are unused section of tree on the ground after timber harvesting. The use of heavy machines in timber harvesting area has caused damage to the forest soil. The negative impact of such machines includes loss of topsoil, soil erosion, and soil compaction. Forest soil compaction caused reduction of forest water infiltration, increase runoff and causes difficulty for root penetration. In this study, we used logging residue as soil covers on the passages passed by skidding machines in order to observe the reduction soil compaction. Bulk density of soil was measured and analyzed after several times of skidding machines passage on skid trail. The objective of the research was to analyze the effect of logging residue on reducing soil compaction. The research was taken place at one of the industrial plantation forest area of South Sumatra Indonesia. The result of the study showed that percentage increase of soil compaction bare soil was larger than soil surface covered by logging residue. The maximum soil compaction occurred after 4 to 5 passes on soil without logging residue or bare soil and after 7 to 8 passes on soil cover by logging residue. The use of logging residue coverings could reduce soil compaction from 45% to 60%. The logging residue was effective in decreasing soil disturbance of timber harvesting at the plantation forest area.

Keywords: bulk density, logging residue, plantation forest, soil compaction, timber harvesting

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Authors: Rossella Arcucci, Luisa D'Amore, Simone Celestino, Giuseppe Scotti, Giuliano Laccetti

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This work is the first dowel in a rather wide research activity in collaboration with Euro Mediterranean Center for Climate Changes, aimed at introducing scalable approaches in Ocean Circulation Models. We discuss designing and implementation of a parallel algorithm for solving the Variational Data Assimilation (DA) problem on Graphics Processing Units (GPUs). The algorithm is based on the fully scalable 3DVar DA model, previously proposed by the authors, which uses a Domain Decomposition approach (we refer to this model as the DD-DA model). We proceed with an incremental porting process consisting of 3 distinct stages: requirements and source code analysis, incremental development of CUDA kernels, testing and optimization. Experiments confirm the theoretic performance analysis based on the so-called scale up factor demonstrating that the DD-DA model can be suitably mapped on GPU architectures.

Keywords: data assimilation, GPU architectures, ocean models, parallel algorithm

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Authors: Majid Abdolrazzagh-Nezhad, Salwani Abdullah

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The job-shop scheduling problem (JSSP) is an important decision facing those involved in the fields of industry, economics and management. This problem is a class of combinational optimization problem known as the NP-hard problem. JSSPs deal with a set of machines and a set of jobs with various predetermined routes through the machines, where the objective is to assemble a schedule of jobs that minimizes certain criteria such as makespan, maximum lateness, and total weighted tardiness. Over the past several decades, interest in meta-heuristic approaches to address JSSPs has increased due to the ability of these approaches to generate solutions which are better than those generated from heuristics alone. This article provides the classification, constraints and objective functions imposed on JSSPs that are available in the literature.

Keywords: job-shop scheduling, classification, constraints, objective functions

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Authors: Md Serajul Islam

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High Dose Rate (HDR) Brachytherapy is used for cancer patients. In our country’s prospect, we are using only cervices and breast cancer treatment by using HDR. The air kerma rate in air at a reference distance of less than a meter from the source is the recommended quantity for the specification of gamma ray source Ir-192 in brachytherapy. The absorbed dose for the patients is directly proportional to the air kerma rate. Therefore the air kerma rate should be determined before the first use of the source on patients by qualified medical physicist who is independent from the source manufacturer. The air kerma rate will then be applied in the calculation of the dose delivered to patients in their planning systems. In practice, high dose rate (HDR) Ir-192 afterloader machines are mostly used in brachytherapy treatment. Currently, HDR-Co-60 increasingly comes into operation too. The essential advantage of the use of Co-60 sources is its longer half-life compared to Ir-192. The use of HDRCo-60 afterloading machines is also quite interesting for developing countries. This work describes the dosimetry at HDR afterloading machines according to the protocols IAEA-TECDOC-1274 (2002) with the nuclides Ir-192 and Co-60. We have used 3 different measurement methods (with a ring chamber, with a solid phantom and in free air and with a well chamber) in dependence of each of the protocols. We have shown that the standard deviations of the measured air kerma rate for the Co-60 source are generally larger than those of the Ir-192 source. The measurements with the well chamber had the lowest deviation from the certificate value. In all protocols and methods, the deviations stood for both nuclides by a maximum of about 1% for Ir-192 and 2.5% for Co-60-Sources respectively.

Keywords: Ir-192 source, cancer, patients, cheap treatment cost

Procedia PDF Downloads 199

Authors: Maitham Al-Safwani

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Motor vibration issues were analyzed by several studies. It is generally accepted that vibration issues result from poor equipment installation. We had a water injection pump tested in the factory and exceeded the pump the vibration limit. Once the pump was brought to the site, its half-size shim plates were replaced with full-size shims plates that drastically reduced the vibration. In this study, vibration data was recorded for several similar motors run at the same and different speeds. The vibration values were recorded -for two and a half hours- and the vibration readings were analyzed to determine when the readings became consistent. This was as well supported by recording the audio noises produced by some machines seeking a relationship between changes in machine noises and machine abnormalities, such as vibration.

Keywords: vibration, noise, installation, machine

Procedia PDF Downloads 140

Authors: A. Abbasi Moshaii, M. Soltan Rezaee, M. Mohammadi Moghaddam

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Control of some mechanisms is hard because of their complex dynamic equations. If part of the complexity is resulting from uncertainties, an efficient way for solving that is robust control. By this way, the control procedure could be simple and fast and finally, a simple controller can be designed. One kind of these mechanisms is 3-RRR which is a parallel mechanism and has three revolute joints. This paper aims to robust control a 3-RRR planner mechanism and it presents that this could be used for other mechanisms. So, a significant problem in mechanisms control could be solved. The relevant diagrams are drawn and they show the correctness of control process.

Keywords: 3-RRR, dynamic equations, mechanisms control, structural uncertainty

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Authors: Vladimir Stojanović, Marko D. Petković

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The vibration of a complex bogie system that moves on along the high order shear deformable beam on a viscoelastic foundation is studied. The complex bogie system has been modeled by elastically connected rigid bars on an identical supports. Elastic coupling between bars is introduced to simulate rigidly or flexibly (transversal or/and rotational) connection. Identical supports are modeled as a system of attached spring and dashpot to the bar on one side and interact with the beam through the concentrated mass on the other side. It is assumed that the masses and the beam are always in contact. New analytically determined critical velocity of the system is presented. It is analyzed the case when the complex bogie system exceeds the minimum phase velocity of waves in the beam when the vibration of the system may become unstable. Effect of an elastic coupling between bars on the stability of the system has been analyzed. The instability regions are found for the complex bogie system by applying the principle of the argument and D-decomposition method.

Keywords: Reddy-Bickford beam, D-decomposition method, principle of argument, critical velocity

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Authors: Watchara Songserm, Teeradej Wuttipornpun

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This paper presents a genetic algorithm based permutation and non-permutation scheduling heuristics (GAPNP) to solve a multi-stage finite capacity material requirement planning (FCMRP) problem in automotive assembly flow shop with unrelated parallel machines. In the algorithm, the sequences of orders are iteratively improved by the GA characteristics, whereas the required operations are scheduled based on the presented permutation and non-permutation heuristics. Finally, a linear programming is applied to minimize the total cost. The presented GAPNP algorithm is evaluated by using real datasets from automotive companies. The required parameters for GAPNP are intently tuned to obtain a common parameter setting for all case studies. The results show that GAPNP significantly outperforms the benchmark algorithm about 30% on average.

Keywords: capacitated MRP, genetic algorithm, linear programming, automotive industries, flow shop, application in industry

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Authors: Allouache Nadia

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Solid adsorption cooling machines have been extensively studied recently. They constitute very attractive solutions recover important amount of industrial waste heat medium temperature and to use renewable energy sources such as solar energy. The development of the technology of these machines can be carried out by experimental studies and by mathematical modelisation. This last method allows saving time and money because it is suppler to use to simulate the variation of different parameters. The adsorption cooling machines consist essentially of an evaporator, a condenser and a reactor (object of this work) containing a porous medium, which is in our case the activated carbon reacting by adsorption with ammoniac. The principle can be described as follows: When the adsorbent (at temperature T) is in exclusive contact with vapour of adsorbate (at pressure P), an amount of adsorbate is trapped inside the micro-pores in an almost liquid state. This adsorbed mass m, is a function of T and P according to a divariant equilibrium m=f (T,P). Moreover, at constant pressure, m decreases as T increases, and at constant adsorbed mass P increases with T. This makes it possible to imagine an ideal refrigerating cycle consisting of a period of heating/desorption/condensation followed by a period of cooling/adsorption/evaporation. Effect of key parameters on the machine performances are analysed and discussed.

Keywords: activated carbon-ammoniac pair, effect of key parameters, numerical modeling, solar cooling machine

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Authors: Wen Feiming

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As the ecological barrier of the Yangtze River, the ecological security of the Parallel Range-Valley area is very important. However, the unique geomorphic features aggravate the contradiction between man and land, resulting in the encroachment of ecological space. In recent years , relevant researches has focused on the single field of land science, ecology and landscape ecology, and it is difficult to systematically reflect the regularities of distribution and evolution trends of ecological patterns in the process of urban development. Therefore, from the perspective of "Production-Living-Ecological space", using spatial analysis methods such as Remote Sensing (RS) and Geographic Information Systems (GIS), this paper analyzes the evolution characteristics and driving factors of the ecological pattern of mountain towns in the parallel range-valley region from the aspects of land use structure, change rate, transformation relationship, and spatial correlation. It is concluded that the ecological pattern of mountain towns presents a trend from expansion and diffusion to agglomeration, and the dynamic spatial transfer is a trend from artificial transformation to the natural origin, while the driving effect analysis shows the significant characteristics of terrain attraction and construction barrier. Finally, combined with the evolution characteristics and driving mechanism, the evolution modes of "mountain area - concentrated growth", "trough area - diffusion attenuation" and "flat area - concentrated attenuation" are summarized, and the differentiated zoning and stratification ecological planning strategies are proposed here, in order to provide the theoretical basis for the sustainable development of mountain towns in parallel range-valley areas.

Keywords: parallel range-valley, ecological pattern, evolution characteristics, driving factors

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Authors: René A. Sørensen, Søren Skovsen, Peter Christiansen, Henrik Karstoft

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Autonomous agricultural machines act in stochastic surroundings and therefore, must be able to perceive the surroundings in real time. This perception can be achieved using image sensors combined with advanced machine learning, in particular Deep Learning. Deep convolutional neural networks excel in labeling and perceiving color images and since the cost of high-quality RGB-cameras is low, the hardware cost of good perception depends heavily on memory and computation power. This paper investigates the possibility of designing lightweight convolutional neural networks for semantic segmentation (pixel wise classification) with reduced hardware requirements, to allow for embedded usage in autonomous agricultural machines. Using compression techniques, a lightweight convolutional neural network is designed to perform real-time semantic segmentation on an embedded platform. The network is trained on two large datasets, ImageNet and Pascal Context, to recognize up to 400 individual classes. The 400 classes are remapped into agricultural superclasses (e.g. human, animal, sky, road, field, shelterbelt and obstacle) and the ability to provide accurate real-time perception of agricultural surroundings is studied. The network is applied to the case of autonomous grass mowing using the NVIDIA Tegra X1 embedded platform. Feeding case-specific images to the network results in a fully segmented map of the superclasses in the image. As the network is still being designed and optimized, only a qualitative analysis of the method is complete at the abstract submission deadline. Proceeding this deadline, the finalized design is quantitatively evaluated on 20 annotated grass mowing images. Lightweight convolutional neural networks for semantic segmentation can be implemented on an embedded platform and show competitive performance with regards to accuracy and speed. It is feasible to provide cost-efficient perceptive capabilities related to semantic segmentation for autonomous agricultural machines.

Keywords: autonomous agricultural machines, deep learning, safety, visual perception

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Authors: Umair Ashraf, Kjetil Uhlen, Sverre Eriksen, Nadeem Jelani

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Although advancement in technology has increased the reliability and ease of work in ship power system, but these advancements are also adding complexities. Ever increasing non linear loads, like power electronics (PE) devices effect the stability of the system. Frequent load variations and complex load dynamics are due to the frequency converters and motor drives, these problem are more prominent when system is connected with the weak grid. In the ship power system major consumers are thruster motors for the propulsion. For the control operation of these motors variable frequency drives (VFD) are used, mostly VFDs operate on nominal voltage of the system. Some of the consumers in ship operate on lower voltage than nominal, these consumers got supply through step down transformers. In this paper the vector control scheme is used for the control of both rectifier and inverter, parallel operation of the synchronous generators is also demonstrated. The simulation have been performed with induction motor as load on VFD and parallel RLC load. Fault analysis has been performed first for the system which do not have VFD and then for the system with VFD. Three phase to the ground, single phase to the ground fault were implemented and behavior of the system in both the cases was observed.

Keywords: non-linear load, power electronics, parallel operating generators, pulse width modulation, variable frequency drives, voltage source converters, weak grid

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Authors: Ali Ramezani

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Balancing feeding system of plastic injection molding has overriding importance as it minimizes the process’s product defects such as weld line, shrinkage, sink marks and warpage. This article presents the difference between optimization of feeding system in identical multi-cavity molding and family molding using Moldflow Plastic Insight software. In this work, the effect of dimension, shape, position and type of gates and runners on the products quality was studied. The optimization was carried out by analyzing plastic injection molding process parameters, including melt temperature, mold temperature, cooling time, cooling temperature packing time and packing pressure. It was found that symmetrical feeding system is the most efficient shape for diminishing defects in identical multi-cavity molding. However, the same results were not concluded for family molding due to the differences between volume, mass, thickness and shape of cavities.

Keywords: balancing feeding system, family molding, multi-cavity, Moldflow, plastic injection

Procedia PDF Downloads 98

Authors: Michal Gregor, Jiri Polcar, Petr Horejsi, Michal Simon

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Machine visualization is an area of interest with fast and progressive development. We present a method of machine visualization which will be applicable in real industrial conditions according to current needs and demands. Real factory data were obtained in a newly built research plant. Methods described in this paper were validated on a case study. Input data were processed and the virtual environment was created. The environment contains information about dimensions, structure, disposition, and function. Hardware was enhanced by modular machines, prototypes, and accessories. We added new functionalities and machines into the virtual environment. The user is able to interact with objects such as testing and cutting machines, he/she can operate and move them. Proposed design consists of an environment with two degrees of freedom of movement. Users are in touch with items in the virtual world which are embedded into the real surroundings. This paper describes the development of the virtual environment. We compared and tested various options of factory layout virtualization and visualization. We analyzed possibilities of using a 3D scanner in the layout obtaining process and we also analyzed various virtual reality hardware visualization methods such as Stereoscopic (CAVE) projection, Head Mounted Display (HMD), and augmented reality (AR) projection provided by see-through glasses.

Keywords: augmented reality, spatial scanner, virtual environment, virtual reality

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Authors: Gor Muradyan

Abstract:

The paper is about friction and wear, including mechanisms, modeling, characterization, measurement and testing case in Bangladesh. Bangladesh is a country under development, A lot of people live here, approximately 145 million. The territory of this country is very small. Therefore buildings are very close to each other. As the pipe lines are very old, and people get almost dirty water, there are a lot of ongoing projects under ADB. In those projects the contractors using HDD machines (Horizontal Directional Drilling ) and grundoburst. These machines are working underground. As ground in Bangladesh is very sludge, machine can't work relevant because of big friction in the soil. When drilling works are finished machine is pulling the pipe underground. Very often the pulling of the pipes becomes very complicated because of the friction. Therefore long section of the pipe laying can’t be done because of a big friction. In that case, additional problems rise, as well as additional work must be done. As we mentioned above it is not possible to do big section of the pipe laying because of big friction in the soil, Because of this it is coming out that contractors must do more joints, more pressure test. It is always connected with additional expenditure and losing time. This machine can pull in 75 mm to 500 mm pipes connected with the soil condition. Length is possible till 500m related how much friction it will had on the puller. As less as much it can pull. Another machine grundoburst is not working at this soil condition at all. The machine is working with air compressor. This machine are using for the smaller diameter pipes, 20 mm to 63 mm. Most of the cases these machines are being used for the installing of the house connection pipes, for making service connection. To make a friction less contractors using bigger pulling had then the pipe. It is taking down the friction, But the problem of this machine is that it can't work at sludge. Because of mentioned reasons the friction has a big mining during this kind of works. There are a lot of ways to reduce the friction. In this paper we'll introduce the ways that we have researched during our practice in Bangladesh.

Keywords: Bangladesh, friction and wear, HDD machines, reducing friction

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Authors: Hasan Al Bashar Abul Ulayee, AKM Saifun Nabi, MD Mesbah-Ul-Awal

Abstract:

Alert system for disaster management is common now a day and can play a vital role reducing devastation and saves lives and costs. An alert in right time can save thousands of human life, help to take shelter, manage other assets including live stocks and above all, a right time alert will help to take preparation to face and early recovery of the situation. In a country like Bangladesh where populations is more than 170 million and always facing different types of natural calamities and disasters, an early right time alert is very effective and implementation of alert system is challenging. The challenge comes from the time constraint of alerting the huge number of population. The other method of existing disaster management pre alert is traditional, sequential and non-selective so efficiency is not good enough. This paper describes a way by which alert can be provided to maximum number of people within the short time bound using parallel processing as well as random selection of selective target audience.

Keywords: alert system, Bangladesh, disaster management, parallel processing, SMS

Procedia PDF Downloads 441

Authors: Yin-Yann Chen, Tzu-Ling Chen

Abstract:

This study presents the case of an actual Taiwanese semiconductor assembly and testing manufacturer. Three major bottleneck manufacturing processes, namely, die bond, wire bond, and molding, are analyzed to determine how to use finite resources to achieve the optimal capacity allocation. A medium-term capacity allocation planning model is developed by considering the optimal total profit to satisfy the promised volume demanded by customers and to obtain the best migration decision among production lines for machines and tools. Finally, sensitivity analysis based on the actual case is provided to explore the effect of various parameter levels.

Keywords: capacity planning, capacity allocation, machine migration, resource configuration

Procedia PDF Downloads 427