Search results for: rescue robotics

Authors: R. M. López-Gutiérrez, J. A. Michel-Macarty, H. Cervantes-De Avila, J. I. Nieto-Hipólito, C. Cruz-Hernández, L. Cardoza-Avendaño, S. Cortiant-Velez

Abstract:

It is well know that mankind benefits from the application of robot control by virtual handlers in industrial environments. In recent years, great interest has emerged in the control of multiple robots in order to carry out collective tasks. One main trend is to copy the natural organization that some organisms have, such as, ants, bees, school of fish, birds’ migration, etc. Surely, this collaborative work, results in better outcomes than those obtain in an isolated or individual effort. This topic has a great drive because collaboration between several robots has the potential capability of carrying out more complicated tasks, doing so, with better efficiency, resiliency and fault tolerance, in cases such as: coordinate navigation towards a target, terrain exploration, and search-rescue operations. In this work, synchronization of multiple autonomous robots is shown over a variety of coupling topologies: star, ring, chain, and global. In all cases, collective synchronous behavior is achieved, in the complex networks formed with mobile robots. Nodes of these networks are modeled by a mass using Matlab to simulate them.

Keywords: robots, synchronization, bidirectional, coordinate navigation

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Authors: Akila Murali, Prithika Manivel

Abstract:

Disasters are defined as a serious disruption of the functioning of a community or a society, which involves widespread human, material, economic or environmental impacts. The number of people suffering food crisis as a result of natural disasters has tripled in the last thirty years. The economic losses due to natural disasters have shown an increase with a factor of eight over the past four decades, caused by the increased vulnerability of the global society, and also due to an increase in the number of weather-related disasters. Efficient disaster detection and alerting systems could reduce the loss of life and properties. In the event of a disaster, another important issue is a good search and rescue system with high levels of precision, timeliness and safety for both the victims and the rescuers. Wireless Sensor Networks technology has the capability of quick capturing, processing, and transmission of critical data in real-time with high resolution. This paper studies the capacity of sensors and a Wireless Sensor Network to collect, collate and analyze valuable and worthwhile data, in an ordered manner to help with disaster management.

Keywords: alerting systems, disaster detection, Ad Hoc network, WSN technology

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Authors: Kiwon Yeom

Abstract:

Change points are abrupt variations in a data sequence. Detection of change points is useful in modeling, analyzing, and predicting time series in application areas such as robotics and teleoperation. In this paper, a change point is defined to be a discontinuity in one of its derivatives. This paper presents a reliable method for detecting discontinuities within a three-dimensional trajectory data. The problem of determining one or more discontinuities is considered in regular and irregular trajectory data from teleoperation. We examine the geometric detection algorithm and illustrate the use of the method on real data examples.

Keywords: change point, discontinuity, teleoperation, abrupt variation

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Authors: Nafisatul Ulfa, Elok Budi Retnani, R. P. Agus Lelana

Abstract:

Emerging zoonotic parasite infection could originate in wildlife so its time very important to identify zoonotic agents in wild populations or maintained. According to the International Union Conservation of Nature (IUCN), Sumateran slow loris (Nycticebus coucang) was protected primate which have vulnerable status. Their population in wildlife decreased cause hunting for trade and destroy habitat. Helminthiasis can caused dead regularly and its so The study was conducted to know prevalence of gastrointestinal helminth infection of slow loris (Nycticebus coucang) in The Centre of Primate Rehabilitation of International Animal Rescue Indonesia (YIARI). Total of 13 fecal sampel from captive group of Nycticebus coucang were collected for 6 days and analysed from Februari-Mei 2014 by using McMaster, flotasion and Baermann technique. All fecal sampel was examined based on its fecal pool. Out of 13 fecal sampel examined, all of sampel (100%) was infected with five types of helminth Ascaris (84,61%), Hymenolepis (76,92%), Strongylid (61,54%), Oxyurid (15,38%) dan Trichuris (7,69%). The average number of egg per gram (EPG) was 11-1810.

Keywords: fecal, helminth, Nycticebus coucang, parasite, prevalence, slow loris

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Authors: Vishal Bhatnagar

Abstract:

The objective of this study is to compare the efficacy of epidural analgesia of two amide local anesthetics, ropivacaine and levobupivacaine, with fentanyl for postoperative analgesia in major abdominal surgery CRS+HIPEC. Cytoreductive surgery and hyperthermic intraperitoneal chemotherapy (CRS+HIPEC) are done for primary peritoneal malignancies or peritoneal spread of malignant neoplasm. CRS and HIPEC are considered one of the most painful surgery among all major abdominal surgeries. Poorly managed postoperative pain elevates stress, increases anxiety, causes prolonged Hospital stay, increases opioid requirement and side effects, increases the cost of treatment and psychological effects on patient and family. It affects the quality of life of patients. The epidural technique provides better postoperative analgesia, earlier recovery of bowel function, fewer side effects, higher patient satisfaction, and an improvement in life quality in the postoperative days after abdominal surgery than other analgesic techniques.

Keywords: HIPEC, postoperative analgesia, cytoreductive surgery, VAS score, rescue analgesia

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Authors: A. Benbouali, H. Saidi, A. Derrouazin, T. Bessaad

Abstract:

Aerial robotics is a very exciting research field dealing with a variety of subjects, including the attitude control. This paper deals with the control of a four rotor vertical take-off and landing (VTOL) Unmanned Aerial Vehicle. The paper presents a mathematical model based on the approach of Lagrange for the flight control of an autonomous quad-rotor. It also describes the controller architecture which is based on PID regulators. The control method has been simulated in closed loop in different situations. All the calculation stages and the simulation results have been detailed.

Keywords: quad-rotor, lagrange approach, proportional integral derivate (PID) controller, Matlab/Simulink

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Authors: Mirjana Đ. Laban, Dragan N. Đurica, Nemanja M. Erceg

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Volunteer fire departments (VFD) in Serbia were established as civic associations in XIX Century. The founders and members of the first VFDs were prominent members of local communities. Today, those are volunteer organizations for preventing and extinguishing fires and rescuing people and property in various accidents. The paper presents the results of research about the number and resources of active VFDs done in Autonomous Province of Vojvodina, Serbia and about activities they perform today. The survey was done based on data provided by all registered VFDs in Vojvodina. Firefighters Association of Vojvodina includes 35 municipal firefighting associations, 230 volunteer fire departments with 5,300 active members in qualified fire units and more than 15,000 supporting members. Volunteer involvement is primarily an expression of high moral values and as such it has to be respected and stimulated. Better position of the volunteers would have a major impact on the formation of safety culture concept and general public awareness of fire safety and risk reduction, and therefore the security of the society as a whole. Volunteer fire departments make a significant contribution to educate young people and prevent catastrophic consequences of fires and natural disasters.

Keywords: education, prevention, rescue, volunteer fire departments

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Authors: Mohammadreza Kashizadeh, Mohammadamin Hashemi

Abstract:

Solymorph, a kinetic building facade designed for optimal energy capture and architectural expression, is explored in this paper. The system integrates photovoltaic panels with soft robotic actuators for precise solar tracking, resulting in enhanced electricity generation compared to static facades. Driven by the growing interest in dynamic building envelopes, the exploration of novel facade systems is necessitated. Increased energy generation and regulation of energy flow within buildings are potential benefits offered by integrating photovoltaic (PV) panels as kinetic elements. However, incorporating these technologies into mainstream architecture presents challenges due to the complexity of coordinating multiple systems. To address this, Solymorph leverages soft robotic actuators, known for their compliance, resilience, and ease of integration. Additionally, the project investigates the potential for employing Large Language Models (LLMs) to streamline the design process. The research methodology involved design development, material selection, component fabrication, and system assembly. Grasshopper (GH) was employed within the digital design environment for parametric modeling and scripting logic, and an LLM was experimented with to generate Python code for the creation of a random surface with user-defined parameters. Various techniques, including casting, 3D printing, and laser cutting, were utilized to fabricate the physical components. Finally, a modular assembly approach was adopted to facilitate installation and maintenance. A case study focusing on the application of Solymorph to an existing library building at Politecnico di Milano is presented. The facade system is divided into sub-frames to optimize solar exposure while maintaining a visually appealing aesthetic. Preliminary structural analyses were conducted using Karamba3D to assess deflection behavior and axial loads within the cable net structure. Additionally, Finite Element (FE) simulations were performed in Abaqus to evaluate the mechanical response of the soft robotic actuators under pneumatic pressure. To validate the design, a physical prototype was created using a mold adapted for a 3D printer's limitations. Casting Silicone Rubber Sil 15 was used for its flexibility and durability. The 3D-printed mold components were assembled, filled with the silicone mixture, and cured. After demolding, nodes and cables were 3D-printed and connected to form the structure, demonstrating the feasibility of the design. Solymorph demonstrates the potential of soft robotics and Artificial Intelligence (AI) for advancements in sustainable building design and construction. The project successfully integrates these technologies to create a dynamic facade system that optimizes energy generation and architectural expression. While limitations exist, Solymorph paves the way for future advancements in energy-efficient facade design. Continued research efforts will focus on cost reduction, improved system performance, and broader applicability.

Keywords: artificial intelligence, energy efficiency, kinetic photovoltaics, pneumatic control, soft robotics, sustainable building

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Authors: Artur Siqueira Nóbrega de Freitas

Abstract:

The Autonomous Underwater Vehicles (AUV), as well the Remotely Operated Vehicles (ROV), are unmanned technologies used in oceanographic investigations, offshore oil extraction, military applications, among others. Differently from AUVs, ROVs uses a physical connection with the surface for energy supply e data traffic. The AUVs use batteries and embedded data acquisition systems. These technologies have progressed, supported by studies in the areas of robotics, embedded systems, naval engineering, etc. This work presents a methodology for external pressure vessel design, responsible for contain and keep the internal components of the vehicle, such as on-board electronics and sensors, isolated from contact with water, creating a pressure differential between the inner and external regions.

Keywords: vessel, external pressure, AUV, buckling

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Authors: Nisha James, Shubha Ranganathan

Abstract:

Sex trafficking is a traumatic ongoing process which includes human rights violations against the victims. Majority of the trafficked individuals in India are from families with low socioeconomic status, from rural areas, unmarried or married off at a very young age. Many of the sex trafficked feel that it is necessary to make sacrifices, for the benefit of their families. The combination of these cultural family values with the stigma of rape and prostitution are manipulated and used as a tool in the abuse of power against the sex trafficked. The rescue, rehabilitation and reintegration of these individuals are usually difficult due to the stigma and social exclusion that they face. In these circumstances, social support is very effective in social inclusion of these individuals. The present study was a qualitative one, using semi-structured interviews with 29 Indian survivors of sex trafficking and a few sex workers. Thematic analysis was done on the data derived from the semi-structured interviews. The major findings indicate that the family can be seen as both the ‘cause’ for being sex trafficked, and the factor in victim continuing to be sex trafficked. At the same time, it can also become a driver for getting rescued, rehabilitated and reintegrated. The study also explores the social construction about ‘family’ among the survivors of sex trafficking, reflecting on who they refer to as ‘family’, what they mean by the term ‘family’ and how these families emerge. Therefore the analytic concept of ‘family’ is a crucial element in sex trafficking and cannot be defined only in terms of its conventional definition of a basic unit of society.

Keywords: sex-trafficking, survivor, family, social construction

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Authors: M. Aguilar, D. L. Araujo, A. L. Avendaño, D. C. Flores, I. Lascurain, R. A. Molina, M. Romero

Abstract:

This work presents an application of social robotics, specifically the use of a NAO Robot as a tool for therapists in the treatment of Autism Spectrum Disorder (ASD). According to this, therapies approved by specialist psychologists have been developed and implemented, focusing on creating a triangulation between the robot, the child, and the therapist, aiming to improve their social and language skills, as well as communication skills and joint attention. In addition, quantitative and qualitative analysis tools have been developed and applied to prove the acceptance and the impact of the robot in the treatment of ASD.

Keywords: autism spectrum disorder, NAO robot, social and language skills, therapy

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Authors: Isobel Hambleton, Mark Carrington

Abstract:

Trypanosoma brucei, the causal agent of a range of diseases in humans and livestock, evades the mammalian immune system through a population survival strategy based on the expression of a series of antigenically distinct variant surface glycoproteins (VSGs). RNAi mediated knockdown of the active VSG gene triggers a precytokinesis cell cycle arrest. To determine whether this phenotype is the result of reduced VSG transcript or depleted VSG protein, we used morpholino antisense oligonucleotides to block translation of VSG mRNA. The same precytokinesis cell cycle arrest was observed, suggesting that VSG protein abundance is monitored closely throughout the cell cycle. An inducible expression system has been developed to test various GPI-anchored proteins for their ability to rescue this cell cycle arrest. This system has been used to demonstrate that wild-type VSG expressed from a T7 promoter rescues this phenotype. This indicates that VSG expression from one of the specialised bloodstream expression sites (BES) is not essential for cell division. The same approach has been used to define the minimum essential features of a VSG necessary for function.

Keywords: bloodstream expression site, morpholino, precytokinesis cell cycle arrest, variant surface glycoprotein

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Authors: Ali Oveysi Sarabi

Abstract:

In this paper, controller design for the attitude and altitude dynamics of an outdoor quadrotor, which is constructed with low cost actuators and drivers, is aimed. Before designing the controller, the quadrotor is modeled mathematically in Matlab-Simulink environment. To control attitude dynamics, linear quadratic regulator (LQR) based controllers are designed, simulated and applied to the system. Two different proportional-integral-derivative action (PID) controllers are designed to control yaw and altitude dynamics. During the implementation of the designed controllers, different test setups are used. Designed controllers are implemented and tuned on the real system using xPC Target. Tests show that these basic control structures are successful to control the attitude and altitude dynamics.

Keywords: helicopter balance, flight dynamics, autonomous landing, control robotics

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Authors: Dimitrie Marinceu

Abstract:

The newest Canadian Used Fuel Container (UFC)- (called also “Mark II”) modifies the design approach for its Assembly Robotic Cell (ARC) in the Canadian Used (Nuclear) Fuel Packing Plant (UFPP). Some of the robotic design solutions are presented in this paper. The design indicates that robots and manipulators are expected to be used in the Canadian UFPP. As normally, the UFPP design will incorporate redundancy of all equipment to allow expedient recovery from any postulated upset conditions. Overall, this paper suggests that robot usage will have a significant positive impact on nuclear safety, quality, productivity, and reliability.

Keywords: used fuel packing plant, robotic assembly cell, used fuel container, deep geological repository

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Authors: Raahil Sheikh, Abhishek Maurya, Priya Gujjar, Himanshu Dwivedi, Prathamesh Minde

Abstract:

UAVs have been an initial member of our environment since it's the first used by Austrian warfare in Venice. At that stage, they were just pilotless balloons equipped with bombs to be dropped on enemy territory. Over time, technological advancements allowed UAVs to be controlled remotely or autonomously. This study shall mainly focus on the intensification of pre-existing manual drones equipping them with a variety of sensors and making them autonomous, and capable, and purposing them for a variety of roles, including thermal sensing, data collection, tracking creatures, forest fires, volcano detection, hydrothermal studies, urban heat, Island measurement, and other environmental research. The system can also be used for reconnaissance, research, 3D mapping, and search and rescue missions. This study mainly focuses on automating tedious tasks and reducing human errors as much as possible, reducing deployment time, and increasing the overall efficiency, efficacy, and reliability of the UAVs. Creation of a comprehensive Ground Control System UI (GCS) enabling less trained professionals to be able to use the UAV with maximum potency. With the inclusion of such an autonomous system, artificially intelligent paths and environmental gusts and concerns can be avoided.

Keywords: UAV, drone, autonomous system, thermal imaging

Procedia PDF Downloads 42

Authors: Raahil Sheikh, Prathamesh Minde, Priya Gujjar, Himanshu Dwivedi, Abhishek Maurya

Abstract:

UAVs have been an initial member of our environment since it's the first used by Austrian warfare in Venice. At that stage, they were just pilotless balloons equipped with bombs to be dropped on enemy territory. Over time, technological advancements allowed UAVs to be controlled remotely or autonomously. This study shall mainly focus on the intensification of pre-existing manual drones equipping them with a variety of sensors and making them autonomous, and capable, and purposing them for a variety of roles, including thermal sensing, data collection, tracking creatures, forest fires, volcano detection, hydrothermal studies, urban heat, Island measurement, and other environmental research. The system can also be used for reconnaissance, research, 3D mapping, and search and rescue missions. This study mainly focuses on automating tedious tasks and reducing human errors as much as possible, reducing deployment time, and increasing the overall efficiency, efficacy, and reliability of the UAVs. Creation of a comprehensive Ground Control System UI (GCS) enabling less trained professionals to be able to use the UAV with maximum potency. With the inclusion of such an autonomous system, artificially intelligent paths and environmental gusts and concerns can be avoided

Keywords: UAV, autonomous systems, drones, geo thermal imaging

Procedia PDF Downloads 48

Authors: Mohammed Sulaiman, Hexu Liu, Mohamed Binalhaj, William W. Liou, Osama Abudayyeh

Abstract:

Emerging technologies such as camera-equipped unmanned aerial vehicles (UAVs) are increasingly being applied in building fire rescue to provide real-time visualization and 3D reconstruction of the entire fireground. However, flight planning of camera-equipped UAVs is usually a manual process, which is not sufficient to fulfill the needs of emergency management. This research proposes a Geographic Information System (GIS)-based approach to automatic flight planning of camera-equipped UAVs for building fire emergency response. In this research, Haversine formula and lawn mowing patterns are employed to automate flight planning based on geometrical and spatial information from GIS. The resulting flight mission satisfies the requirements of 3D reconstruction purposes of the fireground, in consideration of flight execution safety and visibility of camera frames. The proposed approach is implemented within a GIS environment through an application programming interface. A case study is used to demonstrate the effectiveness of the proposed approach. The result shows that flight mission can be generated in a timely manner for application to fire emergency response.

Keywords: GIS, camera-equipped UAVs, automatic flight planning, fire emergency response

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Authors: Yung-Chih Kuo, Che-Yu Lin, Jay-Shake Li, Yung-I Lou

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Curcumin (CRM) and nerve growth factor (NGF) were entrapped in liposomes (LIP) with cardiolipin (CL) to downregulate the phosphorylation of mitogen-activated protein kinases for Alzheimer’s disease (AD) management. AD belongs to neurodegenerative disorder with a gradual loss of memory, yielding irreversible dementia. CL-conjugated LIP loaded with CRM (CRM-CL/LIP) and that with NGF (NGF-CL/LIP) were applied to AD models of SK-N-MC cells and Wistar rats with an insult of β-amyloid peptide (Aβ). Lipids comprising 1,2-dipalmitoyl-sn-glycero-3- phosphocholine (Avanti Polar Lipids, Alabaster, AL), 1',3'-bis[1,2- dimyristoyl-sn-glycero-3-phospho]-sn-glycerol (CL; Avanti Polar Lipids), 1,2-dipalmitoyl-sn-glycero-3-phosphoethanolamine-N- [methoxy(polyethylene glycol)-2000] (Avanti Polar Lipids), 1,2-distearoyl-sn-glycero-3-phosphoethanolamine-N-[carboxy(polyethylene glycol)-2000] (Avanti Polar Lipids) and CRM (Sigma–Aldrich, St. Louis, MO) were dissolved in chloroform (J. T. Baker, Phillipsburg, NJ) and condensed using a rotary evaporator (Panchum, Kaohsiung, Taiwan). Human β-NGF (Alomone Lab, Jerusalem, Israel) was added in the aqueous phase. Wheat germ agglutinin (WGA; Medicago AB, Uppsala, Sweden) was grafted on LIP loaded with CRM for (WGA-CRM-LIP) and CL-conjugated LIP loaded with CRM (WGA-CRM-CL/LIP) using 1-ethyl-3-(3-dimethylaminopropyl) carbodiimide (Sigma–Aldrich) and N-hydroxysuccinimide (Alfa Aesar, Ward Hill, MA). The protein samples of SK-N-MC cells (American Type Tissue Collection, Rockville, MD) were used for sodium dodecyl sulfate (Sigma–Aldrich) polyacrylamide gel (Sigma–Aldrich) electrophoresis. In animal study, the LIP formulations were administered by intravenous injection via a tail vein of male Wistar rats (250–280 g, 8 weeks, BioLasco, Taipei, Taiwan), which were housed in the Animal Laboratory of National Chung Cheng University in accordance with the institutional guidelines and the guidelines of Animal Protection Committee under the Council of Agriculture of the Republic of China. We found that CRM-CL/LIP could inhibit the expressions of phosphorylated p38 (p-p38), p-Jun N-terminal kinase (p-JNK), and p-tau protein at serine 202 (p-Ser202) to retard the neuronal apoptosis. Free CRM and released CRM from CRM-LIP and CRM-CL/LIP were not in a straightforward manner to effectively inhibit the expression of p-p38 and p-JNK in the cytoplasm. In addition, NGF-CL/LIP enhanced the quantities of p-neurotrophic tyrosine kinase receptor type 1 (p-TrkA) and p-extracellular-signal-regulated kinase 5 (p-ERK5), preventing the Aβ-induced degeneration of neurons. The membrane fusion of NGF-LIP activated the ERK5 pathway and the targeting capacity of NGF-CL/LIP enhanced the possibility of released NGF to affect the TrkA level. Moreover, WGA-CRM-LIP improved the permeation of CRM across the blood–brain barrier (BBB) and significantly reduced the Aβ plaque deposition and malondialdehyde level and increased the percentage of normal neurons and cholinergic function in the hippocampus of AD rats. This was mainly because the encapsulated CRM was protected by LIP against a rapid degradation in the blood. Furthermore, WGA on LIP could target N-acetylglucosamine on endothelia and increased the quantity of CRM transported across the BBB. In addition, WGA-CRM-CL/LIP could be effective in suppressing the synthesis of acetylcholinesterase and reduced the decomposition of acetylcholine for better neurotransmission. Based on the in vitro and in vivo evidences, WGA-CRM-CL/LIP can rescue neurons from apoptosis in the brain and can be a promising drug delivery system for clinical AD therapy.

Keywords: Alzheimer’s disease, β-amyloid, liposome, mitogen-activated protein kinase

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Authors: Hamid Reza Ranjbar, Ali Reza Azmoude Ardalan, Hamid Dehghani, Mohammad Reza Sarajian

Abstract:

Natural disasters are unexpected events which predicting them is difficult. Earthquake is one of the most devastating disasters among natural hazards with high rate of mortality and wide extent of damages. After the earthquake occurrence, managing the critical condition and allocating limited relief sources requiring a complete awareness of damaged area. The information for allocating relief teams should be precise and reliable as much as possible, and be presented in the appropriate time after the earthquake occurrence. This type of information was previously presented in the form of a damage map; conducting relief teams by using damage map mostly lead to waste of time for finding alive occupants under the rubble. In this research, a proposed standard for prioritizing damaged buildings in terms of requiring rescue and relief was presented. This standard prioritizes damaged buildings into four levels of priority including very high, high, moderate and low by considering key parameters such as type of land use, activity time, and inactivity time of each land use, time of earthquake occurrence and distinct index. The priority map by using the proposed standard could be a basis for guiding relief teams towards the areas with high relief priority.

Keywords: Damage map, GIS, priority map, USAR

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Authors: J. Sagouis, A. Chamel, E. Carre, C. Casasreales, G. Rudnik, M. Cerdan

Abstract:

Robotics provides answers to amputees. The most expensive solutions surgically connect the prosthesis to nerve endings. There are also several types of non-invasive technologies that recover nerve messages passing through the muscles. After analyzing these messages, myoelectric prostheses perform the desired movement. The main goal is to avoid all surgeries, which can be heavy and offer cheaper alternatives. For an amputee, we use valid muscles to recover the electrical signal involved in a muscle movement. EMG sensors placed on the muscle allows us to measure a potential difference, which our program transforms into control for a robotic arm with two degrees of freedom. We have shown the feasibility of non-invasive prostheses with two degrees of freedom. Signal analysis and an increase in degrees of freedom is still being improved.

Keywords: prosthesis, electromyography (EMG), robotic arm, nerve message

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Authors: Edwaldo R. B. Monteiro, Patricia D. M. Plentz, Edson R. De Pieri

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Mobile robotics is gaining an increasingly important role in modern society. Several potentially dangerous or laborious tasks for human are assigned to mobile robots, which are increasingly capable. Many of these tasks need to be performed within a specified period, i.e., meet a deadline. Missing the deadline can result in financial and/or material losses. Mechanisms for predicting the missing of deadlines are fundamental because corrective actions can be taken to avoid or minimize the losses resulting from missing the deadline. In this work we propose a simple but reliable deadline missing prediction mechanism for mobile robots through the use of historical data and we use the Pioneer 3-DX robot for experiments and simulations, one of the most popular robots in academia.

Keywords: deadline missing, historical data, mobile robots, prediction mechanism

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Authors: Zohreh Soltani, Seyedmohammadhossein Hosseinian

Abstract:

Reduction of energy consumption in built infrastructure, through the installation of energy-efficient technologies, is a major approach to achieving sustainability. In practice, the viability of energy efficiency projects strongly depends on the cost reimbursement and profitability. These projects are subject to failure if the actual cost savings do not reimburse the project cost in a timely manner. In such cases, refinancing could be a solution to benefit from the long-term returns of the project if implemented wisely. However, very little is still known about the effect of refinancing options on financial performance of energy efficiency projects. To fill this gap, the present study investigates the financial behavior of energy efficiency projects with focus on refinancing options, such as Leveraged Loans. A System Dynamics (SD) model is introduced, and the model application is presented using an actual case-study data. The case study results indicate that while high-interest start-ups make using Leveraged Loan inevitable, refinancing can rescue the project and bring about profitability. This paper also presents some managerial implications of refinancing energy efficiency projects based on the case-study analysis. Results of this study help implementing financially viable energy efficiency projects, so the community could benefit from their environmental advantages widely.

Keywords: energy efficiency projects, leveraged loan, refinancing, sustainability

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Authors: Abbes Lounis, Kahina Louadj, Mohamed Aidene

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This paper presents an optimal control problem applied to a robot; the problem is to determine a command which makes it possible to reach a final state from a given initial state in record time. The approach followed to solve this optimization problem with constraints on the control starts by presenting the equations of motion of the dynamic system then by applying Pontryagin's maximum principle (PMP) to determine the optimal control, and Picard's successive approximation method combined with the shooting method to solve the resulting differential system.

Keywords: robotics, Pontryagin's Maximum Principle, PMP, Picard's method, shooting method, non-linear differential systems

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Authors: Mariana Volpini, Volker Bartenbach, Marcos Pinotti, Robert Riener

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Restoration of gait ability is an important task in the rehabilitation of people with neurological disorders presenting a great impact in the quality of life of an individual. Based on the motor learning concept, robotic assisted treadmill training has been introduced and found to be a feasible and promising therapeutic option in neurological rehabilitation but unfortunately it is not available for most patients in developing countries due to the high cost. This paper presents the concept of a low cost rehabilitation robot to help consolidate the robotic-assisted gait training as a reality in clinical practice in most countries. This work indicates that it is possible to build a simpler rehabilitation device respecting the physiological trajectory of the ankle.

Keywords: bioengineering, gait therapy, low cost rehabilitation robot, rehabilitation robotics

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Authors: Ramanpreet Kaur, Upasana Sharma

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The purpose of this paper is to address the challenges faced by MLDB system at the piston foundry plant due to interruption in supply of water. For the MLDB system to work in Model, two sub-units must be connected to the robotic main unit. The system cannot function without robotics and water supply by the fan (WSF). Insufficient water supply is the cause of system failure. The system operates at top performance using two sub-units. If one sub-unit fails, the system capacity is reduced. Priority of repair is given to the main unit i.e. Robotic and WSF. To solve the problem, semi-Markov process and regenerative point technique are used. Relevant graphs are also included to particular case.

Keywords: MLDB system, robotic, semi-Markov process, regenerative point technique

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Authors: M. A. Hannan, N. Matthias Neisius

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Organophosphorus compound diethyloxymethyl-9-oxa-10-phosphaphenanthrene-10-oxide (DOPAC) was applied on cotton cellulose to impart eco-friendly flame retardant property to it. Here acetal linkage was introduced rather than conventionally used ester linkage to rescue from the undurability problem of flame retardant compound. Some acidic catalysts, sodium dihydrogen phosphate (NaH2PO4), ammonium dihydrogen phosphate (NH4H2PO4) and phosphoric acid (H3PO4) were successfully used to form acetal linkage between the base material and flame retardant compound. Inspiring limiting oxygen index (LOI) value of 22.4 was found after exclusive washing treatment. A good outcome of total heat of combustion (THC) 6.05 KJ/g was found possible during pyrolysis combustion flow calorimetry (PCFC) test of the treated sample. Low temperature dehydration with sufficient amount of char residue (14.89%) was experienced in case of treated sample. In addition, the temperature of peak heat release rate (TPHRR) 343.061°C supported the expected low temperature pyrolysis in condensed phase mechanism. With the consequence of pyrolysis effects, thermogravimetric analysis (TGA) also reported inspiring weight retention% of the treated samples.

Keywords: acetal linkage, char residue, cotton cellulose, flame retardant, loi, low temperature pyrolysis, organophosphorus, THC, THRR

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Authors: Muhammad Umar

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Safety and Assets management is considering a backbone of every department. GIS in the Railway become very important to Manage Assets and Security through Digital Maps and Web based GIS Maps. It provides a complete frame of work to the organization for the management of assets. Pakistan Railway is the most common and safest mode of traveling in Pakistan. Due to ever-increasing demand of transporting huge amount of information generated from various sources and this information must be accurate. This creates problems for Passengers and Administration that causes finical and time loss. GIS Solve this problem by Digital Maps & Database. It provides you a real time Spatial and Statistical analysis that helps you to communicate and exchange the information in a sophisticated way to the users. GIS Based Web system provides a facility to different end user to make query at a time as per requirements. This GIS System provides an advancement in an organization for a complete Monitoring, Safety and Decision System for tracks, Stations and Junctions that further use for the Analysis of different areas i.e. analysis of tracks, junctions and Stations in case of reconstruction, Rescue for rail accidents and Natural disasters .This Research work helps to reduce the financial loss and reduce human mistakes helps you provide a complete security and Management system of assets.

Keywords: Geographical Information System (GIS) for assets management, geo spatial database, railway assets management, Pakistan

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Authors: G. Khamooshian

Abstract:

One of the main points of application of the mechanisms of the series and parallel is the subject of managing them. The control of this mechanism and similar mechanisms is one that has always been the intention of the scholars. On the other hand, modeling the behavior of the system is difficult due to the large number of its parameters, and it leads to complex equations that are difficult to solve and eventually difficult to control. In this paper, a six-linkage robot has been presented that could be used in different areas such as medical robots. Using these robots needs a robust control. In this paper, the system equations are first found, and then the system conversion function is written. A new controller has been designed for this robot which could be used in other parallel robots and could be very useful. Parallel robots are so important in robotics because of their stability, so methods for control of them are important and the robust controller, especially in parallel robots, makes a sense.

Keywords: 3-RRS, 6 linkage, parallel robot, control

Procedia PDF Downloads 119

Authors: Omid Heydarnia, Akbar Allahverdizadeh, Behnam Dadashzadeh, M. R. Sayyed Noorani

Abstract:

Underactuated biped robots control is one of the interesting topics in robotics. The main difficulties are its highly nonlinear dynamics, open-loop instability, and discrete event at the end of the gait. One of the methods to control underactuated systems is the partial feedback linearization, but it is not robust against uncertainties and disturbances that restrict its performance to control biped walking and running. In this paper, fuzzy partial feedback linearization is presented to overcome its drawback. Numerical simulations verify the effectiveness of the proposed method to generate stable and robust biped walking and running gaits.

Keywords: underactuated system, biped robot, fuzzy control, partial feedback linearization

Procedia PDF Downloads 317

Authors: Stephani Ferreira da Silva Manso, Regina M. M. Dias Chiquetano

Abstract:

This article aims to present a research on one of the main aspects of response in humanitarian causes: agility of operations. Brazil is among the 10 countries with the highest number of people affected by disasters.The main types of disasters in Brazil include floods and mass movements. Focusing on a nongovernmental organization that began in the conflicts of First and Second World Wars, arriving in Brazil in 1984. In 2017, the organization has activated their emergency response mobile unit to reach families following flooding that affected around 9,000 people. In partnership with Truckvan, the mobile unit, has 45 m² of floor space and is divided into three compartments each designed to meet the main needs of the population: the first will be used to prepare hot meals, the second to washing and drying of clothes, and the third for the accomplishment of psychological support. This option will be available for situations where there are more than one thousand victims who are sheltered, even temporarily, and demand immediate care, which will be identified through the National Emergency Plan. In this way, the actions that were already done as donation of blankets, clothes, hygiene kits, among others, will be enhanced. Studies show that one of the biggest difficulties in responding to the disaster is in the first few hours after the disaster. This study aimed to show the organization's innovative results and to propose improvement actions in transportation focused on humanitarian aid as the concepts developed in the manufacture and adaptation of the mobile unit to the rescue environment. Thus, the principles of this humanitarian aid bus are very effective.

Keywords: disasters, humanitarian cause, relief, unit mobile

Procedia PDF Downloads 152