Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 281

Search results for: robotic cube

281 A Robotic Cube to Preschool Children for Acquiring the Mathematical and Colours Concepts

Authors: Ahmed Amin Mousa, Tamer M. Ismail, M. Abd El Salam


This work presents a robot called Conceptual Robotic Cube, CR-Cube. The robot can be used as an educational tool for children from the age of three. It has a cube shape attached with a camera colours sensor. In addition, it contains four wheels to move smoothly. The researchers prepared a questionnaire to measure the efficiency of the robot. The design and the questionnaire was presented to 11 experts who agreed that the robot is appropriate for learning numbering and colours for preschool children.

Keywords: CR-Cube, robotic cube, conceptual robot, conceptual cube, colour concept, early childhood education

Procedia PDF Downloads 295
280 Maximum Induced Subgraph of an Augmented Cube

Authors: Meng-Jou Chien, Jheng-Cheng Chen, Chang-Hsiung Tsai


Let maxζG(m) denote the maximum number of edges in a subgraph of graph G induced by m nodes. The n-dimensional augmented cube, denoted as AQn, a variation of the hypercube, possesses some properties superior to those of the hypercube. We study the cases when G is the augmented cube AQn.

Keywords: interconnection network, augmented cube, induced subgraph, bisection width

Procedia PDF Downloads 272
279 Incorporation of Safety into Design by Safety Cube

Authors: Mohammad Rajabalinejad


Safety is often seen as a requirement or a performance indicator through the design process, and this does not always result in optimally safe products or systems. This paper suggests integrating the best safety practices with the design process to enrich the exploration experience for designers and add extra values for customers. For this purpose, the commonly practiced safety standards and design methods have been reviewed and their common blocks have been merged forming Safety Cube. Safety Cube combines common blocks for design, hazard identification, risk assessment and risk reduction through an integral approach. An example application presents the use of Safety Cube for design of machinery.

Keywords: safety, safety cube, product, system, machinery, design

Procedia PDF Downloads 116
278 The Possibility of Solving a 3x3 Rubik’s Cube under 3 Seconds

Authors: Chung To Kong, Siu Ming Yiu


Rubik's cube was invented in 1974. Since then, speedcubers all over the world try their best to break the world record again and again. The newest record is 3.47 seconds. There are many factors that affect the timing, including turns per second (tps), algorithm, finger trick, hardware of the cube. In this paper, the lower bound of the cube solving time will be discussed using convex optimization. Extended analysis of the world records will be used to understand how to improve the timing. With the understanding of each part of the solving step, the paper suggests a list of speed improvement techniques. Based on the analysis of the world record, there is a high possibility that the 3 seconds mark will be broken soon.

Keywords: Rubik's Cube, speed, finger trick, optimization

Procedia PDF Downloads 120
277 Ag-Cu and Bi-Cd Eutectics Ribbons under Superplastic Tensile Test Regime

Authors: Edgar Ochoa, G. Torres-Villasenor


Superplastic deformation is shown by materials with a fine grain size, usually less than 10 μm, when they are deformed within the strain rate range 10-5 10-1 s-1 at temperatures greater than 0.5Tm, where Tm is the melting point in Kelvin. According to the constitutive equation for superplastic flow, refinement of the grain size would be expected to increase the optimum strain rate and decrease the temperature required for superplastic flow. Ribbons of eutectic Ag-Cu and Bi-Cd alloys were manufactured by using a single roller melt-spinning technique to obtain a fine grain structure for later test in superplastic regime. The eutectics ribbons were examined by scanning electron microscopy and X-Ray diffraction, and the grain size was determined using the image analysis software ImageJ. The average grain size was less than 1 μm. Tensile tests were carried out from 10-4 to 10-1 s-1, at room temperature, to evaluate the superplastic behavior. The largest deformation was shown by the Bi-Cd eutectic ribbons, Ɛ=140 %, despite that these ribbons have a hexagonal unit cell. On the other hand, Ag-Cu eutectic ribbons have a minor grain size and cube unit cell, however they showed a lower deformation in tensile test under the same conditions than Bi-Cd ribbons. This is because the Ag-Cu grew in a strong cube-cube orientation relationship.

Keywords: eutectic ribbon, fine grain, superplastic deformation, cube-cube orientation

Procedia PDF Downloads 95
276 Hamiltonian Related Properties with and without Faults of the Dual-Cube Interconnection Network and Their Variations

Authors: Shih-Yan Chen, Shin-Shin Kao


In this paper, a thorough review about dual-cubes, DCn, the related studies and their variations are given. DCn was introduced to be a network which retains the pleasing properties of hypercube Qn but has a much smaller diameter. In fact, it is so constructed that the number of vertices of DCn is equal to the number of vertices of Q2n +1. However, each vertex in DCn is adjacent to n + 1 neighbors and so DCn has (n + 1) × 2^2n edges in total, which is roughly half the number of edges of Q2n+1. In addition, the diameter of any DCn is 2n +2, which is of the same order of that of Q2n+1. For selfcompleteness, basic definitions, construction rules and symbols are provided. We chronicle the results, where eleven significant theorems are presented, and include some open problems at the end.

Keywords: dual-cubes, dual-cube extensive networks, dual-cube-like networks, hypercubes, fault-tolerant hamiltonian property

Procedia PDF Downloads 368
275 Assessing Female Students' Understanding of the Solar System Concepts by Implementing I-Cube Technology

Authors: Elham Ghazi Mohammad


This study examined the female students’ understanding for the solar system concepts through the utilization of the I-Cube technology as a virtual reality technology. The study conducted in Qatar University for samples of students of eighth and ninth preparatory grade students in the State of Qatar. The research framework comprises designated quantitative research designs and methods of data collection and analysis including pre- and post-conceptual exams. This research based on experimental method design that focuses on students’ performance and conceptual questions. A group of 120 students from the eighth and ninth groups were divided into two pools of 60 students each, where the two 60-student groups represent the designated control and treatment groups. It must be mentioned that the students were selected randomly from the eighth and ninth grades. The solar system lesson of interest was taught by teacher candidates (senior students at the college of Education at QU), who taught both the experimental group (integrating I-cube) in virtual lab in Qatar University and control group (without integrating this technology) in one of independent school in the State of Qatar. It is noteworthy to mention that the students usually face some difficulties to learn by imagining real situation such as solar system and inner planet lesson. Collected data was statistically analyzed using one-way ANOVA and one-way ANCOVA using SPSS Statistics. The obtained results revealed that integrating I-Cube technology has significantly enhanced female students’ conceptual understanding of the solar system. Interestingly, our findings demonstrated the applicability of utilizing integrating I-Cube technology toward enhancing the students’ understanding regarding subjects of interests within the landscapes of basic sciences.

Keywords: virtual lab, integrating technology, I-Cube, solar system

Procedia PDF Downloads 166
274 Design and Optimization of a 6 Degrees of Freedom Co-Manipulated Parallel Robot for Prostate Brachytherapy

Authors: Aziza Ben Halima, Julien Bert, Dimitris Visvikis


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 112
273 Movement Optimization of Robotic Arm Movement Using Soft Computing

Authors: V. K. Banga


Robots are now playing a very promising role in industries. Robots are commonly used in applications in repeated operations or where operation by human is either risky or not feasible. In most of the industrial applications, robotic arm manipulators are widely used. Robotic arm manipulator with two link or three link structures is commonly used due to their low degrees-of-freedom (DOF) movement. As the DOF of robotic arm increased, complexity increases. Instrumentation involved with robotics plays very important role in order to interact with outer environment. In this work, optimal control for movement of various DOFs of robotic arm using various soft computing techniques has been presented. We have discussed about different robotic structures having various DOF robotics arm movement. Further stress is on kinematics of the arm structures i.e. forward kinematics and inverse kinematics. Trajectory planning of robotic arms using soft computing techniques is demonstrating the flexibility of this technique. The performance is optimized for all possible input values and results in optimized movement as resultant output. In conclusion, soft computing has been playing very important role for achieving optimized movement of robotic arm. It also requires very limited knowledge of the system to implement soft computing techniques.

Keywords: artificial intelligence, kinematics, robotic arm, neural networks, fuzzy logic

Procedia PDF Downloads 203
272 Conceptual Design of a Wi-Fi and GPS Based Robotic Library Using an Intelligent System

Authors: M. S. Sreejith, Steffy Joy, Abhishesh Pal, Beom-Sahng Ryuh, V. R. Sanal Kumar


In this paper an attempt has been made for the design of a robotic library using an intelligent system. The robot works on the ARM microprocessor, motor driver circuit with 5 degrees of freedom with Wi-Fi and GPS based communication protocol. The authenticity of the library books is controlled by RFID. The proposed robotic library system is facilitated with embedded system and ARM. In this library issuance system the previous potential readers’ authentic review reports have been taken into consideration for recommending suitable books to the deserving new users and the issuance of books or periodicals is based on the users’ decision. We have conjectured that the Wi-Fi based robotic library management system would allow fast transaction of books issuance and it also produces quality readers.

Keywords: GPS bsed based Robotic library, library management system, robotic library, Wi-Fi library

Procedia PDF Downloads 204
271 Sparsity-Based Unsupervised Unmixing of Hyperspectral Imaging Data Using Basis Pursuit

Authors: Ahmed Elrewainy


Mixing in the hyperspectral imaging occurs due to the low spatial resolutions of the used cameras. The existing pure materials “endmembers” in the scene share the spectra pixels with different amounts called “abundances”. Unmixing of the data cube is an important task to know the present endmembers in the cube for the analysis of these images. Unsupervised unmixing is done with no information about the given data cube. Sparsity is one of the recent approaches used in the source recovery or unmixing techniques. The l1-norm optimization problem “basis pursuit” could be used as a sparsity-based approach to solve this unmixing problem where the endmembers is assumed to be sparse in an appropriate domain known as dictionary. This optimization problem is solved using proximal method “iterative thresholding”. The l1-norm basis pursuit optimization problem as a sparsity-based unmixing technique was used to unmix real and synthetic hyperspectral data cubes.

Keywords: basis pursuit, blind source separation, hyperspectral imaging, spectral unmixing, wavelets

Procedia PDF Downloads 131
270 Scorbot-ER 4U Using Forward Kinematics Modelling and Analysis

Authors: D. Maneetham, L. Sivhour


Robotic arm manipulators are widely used to accomplish many kinds of tasks. SCORBOT-ER 4u is a 5-degree of freedom (DOF) vertical articulated educational robotic arm, and all joints are revolute. It is specifically designed to perform pick and place task with its gripper. The pick and place task consists of consideration of the end effector coordinate of the robotic arm and the desired position coordinate in its workspace. This paper describes about forward kinematics modeling and analysis of the robotic end effector motion through joint space. The kinematics problems are defined by the transformation from the Cartesian space to the joint space. Denavit-Hartenberg (D-H) model is used in order to model the robotic links and joints with 4x4 homogeneous matrix. The forward kinematics model is also developed and simulated in MATLAB. The mathematical model is validated by using robotic toolbox in MATLAB. By using this method, it may be applicable to get the end effector coordinate of this robotic arm and other similar types to this arm. The software development of SCORBOT-ER 4u is also described here. PC-and EtherCAT based control technology from BECKHOFF is used to control the arm to express the pick and place task.

Keywords: forward kinematics, D-H model, robotic toolbox, PC- and EtherCAT-based control

Procedia PDF Downloads 94
269 Reconstruction Spectral Reflectance Cube Based on Artificial Neural Network for Multispectral Imaging System

Authors: Iwan Cony Setiadi, Aulia M. T. Nasution


The multispectral imaging (MSI) technique has been used for skin analysis, especially for distant mapping of in-vivo skin chromophores by analyzing spectral data at each reflected image pixel. For ergonomic purpose, our multispectral imaging system is decomposed in two parts: a light source compartment based on LED with 11 different wavelenghts and a monochromatic 8-Bit CCD camera with C-Mount Objective Lens. The software based on GUI MATLAB to control the system was also developed. Our system provides 11 monoband images and is coupled with a software reconstructing hyperspectral cubes from these multispectral images. In this paper, we proposed a new method to build a hyperspectral reflectance cube based on artificial neural network algorithm. After preliminary corrections, a neural network is trained using the 32 natural color from X-Rite Color Checker Passport. The learning procedure involves acquisition, by a spectrophotometer. This neural network is then used to retrieve a megapixel multispectral cube between 380 and 880 nm with a 5 nm resolution from a low-spectral-resolution multispectral acquisition. As hyperspectral cubes contain spectra for each pixel; comparison should be done between the theoretical values from the spectrophotometer and the reconstructed spectrum. To evaluate the performance of reconstruction, we used the Goodness of Fit Coefficient (GFC) and Root Mean Squared Error (RMSE). To validate reconstruction, the set of 8 colour patches reconstructed by our MSI system and the one recorded by the spectrophotometer were compared. The average GFC was 0.9990 (standard deviation = 0.0010) and the average RMSE is 0.2167 (standard deviation = 0.064).

Keywords: multispectral imaging, reflectance cube, spectral reconstruction, artificial neural network

Procedia PDF Downloads 229
268 A Robotic Rehabilitation Arm Driven by Somatosensory Brain-Computer Interface

Authors: Jiewei Li, Hongyan Cui, Chunqi Chang, Yong Hu


It was expected to benefit patient with hemiparesis after stroke by extensive arm rehabilitation, to partially regain forearm and hand function. This paper propose a robotic rehabilitation arm in assisting the hemiparetic patient to learn new ways of using and moving their weak arms. In this study, the robotic arm was driven by a somatosensory stimulated brain computer interface (BCI), which is a new modality BCI. The use of somatosensory stimulation is not only an input for BCI, but also a electrical stimulation for treatment of hemiparesis to strengthen the arm and improve its range of motion. A trial of this robotic rehabilitation arm was performed in a stroke patient with pure motor hemiparesis. The initial trial showed a promising result from the patient with great motivation and function improvement. It suggests that robotic rehabilitation arm driven by somatosensory BCI can enhance the rehabilitation performance and progress for hemiparetic patients after stroke.

Keywords: robotic rehabilitation arm, brain computer interface (BCI), hemiparesis, stroke, somatosensory stimulation

Procedia PDF Downloads 311
267 Building a Hierarchical, Granular Knowledge Cube

Authors: Alexander Denzler, Marcel Wehrle, Andreas Meier


A knowledge base stores facts and rules about the world that applications can use for the purpose of reasoning. By applying the concept of granular computing to a knowledge base, several advantages emerge. These can be harnessed by applications to improve their capabilities and performance. In this paper, the concept behind such a construct, called a granular knowledge cube, is defined, and its intended use as an instrument that manages to cope with different data types and detect knowledge domains is elaborated. Furthermore, the underlying architecture, consisting of the three layers of the storing, representing, and structuring of knowledge, is described. Finally, benefits as well as challenges of deploying it are listed alongside application types that could profit from having such an enhanced knowledge base.

Keywords: granular computing, granular knowledge, hierarchical structuring, knowledge bases

Procedia PDF Downloads 389
266 The Robotic Intervention in the Tourism Experience: The Customer Journey’s Touchpoints, Context, and Qualities

Authors: Aikaterini Manthiou, Phil Klaus, Kafia Ayadi


Tourism research has shown a growing need to comprehend the robotic tourism experience’s meaning and foundations while also offering guidance regarding future discussions and research. This paper aims to analyze the robotic tourism experience based on the basis of De Keyser et al.’s (2020) conceptualization. In order to develop three theoretical propositions, we explore the robotic tourism experience by means of the three building blocks: touchpoints, context, and qualities. The three building blocks should not be examined in isolation but as a system of interplaying factors impacting the customer journey and customer experience. The study discusses the theoretical and practical implications of these impacts, as well as providing future research directions.

Keywords: robotic tourism experience, robot, touchpoints, context, qualities

Procedia PDF Downloads 89
265 Robotic Arm Control with Neural Networks Using Genetic Algorithm Optimization Approach

Authors: Arbnor Pajaziti, Hasan Cana


In this paper, the structural genetic algorithm is used to optimize the neural network to control the joint movements of robotic arm. The robotic arm has also been modeled in 3D and simulated in real-time in MATLAB. It is found that Neural Networks provide a simple and effective way to control the robot tasks. Computer simulation examples are given to illustrate the significance of this method. By combining Genetic Algorithm optimization method and Neural Networks for the given robotic arm with 5 D.O.F. the obtained the results shown that the base joint movements overshooting time without controller was about 0.5 seconds, while with Neural Network controller (optimized with Genetic Algorithm) was about 0.2 seconds, and the population size of 150 gave best results.

Keywords: robotic arm, neural network, genetic algorithm, optimization

Procedia PDF Downloads 407
264 Totally Robotic Gastric Bypass Using Modified Lonroth Technique

Authors: Arun Prasad


Background: Robotic Bariatric Surgery is a good option for the super obese where laparoscopy demands challenging technical skills. Gastric bypass can be difficult due to inability of the robot to work in two quadrants at the same time. Lonroth technique of gastric bypass involves a totally supracolic surgery where all anastomosis are done in one quadrant only. Methods: We have done 78 robotic gastric bypass surgeries using the modified Lonroth technique. The robot is docked above the head of the patient in the midline. Camera port is placed supra umbilically. Two ports are placed on the left side of the patient and one port on the right side of the patient. An assistant port is placed between the camera port and right sided robotic port for use of stapler. Gastric pouch is made first followed by the gastrojejunostomy that is a four layered sutured anastomosis. Jejuno jejunostomy is then performed followed by a leak test and then the jejunum is divided. A 150 cm biliopancreatic limb and a 75 cm alimentary limb are finally obtained. Mesenteric and Petersen’s defects are then closed. Results: All patients had a successful robotic procedure. Mean time taken in the first 5 cases was 130 minutes. This reduced to a mean of 95 minutes in the last five cases. There were no intraoperative or post operative complications. Conclusions: While a hybrid technique of partly laparoscopic and partly robotic gastric bypass has been done at many centres, we feel using the modified Lonroth technique, a totally robotic gastric bypass surgery fully utilizes the potential of robotic bariatric surgery.

Keywords: robot, bariatric, totally robotic, gastric bypass

Procedia PDF Downloads 160
263 Multi-Tooled Robotic Hand for Tele-Operation of Explosive Devices

Authors: Faik Derya Ince, Ugur Topgul, Alp Gunay, Can Bayoglu, Dante J. Dorantes-Gonzalez


Explosive attacks are arguably the most lethal threat that may occur in terrorist attacks. In order to counteract this issue, explosive ordnance disposal operators put their lives on the line to dispose of a possible improvised explosive device. Robots can make the disposal process more accurately and saving human lives. For this purpose, there is a demand for more accurate and dexterous manipulating robotic hands that can be teleoperated from a distance. The aim of this project is to design a robotic hand that contains two active and two passive DOF for each finger, as well as a minimum set of tools for mechanical cutting and screw driving within the same robotic hand. Both hand and toolset, are teleoperated from a distance from a haptic robotic glove in order to manipulate dangerous objects such as improvised explosive devices. SolidWorks® Computer-Aided Design, computerized dynamic simulation, and MATLAB® kinematic and static analysis were used for the robotic hand and toolset design. Novel, dexterous and robust solutions for the fingers were obtained, and six servo motors are used in total to remotely control the multi-tooled robotic hand. This project is still undergoing and presents currents results. Future research steps are also presented.

Keywords: Explosive Manipulation, Robotic Hand, Tele-Operation, Tool Integration

Procedia PDF Downloads 53
262 Sphere in Cube Grid Approach to Modelling of Shale Gas Production Using Non-Linear Flow Mechanisms

Authors: Dhruvit S. Berawala, Jann R. Ursin, Obrad Slijepcevic


Shale gas is one of the most rapidly growing forms of natural gas. Unconventional natural gas deposits are difficult to characterize overall, but in general are often lower in resource concentration and dispersed over large areas. Moreover, gas is densely packed into the matrix through adsorption which accounts for large volume of gas reserves. Gas production from tight shale deposits are made possible by extensive and deep well fracturing which contacts large fractions of the formation. The conventional reservoir modelling and production forecasting methods, which rely on fluid-flow processes dominated by viscous forces, have proved to be very pessimistic and inaccurate. This paper presents a new approach to forecast shale gas production by detailed modeling of gas desorption, diffusion and non-linear flow mechanisms in combination with statistical representation of these processes. The representation of the model involves a cube as a porous media where free gas is present and a sphere (SiC: Sphere in Cube model) inside it where gas is adsorbed on to the kerogen or organic matter. Further, the sphere is considered consisting of many layers of adsorbed gas in an onion-like structure. With pressure decline, the gas desorbs first from the outer most layer of sphere causing decrease in its molecular concentration. The new available surface area and change in concentration triggers the diffusion of gas from kerogen. The process continues until all the gas present internally diffuses out of the kerogen, gets adsorbs onto available surface area and then desorbs into the nanopores and micro-fractures in the cube. Each SiC idealizes a gas pathway and is characterized by sphere diameter and length of the cube. The diameter allows to model gas storage, diffusion and desorption; the cube length takes into account the pathway for flow in nanopores and micro-fractures. Many of these representative but general cells of the reservoir are put together and linked to a well or hydraulic fracture. The paper quantitatively describes these processes as well as clarifies the geological conditions under which a successful shale gas production could be expected. A numerical model has been derived which is then compiled on FORTRAN to develop a simulator for the production of shale gas by considering the spheres as a source term in each of the grid blocks. By applying SiC to field data, we demonstrate that the model provides an effective way to quickly access gas production rates from shale formations. We also examine the effect of model input properties on gas production.

Keywords: adsorption, diffusion, non-linear flow, shale gas production

Procedia PDF Downloads 104
261 Multi-Robotic Partial Disassembly Line Balancing with Robotic Efficiency Difference via HNSGA-II

Authors: Tao Yin, Zeqiang Zhang, Wei Liang, Yanqing Zeng, Yu Zhang


To accelerate the remanufacturing process of electronic waste products, this study designs a partial disassembly line with the multi-robotic station to effectively dispose of excessive wastes. The multi-robotic partial disassembly line is a technical upgrade to the existing manual disassembly line. Balancing optimization can make the disassembly line smoother and more efficient. For partial disassembly line balancing with the multi-robotic station (PDLBMRS), a mixed-integer programming model (MIPM) considering the robotic efficiency differences is established to minimize cycle time, energy consumption and hazard index and to calculate their optimal global values. Besides, an enhanced NSGA-II algorithm (HNSGA-II) is proposed to optimize PDLBMRS efficiently. Finally, MIPM and HNSGA-II are applied to an actual mixed disassembly case of two types of computers, the comparison of the results solved by GUROBI and HNSGA-II verifies the correctness of the model and excellent performance of the algorithm, and the obtained Pareto solution set provides multiple options for decision-makers.

Keywords: waste disposal, disassembly line balancing, multi-robot station, robotic efficiency difference, HNSGA-II

Procedia PDF Downloads 83
260 An Experimental Investigation of the Cognitive Noise Influence on the Bistable Visual Perception

Authors: Alexander E. Hramov, Vadim V. Grubov, Alexey A. Koronovskii, Maria K. Kurovskaуa, Anastasija E. Runnova


The perception of visual signals in the brain was among the first issues discussed in terms of multistability which has been introduced to provide mechanisms for information processing in biological neural systems. In this work the influence of the cognitive noise on the visual perception of multistable pictures has been investigated. The study includes an experiment with the bistable Necker cube illusion and the theoretical background explaining the obtained experimental results. In our experiments Necker cubes with different wireframe contrast were demonstrated repeatedly to different people and the probability of the choice of one of the cubes projection was calculated for each picture. The Necker cube was placed at the middle of a computer screen as black lines on a white background. The contrast of the three middle lines centered in the left middle corner was used as one of the control parameter. Between two successive demonstrations of Necker cubes another picture was shown to distract attention and to make a perception of next Necker cube more independent from the previous one. Eleven subjects, male and female, of the ages 20 through 45 were studied. The choice of the Necker cube projection was detected with the Electroencephalograph-recorder Encephalan-EEGR-19/26, Medicom MTD. To treat the experimental results we carried out theoretical consideration using the simplest double-well potential model with the presence of noise that led to the Fokker-Planck equation for the probability density of the stochastic process. At the first time an analytical solution for the probability of the selection of one of the Necker cube projection for different values of wireframe contrast have been obtained. Furthermore, having used the results of the experimental measurements with the help of the method of least squares we have calculated the value of the parameter corresponding to the cognitive noise of the person being studied. The range of cognitive noise parameter values for studied subjects turned to be [0.08; 0.55]. It should be noted, that experimental results have a good reproducibility, the same person being studied repeatedly another day produces very similar data with very close levels of cognitive noise. We found an excellent agreement between analytically deduced probability and the results obtained in the experiment. A good qualitative agreement between theoretical and experimental results indicates that even such a simple model allows simulating brain cognitive dynamics and estimating important cognitive characteristic of the brain, such as brain noise.

Keywords: bistability, brain, noise, perception, stochastic processes

Procedia PDF Downloads 375
259 Robotic Mini Gastric Bypass Surgery

Authors: Arun Prasad, Abhishek Tiwari, Rekha Jaiswal, Vivek Chaudhary


Background: Robotic Roux en Y gastric bypass is being done for some time but is technically difficult, requiring operating in both the sub diaphragmatic and infracolic compartments of the abdomen. This can mean a dual docking of the robot or a hybrid partial laparoscopic and partial robotic surgery. The Mini /One anastomosis /omega loop gastric bypass (MGB) has the advantage of having all dissection and anastomosis in the supracolic compartment and is therefore suitable technically for robotic surgery. Methods: We have done 208 robotic mini gastric bypass surgeries. The robot is docked above the head of the patient in the midline. Camera port is placed supra umbilically. Two ports are placed on the left side of the patient and one port on the right side of the patient. An assistant port is placed between the camera port and right sided robotic port for use of stapler. Distal stomach is stapled from the lesser curve followed by a vertical sleeve upwards leading to a long sleeve pouch. Jejunum is taken at 200 cm from the duodenojejunal junction and brought up to do a side to side gastrojejunostomy. Results: All patients had a successful robotic procedure. Mean time taken was 85 minutes. There were major intraoperative or post operative complications. No patient needed conversion or re-explorative surgery. Mean excess weight loss over a period of 2 year was about 75%. There was no mortality. Patient satisfaction score was high and was attributed to the good weight loss and minimal dietary modifications that were needed after the procedure. Long term side effects were anemia and bile reflux in a small number of patients. Conclusions: MGB / OAGB is gaining worldwide interest as a short simple procedure that has been shown to very effective and safe bariatric surgery. The purpose of this study was to report on the safety and efficacy of robotic surgery for this procedure. This is the first report of totally robotic mini gastric bypass.

Keywords: MGB, mini gastric bypass, OAGB, robotic bariatric surgery

Procedia PDF Downloads 217
258 Prediction of Solidification Behavior of Al Alloy in a Cube Mold Cavity

Authors: N. P. Yadav, Deepti Verma


This paper focuses on the mathematical modeling for solidification of Al alloy in a cube mould cavity to study the solidification behavior of casting process. The parametric investigation of solidification process inside the cavity was performed by using computational solidification/melting model coupled with Volume of fluid (VOF) model. The implicit filling algorithm is used in this study to understand the overall process from the filling stage to solidification in a model metal casting process. The model is validated with past studied at same conditions. The solidification process are analyzed by including the effect of pouring velocity and temperature of liquid metal, effect of wall temperature as well natural convection from the wall and geometry of the cavity. These studies show the possibility of various defects during solidification process.

Keywords: buoyancy driven flow, natural convection driven flow, residual flow, secondary flow, volume of fluid

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257 Effect of Zingerone on High-Fructose Diet-Indeuced Metabolic Derangements in Growing Sprague-Dawley Rats

Authors: Nondumiso Lushozi, Busisani Lembede, Eliton Chivandi


Consumption of fructose increases the risk of obesity, nonalcoholic fatty liver disease (NAFLD) and metabolic syndrome in children. Zingerone which is found in ginger has antidiabetic and antiobesogenic properties. Therefore, the aim of the study was to investigate the potential of orally administered zingerone to protect growing Sprague-Dawley rats (mimicking growing children) against high-fructose diet-induced metabolic derangements. Forty, 21-day old female Sprague-Dawley rats were randomly allocated and administered the following four treatments for 12 weeks: group I: standard rat chow (SR) + plain water (PW) + plain gelatine cube (PC). group II: SR + 20% (w/v) fructose solution (FS) + PC. group III: SR + FS + 100 mg/kg/day of fenofibrate in gelatine cube. group IV: SR+ FS + 20 mg/kg/day of zingerone in gelatine cube. The rats’ triglyceride, cholesterol, insulin & adiponectin concentration, visceral fat liver lipid content, homoeostasis model assessment of insulin resistance (HOMA-IR) and ability to handle glucose were determined. Oral administration of zingerone significantly increased (P<0.001) visceral fat and liver lipid content (P<0.001), respectively. Results from the study revealed that administration of 20% fructose solution did not induce metabolic dysfunction, however the zingerone treatment increased visceral fat and liver lipid content, all these lipid abnormalities are typical features of the metabolic syndrome, therefore the current study suggests that zingerone has no effect on metabolic dysfunction in adolescent females.

Keywords: antidiabetic, metabolic syndrome, zingerone, antiobesogenic

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256 Optimizing Pick and Place Operations in a Simulated Work Cell for Deformable 3D Objects

Authors: Troels Bo Jørgensen, Preben Hagh Strunge Holm, Henrik Gordon Petersen, Norbert Kruger


This paper presents a simulation framework for using machine learning techniques to determine robust robotic motions for handling deformable objects. The main focus is on applications in the meat sector, which mainly handle three-dimensional objects. In order to optimize the robotic handling, the robot motions have been parameterized in terms of grasp points, robot trajectory and robot speed. The motions are evaluated based on a dynamic simulation environment for robotic control of deformable objects. The evaluation indicates certain parameter setups, which produce robust motions in the simulated environment, and based on a visual analysis indicate satisfactory solutions for a real world system.

Keywords: deformable objects, robotic manipulation, simulation, real world system

Procedia PDF Downloads 190
255 Effect of Species and Slaughtering Age on Quality Characteristics of Different Meat Cuts of Humped Cattle and Water Buffalo Bulls

Authors: Muhammad Kashif Yar, Muhammad Hayat Jaspal, Muawuz Ijaz, Zafar Hayat, Iftikhar Hussain Badar, Jamal Nasir


Meat quality characteristics such as ultimate pH (pHu), color, cooking loss and shear force of eight wholesale meat cuts of humped cattle (Bos indicus) and water buffalo (Bubalus bubalis) bulls at two age groups were evaluated. A total of 48 animals, 24 of each species and within species 12 from each 18 and 26 months age group were slaughtered. After 24h post-slaughter, eight meat cuts, i.e., tenderloin, sirloin, rump, cube roll, round, topside, silverside and blade were cut from the carcass. The pHu of tenderloin (5.65 vs 5.55), sirloin (5.67 vs 5.60), cube roll (5.68 vs 5.62) and blade (5.88 vs 5.72) was significantly higher (P<0.05) in buffalo than cattle. The tenderloin showed significantly higher (44.63 vs 42.23) and sirloin showed lower (P<0.05) mean L* value (42.28 vs 44.47) in cattle than buffalo whilst the mean L* value of the only tenderloin was affected by animal age. Species had a significant (P<0.05) effect on mean a*, b*, C, and h values of all meat cuts. The shear force of the majority of meat cuts, within species and age groups, varied considerably. The mean shear values of tenderloin, sirloin, cube roll and blade were higher (P<0.05) in buffalo than cattle. The shear values of rump, round, topside and silverside increased significantly (P<0.05) with animal age. In conclusion, primal cuts of cattle showed better meat quality especially tenderness than buffalo. Furthermore, calves should be raised at least up to 26 months of age to maximize profitability by providing better quality meat.

Keywords: buffalo, cattle, meat color, meat quality, slaughtering age, tenderness

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254 Exploring the Effectiveness of Robotic Companions Through the Use of Symbiotic Autonomous Plant Care Robots

Authors: Angelos Kaminis, Dakotah Stirnweis


Advances in robotic technology have driven the development of improved robotic companions in the last couple decades. However, commercially available robotic companions lack the ability to create an emotional connection with their user. By developing a companion robot that has a symbiotic relationship with a plant, an element of co-dependency is introduced into the human companion robot dynamic. This companion robot, while theoretically capable of providing most of the plant’s needs, still requires human interaction for watering, moving obstacles, and solar panel cleaning. To facilitate the interaction between human and robot, the robot is capable of limited auditory and visual communication to help express its and the plant’s needs. This paper seeks to fully describe the Autonomous Plant Care Robot system and its symbiotic relationship with its botanical ward and the plant and robot’s dependent relationship with their owner.

Keywords: symbiotic, robotics, autonomous, plant-care, companion

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253 An Assistive Robotic Arm for Defence and Rescue Application

Authors: J. Harrison Kurunathan, R. Jayaparvathy


"Assistive Robotics" is the field that deals with the study of robots that helps in human motion and also empowers human abilities by interfacing the robotic systems to be manipulated by human motion. The proposed model is a robotic arm that works as a haptic interface on the basis on accelerometers and DC motors that will function with respect to the movement of the human muscle. The proposed model would effectively work as a haptic interface that would reduce human effort in the field of defense and rescue. This can be used in very critical conditions like fire accidents to avoid causalities.

Keywords: accelerometers, haptic interface, servo motors, signal processing

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252 Effect of Shape and Size of Concrete Specimen and Strength of Concrete Mixture in the Absence and Presence of Fiber

Authors: Sultan Husein Bayqra, Ali Mardani Aghabaglou, Zia Ahmad Faqiri, Hassane Amidou Ouedraogo


In this study, the effect of shape and size of the concrete specimen on the compressive and splitting tensile strength of the concrete mixtures in the absence and presence of steel fiber was investigated. For this aim, ten different concrete mixtures having w/c ratio of 0.3, 0.4, 0.5, 0.6 and 0.7 with and without fiber were prepared. In the mixtures containing steel fibers having aspect ratio (L/D) of 64 were used by 1% of the total mixture volume. In all concrete mixtures, CEM I 42,5R type Portland cement and crushed Lime-stone aggregates having different aggregate size fractions were used. The combined aggregate was obtained by mixing %40 0-5 mm, %30 5-12 mm and %30 12-22 mm aggregate size fraction. The slump values of concrete mixtures were kept constant as 17 ± 2 cm. To provide the desired slump value, a polycarboxylate ether-based high range water reducing admixture was used. In order to investigate the effect of size and shape of concrete specimen on strength properties 10 cm, 15 cm cubic specimens and 10×20 cm, 15×30 cm cylindrical specimens were prepared for each mixture. The specimens were cured under standard conditions until testing days. The 7- and 28-day compressive and splitting tensile strengths of mixtures were determined. The results obtained from the experimental study showed that the strength ratio between the cylinder and the cube specimens increased with the increase of the strength of the concrete. Regardless of the fiber utilization and specimen shape, strength values of concrete mixtures were increased by decreasing specimen size. However, the mentioned behaviour was not observed for the case that the mixtures having high W/C ratio and containing fiber. The compressive strength of cube specimens containing fiber was less affected by the size of the specimen compared to that of cube specimens containing no fibers.

Keywords: compressive strength, splitting tensile strength, fiber reinforced concrete, size effect, shape effect

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