Search results for: robotic experiments

Authors: Nikhil Kumar, Asish Bandyopadhyay

Abstract:

Laser welding process is a capable technology for forming the automobile, microelectronics, marine and aerospace parts etc. In the present work, a mathematical and statistical approach is adopted to study the laser welding of AISI 304 stainless steel. A robotic control 500 W pulsed Nd:YAG laser source with 1064 nm wavelength has been used for welding purpose. Butt joints are made. The effects of welding parameters, namely; laser power, scanning speed and pulse width on the seam width and depth of penetration has been investigated using the empirical models developed by response surface methodology (RSM). Weld quality is directly correlated with the weld geometry. Twenty sets of experiments have been conducted as per central composite design (CCD) design matrix. The second order mathematical model has been developed for predicting the desired responses. The results of ANOVA indicate that the laser power has the most significant effect on responses. Microstructural analysis as well as hardness of the selected weld specimens has been carried out to understand the metallurgical and mechanical behaviour of the weld. Average micro-hardness of the weld is observed to be higher than the base metal. Higher hardness of the weld is the resultant of grain refinement and δ-ferrite formation in the weld structure. The result suggests that the lower line energy generally produce fine grain structure and improved mechanical properties than the high line energy. The combined effects of input parameters on responses have been analyzed with the help of developed 3-D response surface and contour plots. Finally, multi-objective optimization has been conducted for producing weld joint with complete penetration, minimum seam width and acceptable welding profile. Confirmatory tests have been conducted at optimum parametric conditions to validate the applied optimization technique.

Keywords: ANOVA, laser welding, modeling and optimization, response surface methodology

Procedia PDF Downloads 268

Authors: Airy Huang, Fuji Foo, Aries Prasetya Wibowo

Abstract:

In recent years, the focus of Natural Language Processing (NLP) development has been gradually shifting from the semantics-based approach to deep learning one, which performs faster with fewer resources. Although it performs well in many applications, the deep learning approach, due to the lack of semantics understanding, has difficulties in noticing and expressing a novel business case with a pre-defined scope. In order to meet the requirements of specific robotic services, deep learning approach is very labor-intensive and time consuming. It is very difficult to improve the capabilities of conversational AI in a short time, and it is even more difficult to self-learn from experiences to deliver the same service in a better way. In this paper, we present an adaptive conversational AI algorithm that combines both semantic knowledge and deep learning to address this issue by learning new business cases through conversations. After self-learning from experience, the robot adapts to the business cases originally out of scope. The idea is to build new or extended robotic services in a systematic and fast-training manner with self-configured programs and constructed dialog flows. For every cycle in which a chat bot (conversational AI) delivers a given set of business cases, it is trapped to self-measure its performance and rethink every unknown dialog flows to improve the service by retraining with those new business cases. If the training process reaches a bottleneck and incurs some difficulties, human personnel will be informed of further instructions. He or she may retrain the chat bot with newly configured programs, or new dialog flows for new services. One approach employs semantics analysis to learn the dialogues for new business cases and then establish the necessary ontology for the new service. With the newly learned programs, it completes the understanding of the reaction behavior and finally uses dialog flows to connect all the understanding results and programs, achieving the goal of self-learning process. We have developed a chat bot service mounted on a kiosk, with a camera for facial recognition and a directional microphone array for voice capture. The chat bot serves as a concierge with polite conversation for visitors. As a proof of concept. We have demonstrated to complete 90% of reception services with limited self-learning capability.

Keywords: conversational AI, chatbot, dialog management, semantic analysis

Procedia PDF Downloads 101

Authors: Tamara Grujic, Mirjana Bonkovic

Abstract:

Measurements and quantitative analysis of kinematic parameters of human hand movements have an important role in different areas such as hand function rehabilitation, modeling of multi-digits robotic hands, and the development of machine-man interfaces. In this paper the assessment and evaluation of the reach-to-grasp movement by using computerized and robot-assisted method is described. Experiment involved the measurements of hand positions of seven healthy subjects during grasping three objects of different shapes and sizes. Results showed that three dominant phases of reach-to-grasp movements could be clearly identified.

Keywords: human hand, kinematics, measurement and analysis, reach-to-grasp movement

Procedia PDF Downloads 439

Authors: Vinicius Binotte, Guilherme Baldo, Christiane Goulart, Carlos Valadão, Eliete Caldeira, Teodiano Bastos

Abstract:

Socially assistive robotic has become increasingly active and it is present in therapies of people affected for several neurobehavioral conditions, such as Autism Spectrum Disorder (ASD). In fact, robots have played a significant role for positive interaction with children with ASD, by stimulating their social and cognitive skills. This work introduces a mobile socially-assistive robot, which was built for interaction with children with ASD, using non-linear control techniques for this interaction.

Keywords: socially assistive robotics, mobile robot, autonomous control, autism

Procedia PDF Downloads 452

Authors: Yusuf Ulaş Kabukçu, Si̇nan Çeli̇k, Onur Salan, Mai̇de Altuntaş, Mert Can Dalkiran, Gökseni̇n Bozdağ, Metehan Bulut, Fati̇h Yaman

Abstract:

This study presents a more compact implementation of the 2.4GHz MIT Coffee Can Doppler Radar for 2.6GHz operating frequency. The main difference of our prototype depends on the use of microstrip antennas which makes it possible to transport with a small robotic vehicle. We have designed our radar system with two different channels: Tx and Rx. The system mainly consists of Voltage Controlled Oscillator (VCO) source, low noise amplifiers, microstrip antennas, splitter, mixer, low pass filter, and necessary RF connectors with cables. The two microstrip antennas, one is element for transmitter and the other one is array for receiver channel, was designed, fabricated and verified by experiments. The system has two operation modes: speed detection and range detection. If the switch of the operation mode is ‘Off’, only CW signal transmitted for speed measurement. When the switch is ‘On’, CW is frequency-modulated and range detection is possible. In speed detection mode, high frequency (2.6 GHz) is generated by a VCO, and then amplified to reach a reasonable level of transmit power. Before transmitting the amplified signal through a microstrip patch antenna, a splitter used in order to compare the frequencies of transmitted and received signals. Half of amplified signal (LO) is forwarded to a mixer, which helps us to compare the frequencies of transmitted and received (RF) and has the IF output, or in other words information of Doppler frequency. Then, IF output is filtered and amplified to process the signal digitally. Filtered and amplified signal showing Doppler frequency is used as an input of audio input of a computer. After getting this data Doppler frequency is shown as a speed change on a figure via Matlab script. According to experimental field measurements the accuracy of speed measurement is approximately %90. In range detection mode, a chirp signal is used to form a FM chirp. This FM chirp helps to determine the range of the target since only Doppler frequency measured with CW is not enough for range detection. Such a FMCW Doppler radar may be used in border security of the countries since it is capable of both speed and range detection.

Keywords: doppler radar, FMCW, range detection, speed detection

Procedia PDF Downloads 362

Authors: R. Noorani, K. Peerless, J. Mandrell, A. Lopez, R. Dalberto, M. Alzebaq

Abstract:

Rapid prototyping (RP) is an additive manufacturing technology used in industry that works by systematically depositing layers of working material to construct larger, computer-modeled parts. A key challenge associated with this technology is that RP parts often feature undesirable levels of surface roughness for certain applications. To combat this phenomenon, an experimental technique called Design of Experiments (DOE) can be employed during the growth procedure to statistically analyze which RP growth parameters are most influential to part surface roughness. Utilizing DOE to identify such factors is important because it is a technique that can be used to optimize a manufacturing process, which saves time, money, and increases product quality. In this study, a four-factor/two level DOE experiment was performed to investigate the effect of temperature, layer thickness, infill percentage, and infill speed on the surface roughness of RP prototypes. Samples were grown using the sixteen different possible growth combinations associated with a four-factor/two level study, and then the surface roughness data was gathered for each set of factors. After applying DOE statistical analysis to these data, it was determined that layer thickness played the most significant role in the prototype surface roughness.

Keywords: rapid prototyping, surface roughness, design of experiments, statistical analysis, factors and levels

Procedia PDF Downloads 236

Authors: Jatin Gupta, Bishakh Bhattacharya

Abstract:

With the aging process, many people start suffering from the problem of weak limbs resulting in mobility disorders and loss of sensory and motor function of limbs. Wearable robotic devices are viable solutions to help people suffering from these issues by augmenting their strength. These robotic devices, popularly known as exoskeletons aides user by providing external power and controlling the dynamics so as to achieve desired motion. Present work studies a simplified dynamic model of the human gait. A four link open chain kinematic model is developed to describe the dynamics of Single Support Phase (SSP) of the human gait cycle. The dynamic model is developed integrating mathematical models of the motion of inverted and triple pendulums. Stance leg is modeled as inverted pendulum having single degree of freedom and swing leg as triple pendulum having three degrees of freedom viz. thigh, knee, and ankle joints. The kinematic model is formulated using forward kinematics approach. Lagrangian approach is used to formulate governing dynamic equation of the model. For a system of nonlinear differential equations, numerical method is employed to obtain system response. Reference trajectory is generated using human body simulator, LifeMOD. For optimal mechanical design and controller design of exoskeleton system, it is imperative to study parameter sensitivity of the system. Six different parameters viz. thigh, shank, and foot masses and lengths are varied from 85% to 115% of the original value for the present work. It is observed that hip joint of swing leg is the most sensitive and ankle joint of swing leg is the least sensitive one. Changing link lengths causes more deviation in system response than link masses. Also, shank length and thigh mass are most sensitive parameters. Finally, the present study gives an insight on different factors that should be considered while designing a lower extremity exoskeleton.

Keywords: lower limb exoskeleton, multibody dynamics, energy based formulation, optimal design

Procedia PDF Downloads 167

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

Abstract:

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

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

Procedia PDF Downloads 182

Authors: Suehyun Cho, Darrell Harrington, Florent Cros, Olin Palmer, John Caputo, Michael Kardosh, Eran Oren, William Loudon, Alex Kiselyov, Michael Shpigelmacher

Abstract:

Bionaut Labs, LLC is developing a minimally invasive robotic microdevice designed to treat non-communicating hydrocephalus in both adult and pediatric patients. The device utilizes biocompatible microsurgical particles (Bionaut™) that are specifically designed to safely and reliably perform accurate fenestration(s) in the 3rd ventricle, aqueduct of Sylvius, and/or trapped intraventricular cysts of the brain in order to re-establish normal cerebrospinal fluid flow dynamics and thereby balance and/or normalize intra/intercompartmental pressure. The Bionaut™ is navigated to the target via CSF or brain tissue in a minimally invasive fashion with precise control using real-time imaging. Upon reaching the pre-defined anatomical target, the external driver allows for directing the specific microsurgical action defined to achieve the surgical goal. Notable features of the proposed protocol are i) Bionaut™ access to the intraventricular target follows a clinically validated endoscopy trajectory which may not be feasible via ‘traditional’ rigid endoscopy: ii) the treatment is microsurgical, there are no foreign materials left behind post-procedure; iii) Bionaut™ is an untethered device that is navigated through the subarachnoid and intraventricular compartments of the brain, following pre-designated non-linear trajectories as determined by the safest anatomical and physiological path; iv) Overall protocol involves minimally invasive delivery and post-operational retrieval of the surgical Bionaut™. The approach is expected to be suitable to treat pediatric patients 0-12 months old as well as adult patients with obstructive hydrocephalus who fail traditional shunts or are eligible for endoscopy. Current progress, including platform optimization, Bionaut™ control, and real-time imaging and in vivo safety studies of the Bionauts™ in large animals, specifically the spine and the brain of ovine models, will be discussed.

Keywords: Bionaut™, cerebrospinal fluid, CSF, fenestration, hydrocephalus, micro-robot, microsurgery

Procedia PDF Downloads 139

Authors: Maddalena Arigoni, Maria Luisa Ratto, Raffaele A. Calogero, Luca Alessandri

Abstract:

The presence of tumor heterogeneity, where distinct cancer cells exhibit diverse morphological and phenotypic profiles, including gene expression, metabolism, and proliferation, poses challenges for molecular prognostic markers and patient classification for targeted therapies. Understanding the causes and progression of cancer requires research efforts aimed at characterizing heterogeneity, which can be facilitated by evolving single-cell sequencing technologies. However, analyzing single-cell data necessitates computational methods that often lack objective validation. Therefore, the establishment of benchmarking datasets is necessary to provide a controlled environment for validating bioinformatics tools in the field of single-cell oncology. Benchmarking bioinformatics tools for single-cell experiments can be costly due to the high expense involved. Therefore, datasets used for benchmarking are typically sourced from publicly available experiments, which often lack a comprehensive cell annotation. This limitation can affect the accuracy and effectiveness of such experiments as benchmarking tools. To address this issue, we introduce omics benchmark experiments designed to evaluate bioinformatics tools to depict the heterogeneity in single-cell tumor experiments. We conducted single-cell RNA sequencing on six lung cancer tumor cell lines that display resistant clones upon treatment of EGFR mutated tumors and are characterized by driver genes, namely ROS1, ALK, HER2, MET, KRAS, and BRAF. These driver genes are associated with downstream networks controlled by EGFR mutations, such as JAK-STAT, PI3K-AKT-mTOR, and MEK-ERK. The experiment also featured an EGFR-mutated cell line. Using 10XGenomics platform with cellplex technology, we analyzed the seven cell lines together with a pseudo-immunological microenvironment consisting of PBMC cells labeled with the Biolegend TotalSeq™-B Human Universal Cocktail (CITEseq). This technology allowed for independent labeling of each cell line and single-cell analysis of the pooled seven cell lines and the pseudo-microenvironment. The data generated from the aforementioned experiments are available as part of an online tool, which allows users to define cell heterogeneity and generates count tables as an output. The tool provides the cell line derivation for each cell and cell annotations for the pseudo-microenvironment based on CITEseq data by an experienced immunologist. Additionally, we created a range of pseudo-tumor tissues using different ratios of the aforementioned cells embedded in matrigel. These tissues were analyzed using 10XGenomics (FFPE samples) and Curio Bioscience (fresh frozen samples) platforms for spatial transcriptomics, further expanding the scope of our benchmark experiments. The benchmark experiments we conducted provide a unique opportunity to evaluate the performance of bioinformatics tools for detecting and characterizing tumor heterogeneity at the single-cell level. Overall, our experiments provide a controlled and standardized environment for assessing the accuracy and robustness of bioinformatics tools for studying tumor heterogeneity at the single-cell level, which can ultimately lead to more precise and effective cancer diagnosis and treatment.

Keywords: single cell omics, benchmark, spatial transcriptomics, CITEseq

Procedia PDF Downloads 71

Authors: S. V. Vasilenkov, O. N. Demina

Abstract:

Chernobyl NPP accident is the biggest in history of nuclear energetic. Bryansk region of Russia was exposed by the most intensive radiation pollution. For that, we made some researches in order to find the methods of soil rehabilitation on territories, polluted by radionuclides with the means of Cesium 137 leaching by watering. For experiments we took the soil from the upper more polluted 10 cm layer of different species. Cesium 137 leaching was made by different methods in washing columns. Washout of Cesium was made by periodical cycles in terms of 4-6 days. In experiments with easy argillaceous soil with start specific radioactivity 4158 bk/kg through 17 cycles the effective reducing was achieved and contained 1512 bk/kg. Besides, results of researches showed, that in the first 6-10 cycles we can see reducing of washing rate but after application of intensificators: ultrasound water processing, aerification, application of fertilizers (KCl), lime, freezing, we can see increasing of Cesium 137 leaching. The experimental investigations in washout of Cesium (Cs) – 137 from the soil were carried out in the field and laboratorial conditions during its freezing and melting. The experiments showed, that washout of Cesium (Cs) – 137 from the soil is rather high after freezing, than non-frozen soil is. And it conforms to washout of Cesium, made under the influence of the intensificaters. This fact allows to recommend chip and easy to construct technically arrangement for regulation of the snow-melt runoff for rehabilitation of the radioactive impoundment.

Keywords: pollution, radiation, Cesium 137 leaching, agriculture

Procedia PDF Downloads 260

Authors: Johanna Perdomo, Riki Lamont, Edmund Pickering, Naomi C. Paxton, Maria A. Woodruff

Abstract:

Background: Tissue Engineering (TE) has combined advanced materials, such as biomaterials, to create affordable scaffolds and dynamic systems to generate stimulation of seeded cells on these scaffolds, improving and maintaining the cellular growth process in a cell culture. However, Few TE skin products have been clinically translated, and more research is required to produce highly biomimetic skin substitutes that mimic the native elasticity of skin in a controlled manner. Therefore, this work will be focused on the fabrication of a novel mechanical system to enhance the TE treatment approaches for the reparation of damaged tissue skin. Aims: To archive this, a soft robotic device will be created to emulate different deformation of skin stress. The design of this soft robot will allow the attachment of scaffolds, which will then be mechanically actuated. This will provide a novel and highly adaptable platform for dynamic cell culture. Methods: Novel, low-cost soft robot is fabricated via 3D printed moulds and silicone. A low cost, electro-mechanical device was constructed to actuate the soft robot through the controlled combination of positive and negative air pressure to control the different state of movements. Mechanical tests were conducted to assess the performance and calibration of each electronic component. Similarly, pressure-displacement test was performed on scaffolds, which were attached to the soft robot, applying various mechanical loading regimes. Lastly, digital image correlation test was performed to obtain strain distributions over the soft robot’s surface. Results: The control system can control and stabilise positive pressure changes for long hours. Similarly, pressure-displacement test demonstrated that scaffolds with 5µm of diameter and wavy geometry can displace at 100%, applying a maximum pressure of 1.5 PSI. Lastly, during the inflation state, the displacement of silicone was measured using DIC method, and this showed a parameter of 4.78 mm and strain of 0.0652. Discussion And Conclusion: The developed soft robot system provides a novel and low-cost platform for the dynamic actuation of tissue scaffolds with a target towards dynamic cell culture.

Keywords: soft robot, tissue engineering, mechanical stimulation, dynamic cell culture, bioreactor

Procedia PDF Downloads 66

Authors: Gerardo Sanjuan Sanjuan, Ángel Enrique Chavéz Castellanos

Abstract:

The knowledge of the rheological behavior of partially solidified metal alloy is an important issue when modeling and simulation of die filling in semisolid processes. Many experiments for like steady state, the step change in shear rate tests, shear stress ramps have been carried out leading that semi-solid alloys exhibit shear thinning, thixotropic behavior and yield stress. More advanced investigation gives evidence some viscoelastic features can be observed. The viscoelastic properties of materials are determinate by transient or dynamic methods; unfortunately, sparse information exists about oscillation experiments. The aim of this present work is to use small amplitude oscillatory tests for knowledge properties such as G´ and G´´. These properties allow providing information about materials structure. For this purpose, we investigated tin-lead alloy (Sn-15%Pb) which exhibits a similar microstructure to aluminum alloys and is the classic alloy for semisolid thixotropic studies. The experiments were performed with parallel plates rheometer AR-G2. Initially, the liquid alloy is cooled down to the semisolid range, a specific temperature to guarantee a constant fraction solid. Oscillation was performed within the linear viscoelastic regime with a strain sweep. So, the loss modulus G´´, the storage modulus G´ and the loss angle (δ) was monitored. In addition a frequency sweep at a strain below the critical strain for characterized its structure. This provides more information about the interactions among solid particles on a liquid matrix. After testing, the sample was removed then cooled, sectioned and examined metallographically. These experiments demonstrate that the viscoelasticity is sensitive to the solid fraction, and is strongly influenced by the shape and size of particles solid.

Keywords: rheology, semisolid alloys, thixotropic, viscoelasticity

Procedia PDF Downloads 343

Authors: J. G. Batista, K. N. Sousa, ¬J. L. Nunes, R. L. S. Sousa, G. A. P. Thé

Abstract:

This work deals with parameter identification of permanent magnet motors, a class of ac motor which is particularly important in industrial automation due to characteristics like applications high performance, are very attractive for applications with limited space and reducing the need to eliminate because they have reduced size and volume and can operate in a wide speed range, without independent ventilation. By using experimental data and genetic algorithm we have been able to extract values for both the motor inductance and the electromechanical coupling constant, which are then compared to measured and/or expected values.

Keywords: modeling, AC servomotor, permanent magnet synchronous motor-PMSM, genetic algorithm, vector control, robotic manipulator, control

Procedia PDF Downloads 429

Authors: Dheyaa Wajid Abbood, Eitizaz Awad Jasim

Abstract:

The aim of this investigation is to confirm the activity of a sludge recycling process in trickling filter filled with limestone as an alternative biological process over conventional high-cost treatment process with regard to toxic matter reduction from marginal water. The combination system of stepped cascade weir with limestone trickling filter has been designed and constructed in the environmental hydraulic laboratory, Al-Mustansiriya University, College of Engineering. A set of experiments has been conducted during the period from August 2013 to July 2014. Seven days of continuous operation with different continuous flow rates (0.4m3/hr, 0.5 m3/hr, 0.6 m3/hr, 0.7m3/hr,0.8 m3/hr, 0.9 m3/hr, and 1m3/hr) after ten days of acclimatization experiments were carried out. Results indicate that the concentrations of toxic matter were decreasing with increasing of operation time, sludge recirculation ratio, and flow rate. The toxic matter measured includes (Mineral oils, Petroleum products, Phenols, Biocides, Polychlorinated biphenyls (PCBs), and Surfactants) which are used in these experiments were ranged between (0.074 nm-0.156 nm). Results indicated that the overall reduction efficiency after 4, 28, 52, 76, 100, 124, and 148 hours of operation were (55%, 48%, 42%, 50%, 59%, 61%, and 64%) when the combination of stepped cascade weir with limestone trickling filter is used.

Keywords: toxic matter, marginal water, trickling filter, stepped cascade weir, removal efficiency

Procedia PDF Downloads 264

Authors: Erika Pénzesné Kónya

Abstract:

The conservation programme of various vascular plant species has been started in the Botanical garden o fEszterházy College in Eger cooperating with two national parks in the Northern mountain region and Botanical garden of Eötvös Lóránd University in Budapest. The seeds of the species were collected in the chosen habitats with the permission determined by the National Parks and the conservation specialists. Now we have different numbers of individuals from mainly endemic and relict species. We took some experiments to know how can we germinate and grow up this species succesfully up to blooming and fruiting. In the temperate zone the majority of species after ripening the seeds or corps get dormancy to avoid the inadequate period to germinate. The seeds of species need variously pre-treatment (for example pre-chill) and suitable environment (for example basic medium) to unlock the seed dormancy and germinate in large scale. This impacts are often similar to in their originally habitat. To bloom the plants need suitable types of soil, but we couldn’t grow them in the most fruitful soil of habitat. Suitable microclimate is usually more important for some relict species than the soil, that’s why should we make experiments to find the suitable essential conditions for different species and know all of fenological states of them. These experiments can start a method for growing common wild native plants as food materials.

Keywords: ex situ conservation, germination success, soil preference Hungary, regionality, native wild plants

Procedia PDF Downloads 263

Authors: Ashish Shukla, K. P. Mishra, Pushplata Tripathi

Abstract:

This paper investigates the production and optimization of β-galactosidase enzyme using synthetic medium by isolated wild strains (S1, S2) mutated strains (M1, M2) through SSF and SmF. Among the different cell disintegration methods used, the highest specific activity was obtained when the cells were permeabilized using isoamyl alcohol. Wet lab experiments were performed to investigate the effects of carbon and nitrogen substrates present in Vogel’s medium on β-galactosidase enzyme activity using S1, S2, and M1, M2 strains through SSF. SmF experiments were performed for effects of carbon and nitrogen sources in YLK2Mg medium on β-galactosidase enzyme activity using S1, S2 and M1, M2 strains. Effect of pH on β-galactosidase enzyme production was also done using S1, S2, and M1, M2 strains. Results were found to be very appreciable in all the cases.

Keywords: β-galactosidase, cell disintegration, permeabilized, SSF, SmF

Procedia PDF Downloads 241

Authors: S. Abou El-Azm, U. Kruchonak, M. Gostkin, A. Guskov, A. Zhemchugov

Abstract:

Semiconductor detectors are widely used in nuclear physics and high-energy physics experiments. The application of semiconductor detectors could be limited by their ultimate radiation resistance. The increase of radiation defects concentration leads to significant degradation of the working parameters of semiconductor detectors. The investigation of radiation defects properties in order to enhance the radiation hardness of semiconductor detectors is an important task for the successful implementation of a number of nuclear physics experiments; we presented some information about radiation hardness materials like diamond, sapphire and CdTe. Also, the results of measurements I-V characteristics, charge collection efficiency and its dependence on the bias voltage for different doses of high resistivity (GaAs: Cr) and Si at LINAC-200 accelerator and reactor IBR-2 are presented.

Keywords: semiconductor detectors, radiation hardness, GaAs, Si, CCE, I-V, C-V

Procedia PDF Downloads 79

Authors: Annika Schmidt, Ausama Hadi Ahmed, Carlo Menon

Abstract:

End effectors for robotic systems are becoming more and more advanced, resulting in a growing variety of gripping tasks. However, most grippers are application specific. This paper presents a gripper that interacts with an object’s surface rather than being dependent on a defined shape or size. For this purpose, ingressive and astrictive features are combined to achieve the desired gripping capabilities. The developed prototype is tested on a variety of surfaces with different hardness and roughness properties. The results show that the gripping mechanism works on all of the tested surfaces. The influence of the material properties on the amount of the supported load is also studied and the efficiency is discussed.

Keywords: claw, dry adhesion, insects, material properties

Procedia PDF Downloads 329

Authors: Sudhanshu Kumar

Abstract:

Electrical discharge machining, also known as EDM, process is one of the most applicable machining process for removal of material in hard to machine materials like superalloy metals. EDM process utilizes electrical energy into sparks to erode the metals in presence of dielectric medium. In the present investigation, superalloy, Inconel 718 has been selected as workpiece and electrolytic copper as tool electrode. Attempt has been made to understand the effect of size of tool with varying cavity depth during drilling of hole through EDM process. In order to systematic investigate, tool size in terms of tool diameter and cavity depth along with other important electrical parameters namely, peak current, pulse-on time and servo voltage have been varied at three different values and the experiments has been designed using fractional factorial (Taguchi) method. Each experiment has been repeated twice under the same condition in order to understand the variability within the experiments. The effect of variations in parameters has been evaluated in terms of material removal rate, tool wear rate and surface roughness. Results revel that change in tool diameter during machining affects the response characteristics significantly. Larger tool diameter yielded 13% more material removal rate than smaller tool diameter. Analysis of the effect of variation in cavity depth is notable. There is no significant effect of cavity depth on material removal rate, tool wear rate and surface quality. This indicates that number of experiments can be performed to analyze other parameters effect even at smaller depth of cavity which can reduce the cost and time of experiments. Further, statistical analysis has been carried out to identify the interaction effect between parameters.

Keywords: EDM, Inconel 718, material removal rate, roughness, tool wear, tool size

Procedia PDF Downloads 177

Authors: Eiman Kattan

Abstract:

This study aims to evaluate the impact of classifying labelled remote sensing images conventional neural network (CNN) architecture, i.e., AlexNet on different land cover scenarios based on two remotely sensed datasets from different point of views such as the computational time and performance. Thus, a set of experiments were conducted to specify the effectiveness of the selected convolutional neural network using two implementing approaches, named fully trained and fine-tuned. For validation purposes, two remote sensing datasets, AID, and RSSCN7 which are publicly available and have different land covers features were used in the experiments. These datasets have a wide diversity of input data, number of classes, amount of labelled data, and texture patterns. A specifically designed interactive deep learning GPU training platform for image classification (Nvidia Digit) was employed in the experiments. It has shown efficiency in training, validation, and testing. As a result, the fully trained approach has achieved a trivial result for both of the two data sets, AID and RSSCN7 by 73.346% and 71.857% within 24 min, 1 sec and 8 min, 3 sec respectively. However, dramatic improvement of the classification performance using the fine-tuning approach has been recorded by 92.5% and 91% respectively within 24min, 44 secs and 8 min 41 sec respectively. The represented conclusion opens the opportunities for a better classification performance in various applications such as agriculture and crops remote sensing.

Keywords: conventional neural network, remote sensing, land cover, land use

Procedia PDF Downloads 340

Authors: Tony Ngoy Mbodi, Christophe Muanda

Abstract:

Textile industry is considered as one of the most polluting sectors in terms of effluent volume of discharge and wastewater composition, such as dye, which represents an environmental hazard when discharged without any proper treatment. A study was conducted to investigate the capability of the use of recycled alum sludge (RAS) as an alternative treatment for the reduction of colour, chemical oxygen demand (COD), total dissolved solids (TDS) and pH adjustment from dye based synthetic textile industry wastewater. The coagulation/flocculation process was studied for coagulants of Alum:RAS ratio of, 1:1, 2:1, 1:2 and 0:1. Experiments on treating the synthetic wastewater using membrane filtration and adsorption with corn cobs were also conducted. Results from the coagulation experiment were compared to those from adsorption with corn cobs and membrane filtration experiments conducted on the same synthetic wastewater. The results of the RAS experiments were also evaluated against standard guidelines for industrial effluents treated for discharge purposes in order to establish its level of compliance. Based on current results, it can be concluded that reusing the alum sludge as a low-cost material pretreatment method into the coagulation/flocculation process can offer some advantages such as high removal efficiency for disperse dye and economic savings on overall treatment of the industry wastewater.

Keywords: alum, coagulation/flocculation, dye, recycled alum sludge, textile wastewater

Procedia PDF Downloads 315

Authors: Dheyaa Wajid Abbood, Ali Mohammed Tawfeeq Baqer, Eitizaz Awad Jasim

Abstract:

The aim of this investigation is to confirm the activity of a sludge recycling process in trickling filter filled with limestone as an alternative biological process over conventional high-cost treatment process with regard to toxic matter reduction from marginal water. The combination system of stepped cascade weir with limestone trickling filter has been designed and constructed in the Environmental Hydraulic Laboratory, Al-Mustansiriya University, College of Engineering. A set of experiments has been conducted during the period from August 2013 to July 2014. Seven days of continuous operation with different continuous flow rates (0.4m3/hr, 0.5 m3/hr, 0.6 m3/hr, 0.7m3/hr,0.8 m3/hr, 0.9 m3/hr, and 1m3/hr) after ten days of acclimatization experiments were carried out. Results indicate that the concentrations of toxic matter were decreasing with increasing of operation time, sludge recirculation ratio, and flow rate. The toxic matter measured includes (Mineral oils, Petroleum products, Phenols, Biocides, Polychlorinated biphenyls (PCBs), and Surfactants) which are used in these experiments were ranged between (0.074 nm-0.156 nm). Results indicated that the overall reduction efficiency after 4, 28, 52, 76, 100, 124, and 148 hours of operation were (55%, 48%, 42%, 50%, 59%, 61%, and 64%) when the combination of stepped cascade weir with limestone trickling filter is used.

Keywords: Marginal water , Toxic matter, Stepped Cascade weir, limestone trickling filter

Procedia PDF Downloads 367

Authors: Murray L. Ireland, Kevin J. Worrall, Rebecca Mackenzie, Thaleia Flessa, Euan McGookin, Douglas Thomson

Abstract:

Robotic rovers which are designed to work in extra-terrestrial environments present a unique challenge in terms of the reliability and availability of systems throughout the mission. Should some fault occur, with the nearest human potentially millions of kilometres away, detection and identification of the fault must be performed solely by the robot and its subsystems. Faults in the system sensors are relatively straightforward to detect, through the residuals produced by comparison of the system output with that of a simple model. However, faults in the input, that is, the actuators of the system, are harder to detect. A step change in the input signal, caused potentially by the loss of an actuator, can propagate through the system, resulting in complex residuals in multiple outputs. These residuals can be difficult to isolate or distinguish from residuals caused by environmental disturbances. While a more complex fault detection method or additional sensors could be used to solve these issues, an alternative is presented here. Using inverse simulation (InvSim), the inputs and outputs of the mathematical model of the rover system are reversed. Thus, for a desired trajectory, the corresponding actuator inputs are obtained. A step fault near the input then manifests itself as a step change in the residual between the system inputs and the input trajectory obtained through inverse simulation. This approach avoids the need for additional hardware on a mass- and power-critical system such as the rover. The InvSim fault detection method is applied to a simple four-wheeled rover in simulation. Additive system faults and an external disturbance force and are applied to the vehicle in turn, such that the dynamic response and sensor output of the rover are impacted. Basic model-based fault detection is then employed to provide output residuals which may be analysed to provide information on the fault/disturbance. InvSim-based fault detection is then employed, similarly providing input residuals which provide further information on the fault/disturbance. The input residuals are shown to provide clearer information on the location and magnitude of an input fault than the output residuals. Additionally, they can allow faults to be more clearly discriminated from environmental disturbances.

Keywords: fault detection, ground robot, inverse simulation, rover

Procedia PDF Downloads 277

Authors: Anwar Ul Haque, Waqar Asrar, Erwin Sulaeman, Jaffar S. M. Ali

Abstract:

Pressure distribution data of the standard airfoils is usually used for the calibration purposes in subsonic wind tunnels. Results of such experiments are quite old and obtained by using the model in the spanwise direction. In this manuscript, pressure distribution over NACA 4412 airfoil model was presented by placing the 3D model in the lateral direction. The model is made of metal with pressure ports distributed longitudinally as well as in the lateral direction. The pressure model was attached to the floor of the tunnel with the help of the base plate to give the specified angle of attack to the model. Before the start of the experiments, the pressure tubes of the respective ports of the 128 ports pressure scanner are checked for leakage, and the losses due to the length of the pipes were also incorporated in the results for the specified pressure range. Growth rate maps of the boundary layer thickness were also plotted. It was found that with the increase in the velocity, the dynamic pressure distribution was also increased for the alpha seep. Plots of pressure distribution so obtained were overlapped with those obtained by using XFLR software, a low fidelity tool. It was found that at moderate and high angles of attack, the distribution of the pressure coefficients obtained from the experiments is high when compared with the XFLR ® results obtained along with the span of the wing. This under-prediction by XFLR ® is more obvious on the windward than on the leeward side.

Keywords: subsonic flow, boundary layer, wind tunnel, pressure testing

Procedia PDF Downloads 297

Authors: Snehal G. Teli, R. J. Shelke

Abstract:

CNN and MultiUNet models are the framework for the proposed method for enhancing and reconstructing underwater images. Multiscale merging of features and regeneration are both performed by the MultiUNet. CNN collects relevant features. Extensive tests on benchmark datasets show that the proposed strategy performs better than the latest methods. As a result of this work, underwater images can be represented and interpreted in a number of underwater applications with greater clarity. This strategy will advance underwater exploration and marine research by enhancing real-time underwater image processing systems, underwater robotic vision, and underwater surveillance.

Keywords: convolutional neural network, image enhancement, machine learning, multiunet, underwater images

Procedia PDF Downloads 42

Authors: A. Paz, S. Cortés Diéguez, J. M. Cruz, A. B. Moldes, J. M. Domínguez

Abstract:

Synthetic dyes are extensively used in the paper, food, leather, cosmetics, pharmaceutical and textile industries. Wastewater resulting from their production means several environmental problems. Improper disposal of theirs effluents involves adverse impacts and not only about the colour, also on water quality (Total Organic Carbon, Biological Oxygen Demand, Chemical Oxygen Demand, suspended solids, salinity, etc.) on flora (inhibition of photosynthetic activity), fauna (toxic, carcinogenic, and mutagenic effects) and human health. The aim of this work is to optimize the decolourisation process of different types of dyes by Bacillus aryabhattai. Initially, different types of dyes (Indigo Carmine, Coomassie Brilliant Blue and Remazol Brilliant Blue R) and suitable culture media (Nutritive Broth, Luria Bertani Broth and Trypticasein Soy Broth) were selected. Then, a central composite design (CCD) was employed to optimise and analyse the significance of each abiotic parameter. Three process variables (temperature, salt concentration and agitation) were investigated in the CCD at 3 levels with 2-star points. A total of 23 experiments were carried out according to a full factorial design, consisting of 8 factorial experiments (coded to the usual ± 1 notation), 6 axial experiments (on the axis at a distance of ± α from the centre), and 9 replicates (at the centre of the experimental domain). Experiments results suggest the efficiency of this strain to remove the tested dyes on the 3 media studied, although Trypticasein Soy Broth (TSB) was the most suitable medium. Indigo Carmine and Coomassie Brilliant Blue at maximal tested concentration 150 mg/l were completely decolourised, meanwhile, an acceptable removal was observed using the more complicate dye Remazol Brilliant Blue R at a concentration of 50 mg/l.

Keywords: Bacillus aryabhattai, dyes, decolourisation, central composite design

Procedia PDF Downloads 197

Authors: Yan Cheng, Yijun Shao, James Rudolph, Charlene R. Weir, Beth Sahlmann, Qing Zeng-Treitler

Abstract:

Supervised predictive models require labeled data for training purposes. Complete and accurate labeled data, i.e., a ‘gold standard’, is not always available, and imperfectly labeled data may need to serve as an alternative. An important question is if the accuracy of the labeled data creates a performance ceiling for the trained model. In this study, we trained several models to recognize the presence of delirium in clinical documents using data with annotations that are not completely accurate (i.e., weakly-supervised learning). In the external evaluation, the support vector machine model with a linear kernel performed best, achieving an area under the curve of 89.3% and accuracy of 88%, surpassing the 80% accuracy of the training sample. We then generated a set of simulated data and carried out a series of experiments which demonstrated that models trained on imperfect data can (but do not always) outperform the accuracy of the training data, e.g., the area under the curve for some models is higher than 80% when trained on the data with an error rate of 40%. Our experiments also showed that the error resistance of linear modeling is associated with larger sample size, error type, and linearity of the data (all p-values < 0.001). In conclusion, this study sheds light on the usefulness of imperfect data in clinical research via weakly-supervised learning.

Keywords: weakly-supervised learning, support vector machine, prediction, delirium, simulation

Procedia PDF Downloads 166

Authors: Yiannis Koumpouros, Effie Papageorgiou, Alexandra Karavasili, Foteini Koureta

Abstract:

The objective of the present study was to develop a scale called PYTHEIA. The PYTHEIA is a self-reported measure for the assessment of rehabilitation and assistive robotics and other assistive technology devices. The development of PYTHEIA faced the absence of a valid instrument that can be used to evaluate the assistive robotic devices both as a whole, as well as any of their individual components or functionalities implemented. According to the results presented, PYTHEIA is a valid and reliable scale able to be applied to different target groups for the subjective evaluation of various assistive technology devices.

Keywords: rehabilitation, assistive technology, assistive robots, rehabilitation robots, scale, psychometric test, assessment, validation, user satisfaction

Procedia PDF Downloads 281

Authors: M. Sarikanat, E. Akar, I. Şen, Y. Seki, O. C. Yılmaz, B. O. Gürses, L. Cetin, O. Özdemir, K. Sever

Abstract:

Chitosan is a natural, nontoxic, polyelectrolyte, cheap polymer. In this study, chitosan based electroactive polymer (CBEAP) was fabricated. Electroactive properties of this polymer were investigated at different voltages. It exhibited excellent tip displacement at low voltages (1, 3, 5, 7 V). Tip displacement was increased as the applied voltage increased. Best tip displacement was investigated as 28 mm at 5V. Characterization of CBEAP was investigated by scanning electron microscope, X-ray diffraction and tensile testing. CBEAP exhibited desired electroactive properties at low voltages. It is suitable for using in artificial muscle and various robotic applications.

Keywords: chitosan, electroactive polymer, electroactive properties

Procedia PDF Downloads 474