Search results for: conceptual robot

Authors: Zacharenia I. Garofalaki, John T. Amorginos, John N. Ellinas

Abstract:

This paper presents the development of a robot car that can track the motion of an object by detecting its color through an Android device. The employed computer vision algorithm uses the OpenCV library, which is embedded into an Android application of a smartphone, for manipulating the captured image of the object. The captured image of the object is subjected to color conversion and is transformed to a binary image for further processing after color filtering. The desired object is clearly determined after removing pixel noise by applying image morphology operations and contour definition. Finally, the area and the center of the object are determined so that object’s motion to be tracked. The smartphone application has been placed on a robot car and transmits by Bluetooth to an Arduino assembly the motion directives so that to follow objects of a specified color. The experimental evaluation of the proposed algorithm shows reliable color detection and smooth tracking characteristics.

Keywords: Android, Arduino Uno, Image processing, Object motion detection, OpenCV library.

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Authors: R. Sharma, M. Gopal

Abstract:

This paper presents a new problem solving approach that is able to generate optimal policy solution for finite-state stochastic sequential decision-making problems with high data efficiency. The proposed algorithm iteratively builds and improves an approximate Markov Decision Process (MDP) model along with cost-to-go value approximates by generating finite length trajectories through the state-space. The approach creates a synergy between an approximate evolving model and approximate cost-to-go values to produce a sequence of improving policies finally converging to the optimal policy through an intelligent and structured search of the policy space. The approach modifies the policy update step of the policy iteration so as to result in a speedy and stable convergence to the optimal policy. We apply the algorithm to a non-holonomic mobile robot control problem and compare its performance with other Reinforcement Learning (RL) approaches, e.g., a) Q-learning, b) Watkins Q(λ), c) SARSA(λ).

Keywords: Markov Decision Process (MDP), Mobile robot, Policy iteration, Simulation.

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Authors: J. Cecrdle, J. Malecek

Abstract:

This paper deals with the conceptual design of the new aeroelastic demonstrator for the whirl flutter simulation. The paper gives a theoretical background of the whirl flutter phenomenon and describes the events of the whirl flutter occurrence in the aerospace practice. The second part is focused on the experimental research of the whirl flutter on aeroelastic similar models. Finally the concept of the new aeroelastic demonstrator is described. The demonstrator represents the wing and engine of the twin turboprop commuter aircraft including a driven propeller. It allows the changes of the main structural parameters influencing the whirl flutter stability characteristics. It is intended for the experimental investigation of the whirl flutter in the wind tunnel. The results will be utilized for validation of analytical methods and software tools.

Keywords: aeroelasticity, flutter, whirl flutter, W-WING demonstrator

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Authors: Georgia C. Kosta, Christos S. Nicolaidis

Abstract:

The present paper discusses the role of teams’ climate in the intrapreneurial process. Intrapreneurship, which corresponds for entrepreneurship in existing organizations, puts special emphasis on climate as an influential factor of the intrapreneurial behavior. Although climate exists at every level and in every subgroup of the organizational structure, research focuses mainly on the study of climate that characterizes organization as a whole. However, the climate of a work team may differ radically from the organizational climate, and in fact it can be far more influential. The paper provides a conceptual analysis of organizational climate from the intrapreneurial point of view, and sheds light upon teams’ climate role in the intrapreneurial posture.

Keywords: Entrepreneurship, innovation, intrapreneurship, organizational climate, teams’ climate.

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Authors: Ahmed Sakr Ashour, Hoda Saad AboRemila

Abstract:

An attempt was made to fill the gap in the macro analysis of corruption by suggesting a conceptual framework that differentiates four types of macro corruption: state capture, political, bureaucratic and financial/corporate. The economic consequences or forward linkages (growth, inclusiveness and sustainability of development) and macro institutional determinants constituting the backward linkages of each type were delineated. The research implications of the macro perspective and proposed framework were discussed. Implications of the findings for theory, research and reform policies addressing macro corruption issues were discussed.

Keywords: Economic growth, Inclusive growth, macro corruption, sustainable development.

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Authors: Sergey N. Sayapin, Anatoly P. Karpenko, Suan H. Dang

Abstract:

Comparative analysis of robotic vehicles for pipe inspection is presented in this paper. The promising concept of self-propelled intelligent robotic vehicle (SPIRV) based on octahedral dodekapod for inspection and operation in active branched pipelines with variable cross-sections is reasoned. SPIRV is able to move in pipeline, regardless of its spatial orientation. SPIRV can also be used to move along the outside of the pipelines as well as in space between surfaces of annular tubes. Every one of faces of the octahedral dodekapod can clamp/unclamp a thing with a closed loop surface of various forms as well as put pressure on environmental surface of contact. These properties open new possibilities for its applications in SPIRV. We examine design principles of octahedral dodekapod as future intelligent building blocks for various robotic vehicles that can self-move and self-reconfigure.

Keywords: Modular robot, octahedral dodekapod, pipe inspection robot, spatial parallel structure.

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Authors: M. M. Agheli, M. J. Nategh

Abstract:

Hexapod Machine Tool (HMT) is a parallel robot mostly based on Stewart platform. Identification of kinematic parameters of HMT is an important step of calibration procedure. In this paper an algorithm is presented for identifying the kinematic parameters of HMT using inverse kinematics error model. Based on this algorithm, the calibration procedure is simulated. Measurement configurations with maximum observability are decided as the first step of this algorithm for a robust calibration. The errors occurring in various configurations are illustrated graphically. It has been shown that the boundaries of the workspace should be searched for the maximum observability of errors. The importance of using configurations with sufficient observability in calibrating hexapod machine tools is verified by trial calibration with two different groups of randomly selected configurations. One group is selected to have sufficient observability and the other is in disregard of the observability criterion. Simulation results confirm the validity of the proposed identification algorithm.

Keywords: Calibration, Hexapod Machine Tool (HMT), InverseKinematics Error Model, Observability, Parallel Robot, ParameterIdentification.

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Authors: Valeria M. Pequeno, Joao Carlos G. M. Pires

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Data Warehouses (DWs) are repositories which contain the unified history of an enterprise for decision support. The data must be Extracted from information sources, Transformed and integrated to be Loaded (ETL) into the DW, using ETL tools. These tools focus on data movement, where the models are only used as a means to this aim. Under a conceptual viewpoint, the authors want to innovate the ETL process in two ways: 1) to make clear compatibility between models in a declarative fashion, using correspondence assertions and 2) to identify the instances of different sources that represent the same entity in the real-world. This paper presents the overview of the proposed framework to model the ETL process, which is based on the use of a reference model and perspective schemata. This approach provides the designer with a better understanding of the semantic associated with the ETL process.

Keywords: conceptual data model, correspondence assertions, data warehouse, data integration, ETL process, object relational database.

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Authors: Saidu Ibrahim, Winston M. W. Shakantu

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The problem of construction material waste remains unresolved, as a significant percentage of the materials delivered to some project sites end up as waste which might result in additional project cost. Cost overrun is a problem which affects 90% of the completed projects in the world. The argument on how to eliminate it has been on-going for the past 70 years, but there is neither substantial improvement nor significant solution for mitigating its detrimental effects. Research evidence has proposed various construction cost overruns and material-waste management approaches; nonetheless, these studies failed to give a clear indication on the framework and the equation for managing construction material waste and cost overruns. Hence, this research aims to develop a conceptual framework and a mathematical equation for managing material waste and cost overrun in the construction industry. The paper adopts the desktop methodological approach. This involves comparing the causes of material waste and those of cost overruns from the literature to determine the possible relationship. The review revealed a relationship between material waste and cost overrun that; increase in material waste would result to a corresponding increase in the amount of cost overrun at both the pre-contract and the post contract stages of a project. It was found from the equation that achieving an effective construction material waste management must ensure a “Good Quality-of-Planning, Estimating, and Design Management” and a “Good Quality- of-Construction, Procurement and Site Management”; a decrease in “Design Complexity” which would reduce “Material Waste” and subsequently reduce the amount of cost overrun by 86.74%. The conceptual framework and the mathematical equation developed in this study are recommended to the professionals of the construction industry.

Keywords: Conceptual framework, cost overrun, material waste, project stags.

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Authors: Aitana Alonso-Nogueira, Helia Estévez-Fernández, Isaías García

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This paper presents an approach to reduce some of its current flaws in the requirements phase inside the software development process. It takes the software requirements of an application, makes a conceptual modeling about it and formalizes it within JSON documents. This formal model is lodged in a NoSQL database which is document-oriented, that is, MongoDB, because of its advantages in flexibility and efficiency. In addition, this paper underlines the contributions of the detailed approach and shows some applications and benefits for the future work in the field of automatic code generation using model-driven engineering tools.

Keywords: Conceptual modeling, JSON, NoSQL databases, requirements engineering, software development.

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Authors: Amalia Suzianti

Abstract:

This research elaborates decision models for product innovation in the early phases, focusing on one of the most widely implemented method in marketing research: conjoint analysis and the related conjoint-based models with special focus on heuristics programming techniques for the development of optimal product innovation. The concept, potential, requirements and limitations of conjoint analysis and its conjoint-based heuristics successors are analysed and the development of conceptual framework of Genetic Algorithm (GA) as one of the most widely implemented heuristic methods for developing product innovations are discussed.

Keywords: Product Innovation, Conjoint Analysis, Heuristic Model, Genetic Algorithm

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Authors: Romisaa Ali

Abstract:

The Policy Gradient approach is a subset of the Deep Reinforcement Learning (DRL) combines Deep Neural Networks (DNN) with Reinforcement Learning (RL). This approach finds the optimal policy of robot movement, based on the experience it gains from interaction with its environment. Unlike previous policy gradient algorithms, which were unable to handle the two types of error variance and bias introduced by the DNN model due to over- or underestimation, this algorithm is capable of handling both types of error variance and bias. This article will discuss the state-of-the-art SOTA policy gradient technique, trust region policy optimization (TRPO), by applying this method in various environments compared to another policy gradient method, the Proximal Policy Optimization (PPO), to explain their robust optimization, using this SOTA to gather experience data during various training phases after observing the impact of hyper-parameters on neural network performance.

Keywords: Deep neural networks, deep reinforcement learning, Proximal Policy Optimization, state-of-the-art, trust region policy optimization.

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Authors: Miroslav Popelka, Jakub Nožička

Abstract:

The whole work is based on possibility to use Lego Mindstorms robotics systems to reduce costs. Lego Mindstorms consists of a wide variety of hardware components necessary to simulate, programme and test of robotics systems in practice. To programme algorithm, which simulates space using the ultrasonic sensor, was used development environment supplied with kit. Software Matlab was used to render values afterwards they were measured by ultrasonic sensor. The algorithm created for this paper uses theoretical knowledge from area of signal processing. Data being processed by algorithm are collected by ultrasonic sensor that scans 2D space in front of it. Ultrasonic sensor is placed on moving arm of robot which provides horizontal moving of sensor. Vertical movement of sensor is provided by wheel drive. The robot follows map in order to get correct positioning of measured data. Based on discovered facts it is possible to consider Lego Mindstorm for low-cost and capable kit for real-time modelling.

Keywords: LEGO Mindstorms, ultrasonic sensor, Real-time modeling, 2D object, low-cost robotics systems, sensors, Matlab, EV3 Home Edition Software.

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Authors: Nishanth Murugan, Mohammed Niyasdeen Nejaamtheen, S. Sounder Rajan

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The accelerated growth in aircraft industries desire effectual schemes, programs, innovative designs of advanced systems to accomplishing the augmenting need for home-free air transportation. In this paper, a contemporary conceptual design of an airplane has been proposed without landing gear systems in order to reducing accidents, time consumption, and to eliminating drawbacks by using superconducting levitation phenomenon. This invention of an airplane with superconductive material coating, on the solar plexus region assist to reduce weight by approximately 4% of the total takeoff weight, and cost effective. Moreover, we conjectured that superconductor landing system reduces ground friction, mission fuel, total drag, take-off and landing distance.

Keywords: Aircraft landing system, Magnetic levitation, Superconductors, Take-off and landing.

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Authors: Miloš Šeda

Abstract:

Finding the shortest path between two positions is a fundamental problem in transportation, routing, and communications applications. In robot motion planning, the robot should pass around the obstacles touching none of them, i.e. the goal is to find a collision-free path from a starting to a target position. This task has many specific formulations depending on the shape of obstacles, allowable directions of movements, knowledge of the scene, etc. Research of path planning has yielded many fundamentally different approaches to its solution, mainly based on various decomposition and roadmap methods. In this paper, we show a possible use of visibility graphs in point-to-point motion planning in the Euclidean plane and an alternative approach using Voronoi diagrams that decreases the probability of collisions with obstacles. The second application area, investigated here, is focused on problems of finding minimal networks connecting a set of given points in the plane using either only straight connections between pairs of points (minimum spanning tree) or allowing the addition of auxiliary points to the set to obtain shorter spanning networks (minimum Steiner tree).

Keywords: motion planning, spanning tree, Steiner tree, Delaunay triangulation, Voronoi diagram.

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Authors: Mohammed Niyasdeen Nejaamtheen

Abstract:

The accelerated growth in aircraft industries desire effectual schemes, programs, innovative designs of advanced systems and facilities to accomplish the augmenting need for home-free air transportation. In this paper, a contemporary conceptual design of a cambered airfoil has been proposed in order to providing augmented effective lift force relative to the airplane, and to eliminating drawbacks and limitations of an airfoil in a commercial airplane by using a kind of smart materials. This invention of an unsymmetrical airfoil structure utilizes the amplified air momentum around the airfoil and increased camber length to providing improved aircraft performance and assist to enhancing the reliability of the aircraft components. Moreover, this conjectured design helps to reducing airplane weight and total drag.

Keywords: Collector electrode, corona electrode, Temperatureresponsive polymer and ultra-faims microchip.

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Authors: C. Rajan, B. Megala, A. Nandhini, C. Rasi Priya

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Robotics brings together several very different engineering areas and skills. There are various types of robot such as humanoid robot, mobile robots, remotely operated vehicles, modern autonomous robots etc. This survey paper advocates the operation of a robotic car (remotely operated vehicle) that is controlled by a mobile phone (communicate on a large scale over a large distance even from different cities). The person makes a call to the mobile phone placed in the car. In the case of a call, if any one of the button is pressed, a tone equivalent to the button pressed is heard at the other end of the call. This tone is known as DTMF (Dual Tone Multiple Frequency). The car recognizes this DTMF tone with the help of the phone stacked in the car. The received tone is processed by the Arduino microcontroller. The microcontroller is programmed to acquire a decision for any given input and outputs its decision to motor drivers in order to drive the motors in the forward direction or backward direction or left or right direction. The mobile phone that makes a call to cell phone stacked in the car act as a remote.

Keywords: Arduino Micro-controller, Arduino UNO, DTMF, Mobile phone, Robotic car.

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Authors: Alba Barbarà Molinero, Rosalía Cascón Pereira

Abstract:

We assert here that there might be some factors that influence professional identity construction at the university/higher education stage. In accord, we propose a conceptual framework of intervening factors in professional identity construction at university from a literature review and preliminary data from a qualitative pilot study using focus groups. This model identifies several factors that might influence university students- professional identity construction and group them into categories. In turn, we describe how these factors might contribute in strengthening or weakening their professional identity. Finally, we discuss the implications of strengthening students- PI for the university, individuals and organizations and we provide a roadmap for future empirical work in this area.

Keywords: Professional Identity, Higher education, influencing factors.

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Authors: Sirous Panahi , Jason Watson , Helen Partridge

Abstract:

With the advent of social web initiatives, some argued that these new emerging tools might be useful in tacit knowledge sharing through providing interactive and collaborative technologies. However, there is still a poverty of literature to understand how and what might be the contributions of social media in facilitating tacit knowledge sharing. Therefore, this paper is intended to theoretically investigate and map social media concepts and characteristics with tacit knowledge creation and sharing requirements. By conducting a systematic literature review, five major requirements found that need to be present in an environment that involves tacit knowledge sharing. These requirements have been analyzed against social media concepts and characteristics to see how they map together. The results showed that social media have abilities to comply some of the main requirements of tacit knowledge sharing. The relationships have been illustrated in a conceptual framework, suggesting further empirical studies to acknowledge findings of this study.

Keywords: Knowledge sharing, Tacit knowledge, Social media, Web 2.0

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Authors: G. Hernandez-Maskivker, G. Ryan, M. Blazey, M. Pàmies

Abstract:

Waiting times and queues are a daily problem for theme parks. Fast lines or priority queues appear as a solution for a specific segment of customers, that is, tourists who are willing to pay to avoid waiting. This paper analyzes the fast line system and explores the factors that affect the decision to purchase a fast line pass. A greater understanding of these factors may help companies to design appropriate products and services. This conceptual paper was based on a literature review in marketing and consumer behavior. Additional research was identified in related disciplines such as leisure studies, psychology, and sociology. A conceptual framework of the factors influencing the decision to purchase a fast line pass is presented.

Keywords: Tourist behavior, fast lines, theme park, willing to pay.

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Authors: Mehdi Shami Zanjani, Roshanak Rouzbehani, Hosein Dabbagh

Abstract:

Although current competitive challenges induced by today-s digital economy place their main emphasis on organizational knowledge, customer knowledge has been overlooked. On the other hand, the business community has finally begun to realize the important role customer knowledge can play in the organizational boundaries of the corporate arena. As a result, there is an emerging market for the tools and utilities whose objective is to provide the intelligence for knowledge sharing between the businesses and their customers. In this paper, we present a conceptual model of customer knowledge management by identifying and analyzing the existing tools in the market. The focus will be upon the emerging British dotcom industry whose customer based B2C behavior has been an influential part of the knowledge based intelligence tools in existence today.

Keywords: Customer knowledge, customer knowledge management, knowledge management, B2C E-commerce.

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Authors: Yu-Kyung Kang, Suk-Hyung Hwang, Kyoung-Mo Yang

Abstract:

The tagging data of (users, tags and resources) constitutes a folksonomy that is the user-driven and bottom-up approach to organizing and classifying information on the Web. Tagging data stored in the folksonomy include a lot of very useful information and knowledge. However, appropriate approach for analyzing tagging data and discovering hidden knowledge from them still remains one of the main problems on the folksonomy mining researches. In this paper, we have proposed a folksonomy data mining approach based on FCA for discovering hidden knowledge easily from folksonomy. Also we have demonstrated how our proposed approach can be applied in the collaborative tagging system through our experiment. Our proposed approach can be applied to some interesting areas such as social network analysis, semantic web mining and so on.

Keywords: Folksonomy data mining, formal concept analysis, collaborative tagging, conceptual knowledge discovery, classification.

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Authors: Shayan Rezvanigilkolaei, Shayesteh Vefaghnematollahi

Abstract:

Electrical impedance tomography is a non-invasive medical imaging technique suitable for medical applications. This paper describes an electrical impedance tomography device with the ability to navigate a robotic arm to manipulate a target object. The design of the device includes various hardware and software sections to perform medical imaging and control the robotic arm. In its hardware section an image is formed by 16 electrodes which are located around a container. This image is used to navigate a 3DOF robotic arm to reach the exact location of the target object. The data set to form the impedance imaging is obtained by having repeated current injections and voltage measurements between all electrode pairs. After performing the necessary calculations to obtain the impedance, information is transmitted to the computer. This data is fed and then executed in MATLAB which is interfaced with EIDORS (Electrical Impedance Tomography Reconstruction Software) to reconstruct the image based on the acquired data. In the next step, the coordinates of the center of the target object are calculated by image processing toolbox of MATLAB (IPT). Finally, these coordinates are used to calculate the angles of each joint of the robotic arm. The robotic arm moves to the desired tissue with the user command.

Keywords: Electrical impedance tomography, EIT, Surgeon robot, image processing of Electrical impedance tomography.

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Authors: Benjamin Gorry, Zezhi Chen, Kevin Hammond, Andy Wallace, Greg Michaelson

Abstract:

This paper describes new computer vision algorithms that have been developed to track moving objects as part of a long-term study into the design of (semi-)autonomous vehicles. We present the results of a study to exploit variable kernels for tracking in video sequences. The basis of our work is the mean shift object-tracking algorithm; for a moving target, it is usual to define a rectangular target window in an initial frame, and then process the data within that window to separate the tracked object from the background by the mean shift segmentation algorithm. Rather than use the standard, Epanechnikov kernel, we have used a kernel weighted by the Chamfer distance transform to improve the accuracy of target representation and localization, minimising the distance between the two distributions in RGB color space using the Bhattacharyya coefficient. Experimental results show the improved tracking capability and versatility of the algorithm in comparison with results using the standard kernel. These algorithms are incorporated as part of a robot test-bed architecture which has been used to demonstrate their effectiveness.

Keywords: Hume, functional programming, autonomous vehicle, pioneer robot, vision.

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Authors: V. B. Bastos, M. P. Lima, P. R. G. Kurka

Abstract:

This paper applies to the creation of virtual 3D environments for the study and development of mobile robot image based navigation algorithms and techniques, which need to operate robustly and efficiently. The test of these algorithms can be performed in a physical way, from conducting experiments on a prototype, or by numerical simulations. Current simulation platforms for robotic applications do not have flexible and updated models for image rendering, being unable to reproduce complex light effects and materials. Thus, it is necessary to create a test platform that integrates sophisticated simulated applications of real environments for navigation, with data and image processing. This work proposes the development of a high-level platform for building 3D model’s environments and the test of image-based navigation algorithms for mobile robots. Techniques were used for applying texture and lighting effects in order to accurately represent the generation of rendered images regarding the real world version. The application will integrate image processing scripts, trajectory control, dynamic modeling and simulation techniques for physics representation and picture rendering with the open source 3D creation suite - Blender.

Keywords: Simulation, visual navigation, mobile robot, data visualization.

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Authors: Martin Doran, Roy Sterritt, George Wilkie

Abstract:

The majority of today’s mobile robots are very dependent on battery power. Mobile robots can operate untethered for a number of hours but eventually they will need to recharge their batteries in-order to continue to function. While computer processing and sensors have become cheaper and more powerful each year, battery development has progress very little. They are slow to re-charge, inefficient and lagging behind in the general progression of robotic development we see today. However, batteries are relatively cheap and when fully charged, can supply high power output necessary for operating heavy mobile robots. As there are no cheap alternatives to batteries, we need to find efficient ways to manage the power that batteries provide during their operational lifetime. This paper proposes the use of autonomic principles of self-adaption to address the behavioral changes a battery experiences as it gets older. In life, as we get older, we cannot perform tasks in the same way as we did in our youth; these tasks generally take longer to perform and require more of our energy to complete. Batteries also suffer from a form of degradation. As a battery gets older, it loses the ability to retain the same charge capacity it would have when brand new. This paper investigates how we can adapt the current state of a battery charge and cycle count, to the requirements of a mobile robot to perform its tasks.

Keywords: Autonomic, self-adaptive, self-optimizing, degradation.

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Authors: Arunesh Chandra, Pankaj Chandna

Abstract:

Virtual reality (VR) is a rapidly emerging computer interface that attempts to immerse the user completely within an experimental recreation; thereby, greatly enhancing the overall impact and providing a much more intuitive link between the computer and the human participants. The main objective of this study is to design tractor trailer capable of meeting the customers’ requirements and suitable for rough conditions to be used in combination with a farm tractor in India. The final concept is capable of providing arrangements for attaching the trailer to the tractor easily by pickup hitch, stronger and lighter supporting frame, option of spare tyre etc. Furthermore, the resulting product design can be sent via the Internet to customers for comments or marketing purposes. The virtual prototyping (VP) system therefore facilitates advanced product design and helps reduce product development time and cost significantly.

Keywords: Conceptual design, Trailer, Virtual prototyping, Virtual reality.

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Authors: Panagiotis Pentaris

Abstract:

The issue of social and legal recognition of LGBTQ families is of high importance when exploring the possibility of a family. Of equal importance is the fact that both society and the individual contribute to the overall recognition of LGBTQ families. This paper is a conceptual discussion, by methodology, of both sides; it uses a method of constructive analysis to expound on this issue. This method’s aim is to broaden conceptual theory, and introduce a new relationship between concepts that were previously not associated by evidence. This exploration has found that LGBTQ realities from an international perspective may differ and both legal and social rights are critical toward self-consciousness and the formation of a family. This paper asserts that internalised and historic oppression of LGBTQ individuals, places them, not always and not in all places, in a disadvantageous position as far as engaging with the potential of forming a family goes. The paper concludes that lack of social recognition and internalised oppression are key barriers regarding LGBTQ families.

Keywords: Family, gay, LGBTQ, self-worth, social rights.

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Authors: Jun-ya Nagase, Toshiyuki Satoh, Norihiko Saga, Koichi Suzumori

Abstract:

In recent years, Japanese society has been aging, engendering a labor shortage of young workers. Robots are therefore expected to perform tasks such as rehabilitation, nursing elderly people, and day-to-day work support for elderly people. The pneumatic balloon actuator is a rubber artificial muscle developed for use in a robot hand in such environments. This actuator has a long stroke and a high power-to-weight ratio compared with the present pneumatic artificial muscle. Moreover, the dynamic characteristics of this actuator resemble those of human muscle. This study evaluated characteristics of force control of balloon actuator using a predictive functional control (PFC) system with disturbance observer. The predictive functional control is a model-based predictive control (MPC) scheme that predicts the future outputs of the actual plants over the prediction horizon and computes the control effort over the control horizon at every sampling instance. For this study, a 1-link finger system using a pneumatic balloon actuator is developed. Then experiments of PFC control with disturbance observer are performed. These experiments demonstrate the feasibility of its control of a pneumatic balloon actuator for a robot hand.

Keywords: Disturbance observer, Pneumatic balloon, Predictive functional control, Rubber artificial muscle.

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Authors: Salavati, Adel, Ebadi Shaghayegh

Abstract:

This study examines knowledge management in the public organizations in Iran. The purpose of this article is to provide a conceptual framework for application of knowledge management in public organizations. The study indicates that an increasing tendency for implementation of knowledge management in organizations is emerging. Nonetheless knowledge management in public organizations is toddler and little has been done to bring the subject to use in the public sector. The globalization of change and popularization of some values like participation, citizen-orientation and knowledge-orientation in the new theories of public administration requires that the knowledge management is considered and attend to in the public sector. This study holds that a knowledge management framework for public organizations is different from this in the public sector, because public sector is stakeholder-dependent while the private is shareholder-dependent. Based on the research, we provide a conceptual model. The model proposed involves three factors: Organizational, knowledge citizens and contextual factors. The study results indicate these factors affect on knowledge management in public organizations in Iran.

Keywords: Knowledge management, public organizations in Iran, model of knowledge management.

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