Search results for: agricultural terrestrial robot

Authors: Fatemeh Cheraghali, Saeedeh Shojaee-Aliabadi, Seyede Marzieh Hosseini, Leila Mirmoghtadaie

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In recent years, the field of natural antimicrobial and antioxidant compounds is one of the main research topics in the food industry. Application of agricultural residues is mainly cheap, and available resources are receiving increased attention. Walnut green husk is one of the agricultural residues that is considered as natural compounds with biological properties because of phenolic compounds. In this study, maltodextrin 10% was used for microencapsulation of walnut green husk extract. At first, the extract was examined to consider extraction yield, total phenolic compounds, and antioxidant activation. The results showed the extraction yield of 81.43%, total phenolic compounds of 3997 [mg GAE/100 g], antioxidant activity [DPPH] of 84.85% for walnut green husk extract. Antioxidant activity is about 75%-81% and by DPPH. At the next stage, microencapsulation was done by spry-drying method. The microencapsulation efficiency was 72%-79%. The results of SEM tests confirmed this microencapsulation process. In addition, microencapsulated and free extract was more effective on gram-positive bacteria’s rather than the gram-negative ones. According to the study, walnut green husk can be used as a cheap antioxidant and antimicrobial compounds due to sufficient value of phenolic compounds.

Keywords: Biopolymer, microencapsulation, Spray-drying, Walnut green husk.

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Authors: Cheng-En Tsai, Chung-Chun Hsiao, Fu-Yuan Chang, Liang-Lun Lan, Jia-Ying Tu

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New design of three dimensional (3D) flywheel system based on gimbal and gyro mechanics is proposed. The 3D flywheel device utilizes the rotational motion of three spherical shells and the conservation of angular momentum to achieve planar locomotion. Actuators mounted to the ring-shape frames are installed within the system to drive the spherical shells to rotate, for the purpose of steering and stabilization. Similar to the design of 2D flywheel system, it is expected that the spherical shells may function like a “flyball” to store and supply mechanical energy; additionally, in comparison with typical single-wheel and spherical robots, the 3D flywheel can be used for developing omnidirectional robotic systems with better mobility. The Lagrangian method is applied to derive the equation of motion of the 3D flywheel system, and simulation studies are presented to verify the proposed design.

Keywords: Gimbal, spherical robot, gyroscope, Lagrangian formulation, flyball.

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Authors: Cheng-En Tsai, Chung-Chun Hsiao, Fu-Yuan Chang, Liang-Lun Lan, Jia-Ying Tu

Abstract:

New design of three dimensional (3D) flywheel system based on gimbal and gyro mechanics is proposed. The 3D flywheel device utilizes the rotational motion of three spherical shells and the conservation of angular momentum to achieve planar locomotion. Actuators mounted to the ring-shape frames are installed within the system to drive the spherical shells to rotate, for the purpose of steering and stabilization. Similar to the design of 2D flywheel system, it is expected that the spherical shells may function like a “flyball” to store and supply mechanical energy; additionally, in comparison with typical single-wheel and spherical robots, the 3D flywheel can be used for developing omnidirectional robotic systems with better mobility. The Lagrangian method is applied to derive the equation of motion of the 3D flywheel system, and simulation studies are presented to verify the proposed design.

Keywords: Gimbal, spherical robot, gyroscope, Lagrangian formulation, flyball.

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Authors: Ganesan V.

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Application of Expert System in the area of agriculture would take the form of Integrated Crop Management decision aids and would encompass water management, fertilizer management, crop protection systems and identification of implements. In order to remain competitive, the modern farmer often relies on agricultural specialists and advisors to provide information for decision-making. An expert system normally composed of a knowledge base (information, heuristics, etc.), inference engine (analyzes knowledge base), and end user interface (accepting inputs, generating outputs). Software named 'CROP-9-DSS' incorporating all modern features like, graphics, photos, video clippings etc. has been developed. This package will aid as a decision support system for identification of pest and diseases with control measures, fertilizer recommendation system, water management system and identification of farm implements for leading crops of Kerala (India) namely Coconut, Rice, Cashew, Pepper, Banana, four vegetables like Amaranthus, Bhindi, Brinjal and Cucurbits. 'CROP-9-DSS' will act as an expert system to agricultural officers, scientists in the field of agriculture and extension workers for decision-making and help them in suggesting suitable recommendations.

Keywords: Diagnostic, inference engine, knowledge base and user interface.

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Authors: Dušan Kravec, Ondrej Staš, Marián Tolnay, Michal Bachratý

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This article gives a short preview of the new software created especially for palletizing process in automated production systems. Each chapter of this article is about problem solving in development of modules in Java programming language. First part describes structure of the software, its modules and data flow between them. Second part describes all deployment methods, which are implemented in the software. Next chapter is about twodimensional editor created for manipulation with objects in each layer of the load and gives calculations for collision control. Module of virtual reality used for three-dimensional preview and creation of the load is described in the fifth chapter. The last part of this article describes communication and data flow between control system of the robot, vision system and software.

Keywords: Palletizing, deployment methods, palletizing software, virtual reality in palletizing.

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Authors: S K Sharma, N S Sehkon, S Deswal, Siby John

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The presence of toxic heavy metals in industrial effluents is one of the serious threats to the environment. Heavy metals such as Cadmium, Chromium, Lead, Nickel, Zinc, Mercury, Copper, Arsenic are found in the effluents of industries such as foundries, electroplating, petrochemical, battery manufacturing, tanneries, fertilizer, dying, textiles, metallurgical and metal finishing. Tremendous increase of industrial copper usage and its presence in industrial effluents has lead to a growing concern about the fate and effects of Copper in the environment. Percolation of industrial effluents through soils leads to contamination of ground water and soils. The transport of heavy metals and their diffusion into the soils has therefore, drawn the attention of the researchers. In this study, an attempt has been made to delineate the mechanisms of transport and fate of copper in terrestrial environment. Column studies were conducted using perplex glass square column of dimension side 15 cm and 1.35 m long. The soil samples were collected from a natural drain near Mohali (India). The soil was characterized to be poorly graded sandy loam. The soil was compacted to the field dry density level of about 1.6 g/cm3. Break through curves for different depths of the column were plotted. The results of the column study indicated that the copper has high tendency to flow in the soils and fewer tendencies to get absorbed on the soil particles. The t1/2 estimates obtained from the studies can be used for design copper laden wastewater disposal systems.

Keywords: Column study, copper, soil, transport.

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Authors: Ong Sing Goh, C. Ardil, Chun Che Fung, Kok Wai Wong, Arnold Depickere

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In this paper, we proposed a new framework to incorporate an intelligent agent software robot into a crisis communication portal (CCNet) in order to send alert news to subscribed users via email and other mobile services such as Short Message Service (SMS), Multimedia Messaging Service (MMS) and General Packet Radio Services (GPRS). The content on the mobile services can be delivered either through mobile phone or Personal Digital Assistance (PDA). This research has shown that with our proposed framework, the embodied conversation agents system can handle questions intelligently with our multilayer architecture. At the same time, the extended framework can take care of delivery content through a more humanoid interface on mobile devices.

Keywords: Crisis Communication Network (CCNet), EmbodiedConversational Agents (ECAs), Mobile Services, ArtificialIntelligence Neural-network Identity (AINI)

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Authors: Oluwatoyin D. Kolawole, Oarabile Mogobe, Lapologang Magole

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Although many factors play a significant role in agricultural production and productivity, the importance of soil fertility cannot be underestimated. The extent to which small farmers are able to manage the fertility of their farmlands is crucial in agricultural development particularly in sub-Saharan Africa (SSA).  This paper assesses the nutrient status of selected farmers’ fields in relation to how government policy addresses the allocation of and access to agricultural inputs (e.g. chemical fertilizers) in a unique social-ecological environment of the Okavango Delta in northern Botswana. It also analyses small farmers and soil scientists’ perceptions about the political economy of integrated soil fertility management (ISFM) in the area. A multi-stage sampling procedure was used to elicit quantitative and qualitative information from 228 farmers and 9 soil researchers through the use of interview schedules and questionnaires, respectively. Knowledge validation workshops and focus group discussions (FGDs) were also used to collect qualitative data from farmers. Thirty-three composite soil samples were collected from 30 farmers’ plots in three farming communities of Makalamabedi, Nokaneng and Mohembo for laboratory analysis. While meeting points exist, farmers and scientists have divergent perspectives on soil fertility management. Laboratory analysis carried out shows that most soils in the wetland and the adjoining dry-land/upland surroundings are low in essential nutrients as well as in cation exchange capacity (CEC). Although results suggest the identification and use of appropriate inorganic fertilizers, the low CEC is an indication that holistic cultural practices, which are beyond mere chemical fertilizations, are critical and more desirable for improved soil health and sustainable livelihoods in the area. Farmers’ age (t= -0.728; p≤0.10); their perceptions about the political economy (t = -0.485; p≤0.01) of ISFM; and their preference for the use of local knowledge in soil fertility management (t = -10.254; p≤0.01) had a significant relationship with how they perceived their involvement in the implementation of ISFM.

Keywords: Access, Botswana, ecology, inputs, Okavango Delta, policy, scientists, small farmers, soil fertility.

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Authors: Ružarovský, Roman, Danišová, Nina, Velíšek, Karol

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In this contribution is presented a complex design of individual objects identification in the workplace of intelligent assembly cell. Intelligent assembly cell is situated at Institute of Manufacturing Systems and Applied Mechanics and is used for pneumatic actuator assembly. Pneumatic actuator components are pneumatic roller, cover, piston and spring. Two identification objects alternatives for assembly are designed in the workplace of industrial robot. In the contribution is evaluated and selected suitable alternative for identification – 2D codes reader. The complex design of individual object identification is going out of intelligent manufacturing systems knowledge. Intelligent assembly and manufacturing systems as systems of new generation are gradually loaded in to the mechanical production, when they are removeing human operation out of production process and they also short production times.

Keywords: system, cell, intelligent, mechanics, device

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Authors: André C. Silva, Mariana R. Barros, Elenice M. S. Silva, Douglas. Y. Marinho, Diego F. Lopes, Débora N. Sousa, Raphael S. Tomáz

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Modern agriculture requires productivity, efficiency and quality. Therefore, there is need for agricultural limestone implementation that provides adequate amounts of calcium and magnesium carbonates in order to correct soil acidity. During the limestone process, fine particles (with average size under 400#) are generated. These particles do not have economic value in agricultural and metallurgical sectors due their size. When limestone is used for agriculture purposes, these fine particles can be easily transported by wind generated air pollution. Therefore, briquetting, a mineral processing technique, was used to mitigate this problem resulting in an agglomerated product suitable for agriculture use. Briquetting uses compressive pressure to agglomerate fine particles. It can be aided by agglutination agents, allowing adjustments in shape, size and mechanical parameters of the mass. Briquettes can generate extra profits for mineral industry, presenting as a distinct product for agriculture, and can reduce the environmental liabilities of the fine particles storage or disposition. The produced limestone briquettes were subjected to shatter and water action resistance tests. The results show that after six minutes completely submerged in water, the briquettes where fully diluted, a highly favorable result considering its use for soil acidity correction.

Keywords: Agglomeration, briquetting, limestone, agriculture.

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Authors: Xinde Li, Xinhan Huang, Min Wang

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In this paper, we propose the pre-processor based on the Evidence Supporting Measure of Similarity (ESMS) filter and also propose the unified fusion approach (UFA) based on the general fusion machine coupled with ESMS filter, which improve the correctness and precision of information fusion in any fields of application. Here we mainly apply the new approach to Simultaneous Localization And Mapping (SLAM) of Pioneer II mobile robots. A simulation experiment was performed, where an autonomous virtual mobile robot with sonar sensors evolves in a virtual world map with obstacles. By comparing the result of building map according to the general fusion machine (here DSmT-based fusing machine and PCR5-based conflict redistributor considereded) coupling with ESMS filter and without ESMS filter, it shows the benefit of the selection of the sources as a prerequisite for improvement of the information fusion, and also testifies the superiority of the UFA in dealing with SLAM.

Keywords: DSmT, ESMS filter, SLAM, UFA

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Authors: Ercan Ceyhan, Ali Kahraman, Hasan Dalgıç

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This research was made during the 2011 and 2012 growing periods in the trial filed of "Research Station for Management of Soil Water and Desertification" according to “Randomized Blocks Design” with 3 replications. Research material was the following chickpea genotype; CA119, CA128, CA149, CA150, CA222, CA250, CA254 and other 2 commercial varieties named as Gökçe and Yaşa. Some agronomical characteristics such as plant height (cm), number of pod per plant, number of seed per pod, number of seed per plant, 1000 seed weight (g) and seed yield (kg ha^-1) were determined. Statistically significant variations were found amongst the genotypes for all variables except seeds per pod. Means of the two years showed the range for plant height was from 52.83cm (Gökçe) to 73.00cm (CA150), number of pod per plant was from 14.00 (CA149) to 26.83 (CA261), number of seed per pod was from 1.10 (Gökçe) to 1.19 (CA149 and CA250), number of seed per plant was from 16.28 (CA149) to 31.65 (CA261), 1000 seed weight was from 295.85g (CA149) to 437.80g (CA261) and seed yield was from 1342.73 kg ha^-1 (CA261) to 2161.50 kg ha^-1 (CA128). Results of the research implicated that the new developed lines were superior compared with the control (commercial) varieties by means of most of the characteristics.

Keywords: Agricultural characters, chickpea, seed yield.

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Authors: Junichiro Kawaguchi

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Space debris problems have emerged and threatened the use of low earth orbit around the Earth owing to a large number of spacecrafts.. The robots should be sophisticated enough to access automatically the debris articulating the attitude and the translation motion with respect to the debris. This paper presents the idea of using the torpedo-like third unsophisticated and disposable body, in addition to the first body of the servicing robot and the second body of the target debris. The third body is launched from the first body from a distance further than the size of the second body. This paper presents the method and the system, so that the third body is launched from the first body. The third body carries both a net and an inflatable or extendible drag deceleration device and is built small and light. This method enables even micro to nano satellites to perform contactless and multiple debris removal even via a single flight.

Keywords: Ballute, Debris Removal, Echo satellite, Gossamer, Gun-Net, Inflatable Space Structure, Small Satellite, Un-cooperated Target.

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Authors: Ahmet Denker, Tuğrul Adıgüzel

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In this paper, a solution is presented for a robotic manipulation problem in industrial settings. The problem is sensing objects on a conveyor belt, identifying the target, planning and tracking an interception trajectory between end effector and the target. Such a problem could be formulated as combining object recognition, tracking and interception. For this purpose, we integrated a vision system to the manipulation system and employed tracking algorithms. The control approach is implemented on a real industrial manipulation setting, which consists of a conveyor belt, objects moving on it, a robotic manipulator, and a visual sensor above the conveyor. The trjectory for robotic interception at a rendezvous point on the conveyor belt is analytically calculated. Test results show that tracking the raget along this trajectory results in interception and grabbing of the target object.

Keywords: robotics, robot vision, rendezvous planning, self organizingmaps.

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Authors: Khalid Safaa Hashim Al Khalidy, Ali Jalil Abdul Kareem Chabuk, Majid Mohammed Ali Kadhim

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This research aims to study the lead pollution in the air of Babylon governorate that resulted generally from vehicles exhausts in addition to industrial and human activities.Vehicles number in Babylon governorate increased significantly after year 2003 that resulted with increase in lead emissions into the air.Measurement of lead emissions was done in seven stations distributed randomly in Babylon governorate. These stations where located in Industrial (Al-Sena'ay) Quarter, 60 street (near to Babylon sewer directorate), 40 Street (near to the first intersection), Al-Hashmia city, Al-Mahaweel city, , Al- Musayab city in addition to another station in Sayd Idris village belong to Abugharaq district (Agricultural station for comparison). The measured concentrations in these stations were compared with the standard limits of Environmental Protection Agency EPA (2 μg /m3). The results of this study showed that the average of lead concentrations ,in Babylon governorate during year 2010, was (3.13 μg/m3) which was greater than standard limits (2 μg/m3). The maximum concentration of lead was (6.41 μg / m3) recorded in the Industrial (Al-Sena'ay) Quarter during April month, while the minimum concentrations was (0.36 μg / m3) recorded in the agricultural station (Abugharaq) during December month.

Keywords: Lead, pollution, lead concentration

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Authors: Mohammadhosein Hasanbeig, Lacra Pavel

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In this paper, we study a distributed control algorithm for the problem of unknown area coverage by a network of robots. The coverage objective is to locate a set of targets in the area and to minimize the robots’ energy consumption. The robots have no prior knowledge about the location and also about the number of the targets in the area. One efficient approach that can be used to relax the robots’ lack of knowledge is to incorporate an auxiliary learning algorithm into the control scheme. A learning algorithm actually allows the robots to explore and study the unknown environment and to eventually overcome their lack of knowledge. The control algorithm itself is modeled based on game theory where the network of the robots use their collective information to play a non-cooperative potential game. The algorithm is tested via simulations to verify its performance and adaptability.

Keywords: Distributed control, game theory, multi-agent learning, reinforcement learning.

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Authors: Kayoko Yamamoto

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This study focuses on an evaluation of Hokkaido which is the northernmost and largest prefecture by surface area in Japan and particularly on two points: the rivalry between all kinds of land use such as urban land and agricultural and forestry land in various cities and their surrounding areas and the possibilities for forestry biomass in areas other than those mentioned above and grasps which areas require examination of the nature of land use control and guidance through conducting land use analysis at the district level using GIS (Geographic Information Systems). The results of analysis in this study demonstrated that it is essential to divide the whole of Hokkaido into two areas: those within delineated city planning areas and those outside of delineated city planning areas and to conduct an evaluation of each land use control. In delineated urban areas, particularly urban areas, it is essential to re-examine land use from the point of view of compact cities or smart cities along with conducting an evaluation of land use control that focuses on issues of rivalry between all kinds of land use such as urban land and agricultural and forestry land. In areas outside of delineated urban areas, it is desirable to aim to build a specific community recycling range based on forest biomass utilization by conducting an evaluation of land use control concerning the possibilities for forest biomass focusing particularly on forests within and outside of city planning areas.

Keywords: Land Use Control, Urbanization, Forestry Biomass, Geographic Information Systems (GIS), Hokkaido

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Authors: B. Soleimani

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Paleoclimate was reconstructed by the clay mineral assemblages of shale units of Pabdeh (Paleocene- Oligocene), Gurpi (Upper Cretaceous), Kazhdumi (Albian-Cenomanian) and Gadvan (Aptian-Neocomian) formations in the Bangestan anticline. To compare with clay minerals assemblages in these formations, selected samples also taken from available formations in drilled wells in Ahvaz, Marun, Karanj, and Parsi oil fields. Collected samples prepared using standard clay mineral methodology. They were treated as normal, glycolated and heated oriented glass slides. Their identification was made on X-Ray diffractographs. Illite % varies from 8 to 36. Illite quantity increased from Pabdeh to Gurpi Formation. This may be due to dominant dry climate. Kaolinite is in range of 12-49%. Its variation style in different formations could be a marker of climate changes from wet to dry which is supported by the lithological changes. Chlorite (4-28%) can also be detected in those samples without any kaolinite. Mixed layer minerals as the mixture of illite-chlorite and illite-vermiculite-montmorillonite are varied from 6 to 36%, decreased during Kazhdumi deposition from the base to the top. This result may be according to decreasing of illite leaching process. Vermiculite was also determined in very less quantity and found in those units without kaolinite. Montmorillonite varies from 8 to 43%, and its presence is due to terrestrial depositional condition. Stratigraphical documents is also supported this idea that clay mineral distribution is a function of the climate changes. It seems, thus, the present results can be indicated a possible procedure for ancient climate changes evaluation.

Keywords: Clay Minerals, Paleoclimate, XRD, oriented slide

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Authors: Sufian Ashraf Mazhari, Surendra Kumar

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This paper compares the heuristic Global Search Techniques; Genetic Algorithm, Particle Swarm Optimization, Simulated Annealing, Generalized Pattern Search, genetic algorithm hybridized with Nelder–Mead and Generalized pattern search technique for tuning of fuzzy PID controller for Puma 560. Since the actual control is in joint space ,inverse kinematics is used to generate various joint angles correspoding to desired cartesian space trajectory. Efficient dynamics and kinematics are modeled on Matlab which takes very less simulation time. Performances of all the tuning methods with and without disturbance are compared in terms of ITSE in joint space and ISE in cartesian space for spiral trajectory tracking. Genetic Algorithm hybridized with Generalized Pattern Search is showing best performance.

Keywords: Controller tuning, Fuzzy Control, Genetic Algorithm, Heuristic search, Robot control.

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Authors: C.Kia, M.R.Arshad, A.H.Adom, P.A.Wilson

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This paper presents recent work on the improvement of the robotics vision based control strategy for underwater pipeline tracking system. The study focuses on developing image processing algorithms and a fuzzy inference system for the analysis of the terrain. The main goal is to implement the supervisory fuzzy learning control technique to reduce the errors on navigation decision due to the pipeline occlusion problem. The system developed is capable of interpreting underwater images containing occluded pipeline, seabed and other unwanted noise. The algorithm proposed in previous work does not explore the cooperation between fuzzy controllers, knowledge and learnt data to improve the outputs for underwater pipeline tracking. Computer simulations and prototype simulations demonstrate the effectiveness of this approach. The system accuracy level has also been discussed.

Keywords: Fuzzy logic, Underwater target tracking, Autonomous underwater vehicles, Artificial intelligence, Simulations, Robot navigation, Vision system.

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Authors: Namchul Do, Gyeongseok Chae

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This paper proposes a framework for product development including hardware and software components. It provides separation of hardware dependent software, modifications of current product development process, and integration of software modules with existing product configuration models and assembly product structures. In order to decide the dependent software, the framework considers product configuration modules and engineering changes of associated software and hardware components. In order to support efficient integration of the two different hardware and software development, a modified product development process is proposed. The process integrates the dependent software development into product development through the interchanges of specific product information. By using existing product data models in Product Data Management (PDM), the framework represents software as modules for product configurations and software parts for product structure. The framework is applied to development of a robot system in order to show its effectiveness.

Keywords: HW and SW Development Integration, ProductDevelopment with Software.

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Authors: Rinku Dhanker, Suman Chaudhary, Tanvi Bhatia, Sneh Goyal

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Municipal Solid Waste (MSW), being a rich source of organic materials, can be used for agricultural applications as an important source of nutrients for soil and plants. This is also an alternative beneficial management practice for MSW generated in developing countries. In the present study, MSW treated soil samples from last four to six years at farmer’s field in Rohtak and Gurgaon states (Haryana, India) were collected. The samples were analyzed for all-important agricultural parameters and compared with the control untreated soil samples. The treated soil at farmer’s field showed increase in total N by 48 to 68%, P by 45.7 to 51.3%, and K by 60 to 67% compared to untreated soil samples. Application of sewage sludge at different sites led to increase in microbial biomass C by 60 to 68% compared to untreated soil. There was significant increase in total Cu, Cr, Ni, Fe, Pb, and Zn in all sewage sludge amended soil samples; however, concentration of all the metals were still below the current permitted (EU) limits. To study the adverse effect of heavy metals accumulation on various soil microbial activities, the sewage sludge samples (from wastewater treatment plant at Gurgaon) were artificially contaminated with heavy metal concentration above the EU limits. They were then applied to soil samples with different rates (0.5 to 4.0%) and incubated for 90 days under laboratory conditions. The samples were drawn at different intervals and analyzed for various parameters like pH, EC, total N, P, K, microbial biomass C, carbon mineralization, and diethylenetriaminepentaacetic acid (DTPA) exactable heavy metals. The results were compared to the uncontaminated sewage sludge. The increasing level of sewage sludge from 0.5 to 4% led to build of organic C and total N, P and K content at the early stages of incubation. But, organic C was decreased after 90 days because of decomposition of organic matter. Biomass production was significantly increased in both contaminated and uncontaminated sewage soil samples, but also led to slight increases in metal accumulation and their bioavailability in soil. The maximum metal concentrations were found in treatment with 4% of contaminated sewage sludge amendment.

Keywords: Heavy metals, municipal sewage sludge, sustainable agriculture, soil fertility, quality.

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Authors: B. Tondu, N. Bardou

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In its attempt to offer new ways into autonomy for a large population of disabled people, assistive technology has largely been inspired by robotics engineering. Recent human-like robots carry new hopes that it seems to us necessary to analyze by means of a specific theory of anthropomorphism. We propose to distinguish a functional anthropomorphism which is the one of actual wheelchairs from a structural anthropomorphism based on a mimicking of human physiological systems. If functional anthropomorphism offers the main advantage of eliminating the physiological systems interdependence issue, the highly link between the robot for disabled people and their human-built environment would lead to privilege in the future the anthropomorphic structural way. In this future framework, we highlight a general interdependence principle : any partial or local structural anthropomorphism generates new anthropomorphic needs due to the physiological systems interdependency, whose effects can be evaluated by means of specific anthropomorphic criterions derived from a set theory-based approach of physiological systems.

Keywords: Anthropomorphism, Human-like machines, Systemstheory, Disability.

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Authors: Elmi Abu Bakar, Tetsuo Miyake, Zhong Zhang, Takashi Imamura

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Knowing the geometrical object pose of products in manufacturing line before robot manipulation is required and less time consuming for overall shape measurement. In order to perform it, the information of shape representation and matching of objects is become required. Objects are compared with its descriptor that conceptually subtracted from each other to form scalar metric. When the metric value is smaller, the object is considered closed to each other. Rotating the object from static pose in some direction introduce the change of value in scalar metric value of boundary information after feature extraction of related object. In this paper, a proposal method for indexing technique for retrieval of 3D geometrical models based on similarity between boundaries shapes in order to measure 3D CAD object pose using object shape feature matching for Computer Aided Testing (CAT) system in production line is proposed. In experimental results shows the effectiveness of proposed method.

Keywords: CAD, rendering, feature extraction, feature classification.

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Authors: Petre Voicu, Mircea Oaida, Radu Vasiu, Catalin Gheorghiu, Aurel Dumitru

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The present work deals with the way in which food and tobacco waste can be used in agriculture. As a result of the lack of efficient technologies for their recycling, we are currently faced with the appearance of appreciable quantities of residual organic residues that find their use only very rarely and only after long storage in landfills. The main disadvantages of long storage of organic waste are the unpleasant smell, the high content of pathogenic agents, and the high content in the water. The release of these enormous amounts imperatively demands the finding of solutions to ensure the avoidance of environmental pollution. The measure practiced by us and presented in this paper consists of the processing of this waste in special installations, testing in pilot experimental perimeters, and later administration on agricultural lands without harming the quality of the soil, agricultural crops, and the environment. The current crisis of raw materials and energy also raises special problems in the field of organic waste valorization, an activity that takes place with low energy consumption. At the same time, their composition recommends them as useful secondary sources in agriculture. The transformation of food scraps and other residues concentrated organics thus acquires a new orientation, in which these materials are seen as important secondary resources. The utilization of food and tobacco waste in agriculture is also stimulated by the increasing lack of chemical fertilizers and the continuous increase in their price, under the conditions that the soil requires increased amounts of fertilizers in order to obtain high, stable, and profitable production. The need to maintain and increase the humus content of the soil is also taken into account, as an essential factor of its fertility, as a source and reserve of nutrients and microelements, as an important factor in increasing the buffering capacity of the soil, and the more reserved use of chemical fertilizers, improving the structure and permeability for water with positive effects on the quality of agricultural works and preventing the excess and/or deficit of moisture in the soil.

Keywords: Organic residue, food and tannery waste, fertilizer, soil.

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Authors: Tawiwat Veeraklaew, Nathasit Phathana-im, Songkit Heama

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Both the minimum energy consumption and smoothness, which is quantified as a function of jerk, are generally needed in many dynamic systems such as the automobile and the pick-and-place robot manipulator that handles fragile equipments. Nevertheless, many researchers come up with either solely concerning on the minimum energy consumption or minimum jerk trajectory. This research paper proposes a simple yet very interesting relationship between the minimum direct and indirect jerks approaches in designing the time-dependent system yielding an alternative optimal solution. Extremal solutions for the cost functions of direct and indirect jerks are found using the dynamic optimization methods together with the numerical approximation. This is to allow us to simulate and compare visually and statistically the time history of control inputs employed by minimum direct and indirect jerk designs. By considering minimum indirect jerk problem, the numerical solution becomes much easier and yields to the similar results as minimum direct jerk problem.

Keywords: Optimization, Dynamic, Linear Systems, Jerks.

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Authors: K. M. Tan, A. Anvar, T.F. Lu

Abstract:

A sophisticated simulator provides a cost-effective measure to carry out preliminary mission testing and diagnostic while reducing potential failures for real life at sea trials. The presented simulation framework covers three key areas: AUV modeling, sensor modeling, and environment modeling. AUV modeling mainly covers the area of AUV dynamics. Sensor modeling deals with physics and mathematical models that govern each sensor installed onto the AUV. Environment model incorporates the hydrostatic, hydrodynamics, and ocean currents that will affect the AUV in a real-time mission. Based on this designed simulation framework, custom scenarios provided by the user can be modeled and its corresponding behaviors can be observed. This paper focuses on the accuracy of the simulated data from AUV model and environmental model derived from a developed AUV test-bed which was jointly upgraded by DSTO and the University of Adelaide. The main contribution of this paper is to experimentally verify the accuracy of the proposed simulation framework.

Keywords: Autonomous Underwater Vehicle (AUV), simulator, framework, robotics, maritime robot, modeling.

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Authors: V. Tawiwat, P. Jumnong

Abstract:

Both the minimum energy consumption and smoothness, which is quantified as a function of jerk, are generally needed in many dynamic systems such as the automobile and the pick-and-place robot manipulator that handles fragile equipments. Nevertheless, many researchers come up with either solely concerning on the minimum energy consumption or minimum jerk trajectory. This research paper proposes a simple yet very interesting when combining the minimum energy and jerk of indirect jerks approaches in designing the time-dependent system yielding an alternative optimal solution. Extremal solutions for the cost functions of the minimum energy, the minimum jerk and combining them together are found using the dynamic optimization methods together with the numerical approximation. This is to allow us to simulate and compare visually and statistically the time history of state inputs employed by combining minimum energy and jerk designs. The numerical solution of minimum direct jerk and energy problem are exactly the same solution; however, the solutions from problem of minimum energy yield the similar solution especially in term of tendency.

Keywords: Optimization, Dynamic, Linear Systems, Jerks.

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Authors: Sara Jelodarian

Abstract:

Organic agriculture is a kind of living and dynamic agriculture that was introduced in the early 20^th century. The fundamental basis for organic agriculture is in harmony with nature. This version of farming emphasizes removing growth hormones, chemical fertilizers, toxins, radiation, genetic manipulation and instead, integration of modern scientific techniques (such as biologic and microbial control) that leads to the production of healthy food and the preservation of the environment and use of agricultural products such as forage and manure. Supports from governments for the markets producing organic products and taking advantage of the experiences from other successful societies in this field can help progress the positive and effective aspects of this technology, especially in developing countries. This research proves that till 2030, 25% of the global agricultural lands would be covered by organic farming. Consequently Iran, due to its rich genetic resources and various climates, can be a pioneer in promoting organic products. In addition, for sustainable farming, blend of organic and other innovative systems is needed. Important limitations exist to accept these systems, also a diversity of policy instruments will be required to comfort their development and implementation. The paper was conducted to results of compilation of reports, issues, books, articles related to the subject with library studies and research. Likewise we combined experimental and survey to get data.

Keywords: Development, production markets, progress, strategic role, technology.

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Authors: M. Yilmaz, I. Yilmaz, M. Uysal

Abstract:

The Earth system generates different phenomena that are observable at the surface of the Earth such as mass deformations and displacements leading to plate tectonics, earthquakes, and volcanism. The dynamic processes associated with the interior, surface, and atmosphere of the Earth affect the three pillars of geodesy: shape of the Earth, its gravity field, and its rotation. Geodesy establishes a characteristic structure in order to define, monitor, and predict of the whole Earth system. The traditional and new instruments, observables, and techniques in geodesy are related to the gravity field. Therefore, the geodesy monitors the gravity field and its temporal variability in order to transform the geodetic observations made on the physical surface of the Earth into the geometrical surface in which positions are mathematically defined. In this paper, the main components of the gravity field modeling, (Free-air and Bouguer) gravity anomalies are calculated via recent global models (EGM2008, EIGEN6C4, and GECO) over a selected study area. The model-based gravity anomalies are compared with the corresponding terrestrial gravity data in terms of standard deviation (SD) and root mean square error (RMSE) for determining the best fit global model in the study area at a regional scale in Turkey. The least SD (13.63 mGal) and RMSE (15.71 mGal) were obtained by EGM2008 for the Free-air gravity anomaly residuals. For the Bouguer gravity anomaly residuals, EIGEN6C4 provides the least SD (8.05 mGal) and RMSE (8.12 mGal). The results indicated that EIGEN6C4 can be a useful tool for modeling the gravity field of the Earth over the study area.

Keywords: Free-air gravity anomaly, Bouguer gravity anomaly, global model, land gravity.

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