Search results for: Robot joint module

Authors: V. Fuis, P. Janicek, T. Navrat

Abstract:

The global solved problem is the calculation of the parameters of ceramic material from a set of destruction tests of ceramic heads of total hip joint endoprosthesis. The standard way of calculation of the material parameters consists in carrying out a set of 3 or 4 point bending tests of specimens cut out from parts of the ceramic material to be analysed. In case of ceramic heads, it is not possible to cut out specimens of required dimensions because the heads are too small (if the cut out specimens were smaller than the normalised ones, the material parameters derived from them would exhibit higher strength values than those which the given ceramic material really has). A special destruction device for heads destruction was designed and the solved local problem is the modification of this destructive device based on the analysis of tensile stress in the head for two different values of the depth of the conical hole in the head. The goal of device modification is a shift of the location with extreme value of σ1max from the region of head’s hole bottom to its opening. This modification will increase the credibility of the obtained material properties of bioceramics, which will be determined from a set of head destructions using the Weibull weakest link theory.

Keywords: Ceramic heads, depth of the conical hole, destruction test, material parameters, principal stress, total hip joint endoprosthesis.

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Authors: Dongsu Wu, Hongbin Gu, Peng Li

Abstract:

A novel adaptive fuzzy trajectory tracking algorithm of Stewart platform based motion platform is proposed to compensate path deviation and degradation of controller-s performance due to actuator torque limit. The algorithm can be divided into two parts: the real-time trajectory shaping part and the joint space adaptive fuzzy controller part. For a reference trajectory in task space whenever any of the actuators is saturated, the desired acceleration of the reference trajectory is modified on-line by using dynamic model of motion platform. Meanwhile an additional action with respect to the difference between the nominal and modified trajectories is utilized in the non-saturated region of actuators to reduce the path error. Using modified trajectory as input, the joint space controller incorporates compute torque controller, leg velocity observer and fuzzy disturbance observer with saturation compensation. It can ensure stability and tracking performance of controller in present of external disturbance and position only measurement. Simulation results verify the effectiveness of proposed control scheme.

Keywords: Actuator saturation, adaptive fuzzy control, Stewartplatform, trajectory shaping, flight simulator

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Authors: Mohd Azman Abdul Latif, Erwan Basiron

Abstract:

A flaw or drift from expected operational performance in one component (NAND, PMIC, controller, DRAM, etc.) may affect the reliability of the entire Solid State Drive (SSD) system. Therefore, it is important to ensure the required quality of each individual component through qualification testing specified using standards or user requirements. Qualification testing is time-consuming and comes at a substantial cost for product manufacturers. A highly technical team, from all the eminent stakeholders is embarking on reliability prediction from beginning of new product development, identify critical to reliability parameters, perform full-blown characterization to embed margin into product reliability and establish control to ensure the product reliability is sustainable in the mass production. The paper will discuss a comprehensive development framework, comprehending SSD end to end from design to assembly, in-line inspection, in-line testing and will be able to predict and to validate the product reliability at the early stage of new product development. During the design stage, the SSD will go through intense reliability margin investigation with focus on assembly process attributes, process equipment control, in-process metrology and also comprehending forward looking product roadmap. Once these pillars are completed, the next step is to perform process characterization and build up reliability prediction modeling. Next, for the design validation process, the reliability prediction specifically solder joint simulator will be established. The SSD will be stratified into Non-Operating and Operating tests with focus on solder joint reliability and connectivity/component latent failures by prevention through design intervention and containment through Temperature Cycle Test (TCT). Some of the SSDs will be subjected to the physical solder joint analysis called Dye and Pry (DP) and Cross Section analysis. The result will be feedbacked to the simulation team for any corrective actions required to further improve the design. Once the SSD is validated and is proven working, it will be subjected to implementation of the monitor phase whereby Design for Assembly (DFA) rules will be updated. At this stage, the design change, process and equipment parameters are in control. Predictable product reliability at early product development will enable on-time sample qualification delivery to customer and will optimize product development validation, effective development resource and will avoid forced late investment to bandage the end-of-life product failures. Understanding the critical to reliability parameters earlier will allow focus on increasing the product margin that will increase customer confidence to product reliability.

Keywords: e2e reliability prediction, SSD, TCT, Solder Joint Reliability, NUDD, connectivity issues, qualifications, characterization and control.

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Authors: Ahmad K. Jassim, Raheem Kh. Al-Subar

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Friction stir welding is a modern and an environmentally friendly solid state joining process used to joint relatively lighter family of materials. Recently, friction stir spot welding has been used instead of resistance spot welding which has received considerable attention from the automotive industry. It is environmentally friendly process that eliminated heat and pollution. In this research, friction stir spot welding has been used to study the possibility to weld AA1100 aluminum alloy sheet with 3 mm thickness by overlapping the edges of sheet as lap joint. The process was done using a drilling machine instead of milling machine. Different tool rotational speeds of 760, 1065, 1445, and 2000 RPM have been applied with manual and automatic compression to study their effect on the quality of welded joints. Heat generation, pressure applied, and depth of tool penetration have been measured during the welding process. The result shows that there is a possibility to weld AA1100 sheets; however, there is some surface defect that happened due to insufficient condition of welding. Moreover, the relationship between rotational speed, pressure, heat generation and tool depth penetration was created.

Keywords: Friction, spot, stir, environmental, sustainable, AA1100 aluminum alloy.

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Authors: Parvinder S. Sandhu, Sandeep Khimta, Kiranpreet Kaur

Abstract:

The prediction of Software quality during development life cycle of software project helps the development organization to make efficient use of available resource to produce the product of highest quality. “Whether a module is faulty or not" approach can be used to predict quality of a software module. There are numbers of software quality prediction models described in the literature based upon genetic algorithms, artificial neural network and other data mining algorithms. One of the promising aspects for quality prediction is based on clustering techniques. Most quality prediction models that are based on clustering techniques make use of K-means, Mixture-of-Guassians, Self-Organizing Map, Neural Gas and fuzzy K-means algorithm for prediction. In all these techniques a predefined structure is required that is number of neurons or clusters should be known before we start clustering process. But in case of Growing Neural Gas there is no need of predetermining the quantity of neurons and the topology of the structure to be used and it starts with a minimal neurons structure that is incremented during training until it reaches a maximum number user defined limits for clusters. Hence, in this work we have used Growing Neural Gas as underlying cluster algorithm that produces the initial set of labeled cluster from training data set and thereafter this set of clusters is used to predict the quality of test data set of software modules. The best testing results shows 80% accuracy in evaluating the quality of software modules. Hence, the proposed technique can be used by programmers in evaluating the quality of modules during software development.

Keywords: Growing Neural Gas, data clustering, fault prediction.

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Authors: Tanwarat Kajsongkram, Saowalux Rotamporn, Sirinat Limbunruang, Sirinan Thubthimthed

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High Performance Liquid Chromatography (HPLC) method was developed and validated for simultaneous estimation of 6-Gingerol(6G) and 6-Shogaol(6S) in joint pain relief gel containing ginger extract. The chromatographic separation was achieved by using C18 column, 150 x 4.6mm i.d., 5μ Luna, mobile phase containing acetonitrile and water (gradient elution). The flow rate was 1.0 ml/min and the absorbance was monitored at 282 nm. The proposed method was validated in terms of the analytical parameters such as specificity, accuracy, precision, linearity, range, limit of detection (LOD), limit of quantification (LOQ), and determined based on the International Conference on Harmonization (ICH) guidelines. The linearity ranges of 6G and 6S were obtained over 20- 60 and 6-18 μg/ml respectively. Good linearity was observed over the above-mentioned range with linear regression equation Y= 11016x- 23778 for 6G and Y = 19276x-19604 for 6S (x is concentration of analytes in μg/ml and Y is peak area). The value of correlation coefficient was found to be 0.9994 for both markers. The limit of detection (LOD) and limit of quantification (LOQ) for 6G were 0.8567 and 2.8555 μg/ml and for 6S were 0.3672 and 1.2238 μg/ml respectively. The recovery range for 6G and 6S were found to be 91.57 to 102.36 % and 84.73 to 92.85 % for all three spiked levels. The RSD values from repeated extractions for 6G and 6S were 3.43 and 3.09% respectively. The validation of developed method on precision, accuracy, specificity, linearity, and range were also performed with well-accepted results.

Keywords: Ginger, 6-gingerol, HPLC, 6-shogaol.

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Authors: Prasanth Sabarish Nair, Thomas Binu, Madiajagan Muthaiyan

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This paper discusses a software application to aid in the smooth functioning of a university internship program, including a student, faculty and an administration module. The software can also calculate the most apt combination of students to stations and allocate them respectively.

Keywords: Academic evaluation, administration monitoring, automatic allocation system, internship, student preferences.

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Authors: Javier Romera, Alberto Justo, Ignacio Fidalgo, Javier Araluce, Joshué Pérez

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Nowadays, individuals with mobility needs face a significant challenge when docking vehicles. In many cases, after parking, they encounter insufficient space to exit, leading to two undesired outcomes: either avoiding parking in that spot or settling for improperly placed vehicles. To address this issue, this paper presents a parking control system employing gestural teleoperation. The system comprises three main phases: capturing body markers, interpreting gestures, and transmitting orders to the vehicle. The initial phase is centered around the MediaPipe framework, a versatile tool optimized for real-time gesture recognition. MediaPipe excels at detecting and tracing body markers, with a special emphasis on hand gestures. Hands detection is done by generating 21 reference points for each hand. Subsequently, after data capture, the project employs the MultiPerceptron Layer (MPL) for in-depth gesture classification. This tandem of MediaPipe’s extraction prowess and MPL’s analytical capability ensures that human gestures are translated into actionable commands with high precision. Furthermore, the system has been trained and validated within a built-in dataset. To prove the domain adaptation, a framework based on the Robot Operating System 2 (ROS2), as a communication backbone, alongside CARLA Simulator, is used. Following successful simulations, the system is transitioned to a real-world platform, marking a significant milestone in the project. This real-vehicle implementation verifies the practicality and efficiency of the system beyond theoretical constructs.

Keywords: Gesture detection, MediaPipe, MultiLayer Perceptron Layer, Robot Operating System.

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Authors: Gabriel Sitler, Yousef Sardahi, Asad Salem

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This paper presents an optimal and robust sliding mode controller (SMC) to regulate the position of the knee joint angle for patients suffering from knee injuries. The controller imitates the role of active orthoses that produce the joint torques required to overcome gravity and loading forces and regain natural human movements. To this end, a mathematical model of the shank, the lower part of the leg, is derived first and then used for the control system design and computer simulations. The design of the controller is carried out in optimal and multi-objective settings. Four objectives are considered: minimization of the control effort and tracking error; and maximization of the control signal smoothness and closed-loop system’s speed of response. Optimal solutions in terms of the Pareto set and its image, the Pareto front, are obtained. The results show that there are trade-offs among the design objectives and many optimal solutions from which the decision-maker can choose to implement. Also, computer simulations conducted at different points from the Pareto set and assuming knee squat movement demonstrate competing relationships among the design goals. In addition, the proposed control algorithm shows robustness in tracking a standard gait signal when accounting for uncertainty in the shank’s parameters.

Keywords: Optimal control, multi-objective optimization, sliding mode control, wearable knee exoskeletons.

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Authors: Lakshman Singh, Rajeshwar Singh, Naveen Kumar Singh, Davinder Singh, Pargat Singh

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Tungsten Inert Gas (TIG) welding is a high quality welding process used to weld the thin metals and their alloy. 5083 Aluminium alloys play an important role in engineering and metallurgy field because of excellent corrosion properties, ease of fabrication and high specific strength coupled with best combination of toughness and formability.

TIG welding technique is one of the precise and fastest processes used in aerospace, ship and marine industries. TIG welding process is used to analyze the data and evaluate the influence of input parameters on tensile strength of 5083 Al-alloy specimens with dimensions of 100mm long x 15mm wide x 5mm thick. Welding current (I), gas flow rate (G) and welding speed (S) are the input parameters which effect tensile strength of 5083 Al-alloy welded joints. As welding speed increased, tensile strength increases first till optimum value and after that both decreases by increasing welding speed further. Results of the study show that maximum tensile strength of 129 MPa of weld joint are obtained at welding current of 240 Amps, gas flow rate of 7 Lt/min and welding speed of 98 mm/min. These values are the optimum values of input parameters which help to produce efficient weld joint that have good mechanical properties as a tensile strength.

Keywords: 5083 Aluminium alloy, Gas flow rate, TIG welding, Welding current, Welding speed and Tensile strength.

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Authors: Raman Paranjape

Abstract:

We present a new approach to evaluation of Cyber Security in Power Systems using the method of modeling the power systems Infrastructure using software agents. Interfaces between module and the home smart meter are recognized as the primary points of intrusion.

Keywords: Power Systems, Modeling and Simulation, Agent systems.

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Authors: Dhairya Partap Sing, Vikram Singh, Sudhir Kumar

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This investigation proposes Friction stir welding technique to solve the fusion welding problems. Objectives of this investigation are fabrication of AA7075-10%wt. Silicon carbide (SiC) aluminum metal matrix composite and optimization of optimal process parameters of friction stir welded AA7075-10%wt. SiC Composites. Composites were prepared by the mechanical stir casting process. Experiments were performed with four process parameters such as tool rotational speed, weld speed, axial force and tool geometry considering three levels of each. The quality characteristics considered is joint efficiency (JE). The welding experiments were conducted using L₂₇ orthogonal array. An orthogonal array and design of experiments were used to give best possible welding parameters that give optimal JE. The fabricated welded joints using rotational speed of 1500 rpm, welding speed (1.3 mm/sec), axial force (7 k/n) of and tool geometry (square) give best possible results. Experimental result reveals that the tool rotation speed, welding speed and axial force are the significant process parameters affecting the welding performance. The predicted optimal value of percentage JE is 95.621. The confirmation tests also have been done for verifying the results.

Keywords: Metal matrix composite, axial force, joint efficiency, rotational speed, traverse speed, tool geometry.

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Authors: Ah-young Jeon, In-cheol Kim, Jae-hee Jung, Soo-young Ye, Jae-hyung Kim, Ki-gon Nam, Seoung-wan Baik, Jung-hoon Ro, Gye-rok Jeon

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The aged are faced with increasing risk for falls. The aged have the easily fragile bones than others. When falls have occurred, it is important to detect this emergency state because such events often lead to more serious illness or even death. A implementation of PDA system, for detection of emergency situation, was developed using 3-axis accelerometer in this paper as follows. The signals were acquired from the 3-axis accelerometer, and then transmitted to the PDA through Bluetooth module. This system can classify the human activity, and also detect the emergency state like falls. When the fall occurs, the system generates the alarm on the PDA. If a subject does not respond to the alarm, the system determines whether the current situation is an emergency state or not, and then sends some information to the emergency center in the case of urgent situation. Three different studies were conducted on 12 experimental subjects, with results indicating a good accuracy. The first study was performed to detect the posture change of human daily activity. The second study was performed to detect the correct direction of fall. The third study was conducted to check the classification of the daily physical activity. Each test was lasted at least 1 min. in third study. The output of acceleration signal was compared and evaluated by changing a various posture after attaching a 3-axis accelerometer module on the chest. The newly developed system has some important features such as portability, convenience and low cost. One of the main advantages of this system is that it is available at home healthcare environment. Another important feature lies in low cost to manufacture device. The implemented system can detect the fall accurately, so will be widely used in emergency situation.

Keywords: Alarm System, Ambulatory monitoring, Emergency detection, Classification of activity, and 3-axis accelerometer.

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Authors: Zhichao Jiao, Craig Farnham, Jihui Yuan, Kazuo Emura

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It is common to use the outdoor design weather data to select the air-conditioning capacity in the building design stage. The meteorological elements of outdoor design weather data are usually selected based on their excess frequency separately while the dependency between the elements is not well considered. It means that the simultaneous occurrence probability of these elements is smaller than the original excess frequency which may cause an overestimation of selecting air-conditioning capacity. Therefore, the copula approach which can capture the dependency between multivariate data was used to model the joint distributions of the meteorological elements, like air temperature and global solar radiation. We suggest a method based on the specific simultaneous occurrence probability of these two elements of selecting more credible outdoor design conditions. The hourly weather data at 12 noon from 2001 to 2010 in Tokyo, Japan are used to analyze the dependency structure and joint distribution, the Gaussian copula represents the dependence of data best. According to calculating the air temperature and global solar radiation in specific simultaneous occurrence probability and the common exceeding, the results show that both the air temperature and global solar radiation based on simultaneous occurrence probability are lower than these based on the conventional method in the same probability.

Keywords: Copula approach, Design weather database, energy conservation, HVAC.

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Authors: Byung Ki Kim, Ho Min Jung, Jae-Bong Yoo, Wan Yeon Lee, Chan Young Park, Young Woong Ko

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In this paper, we present a novel approach to location system under indoor environment. The key idea of our work is accurate distance estimation with cricket-based location system using A* algorithm. We also use magnetic sensor for detecting obstacles in indoor environment. Finally, we suggest how this system can be used in various applications such as asset tracking and monitoring.

Keywords: Cricket, Indoor Location Tracking, Mobile Robot, Localization.

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Authors: Hirohide Ushida

Abstract:

This paper discusses an artificial mind model and its applications. The mind model is based on some theories which assert that emotion is an important function in human decision making. An artificial mind model with emotion is built, and the model is applied to action selection of autonomous agents. In three examples, the agents interact with humans and their environments. The examples show the proposed model effectively work in both virtual agents and real robots.

Keywords: Artificial mind, emotion, interactive agent, pet robot

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Authors: A. Emre Ozturk, Ergun Ercelebi

Abstract:

Autonomous robotic systems need an equipment like a human eye for their movement. In this study a 3D laser scanner has been designed and implemented for those autonomous robotic systems. In general 3D laser scanners are using 2 dimension laser range finders that are moving on one-axis (1D) to generate the model. In this study, the model has been obtained by a one-dimensional laser range finder that is moving in two –axis (2D) and because of this the laser scanner has been produced cheaper.

Keywords: 3D Laser Scanner, embedded systems.

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Authors: M.A. Hosseini, P. Ebrahimi Naghani

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In this research work, a novel parallel manipulator with high positioning and orienting rate is introduced. This mechanism has two rotational and one translational degree of freedom. Kinematics and Jacobian analysis are investigated. Moreover, workspace analysis and optimization has been performed by using genetic algorithm toolbox in Matlab software. Because of decreasing moving elements, it is expected much more better dynamic performance with respect to other counterpart mechanisms with the same degrees of freedom. In addition, using couple of cylindrical and revolute joints increased mechanism ability to have more extended workspace.

Keywords: Kinematics, Workspace, 3-CRS/PU, Parallel robot

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Authors: Sanda Win, Tin Shein, Khin Maung Latt

Abstract:

This document describes an electronic speed control designed to drive two DC motors from a 6 V battery pack to be controlled by a commercial universal infrared remote control hand set. Conceived for a tank-like vehicle, one motor drives the left side wheels or tracks and the other motor drives the right side. As it is shown here, there is a left-right steering input and a forward– backward throttles input, like would be used on a model car. It is designed using a microcontroller PIC16F873A.

Keywords: Assembly Language, Direction Control, SpeedControl, PIC 16F 873A

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Authors: Monica Chiş

Abstract:

Software metric is a measure of some property of a piece of software or its specification. The aim of this paper is to present an application of evolutionary decision trees in software engineering in order to classify the software modules that have or have not one or more reported defects. For this some metrics are used for detecting the class of modules with defects or without defects.

Keywords: Evolutionary decision trees, decision trees, softwaremetrics.

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Authors: Omer S. Mughieda

Abstract:

Two-dimensional finite element model was created in this work to investigate the stresses distribution within rock-like samples with offset open non-persistent joints under biaxial loading. The results of this study have explained the fracture mechanisms observed in tests on rock-like material with open non-persistent offset joints [1]. Finite element code SAP2000 was used to study the stresses distribution within the specimens. Four-nodded isoperimetric plain strain element with two degree of freedom per node, and the three-nodded constant strain triangular element with two degree of freedom per node were used in the present study.The results of the present study explained the formation of wing cracks at the tip of the joints for low confining stress as well as the formation of wing cracks at the middle of the joint for the higher confining stress. High shear stresses found in the numerical study at the tip of the joints explained the formation of secondary cracks at the tip of the joints in the experimental study. The study results coincide with the experimental observations which showed that for bridge inclination of 0o, the coalescence occurred due to shear failure and for bridge inclination of 90o the coalescence occurred due to tensile failure while for the other bridge inclinations coalescence occurred due to mixed tensile and shear failure.

Keywords: Finite element, open offset rock joint, SAP2000, biaxial loading.

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Authors: P. Mounnarath, U. Schmitz, Ch. Zhang

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Fragility analysis is an effective tool for the seismic vulnerability assessment of civil structures in the last several years. The design of the expansion joints according to various bridge design codes is almost inconsistent, and only a few studies have focused on this problem so far. In this study, the influence of the expansion joint clearances between the girder ends and the abutment backwalls on the seismic fragility assessment of continuous integral bridge frames is investigated. The gaps (ranging from 60 mm, 150 mm, 250 mm and 350 mm) are designed by following two different bridge design code specifications, namely, Caltrans and Eurocode 8-2. Five bridge models are analyzed and compared. The first bridge model serves as a reference. This model uses three-dimensional reinforced concrete fiber beam-column elements with simplified supports at both ends of the girder. The other four models also employ reinforced concrete fiber beam-column elements but include the abutment backfill stiffness and four different gap values. The nonlinear time history analysis is performed. The artificial ground motion sets, which have the peak ground accelerations (PGAs) ranging from 0.1 g to 1.0 g with an increment of 0.05 g, are taken as input. The soil-structure interaction and the P-Δ effects are also included in the analysis. The component fragility curves in terms of the curvature ductility demand to the capacity ratio of the piers and the displacement demand to the capacity ratio of the abutment sliding bearings are established and compared. The system fragility curves are then obtained by combining the component fragility curves. Our results show that in the component fragility analysis, the reference bridge model exhibits a severe vulnerability compared to that of other sophisticated bridge models for all damage states. In the system fragility analysis, the reference curves illustrate a smaller damage probability in the earlier PGA ranges for the first three damage states, they then show a higher fragility compared to other curves in the larger PGA levels. In the fourth damage state, the reference curve has the smallest vulnerability. In both the component and the system fragility analysis, the same trend is found that the bridge models with smaller clearances exhibit a smaller fragility compared to that with larger openings. However, the bridge model with a maximum clearance still induces a minimum pounding force effect.

Keywords: Expansion joint clearance, fiber beam-column element, fragility assessment, time history analysis.

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Authors: J. Ramírez A., A. Rubiano F.

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In this paper the direct kinematic model of a multiple applications three degrees of freedom industrial manipulator, was developed using the homogeneous transformation matrices and the Denavit - Hartenberg parameters, likewise the inverse kinematic model was developed using the same method, verifying that in the workload border the inverse kinematic presents considerable errors, therefore a genetic algorithm was implemented to optimize the model improving greatly the efficiency of the model.

Keywords: Direct Kinematic, Genetic Algorithm, InverseKinematic, Optimization, Robot Manipulator

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Authors: A. Denker, U. Akıncıoğlu

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In this paper a neural adaptive control method has been developed and applied to robot control. Simulation results are presented to verify the effectiveness of the controller. These results show that the performance by using this controller is better than those which just use either direct inverse control or predictive control. In addition, they show that the resulting is a useful method which combines the advantages of both direct inverse control and predictive control.

Keywords: Neural networks, robotics, direct inverse control, predictive control.

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Authors: Xiang Zhang, Daohong Yang, Ziyuan Wu, Lei Li, Wanting Zhou

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Visual Simultaneous Localization and Mapping (VSLAM) uses cameras to gather information in unknown environments to achieve simultaneous localization and mapping of the environment. This technology has a wide range of applications in autonomous driving, virtual reality, and other related fields. Currently, the research advancements related to VSLAM can maintain high accuracy in static environments. But in dynamic environments, the presence of moving objects in the scene can reduce the stability of the VSLAM system, leading to inaccurate localization and mapping, or even system failure. In this paper, a robust VSLAM method was proposed to effectively address the challenges in dynamic environments. We proposed a dynamic region removal scheme based on a semantic segmentation neural network and geometric constraints. Firstly, a semantic segmentation neural network is used to extract the prior active motion region, prior static region, and prior passive motion region in the environment. Then, the lightweight frame tracking module initializes the transform pose between the previous frame and the current frame on the prior static region. A motion consistency detection module based on multi-view geometry and scene flow is used to divide the environment into static regions and dynamic regions. Thus, the dynamic object region was successfully eliminated. Finally, only the static region is used for tracking thread. Our research is based on the ORBSLAM3 system, which is one of the most effective VSLAM systems available. We evaluated our method on the TUM RGB-D benchmark and the results demonstrate that the proposed VSLAM method improves the accuracy of the original ORBSLAM3 by 70%˜98.5% under a high dynamic environment.

Keywords: Dynamic scene, dynamic visual SLAM, semantic segmentation, scene flow, VSLAM.

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Authors: T. Delval, C. Sauvage, Q. Jullien, R. Viano, T. Diallo, B. Collignan, G. Picinbono

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In the context of the international spread of COVID-19, the Centre Scientifique et Technique du Bâtiment (CSTB) has led a joint research with the French government authorities Hauts-de-Seine department, to analyse the risk in school spaces according to their configuration, ventilation system and spatial segmentation strategy. This paper describes the main results of this joint research. A multidisciplinary team involving experts in indoor air quality/ventilation, pedestrian movements and IT domains was established to develop a COVID risk analysis tool based on Building Information Model. The work started with specific analysis on two pilot schools in order to provide for the local administration specifications to minimize the spread of the virus. Different recommendations were published to optimize/validate the use of ventilation systems and the strategy of student occupancy and student flow segmentation within the building. This COVID expertise has been digitized in order to manage a quick risk analysis on the entire building that could be used by the public administration through an easy user interface implemented in a free BIM Management software. One of the most interesting results is to enable a dynamic comparison of different ventilation system scenarios and space occupation strategy inside the BIM model. This concurrent engineering approach provides users with the optimal solution according to both ventilation and pedestrian flow expertise.

Keywords: BIM, knowledge management, system expert, risk management, indoor ventilation, pedestrian movement, integrated design.

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Authors: Miloš Šeda, Tomáš Březina

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In this paper, we focus on the use of knowledge bases in two different application areas – control of systems with unknown or strongly nonlinear models (i.e. hardly controllable by the classical methods), and robot motion planning in eight directions. The first one deals with fuzzy logic and the paper presents approaches for setting and aggregating the rules of a knowledge base. Te second one is concentrated on a case-based reasoning strategy for finding the path in a planar scene with obstacles.

Keywords: fuzzy controller, fuzzification, rule base, inference, defuzzification, genetic algorithm, neural network, case-based reasoning

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Authors: Sang Hwan Bak, Min Jung Kim, Dong Bok Lee

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Fe-2%Mn-0.5%Si-0.2C steel was welded and corroded at 600, 700 and 800oC for 20 h in 1 atm of N2/H2S/H2O-mixed gas in order to characterize the high-temperature corrosion behavior of the welded joint. Corrosion proceeded fast and almost linearly. It increased with an increase in the corrosion temperature. H2S formed FeS owing to sulfur released from H2S. The scales were fragile and nonadherent.

Keywords: Fe-Mn-Si Steel, Corrosion, Welding, Sulfidation, H2S Gas.

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Authors: Yung-Chien Sun, O. Grant Clark

Abstract:

In this paper, the implementation of a rule-based intuitive reasoner is presented. The implementation included two parts: the rule induction module and the intuitive reasoner. A large weather database was acquired as the data source. Twelve weather variables from those data were chosen as the “target variables" whose values were predicted by the intuitive reasoner. A “complex" situation was simulated by making only subsets of the data available to the rule induction module. As a result, the rules induced were based on incomplete information with variable levels of certainty. The certainty level was modeled by a metric called "Strength of Belief", which was assigned to each rule or datum as ancillary information about the confidence in its accuracy. Two techniques were employed to induce rules from the data subsets: decision tree and multi-polynomial regression, respectively for the discrete and the continuous type of target variables. The intuitive reasoner was tested for its ability to use the induced rules to predict the classes of the discrete target variables and the values of the continuous target variables. The intuitive reasoner implemented two types of reasoning: fast and broad where, by analogy to human thought, the former corresponds to fast decision making and the latter to deeper contemplation. . For reference, a weather data analysis approach which had been applied on similar tasks was adopted to analyze the complete database and create predictive models for the same 12 target variables. The values predicted by the intuitive reasoner and the reference approach were compared with actual data. The intuitive reasoner reached near-100% accuracy for two continuous target variables. For the discrete target variables, the intuitive reasoner predicted at least 70% as accurately as the reference reasoner. Since the intuitive reasoner operated on rules derived from only about 10% of the total data, it demonstrated the potential advantages in dealing with sparse data sets as compared with conventional methods.

Keywords: Artificial intelligence, intuition, knowledge acquisition, limited certainty.

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Authors: A. Rubiano F, N. Olarte, D. Lara

Abstract:

This paper presents the design, implementation and results related to the storage system of medical information associated to the ECG (Electrocardiography) signal. The system includes the signal acquisition modules, the preprocessing and signal processing, followed by a module of transmission and reception of the signal, along with the storage and web display system of the medical platform. The tests were initially performed with this signal, with the purpose to include more biosignal under the same system in the future.

Keywords: Acquisition, ECG Signal, Storage, Web Platform

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