Search results for: Joint and Snake robot.

Authors: Adam Świtoński, Agnieszka Michalczuk, Henryk Josiński, Andrzej Polański, KonradWojciechowski

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The method of gait identification based on the nearest neighbor classification technique with motion similarity assessment by the dynamic time warping is proposed. The model based kinematic motion data, represented by the joints rotations coded by Euler angles and unit quaternions is used. The different pose distance functions in Euler angles and quaternion spaces are considered. To evaluate individual features of the subsequent joints movements during gait cycle, joint selection is carried out. To examine proposed approach database containing 353 gaits of 25 humans collected in motion capture laboratory is used. The obtained results are promising. The classifications, which takes into consideration all joints has accuracy over 91%. Only analysis of movements of hip joints allows to correctly identify gaits with almost 80% precision.

Keywords: Biometrics, dynamic time warping, gait identification, motion capture, time series classification, quaternion distance functions, attribute ranking.

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Authors: Emanuele Stomeo, Tatiana Kalganova, Cyrille Lambert

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Evolvable hardware (EHW) is a developing field that applies evolutionary algorithm (EA) to automatically design circuits, antennas, robot controllers etc. A lot of research has been done in this area and several different EAs have been introduced to tackle numerous problems, as scalability, evolvability etc. However every time a specific EA is chosen for solving a particular task, all its components, such as population size, initialization, selection mechanism, mutation rate, and genetic operators, should be selected in order to achieve the best results. In the last three decade the selection of the right parameters for the EA-s components for solving different “test-problems" has been investigated. In this paper the behaviour of mutation rate for designing logic circuits, which has not been done before, has been deeply analyzed. The mutation rate for an EHW system modifies the number of inputs of each logic gates, the functionality (for example from AND to NOR) and the connectivity between logic gates. The behaviour of the mutation has been analyzed based on the number of generations, genotype redundancy and number of logic gates for the evolved circuits. The experimental results found provide the behaviour of the mutation rate during evolution for the design and optimization of simple logic circuits. The experimental results propose the best mutation rate to be used for designing combinational logic circuits. The research presented is particular important for those who would like to implement a dynamic mutation rate inside the evolutionary algorithm for evolving digital circuits. The researches on the mutation rate during the last 40 years are also summarized.

Keywords: Design of logic circuit, evolutionary computation, evolvable hardware, mutation rate.

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Authors: Jinsuk Yang, Choongjae Joo, Kyoungsu Oh

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Existing methods in which the animation data of all frames are stored and reproduced as with vertex animation cannot be used in mobile device environments because these methods use large amounts of the memory. So 3D animation data reduction methods aimed at solving this problem have been extensively studied thus far and we propose a new method as follows. First, we find and remove frames in which motion changes are small out of all animation frames and store only the animation data of remaining frames (involving large motion changes). When playing the animation, the removed frame areas are reconstructed using the interpolation of the remaining frames. Our key contribution is to calculate the accelerations of the joints of individual frames and the standard deviations of the accelerations using the information of joint locations in the relevant 3D model in order to find and delete frames in which motion changes are small. Our methods can reduce data sizes by approximately 50% or more while providing quality which is not much lower compared to original animations. Therefore, our method is expected to be usefully used in mobile device environments or other environments in which memory sizes are limited.

Keywords: Data Reduction, Interpolation, Vertex Animation, 3D Animation.

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Authors: Saumyaranjan Sahoo, Sudhir Yadav

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Indian manufacturing firms operating in rapidly changing and highly competitive market, over the last few decades, have embraced organization-wide transformation to achieve cultural and operational excellence. In recent years, numerous approaches have been proposed to improve business and manufacturing performance. Lean practices in particular, Total Productive Management (TPM) and Total Quality Management (TQM) have received considerable attention, as they being adopted and adapted for raising the performance standard of Indian manufacturing firms to world class levels. The complementary nature of TPM and TQM is being practiced in many companies to achieve synergy. Specifically, this research investigates whether joint TPM-TQM implementation contribute to higher business performance when compared to individual implementation. Data from 160 manufacturing firms were analyzed that demonstrate synergetic implementation of both TPM-TQM practices over a reasonable period of time, contributed in delivering better business performance as compared to individual implementation strategy.

Keywords: Total productive management, total quality management, Indian manufacturing firms, business performance.

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Authors: Thinh Ngo, Paul Rad, Brian Kelley

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Noise estimation is essential in today wireless systems for power control, adaptive modulation, interference suppression and quality of service. Deep learning (DL) has already been applied in the physical layer for modulation and signal classifications. Unacceptably low accuracy of less than 50% is found to undermine traditional application of DL classification for SNR prediction. In this paper, we use divide-and-conquer algorithm and classifier fusion method to simplify SNR classification and therefore enhances DL learning and prediction. Specifically, multiple CNNs are used for classification rather than a single CNN. Each CNN performs a binary classification of a single SNR with two labels: less than, greater than or equal. Together, multiple CNNs are combined to effectively classify over a range of SNR values from −20 ≤ SNR ≤ 32 dB.We use pre-trained CNNs to predict SNR over a wide range of joint channel parameters including multiple Doppler shifts (0, 60, 120 Hz), power-delay profiles, and signal-modulation types (QPSK,16QAM,64-QAM). The approach achieves individual SNR prediction accuracy of 92%, composite accuracy of 70% and prediction convergence one order of magnitude faster than that of traditional estimation.

Keywords: Classification, classifier fusion, CNN, Deep Learning, prediction, SNR.

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Authors: Shiuh-Jer Huang, Chen-Zon Yan, C. K. Huang, Chun-Chien Ting

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Since the vision system application in industrial environment for autonomous purposes is required intensely, the image recognition technique becomes an important research topic. Here, deep learning algorithm is employed in image system to recognize the industrial object and integrate with a 7A6 Series Manipulator for object automatic gripping task. PC and Graphic Processing Unit (GPU) are chosen to construct the 3D Vision Recognition System. Depth Camera (Intel RealSense SR300) is employed to extract the image for object recognition and coordinate derivation. The YOLOv2 scheme is adopted in Convolution neural network (CNN) structure for object classification and center point prediction. Additionally, image processing strategy is used to find the object contour for calculating the object orientation angle. Then, the specified object location and orientation information are sent to robotic controller. Finally, a six-axis manipulator can grasp the specific object in a random environment based on the user command and the extracted image information. The experimental results show that YOLOv2 has been successfully employed to detect the object location and category with confidence near 0.9 and 3D position error less than 0.4 mm. It is useful for future intelligent robotic application in industrial 4.0 environment.

Keywords: Deep learning, image processing, convolution neural network, YOLOv2, 7A6 series manipulator.

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Authors: M. Khajezadeh, M. Saied Fallah Niasar, S. Ali Asli, D. Davani Davari, M. Godarzi, Y. Asgari

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This study aims to explore the joint application of both Boston and Ansoff matrices in the operational development of the product. We conduct deep analysis, by utilizing the Artificial Neural Network, to predict the position of the product in the market while the company is interested in increasing its share. The data are gathered from two industries, called hygiene and detergent. In doing so, the effort is being made by investigating the behavior of top player companies and, recommend strategic orientations. In conclusion, this combination analysis is appropriate for operational development; as well, it plays an important role in providing the position of the product in the market for both hygiene and detergent industries. More importantly, it will elaborate on the company’s strategies to increase its market share related to a combination of the Boston Consulting Group (BCG) Matrix and Ansoff Matrix.

Keywords: Artificial neural network, portfolio analysis, BCG matrix, Ansoff matrix.

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Authors: Alireza Gholami, Amir H. D. Markazi

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In this paper, an observer-based direct adaptive fuzzy sliding mode (OAFSM) algorithm is proposed. In the proposed algorithm, the zero-input dynamics of the plant could be unknown. The input connection matrix is used to combine the sliding surfaces of individual subsystems, and an adaptive fuzzy algorithm is used to estimate an equivalent sliding mode control input directly. The fuzzy membership functions, which were determined by time consuming try and error processes in previous works, are adjusted by adaptive algorithms. The other advantage of the proposed controller is that the input gain matrix is not limited to be diagonal, i.e. the plant could be over/under actuated provided that controllability and observability are preserved. An observer is constructed to directly estimate the state tracking error, and the nonlinear part of the observer is constructed by an adaptive fuzzy algorithm. The main advantage of the proposed observer is that, the measured outputs is not limited to the first entry of a canonical-form state vector. The closed-loop stability of the proposed method is proved using a Lyapunov-based approach. The proposed method is applied numerically on a multi-link robot manipulator, which verifies the performance of the closed-loop control. Moreover, the performance of the proposed algorithm is compared with some conventional control algorithms.

Keywords: Adaptive algorithm, fuzzy systems, membership functions, observer.

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Authors: Martin Leroux, Sylvain Brisebois

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Eating a meal is among the Activities of Daily Living, but it takes a lot of time and effort for people with physical or functional limitations. Dedicated technologies are cumbersome and not portable, while general-purpose assistive robots such as wheelchair-based manipulators are too hard to control for elaborate continuous motion like eating. Eating with such devices has not previously been automated, since there existed no description of a feeding motion for uncontrolled environments. In this paper, we introduce a feeding mode for assistive manipulators, including a mathematical description of trajectories for motions that are difficult to perform manually such as gathering and scooping food at a defined/desired pace. We implement these trajectories in a sequence of movements for a semi-automated feeding mode which can be controlled with a very simple 3-button interface, allowing the user to have control over the feeding pace. Finally, we demonstrate the feeding mode with a JACO robotic arm and compare the eating speed, measured in bites per minute of three eating methods: a healthy person eating unaided, a person with upper limb limitations or disability using JACO with manual control, and a person with limitations using JACO with the feeding mode. We found that the feeding mode allows eating about 5 bites per minute, which should be sufficient to eat a meal under 30min.

Keywords: Assistive robotics, Automated feeding, Elderly care, Trajectory design, Human-Robot Interaction.

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Authors: M. P. Chakravarthy, N. Ramanaiah, B. S. K.Sundara Siva Rao

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Taguchi approach was applied to determine the most influential control factors which will yield better tensile strength of the joints of pulse TIG welded 70/30 Cu-Ni alloy. In order to evaluate the effect of process parameters such as pulse frequency, peak current, base current and welding speed on tensile strength of Pulsed current TIG welded 70/30 Cu-Ni alloy of 5 mm thickness, Taguchi parametric design and optimization approach was used. Through the Taguchi parametric design approach, the optimum levels of process parameters were determined at 95% confidence level. The results indicate that the Pulse frequency, peak current, welding speed and base current are the significant parameters in deciding the tensile strength of the joint. The predicted optimal values of tensile strength of Pulsed current Gas tungsten arc welding (PC GTAW) of 70/30 Cu-Ni alloy welds are 368.8MPa.

Keywords: 70/30 Cu-Ni alloy, pulsed current GTAW, mechanical properties, Taguchi technique, analysis of variance.

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Authors: Shaival Dalal, Nilesh Shah, Dinshaw Pardiwala, David Rajan, Satyen Sanghavi, Charul Bhanji

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Autologous Chondrocyte Implantation (ACI) is used worldwide since 1998 to treat cartilage defect. GEL based ACI is a new tissue-engineering technique to treat full thickness cartilage defect with fibrin and thrombin as scaffold for chondrocytes. Purpose of this study is to see safety and efficacy of gel based ACI for knee cartilage defect in multiple centres with different surgeons. Gel-based Autologous Chondrocyte Implantation (GACI) has shown effectiveness in treating isolated cartilage defect of knee joint. Long term results are still needed to be studied. This study was followed-up up to two years and showed benefit to patients. All enrolled patients with a mean age of 28.5 years had an average defect size of3 square centimeters, and were grade IV as per ICRS grading. All patients were followed up several times and at several intervals at 6th week, 8th week, 11th week, 17th week, 29th week, 57th week after surgery. The outcomes were measured based on the IKDC (subjective and objective) and MOCART scores.

Keywords: Knee, chondrocyte, autologous chondrocyte implantation, gel.

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Authors: Binnur Sagbas

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Artificial joint replacements such as total knee and total hip prosthesis have been applied to the patients who affected by osteoarthritis. Although different material combinations are used for these joints, biopolymers are most commonly preferred materials especially for acetabular cup and tibial component of hip and knee joints respectively. The main limitation that shortens the service life of these prostheses is wear. Wear is complicated phenomena and it must be considered with friction and lubrication. In this study, micro wave (MW) induced argon+oxygen plasma surface modification were applied on ultra-high molecular weight polyethylene (UHMWPE) and vitamin E blended UHMWPE (VE-UHMWPE) biopolymer surfaces to improve surface wettability and wear resistance of the surfaces. Contact angel measurement method was used for determination of wettability. Ball-on-disc wear test was applied under 25% bovine serum lubrication conditions. The results show that surface wettability and wear resistance of both material samples were increased by plasma surface modification.

Keywords: Artificial joints, plasma surface modification, UHMWPE, vitamin E, wear.

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Authors: Hani M. Aburas

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“Dengue" is an African word meaning “bone breaking" because it causes severe joint and muscle pain that feels like bones are breaking. It is an infectious disease mainly transmitted by female mosquito, Aedes aegypti, and causes four serotypes of dengue viruses. In recent years, a dramatic increase in the dengue fever confirmed cases around the equator-s belt has been reported. Several conventional indices have been designed so far to monitor the transmitting vector populations known as House Index (HI), Container Index (CI), Breteau Index (BI). However, none of them describes the adult mosquito population size which is important to direct and guide comprehensive control strategy operations since number of infected people has a direct relationship with the vector density. Therefore, it is crucial to know the population size of the transmitting vector in order to design a suitable and effective control program. In this context, a study is carried out to report a new statistical index, ABURAS Index, using Poisson distribution based on the collection of vector population in Jeddah Governorate, Saudi Arabia.

Keywords: Poisson distribution, statistical index, prediction, Aedes aegypti.

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Authors: P. Sanzo

Abstract:

Ten percent of the population will develop plantar fasciitis (PF) during their lifetime. Two million people are treated yearly accounting for 11-15% of visits to medical professionals. Treatment ranges from conservative to surgical intervention. The purpose of this study was to assess the effects of extracorporeal shockwave therapy (ECSWT) on heel pain, function, range of motion (ROM), and strength in patients with PF. One hundred subjects were treated with ECSWT and measures were taken before and three months after treatment. There was significant differences in visual analog scale scores for pain at rest (p=0.0001); after activity (p= 0.0001) and; overall improvement (p=0.0001). There was also significant improvement in Lower Extremity Functional Scale scores (p=0.0001); ankle plantarflexion (p=0.0001), dorsiflexion (p=0.001), and eversion (p=0.017),and first metatarsophalangeal joint flexion (p=0.002) and extension (p=0.003) ROM. ECSWT is an effective treatment improving heel pain, function and ROM in patients with PF.

Keywords: Extracorporeal shockwave therapy, shockwave therapy, plantar fasciitis, heel pain, function, range of motion, strength.

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Authors: Hasan Keshavarzian, Tayebeh Nesari

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Bolted rail joint is one of the most vulnerable areas in railway track. A comprehensive approach was developed for studying the reliability of fatigue crack initiation of railroad bolt hole under random axle loads and random material properties. The operation condition was also considered as stochastic variables. In order to obtain the comprehensive probability model of fatigue crack initiation life prediction in railroad bolt hole, we used FEM, response surface method (RSM), and reliability analysis. Combined energy-density based and critical plane based fatigue concept is used for the fatigue crack prediction. The dynamic loads were calculated according to the axle load, speed, and track properties. The results show that axle load is most sensitive parameter compared to Poisson’s ratio in fatigue crack initiation life. Also, the reliability index decreases slowly due to high cycle fatigue regime in this area.

Keywords: Rail-wheel tribology, rolling contact mechanic, finite element modeling, reliability analysis.

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Authors: Aleksandra Chiniaeva

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The following paper describes the activity of national and international parliamentary assemblies of the European region in protection and promotion of human rights. It may be said that parliamentarians have a “double mandate” — as members of the international assembly and of their respective national parliaments. In other words, parliamentarization at both international and national level provides a situation for parliamentarians, where they link people, national governments and international organizations. The paper is aimed towards demonstrating that the activity of the main international parliamentary assemblies of the European region have a real positive impact on the human rights situation in the European region. In addition, the paper describes the assemblies that include protection of human rights in their Agenda as one of the main subjects: the EP, the PACE, the OSCE PA and the IPA CIS. Co-operation activities such as joint election observation; participation in inter-parliamentary associations, such as the IPU; conclusion agreements allow assemblies to provide observation of human right situation in the states that are not members of the particular organization and as consequence make their impact broader.

Keywords: Human rights, International parliamentary assembly, IPU, EP, PACE, OSCE, IPA CIS, international election observation.

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Authors: Farshad Zeinali, Sajedeh Norouzi, Nader Mokari, Eduard A. Jorswieck

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The capacity of fifth-generation (5G)vehicle-to-everything (V2X) networks poses significant challenges.To address this challenge, this paper utilizes New Radio (NR) and New Radio Unlicensed (NR-U) networks to develop a vehicular heterogeneous network (HetNet). We propose a framework, named joint BS assignment and resource allocation (JBSRA) for mobile V2X users and also consider coexistence schemes based on flexible duty cycle (DC) mechanism for unlicensed bands. Our objective is to maximize the average throughput of vehicles, while guarantying the WiFi users throughput. In simulations based on deep reinforcement learning (DRL) algorithms such as deep deterministic policy gradient (DDPG) and deep Q network (DQN), our proposed framework outperforms existing solutions that rely on fixed DC or schemes without consideration of unlicensed bands.

Keywords: Vehicle-to-everything, resource allocation, BS assignment, new radio, new radio unlicensed, coexistence NR-U and WiFi, deep deterministic policy gradient, Deep Q-network, Duty cycle mechanism.

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Authors: J. Witzany, T. Čejka, R. Zigler

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With respect to the dissipation of energy through plastic deformation of joints of prefabricated wall units, the paper points out the principal importance of efficient reinforcement of the prefabricated system at its joints. The method, quality and amount of reinforcement are essential for reaching the necessary degree of joint ductility. The paper presents partial results of experimental research of vertical joints of prefabricated units exposed to monotonously rising loading and repetitive shear force and formulates a conclusion that the limit state of the structure as a whole is preceded by the disintegration of joints, or that the structure tends to pass from linearly elastic behaviour to non-linearly elastic to plastic behaviour by exceeding the proportional elastic limit in joints.Experimental verification on a model of a 7-storey prefabricated structure revealed weak points in its load-bearing systems, mainly at places of critical points around openings situated in close proximity to vertical joints of mutually perpendicularly oriented walls.

Keywords: dissipative energy, dynamic and cycling load repetitive load, working diagrams of joints

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Authors: Lokesh Tharani, R.P.Yadav

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This paper presents the results related to the interference reduction technique in multistage multiuser detector for asynchronous DS-CDMA system. To meet the real-time requirements for asynchronous multiuser detection, a bit streaming, cascade architecture is used. An asynchronous multiuser detection involves block-based computations and matrix inversions. The paper covers iterative-based suboptimal schemes that have been studied to decrease the computational complexity, eliminate the need for matrix inversions, decreases the execution time, reduces the memory requirements and uses joint estimation and detection process that gives better performance than the independent parameter estimation method. The stages of the iteration use cascaded and bits processed in a streaming fashion. The simulation has been carried out for asynchronous DS-CDMA system by varying one parameter, i.e., number of users. The simulation result exhibits that system gives optimum bit error rate (BER) at 3rd stage for 15-users.

Keywords: Multi-user detection (MUD), multiple accessinterference (MAI), near-far effect, decision feedback detector, successive interference cancellation detector (SIC) and parallelinterference cancellation (PIC) detector.

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Authors: Azin Shakibabarough, Mojtaba Valinejadshoubi, Ashutosh Bagchi

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Structural vibration means repetitive motion that causes fatigue and reduction of the performance of a structure. An earthquake may release high amount of energy that can have adverse effect on all components of a structure. Therefore, decreasing of vibration or maintaining performance of structures such as bridges, dams, roads and buildings is important for life safety and reducing economic loss. When earthquake or any vibration happens, investigation on parts of a structure which sustain the seismic loads is mandatory to provide a safe condition for the occupants. One of the solutions for reducing the earthquake vibration in a structure is using of vibration control devices such as dampers and base isolators. The objective of this study is to investigate the optimal positions of friction dampers and base isolators for better seismic response of 2D frame. For this purpose, a two bay and six story frame with different distribution formats was modeled and some of their responses to earthquake such as inter-story drift, max joint displacement, max axial force and max bending moment were determined and compared using non-linear dynamic analysis.

Keywords: Fast nonlinear analysis, friction damper, base isolator, seismic vibration control, seismic response.

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Authors: Lingaraju Dumpala, Laxmi Mohan Kumar Chintada, Devadas Deepu, Pravin Kumar Yadav

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Friction stir welding is the new-fangled and cutting-edge technique in welding applications; it is widely used in the fields of transportation, aerospace, defense, etc. For thriving significant welding joints and properties of friction stir welded components, it is essential to carry out this advanced process in a prescribed systematic procedure. At this moment, Underwater Friction Stir Welding (UFSW) Process is the field of interest to do research work. In the continuous assessment, the study of UFSW process is to comprehend problems occurred in the past and the structure through which the mechanical properties of the welded joints can be value-added and contributes to conclude results an acceptable and resourceful joint. A meticulous criticism is given on how to modify the experimental setup from NFSW to UFSW. It can discern the influence of tool materials, feeds, spindle angle, load, rotational speeds and mechanical properties. By expending the DEFORM-3D simulation software, the achieved outcomes are validated.

Keywords: Underwater friction stir welding, al alloys, mechanical properties, normal friction stir welding.

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Authors: Jungho Choi, Youngwan Cho

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This paper presents an algorithm for the recognition and tracking of moving objects, 1/10 scale model car is used to verify performance of the algorithm. Presented algorithm for the recognition and tracking of moving objects in the paper is as follows. SURF algorithm is merged with Lucas-Kanade algorithm. SURF algorithm has strong performance on contrast, size, rotation changes and it recognizes objects but it is slow due to many computational complexities. Processing speed of Lucas-Kanade algorithm is fast but the recognition of objects is impossible. Its optical flow compares the previous and current frames so that can track the movement of a pixel. The fusion algorithm is created in order to solve problems which occurred using the Kalman Filter to estimate the position and the accumulated error compensation algorithm was implemented. Kalman filter is used to create presented algorithm to complement problems that is occurred when fusion two algorithms. Kalman filter is used to estimate next location, compensate for the accumulated error. The resolution of the camera (Vision Sensor) is fixed to be 640x480. To verify the performance of the fusion algorithm, test is compared to SURF algorithm under three situations, driving straight, curve, and recognizing cars behind the obstacles. Situation similar to the actual is possible using a model vehicle. Proposed fusion algorithm showed superior performance and accuracy than the existing object recognition and tracking algorithms. We will improve the performance of the algorithm, so that you can experiment with the images of the actual road environment.

Keywords: SURF, Optical Flow Lucas-Kanade, Kalman Filter, object recognition, object tracking.

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Authors: Azeemsha Thacham Poyil, Nasimudeen KM

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This research paper presents some methods to assess the performance of Wigner Ville Distribution for Time-Frequency representation of non-stationary signals, in comparison with the other representations like STFT, Spectrogram etc. The simultaneous timefrequency resolution of WVD is one of the important properties which makes it preferable for analysis and detection of linear FM and transient signals. There are two algorithms proposed here to assess the resolution and to compare the performance of signal detection. First method is based on the measurement of area under timefrequency plot; in case of a linear FM signal analysis. A second method is based on the instantaneous power calculation and is used in case of transient, non-stationary signals. The implementation is explained briefly for both methods with suitable diagrams. The accuracy of the measurements is validated to show the better performance of WVD representation in comparison with STFT and Spectrograms.

Keywords: WVD: Wigner Ville Distribution, STFT: Short Time Fourier Transform, FT: Fourier Transform, TFR: Time-Frequency Representation, FM: Frequency Modulation, LFM Signal: Linear FM Signal, JTFA: Joint time frequency analysis.

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Authors: Ryuji Yamazaki, Masahiro Kochi, Weiran Zhu, Hiroko Kase

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In care for older adults, behavioral and psychological symptoms of dementia (BPSD) like agitation and aggression are distressing for patients and their caretakers, often resulting in premature institutionalization with increased costs of care. To improve mood and mitigate symptoms, as a non-pharmaceutical approach, emotion-oriented therapy like reminiscence work is adopted in face-to-face communication. Telecommunication support is expected to be provided by robotic media as a bridge for digital divide for those with dementia and facilitate social interaction both verbally and nonverbally. The purpose of this case study is to explore the conditions in which robotic media can effectively attract attention from older adults with dementia and promote their well-being. As a pilot study, we introduced the pillow-phone Hugvie^®, a huggable humanly shaped communication medium to five residents with dementia at a care facility, to investigate how the following conditions work for the elderly when they use the medium; 1) no sound, 2) radio, non-interactive, 3) daily conversation, and 4) reminiscence work. As a result, under condition 4, reminiscence work, the five participants kept concentration in interacting with the medium for a longer duration than other conditions. In condition 4, they also showed larger amount of utterances than under other conditions. These results indicate that providing topics related to personal histories through robotic media could affect communication positively and should, therefore, be further investigated. In addition, the issue of ethical implications by using persuasive technology that affects emotions and behaviors of older adults is also discussed.

Keywords: BPSD, reminiscence, tactile telecommunication, utterances.

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Authors: Kyung-Suk Choi, Hyung-Joon Kim

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Modular structural systems are constructed using a method that they are assembled with prefabricated unit modular frames on-site. This provides a benefit that can significantly reduce building construction time. The structural design is usually carried out under the assumption that their load-carrying mechanism is similar to that of traditional steel moment-resisting systems. However, both systems are different in terms of beam-column connection details which may strongly influence the lateral structural behavior. Specially, the presence of access holes in a beam-column joint of a unit modular frame could cause undesirable failure during strong earthquakes. Therefore, this study carried out finite element analyses (FEMs) of unit modular frames to investigate the cyclic behavior of beam-column joints with the access holes. Analysis results show that the unit modular frames present stable cyclic response with large deformation capacities and their joints are classified into semi-rigid connections even if there are access holes.

Keywords: Unit modular frame, steel moment connection, nonlinear analytical model, moment-rotation relation, access holes.

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Authors: Sufian Ashraf Mazhari, Surendra Kumar

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In this paper performance of Puma 560 manipulator is being compared for hybrid gradient descent and least square method learning based ANFIS controller with hybrid Genetic Algorithm and Generalized Pattern Search tuned radial basis function based Neuro-Fuzzy controller. ANFIS which is based on Takagi Sugeno type Fuzzy controller needs prior knowledge of rule base while in radial basis function based Neuro-Fuzzy rule base knowledge is not required. Hybrid Genetic Algorithm with generalized Pattern Search is used for tuning weights of radial basis function based Neuro- fuzzy controller. All the controllers are checked for butterfly trajectory tracking and results in the form of Cartesian and joint space errors are being compared. ANFIS based controller is showing better performance compared to Radial Basis Function based Neuro-Fuzzy Controller but rule base independency of RBF based Neuro-Fuzzy gives it an edge over ANFIS

Keywords: Neuro-Fuzzy, Robotic Control, RBFNF, ANFIS, Hybrid GA.

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Authors: Alireza Noorpoor, Akbar Abvabi, Mehdi Saeed Kiasat

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Development, calibration and validation of a threedimensional model of the Legform impactor for pedestrian crash with bumper are presented. Lower limb injury is becoming an increasingly important concern in vehicle safety for both occupants and pedestrians. In order to prevent lower extremity injuries to a pedestrian when struck by a car, it is important to elucidate the loadings from car front structures on the lower extremities and the injury mechanism caused by these loadings. An impact test procedure with a legform addressing lower limb injuries in car pedestrian accidents has been proposed by EEVC/WG17. In this study a modified legform impactor is introduced and validated against EEVC/WG17 criteria. The finite element model of this legform is developed using LS-DYNA software. Total mass of legform impactor is 13.4 kg.Technical specifications including the mass and location of the center of gravity and moment of inertia about a horizontal axis through the respective centre of gravity in femur and tibia are determined. The obtained results of legform impactor static and dynamic tests are as specified in the EEVC/WG17.

Keywords: Legform impactor, Pedestrian safety, Finite element model, Knee joint, EEVC/WG17.

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Authors: Mohammed I. Ali, Feng Fan, Peter N. Khakina, Ma H.H

Abstract:

In construction of any structure, the aesthetic and utility values should be considered in such a way as to make the structure cost-effective. Most structures are composed of elements and joints which are very critical in any skeletal space structure because they majorly determine the performance of the structure. In early times, most space structures were constructed using rigid joints which had the advantage of better performing structures as compared to pin-jointed structures but with the disadvantage of requiring all the construction work to be done on site. The discovery of semi-rigid joints now enables connections to be prefabricated and quickly assembled on site while maintaining good performance. In this paper, cost-effective is discussed basing on strength of connectors at the joints, buckling of joints and overall structure, and the effect of initial geometrical imperfections. Several existing joints are reviewed by classifying them into categories and discussing where they are most suited and how they perform structurally. Also, finite element modeling using ABAQUS is done to determine the buckling behavior. It is observed that some joints are more economical than others. The rise to span ratio and imperfections are also found to affect the buckling of the structures. Based on these, general principles that guide the design of cost-effective joints and structures are discussed.

Keywords: Buckling, Connectors, Joint stiffness, Eccentricity, Second moment of area, Semi-rigid joints.

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Authors: Javaid Butt, Habtom Mebrahtu, Hassan Shirvani

Abstract:

The paper presents an additive manufacturing process for the production of metal and composite parts. It is termed as composite metal foil manufacturing and is a combination of laminated object manufacturing and brazing techniques. The process has been described in detail and is being used to produce dissimilar aluminum to copper foil single lap joints. A three dimensional finite element model has been developed to study the thermo-mechanical characteristics of the dissimilar Al/Cu single lap joint. The effects of thermal stress and strain have been analyzed by carrying out transient thermal analysis on the heated plates used to join the two 0.1mm thin metal foils. Tensile test has been carried out on the foils before joining and after the single Al/Cu lap joints are made, they are subjected to tensile lap-shear test to analyze the effect of heat on the foils. The analyses are designed to assess the mechanical integrity of the foils after the brazing process and understand whether or not the heat treatment has an effect on the fracture modes of the produced specimens.

Keywords: Brazing, Laminated Object Manufacturing, Tensile Lap-Shear Test, Thermo-Mechanical Analysis.

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Authors: Doo W. Lee, Soo J. Lee, Bye R. Yoon, Jae Y. Jho, Kyehan Rhee

Abstract:

Hand exoskeletons have been developed in order to assist daily activities for disabled and elder people. A figure exoskeleton was developed using ionic polymer metal composite (IPMC) actuators, and the performance of it was evaluated in this study. In order to study dynamic performance of a finger dummy performing pinching motion, force generating characteristics of an IPMC actuator and pinching motion of a thumb and index finger dummy actuated by IMPC actuators were analyzed. The blocking force of 1.54 N was achieved under 4 V of DC. A thumb and index finger dummy, which has one degree of freedom at the proximal joint of each figure, was manufactured by a three dimensional rapid prototyping. Each figure was actuated by an IPMC actuator, and the maximum fingertip force was 1.18 N. Pinching motion of a dummy was analyzed by two video cameras in vertical top and horizontal left end view planes. A figure dummy powered by IPMC actuators could perform flexion and extension motion of an index figure and a thumb.

Keywords: Finger exoskeleton, ionic polymer metal composite, flexion and extension, motion analysis.

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