Search results for: Differential drive robot

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

Abstract:

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: Süha Yılmaz, Emin Özyılmaz, Melih Turgut

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In the first part of this paper [6], a method to determine Frenet apparatus of the space-like curves in Minkowski space-time is presented. In this work, the mentioned method is developed for the time-like curves in Minkowski space-time. Additionally, an example of presented method is illustrated.

Keywords: Frenet Apparatus, Time-like Curves, MinkowskiSpace-time.

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Authors: Sukhwinder Singh Billing, Sushma Gupta, Sukhjit Singh Dhaliwal

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In the present paper, we investigate a differential subordination involving multiplier transformation related to a sector in the open unit disk E = {z : |z| < 1}. As special cases to our main result, certain sufficient conditions for strongly starlike and strongly convex functions are obtained.

Keywords: Analytic function, Multiplier transformation, Strongly starlike function, Strongly convex function.

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Authors: Meemongkol A., Tipsuwanporn V., Numsomran A.

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The authors present optimization parameters of rotary positioner controller in hard disk drive servo track writing process using coefficient diagram method; CDM. Due to estimation parameters in PI Positioning Control System by expected ratio method cannot meet the required specification of response effectively, we suggest coefficient diagram method for defining controller parameters under the requirement of the system. Finally, the simulation results show that our proposed method can improve the problem in tuning parameter of rotary positioner controller. It is satisfied specification of performance of control system. Furthermore, it is very convenient as a fast adjustment damping ratio as well as a high speed response.

Keywords: Optimization Parameters, Rotary Positioner, CDM

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Authors: Lili Wang

Abstract:

By using the estimation of the Cauchy matrix of linear impulsive differential equations and Banach fixed point theorem as well as Gronwall-Bellman’s inequality, some sufficient conditions are obtained for the existence and exponential stability of almost periodic solution for an impulsive neural networks with distributed delays. An example is presented to illustrate the feasibility and  effectiveness of the results.

Keywords: Almost periodic solution, Exponential stability, Neural networks, Impulses.

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Authors: Yingjie Zhang

Abstract:

This paper is concerned with an improved algorithm based on the piecewise-smooth Mumford and Shah (MS) functional for an efficient and reliable segmentation. In order to speed up convergence, an additional force, at each time step, is introduced further to drive the evolution of the curves instead of only driven by the extensions of the complementary functions u + and u - . In our scheme, furthermore, the piecewise-constant MS functional is integrated to generate the extra force based on a temporary image that is dynamically created by computing the union of u + and u - during segmenting. Therefore, some drawbacks of the original algorithm, such as smaller objects generated by noise and local minimal problem also are eliminated or improved. The resulting algorithm has been implemented in Matlab and Visual Cµ, and demonstrated efficiently by several cases.

Keywords: Active contours, energy minimization, image segmentation, level sets.

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Authors: M. A. Koroma, S. Widatalla, A. F. Kamara, C. Zhang

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Our aim in this piece of work is to demonstrate the power of the Laplace Adomian decomposition method (LADM) in approximating the solutions of nonlinear differential equations governing the two-dimensional viscous flow induced by a shrinking sheet.

Keywords: Adomian polynomials, Laplace Adomian decomposition method, Padé Approximant, Shrinking sheet.

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Authors: Francesco Marotti de Sciarra, Raffaele Barretta

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Starting from nonlocal continuum mechanics, a thermodynamically new nonlocal model of Euler-Bernoulli nanobeams is provided. The nonlocal variational formulation is consistently provided and the governing differential equation for transverse displacement is presented. Higher-order boundary conditions are then consistently derived. An example is contributed in order to show the effectiveness of the proposed model.

Keywords: Bernoulli-Euler beams, Nanobeams, nonlocal elasticity.

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

Abstract:

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: B. Farhadinia

Abstract:

In this article, it is considered a class of optimal control problems constrained by differential and integral constraints are called canonical form. A modified measure theoretical approach is introduced to solve this class of optimal control problems.

Keywords: control problem, Canonical form, Measure theory.

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Authors: Ayman M. Mansour

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In this paper, we propose an intelligent system that is used for monitoring the health conditions of patients. Monitoring the health condition of patients is a complex problem that involves different medical units and requires continuous monitoring especially in rural areas because of inadequate number of available specialized physicians. The proposed system will improve patient care and drive costs down comparing to the existing system in Jordan. The proposed system will be the start point to faster and improve the communication between different units in the health system in Jordan. Connecting patients and their physicians beyond hospital doors regarding their geographical area is an important issue in developing the health system in Jordan. The ability of making medical decisions, the quality of medical is expected to be improved.

Keywords: GSM, SMS, Patient, Monitoring system, Fuzzy Logic, Multi-agent system.

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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: Ivelina N. Cholakova, Tihomir B. Takov, Radostin Ts. Tsankov, Nicolas Simonne, Slavka S. Tzanova

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Adjacent Hall microsensors, comprising a silicon substrate and four contacts, providing simultaneously two supply inputs and two differential outputs, are characterized. The voltage related sensitivity is in the order of 0.11T-1, and a cancellation method for offset compensation is used, achieving residual offset in the micro scale which is also compared to a single Hall plate.

Keywords: Adjacent Hall sensors, offset compensation, voltage related sensitivity, 0.18μm CMOS technology.

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Authors: Ghoname Abdullah, Hidekazu Nishimura

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Dust accumulation on the photovoltaic module's surface results in appreciable loss and negatively affects the generated power. Hence, in this paper, the design of a photovoltaic array cleaning system is presented. The cleaning system utilizes one drive motor, two guide rails, and four sweepers during the cleaning process. The cleaning system was experimentally implemented for one month to investigate its efficiency on PV array energy output. The energy capture over a month for PV array cleaned using the proposed cleaning system is compared with that of the energy capture using soiled PV array. The results show a 15% increase in energy generation from PV array with cleaning. From the results, investigating the optimal scheduling of the PV array cleaning could be an interesting research topic.

Keywords: Cleaning system, dust accumulation, PV array, PV module, soiling.

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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: A. R. Nemati, M. Haddad Zarif, M. M. Fateh

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This paper presents an adaptive feedback linearization approach to derive helicopter. Ideal feedback linearization is defined for the cases when the system model is known. Adaptive feedback linearization is employed to get asymptotically exact cancellation for the inherent uncertainty in the knowledge of the given parameters of system. The control algorithm is implemented using the feedback linearization technique and adaptive method. The controller parameters are unknown where an adaptive control law aims to drive them towards their ideal values for providing perfect model matching between the reference model and the closed-loop plant model. The converged parameters of controller would then provide good estimates for the unknown plant parameters.

Keywords: Adaptive control, helicopter, feedback linearization, nonlinear control.

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Authors: Belkacem Meziane

Abstract:

The original 3D Lorenz-Haken equations -which describe laser dynamics- are converted into 2-second-order differential equations out of which the so far missing mathematics is extracted. Leaning on high-order trigonometry, important outcomes are pulled out: A fundamental result attributes chaos to forbidden periodic solutions, inside some precisely delimited region of the control parameter space that governs self-pulsing.

Keywords: chaos, Lorenz-Haken equations, laser dynamics, nonlinearities

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Authors: Junichiro Kawaguchi

Abstract:

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: 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: A. E. Delgado, W. Aperador

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This study evaluated the incidence of concentrated natural fibre, as well as the effects of adding a crosslinking agent on the torque when those components are mixed with low density polyethylene (LDPE). The natural fibre has a particle size of between 0.8-1.2mm and a moisture content of 0.17%. An internal mixer was used to measure the torque required to mix the polymer with the fibre. The effect of the fibre content and crosslinking agent on the torque was also determined. A change was observed in the morphology of the mixes using SEM differential scanning microscopy.

Keywords: WPC, DCP, LDPE, natural fibre, torque.

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Authors: M. Khlifa, A. Youssef, A. F. Zaed, A. Kraft, V. Arrighi

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A series of polystyrene (PS) nanoparticles were prepared by grafting polystyrene from both aggregated silica and colloidally dispersed silica nanoparticles using atom-transfer radical polymerisation (ATRP). Cross-linking and macroscopic gelation were minimised by using a miniemulsion system. The thermal and mechanical behaviour of the nanocomposites have been examined by differential scanning calorimetry (DSC) and dynamic mechanical thermal analysis (DMTA).

Keywords: ATRP, nanocomposites, polystyrene, reinforcement.

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Authors: Shwu-Huey Wang, Hsiu-Yuan Wang

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Tourists- eyes will often be attracted by the unique phenomenon of the roadsides: betel nut beauties (pronounced as binlang xishi in Mandarin), if they drive on the roads of Taiwan. Sitting in the neon-lit glass stalls with attractive dress on the roadsides, betel nut beauties usually sell betel nuts to the passing truckers or car drivers with much of their efforts. Moreover, in order to attract peoples- eyesight and increase the sales volume, the young girls are in skimpy clothing to promote betel nuts or beverages to their customers. Therefore, when the Chinese tourists come to Taiwan, to see the unique betel nut beauty phenomenon has become one of their greatly interested things or even a “must see". This paper describes betel but beauties in Taiwan, explained why the Chinese tourists like to see them in Taiwan and proposed propositions for examination.

Keywords: Betel nut, betel nut beauty, Chinese tourists, tourism.

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Authors: Wen-Ken Li, Pei-Yuan Tzeng, Chyi-Yeou Soong, Chung-Ho Liu

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The present study is concerned with the absorption center of photophoresis within a micro-sized and spheroidal particle in a gaseous medium. A particle subjected to an intense light beam can absorb electromagnetic energy within the particle unevenly, which results in photophoretic force to drive the particle in motion. By evaluating the energy distribution systematically at various conditions, the study focuses on the effects of governing parameters, such as particle aspect ratio, size parameter, refractivity, and absorptivity, on the heat source function within the particle and their potential influences to the photophoresis.

Keywords: photophoresis, spheroidal particle, aspect ratio, refractivity, absorptivity, heat source function

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Authors: Wen Huei Chou, Yi-Ting Chen

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Individuals with Autism Spectrum Disorder (ASD) often struggle with social interactions and communication. It is challenging for them to understand social cues such as facial expressions, body language, and tone of voice in social settings, leading to social conflicts and misunderstandings. Over time, feelings of frustration and anxiety can make them reluctant to engage in social situations and worsen their communication barriers. This study focused on children with autism who also experience social anxiety. Through focus group interviews with parents of children with autism and occupational therapists, it explores the reasons and scenarios behind the development of social anxiety in these children. Social scenario stories and interactive applications tailored for children with autism were designed and developed. In addition, working with the educational robots, coping strategies for various emotional situations were elaborated on, and children were helped to understand their emotions.

Keywords: Autism spectrum disorder, social anxiety, robot, social scenario story, interactive applications.

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Authors: Amjaad Alsalamah, Liyakathunsia Syed

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Transportation is an essential need for many people to go to their work, school, and home. In particular, the main common method inside many cities is to drive the car. Driving a car can be an easy job to reach the destination and load all stuff in a reasonable time. However, deciding to find a parking lot for a car can take a long time using the traditional system that can issue a paper ticket for each customer. The old system cannot guarantee a parking lot for all customers. Also, payment methods are not always available, and many customers struggled to find their car among a numerous number of cars. As a result, this research focuses on providing an online smart parking system in order to save time and budget. This system provides a flexible management system for both parking owner and customers by receiving all request via the online system and it gets an accurate result for all available parking and its location.

Keywords: Smart parking system, IoT, tracking system, process model, cost, time.

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Authors: Shahrinaz Ismail, Mohd Sharifuddin Ahmad

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This paper presents an analytical framework for an effective online personal knowledge management (PKM) of knowledge workers. The development of this framework is prompted by our qualitative research on the PKM processes and cognitive enablers of knowledge workers in eight organisations selected from three main industries in Malaysia. This multiple-case research identifies the relationships between the effectiveness of four online PKM processes: get/retrieve, understand/analyse, share, and connect. It also establishes the importance of cognitive enablers that mediate this relationship, namely, method, identify, decide and drive. Qualitative analysis is presented as the findings, supported by the preceded quantitative analysis on an exploratory questionnaire survey.

Keywords: Bottom-up approach, knowledge organisation, organisational knowledge management, personal knowledge management, software agent technology.

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Authors: Daiming Wang

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In this paper, a neutral impulsive competition system with distributed delays is studied by using Mawhin-s coincidence degree theory and the mean value theorem of differential calculus. Sufficient conditions on the existence of positive periodic solution of the system are obtained.

Keywords: Neutral impulsive delay system, competitive system, coincidence degree, periodic solution, existence.

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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: Chenxi Yang, Zhouhong Li

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This paper is concerned with an epidemic model with delay. By using the comparison theorem of the differential equation and constructing a suitable Lyapunov functional, Some sufficient conditions which guarantee the permeance and existence of a unique globally attractive positive almost periodic solution of the model are obtain. Finally, an example is employed to illustrate our result.

Keywords: Permanence, Almost periodic solution, Epidemic model, Delay, Feedback control.

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