Search results for: Embedded sensors and actuators

Authors: Chang Liu, John Nash, Stephen D. Prior

Abstract:

This paper presents the design and implementation details of a complete unmanned aerial system (UAS) based on commercial-off-the-shelf (COTS) components, focusing on safety, security, search and rescue scenarios in GPS-denied environments. In particular, The aerial platform is capable of semi-autonomously navigating through extremely low-light, GPS-denied indoor environments based on onboard sensors only, including a downward-facing optical flow camera. Besides, an additional low-cost payload camera system is developed to stream both infra-red video and visible light video to a ground station in real-time, for the purpose of detecting sign of life and hidden humans. The total cost of the complete system is estimated to be $1150, and the effectiveness of the system has been tested and validated in practical scenarios.

Keywords: Unmanned aerial system, commercial-off-the-shelf, extremely low-light, GPS-denied, optical flow, infrared video.

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Authors: Murugan Marimuthu, Jeyabharath Rajaih

Abstract:

This paper describes a simple way to control the speed of PMBLDC motor using Fuzzy logic control method. In the conventional PI controller the performance of the motor system is simulated and the speed is regulated by using PI controller. These methods used to improve the performance of PMSM drives, but in some cases at different operating conditions when the dynamics of the system also vary over time and it can change the reference speed, parameter variations and the load disturbance. The simulation is powered with the MATLAB program to get a reliable and flexible simulation. In order to highlight the effectiveness of the speed control method the FLC method is used. The proposed method targeted in achieving the improved dynamic performance and avoids the variations of the motor drive. This drive has high accuracy, robust operation from near zero to high speed. The effectiveness and flexibility of the individual techniques of the speed control method will be thoroughly discussed for merits and demerits and finally verified through simulation and experimental results for comparative analysis.

Keywords: Hall position sensors, permanent magnet brushless DC motor, PI controller, Fuzzy Controller.

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Authors: James D. Gadze, Niki Pissinou, Kia Makki

Abstract:

In this paper we propose an intelligent agent approach to control the electric power grid at a smaller granularity in order to give it self-healing capabilities. We develop a method using the influence model to transform transmission substations into information processing, analyzing and decision making (intelligent behavior) units. We also develop a wireless communication method to deliver real-time uncorrupted information to an intelligent controller in a power system environment. A combined networking and information theoretic approach is adopted in meeting both the delay and error probability requirements. We use a mobile agent approach in optimizing the achievable information rate vector and in the distribution of rates to users (sensors). We developed the concept and the quantitative tools require in the creation of cooperating semiautonomous subsystems which puts the electric grid on the path towards intelligent and self-healing system.

Keywords: Mobile agent, power system operation and control, real time, wireless communication.

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Authors: Yu-Lin Liao, Ya-Fu Peng

Abstract:

An adaptive dynamic cerebellar model articulation controller (DCMAC) neural network used for solving the prediction and identification problem is proposed in this paper. The proposed DCMAC has superior capability to the conventional cerebellar model articulation controller (CMAC) neural network in efficient learning mechanism, guaranteed system stability and dynamic response. The recurrent network is embedded in the DCMAC by adding feedback connections in the association memory space so that the DCMAC captures the dynamic response, where the feedback units act as memory elements. The dynamic gradient descent method is adopted to adjust DCMAC parameters on-line. Moreover, the analytical method based on a Lyapunov function is proposed to determine the learning-rates of DCMAC so that the variable optimal learning-rates are derived to achieve most rapid convergence of identifying error. Finally, the adaptive DCMAC is applied in two computer simulations. Simulation results show that accurate identifying response and superior dynamic performance can be obtained because of the powerful on-line learning capability of the proposed DCMAC.

Keywords: adaptive, cerebellar model articulation controller, CMAC, prediction, identification

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Authors: Sagir M. Yusuf, Chris Baber

Abstract:

We describe issues bedeviling the coordination of heterogeneous (different sensors carrying agents) multi-agent missions such as belief conflict, situation reasoning, etc. We applied Bayesian and agents' presumptions inferential reasoning to solve the outlined issues with the heterogeneous multi-agent belief variation and situational-base reasoning. Bayesian Belief Network (BBN) was used in modeling the agents' belief conflict due to sensor variations. Simulation experiments were designed, and cases from agents’ missions were used in training the BBN using gradient descent and expectation-maximization algorithms. The output network is a well-trained BBN for making inferences for both agents and human experts. We claim that the Bayesian learning algorithm prediction capacity improves by the number of training data and argue that it enhances multi-agents robustness and solve agents’ sensor conflicts.

Keywords: Distributed constraint optimization problem, multi-agent system, multi-robot coordination, autonomous system, swarm intelligence.

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Authors: M. Y. Ismail, M. Inam

Abstract:

This paper presents the design and analysis of Liquid Crystal (LC) based tunable reflectarray antenna with slot embedded patch element configurations within X-band frequency range. The slots are shown to modify the surface current distribution on the patch element of reflectarray which causes the resonant patch element to provide different resonant frequencies depending on the slot dimensions. The simulated results are supported and verified by waveguide scattering parameter measurements of different reflectarray unit cells. Different rectangular slots on patch element have been fabricated and a change in resonant frequency from 10.46GHz to 8.78GHz has been demonstrated as the width of the rectangular slot is varied from 0.2W to 0.6W. The rectangular slot in the center of the patch element has also been utilized for the frequency tunable reflectarray antenna design based on K-15 Nematic LC. For the active reflectarray antenna design, a frequency tunability of 1.2% from 10GHz to 9.88GHz has been demonstrated with a dynamic phase range of 103° provided by the measured scattering parameter results. Time consumed by liquid crystals for reconfiguration, which is one of the drawback of LC based design, has also been disused in this paper.

Keywords: Liquid crystal, tunable reflectarray, frequency tunability, dynamic phase range.

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Authors: Evans Belly, Imdad Rizvi, M. M. Kadam

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Satellite imagery is one of the emerging technologies which are extensively utilized in various applications such as detection/extraction of man-made structures, monitoring of sensitive areas, creating graphic maps etc. The main approach here is the automated detection of buildings from very high resolution (VHR) optical satellite images. Initially, the shadow, the building and the non-building regions (roads, vegetation etc.) are investigated wherein building extraction is mainly focused. Once all the landscape is collected a trimming process is done so as to eliminate the landscapes that may occur due to non-building objects. Finally the label method is used to extract the building regions. The label method may be altered for efficient building extraction. The images used for the analysis are the ones which are extracted from the sensors having resolution less than 1 meter (VHR). This method provides an efficient way to produce good results. The additional overhead of mid processing is eliminated without compromising the quality of the output to ease the processing steps required and time consumed.

Keywords: Building detection, shadow detection, landscape generation, label, partitioning, very high resolution satellite imagery.

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Authors: Amirhossein Safi

Abstract:

Internet of things (IOT) is a kind of advanced information technology which has drawn societies’ attention. Sensors and stimulators are usually recognized as smart devices of our environment. Simultaneously, IOT security brings up new issues. Internet connection and possibility of interaction with smart devices cause those devices to involve more in human life. Therefore, safety is a fundamental requirement in designing IOT. IOT has three remarkable features: overall perception, reliable transmission, and intelligent processing. Because of IOT span, security of conveying data is an essential factor for system security. Hybrid encryption technique is a new model that can be used in IOT. This type of encryption generates strong security and low computation. In this paper, we have proposed a hybrid encryption algorithm which has been conducted in order to reduce safety risks and enhancing encryption's speed and less computational complexity. The purpose of this hybrid algorithm is information integrity, confidentiality, non-repudiation in data exchange for IOT. Eventually, the suggested encryption algorithm has been simulated by MATLAB software, and its speed and safety efficiency were evaluated in comparison with conventional encryption algorithm.

Keywords: Internet of things, security, hybrid algorithm, privacy.

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Authors: Siong W. Lee, Kang H. Tan, En H. Yang

Abstract:

This paper presents the results of an experimental study undertaken to evaluate the local bond stress-slip response of short embedment of reinforcing bars in normal concrete (NC) and high performance fiber reinforced cement composites (HPFRCC) blocks. Long embedment was investigated as well to gain insights on the distribution of strain, slip, bar stress and bond stress along the bar especially in post-yield range. A total of 12 specimens were tested, by means of pull-out of the reinforcing bars from concrete blocks. It was found that the enhancement of local bond strength can be reached up to 50% and ductility of the bond behavior was improved significantly if HPFRCC is used. Also, under a constant strain at loaded end, HPFRCC has delayed yielding of bars at other location from the loaded end. Hence, the reduction of bond stress was slower for HPFRCC in comparison with NC. Due to the same reason, the total slips at loaded end for HPFRCC was smaller than NC as expected. Test results indicated that HPFRCC has better bond slip behavior which makes it a suitable material to be employed in anchorage zone such as beam-column joints.

Keywords: Bond stress, high performance fiber reinforced cement composites, slip, strain.

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Authors: Guomin Luo, Daming Zhang, Yong Kwee Koh, Kim Teck Ng, Helmi Kurniawan, Weng Hoe Leong

Abstract:

Partial discharge (PD) detection is an important method to evaluate the insulation condition of metal-clad apparatus. Non-intrusive sensors which are easy to install and have no interruptions on operation are preferred in onsite PD detection. However, it often lacks of accuracy due to the interferences in PD signals. In this paper a novel PD extraction method that uses frequency analysis and entropy based time-frequency (TF) analysis is introduced. The repetitive pulses from convertor are first removed via frequency analysis. Then, the relative entropy and relative peak-frequency of each pulse (i.e. time-indexed vector TF spectrum) are calculated and all pulses with similar parameters are grouped. According to the characteristics of non-intrusive sensor and the frequency distribution of PDs, the pulses of PD and interferences are separated. Finally the PD signal and interferences are recovered via inverse TF transform. The de-noised result of noisy PD data demonstrates that the combination of frequency and time-frequency techniques can discriminate PDs from interferences with various frequency distributions.

Keywords: Entropy, Fourier analysis, non-intrusive measurement, time-frequency analysis, partial discharge

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Authors: Andhe Dharani, P. S. Satyanarayana, Andhe Pallavi

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Considering payload, reliability, security and operational lifetime as major constraints in transmission of images we put forward in this paper a steganographic technique implemented at the physical layer. We suggest transmission of Halftoned images (payload constraint) in wireless sensor networks to reduce the amount of transmitted data. For low power and interference limited applications Turbo codes provide suitable reliability. Ensuring security is one of the highest priorities in many sensor networks. The Turbo Code structure apart from providing forward error correction can be utilized to provide for encryption. We first consider the Halftoned image and then the method of embedding a block of data (called secret) in this Halftoned image during the turbo encoding process is presented. The small modifications required at the turbo decoder end to extract the embedded data are presented next. The implementation complexity and the degradation of the BER (bit error rate) in the Turbo based stego system are analyzed. Using some of the entropy based crypt analytic techniques we show that the strength of our Turbo based stego system approaches that found in the OTPs (one time pad).

Keywords: Halftoning, Turbo codes, security, operationallifetime, Turbo based stego system.

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Authors: Wataru Nakamura, Tomoaki Hashimoto, Liang-Kuang Chen

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This paper provides a state estimation method for automatic control systems of nonlinear vehicle dynamics. A nonlinear tire model is employed to represent the realistic behavior of a vehicle. In general, all the state variables of control systems are not precisedly known, because those variables are observed through output sensors and limited parts of them might be only measurable. Hence, automatic control systems must incorporate some type of state estimation. It is needed to establish a state estimation method for nonlinear vehicle dynamics with restricted measurable state variables. For this purpose, unscented Kalman filter method is applied in this study for estimating the state variables of nonlinear vehicle dynamics. The objective of this paper is to propose a state estimation method using unscented Kalman filter for nonlinear vehicle dynamics. The effectiveness of the proposed method is verified by numerical simulations.

Keywords: State estimation, control systems, observer systems, unscented Kalman filter, nonlinear vehicle dynamics.

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Authors: Orestis Κ. Efthymiou, Stavros T. Ponis

Abstract:

In the last decade, a new industrial revolution seems to be emerging, supported -once again- by the rapid advancements of Information Technology in the areas of Machine-to-Machine (M2M) communication permitting large numbers of intelligent devices, e.g. sensors to communicate with each other and take decisions without any or minimum indirect human intervention. The advent of these technologies have triggered the emergence of a new category of hybrid (cyber-physical) manufacturing systems, combining advanced manufacturing techniques with innovative M2M applications based on the Internet of Things (IoT), under the umbrella term Industry 4.0. Even though the topic of Industry 4.0 has attracted much attention during the last few years, the attempts of providing a systematic literature review of the subject are scarce. In this paper, we present the authors’ initial study of the field with a special focus on the use and applications of Industry 4.0 principles in material handling automations and in-house logistics. Research shows that despite the vivid discussion and attractiveness of the subject, there are still many challenges and issues that have to be addressed before Industry 4.0 becomes standardized and widely applicable.

Keywords: Industry 4.0, internet of things, manufacturing systems, material handling, logistics.

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Authors: Nour Charara, Iman Jarkass, Maria Sokhn, Elena Mugellini, Omar Abou Khaled

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Intelligent Video-Surveillance (IVS) systems are being more and more popular in security applications. The analysis and recognition of abnormal behaviours in a video sequence has gradually drawn the attention in the field of IVS, since it allows filtering out a large number of useless information, which guarantees the high efficiency in the security protection, and save a lot of human and material resources. We present in this paper ADABeV, an intelligent video-surveillance framework for event recognition in crowded scene to detect the abnormal human behaviour. This framework is attended to be able to achieve real-time alarming, reducing the lags in traditional monitoring systems. This architecture proposal addresses four main challenges: behaviour understanding in crowded scenes, hard lighting conditions, multiple input kinds of sensors and contextual-based adaptability to recognize the active context of the scene.

Keywords: Behavior recognition, Crowded scene, Data fusion, Pattern recognition, Video-surveillance

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Authors: S. Bader, N. Essoukri Ben Amara

Abstract:

With the technological development and rise of virtual worlds, these spaces are becoming more and more attractive for cybercriminals, hidden behind avatars and fictitious identities. Since access to these spaces is not restricted or controlled, some impostors take advantage of gaining unauthorized access and practicing cyber criminality. This paper proposes an identity management approach for securing access to virtual worlds. The major purpose of the suggested solution is to install a strong security mechanism to protect virtual identities represented by avatars. Thus, only legitimate users, through their corresponding avatars, are allowed to access the platform resources. Access is controlled by integrating an authentication process based on biometrics. In the request process for registration, a user fingerprint is enrolled and then encrypted into a watermark utilizing a cancelable and non-invertible algorithm for its protection. After a user personalizes their representative character, the biometric mark is embedded into the avatar through a watermarking procedure. The authenticity of the avatar identity is verified when it requests authorization for access. We have evaluated the proposed approach on a dataset of avatars from various virtual worlds, and we have registered promising performance results in terms of authentication accuracy, acceptation and rejection rates.

Keywords: Identity management, security, biometrics authentication and authorization, avatar, virtual world.

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Authors: Y. Duvarci, A. K. Kutluca

Abstract:

Design and land use are closely linked to the energy efficiency levels for an urban area. The current city planning practice does not involve an effective land useenergy evaluation in its 'blueprint' urban plans. The study proposed an appraisal method that can be embedded in GIS programs using five planning criteria as how far a planner can give away from the planning principles (criteria) for the most energy output s/he can obtain. The case of Balcova, a district in the Izmir Metropolitan area, is used conformingly for evaluating the proposed master plan and the geothermal energy (heating only) use for the concern district. If the land use design were proposed accordingly at-most energy efficiency (a 30% obtained), mainly increasing the density around the geothermal wells and also proposing more mixed use zones, we could have 17% distortion (infidelity to the main planning principles) from the original plan. The proposed method can be an effective tool for planners as simulation media, of which calculations can be made by GIS ready tools, to evaluate efficiency levels for different plan proposals, letting to know how much energy saving causes how much deviation from the other planning ideals. Lower energy uses can be possible for different land use proposals for various policy trials.

Keywords: Sustainable Urban Planning, Energy Efficiency, Geothermal Energy, District Heating Systems (DHS), EnergyPlanning

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Authors: Guerrero Ramírez Sandra, Ramos Salinas Norma Maricela, Muriel Amezcua Vanesa

Abstract:

This article presents the beginning of a wider study that intends to demonstrate how within organizations of the automotive industry from the city of Querétaro. Knowledge management and technological management are required, as well as people’s initiative and the interaction embedded at the interior of it, with the appropriate environment that facilitates information conversion with wide information technologies management (ITM) range. A company was identified for the pilot study of this research, where descriptive and inferential research information was obtained. The results of the pilot suggest that some respondents did noted entity the knowledge management topic, even if staffs have access to information technology (IT) that serve to enhance access to knowledge (through internet, email, databases, external and internal company personnel, suppliers, customers and competitors) data, this implicates that there are Knowledge Management (KM) problems. The data shows that academically well-prepared organizations normally do not recognize the importance of knowledge in the business, nor in the implementation of it, which at the end is a great influence on how to manage it, so that it should guide the company to greater in sight towards a competitive strategy search, given that the company has an excellent technological infrastructure and KM was not exploited. Cultural diversity is another factor that was observed by the staff.

Keywords: Knowledge management, technological knowledge management, technology information management.

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Authors: M. Gregor, J. Polcar, P. Horejsi, M. Simon

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Machine visualization is an area of interest with fast and progressive development. We present a method of machine visualization which will be applicable in real industrial conditions according to current needs and demands. Real factory data were obtained in a newly built research plant. Methods described in this paper were validated on a case study. Input data were processed and the virtual environment was created. The environment contains information about dimensions, structure, disposition, and function. Hardware was enhanced by modular machines, prototypes, and accessories. We added functionalities and machines into the virtual environment. The user is able to interact with objects such as testing and cutting machines, he/she can operate and move them. Proposed design consists of an environment with two degrees of freedom of movement. Users are in touch with items in the virtual world which are embedded into the real surroundings. This paper describes development of the virtual environment. We compared and tested various options of factory layout virtualization and visualization. We analyzed possibilities of using a 3D scanner in the layout obtaining process and we also analyzed various virtual reality hardware visualization methods such as: Stereoscopic (CAVE) projection, Head Mounted Display (HMD) and augmented reality (AR) projection provided by see-through glasses.

Keywords: Augmented reality, spatial scanner, virtual environment, virtual reality.

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Authors: Guneet Mander, Gurinder Pal Singh

Abstract:

Moisture is an important consideration in many aspects ranging from irrigation, soil chemistry, golf course, corrosion and erosion, road conditions, weather predictions, livestock feed moisture levels, water seepage etc. Vegetation and crops always depend more on the moisture available at the root level than on precipitation occurrence. In this paper, design of an instrument is discussed which tells about the variation in the moisture contents of soil. This is done by measuring the amount of water content in soil by finding the variation in capacitance of soil with the help of a capacitive sensor. The greatest advantage of soil moisture sensor is reduced water consumption. The sensor is also be used to set lower and upper threshold to maintain optimum soil moisture saturation and minimize water wilting, contributes to deeper plant root growth ,reduced soil run off /leaching and less favorable condition for insects and fungal diseases. Capacitance method is preferred because, it provides absolute amount of water content and also measures water content at any depth.

Keywords: Capacitive Sensors, aluminum, Water, Irrigation.

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Authors: G. Balakrishnan, G. Sainarayanan, R. Nagarajan, Sazali Yaacob

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This paper presents a review on vision aided systems and proposes an approach for visual rehabilitation using stereo vision technology. The proposed system utilizes stereo vision, image processing methodology and a sonification procedure to support blind navigation. The developed system includes a wearable computer, stereo cameras as vision sensor and stereo earphones, all moulded in a helmet. The image of the scene infront of visually handicapped is captured by the vision sensors. The captured images are processed to enhance the important features in the scene in front, for navigation assistance. The image processing is designed as model of human vision by identifying the obstacles and their depth information. The processed image is mapped on to musical stereo sound for the blind-s understanding of the scene infront. The developed method has been tested in the indoor and outdoor environments and the proposed image processing methodology is found to be effective for object identification.

Keywords: Blind navigation, stereo vision, image processing, object preference, music tones.

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Authors: Kemal Tutuncu, Recai Ozcan

Abstract:

Having done in this study, air-conditioning automation for patisserie shopwindow was designed. In the cooling sector it is quite important to cooling up the air temperature in the shopwindow within short time interval. Otherwise the patisseries inside of the shopwindow will be spoilt in a few days. Additionally the humidity is other important parameter for the patisseries kept in shopwindow. It must be raised up to desired level in a quite short time. Traditional patisserie shopwindows only allow controlling temperature manually. There is no humidity control and humidity is supplied by fans that are directed to the water at the bottom of the shopwindows. In this study, humidity and temperature sensors (SHT11), PIC, AC motor controller, DC motor controller, ultrasonic nebulizer and other electronic circuit members were used to simulate air conditioning automation for patisserie shopwindow in proteus software package. The simulation results showed that temperature and humidity values are adjusted in desired time duration by openloop control technique. Outer and inner temperature and humidity values were used for control mechanism.

Keywords: Air conditioning automation, temperature and humidity, SHT11, AC motor controller, open-loop control.

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Authors: A. Vani, M. N. Mamatha

Abstract:

Visual signal processing in human beings occurs in the occipital lobe of the brain. The signals that are generated in the brain are universal for all the human beings and they are called Visual Evoked Potential (VEP). Generally, the visually impaired people lose sight because of severe damage to only the eyes natural photo sensors, but the occipital lobe will still be functioning. In this paper, a technique of artificially generating VEP is proposed to enhance the visual ability of the subject. The system uses the electrical photoreceptors to capture image, process the image, to detect and recognize the subject or object. This voltage is further processed and can transmit wirelessly to a BIOMEMS implanted into occipital lobe of the patient’s brain. The proposed BIOMEMS consists of array of electrodes that generate the neuron potential which is similar to VEP of normal people. Thus, the neurons get the visual data from the BioMEMS which helps in generating partial vision or sight for the visually challenged patient. 

Keywords: Visual evoked potential, OpenViBe, BioMEMS, Neuro prosthesis.

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Authors: Pupong Pongcharoen, Aphirak Khadwilard, Anothai Klakankhai

Abstract:

The importance of supply chain and logistics management has been widely recognised. Effective management of the supply chain can reduce costs and lead times and improve responsiveness to changing customer demands. This paper proposes a multi-matrix real-coded Generic Algorithm (MRGA) based optimisation tool that minimises total costs associated within supply chain logistics. According to finite capacity constraints of all parties within the chain, Genetic Algorithm (GA) often produces infeasible chromosomes during initialisation and evolution processes. In the proposed algorithm, chromosome initialisation procedure, crossover and mutation operations that always guarantee feasible solutions were embedded. The proposed algorithm was tested using three sizes of benchmarking dataset of logistic chain network, which are typical of those faced by most global manufacturing companies. A half fractional factorial design was carried out to investigate the influence of alternative crossover and mutation operators by varying GA parameters. The analysis of experimental results suggested that the quality of solutions obtained is sensitive to the ways in which the genetic parameters and operators are set.

Keywords: Genetic Algorithm, Logistics, Optimisation, Supply Chain.

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Authors: S. Mohamed Rabeek, Mi Kyoung Park, M. Annamalai Arasu

Abstract:

This paper presents a design of a wireless read out system for tracking the frequency shift of the polymer coated piezoelectric micro electromechanical resonator due to gas absorption. The measure of this frequency shift indicates the percentage of a particular gas the sensor is exposed to. It is measured using an oscillator and an FPGA based frequency counter by employing the resonator as a frequency determining element in the oscillator. This system consists of a Gas Sensing Wireless Readout (GSWR) and an USB Wireless Transceiver (UWT). GSWR consists of an oscillator based on a trans-impedance sustaining amplifier, an FPGA based frequency readout, a sub 1GHz wireless transceiver and a micro controller. UWT can be plugged into the computer via USB port and function as a wireless module to transfer gas sensor data from GSWR to the computer through its USB port. GUI program running on the computer periodically polls for sensor data through UWT - GSWR wireless link, the response from GSWR is logged in a file for post processing as well as displayed on screen.

Keywords: Gas sensor, GSWR, micro-mechanical system, UWT, volatile emissions.

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Authors: Florian Müller, Christian Kukla, Thomas Lucyshyn, Clemens Holzer

Abstract:

In this paper, the influencing parameters of a novel purely mechanical wireless in-mould injection moulding sensor were investigated. The sensor is capable of detecting the melt front at predefined locations inside the mould. The sensor comprises a movable pin which acts as the sensor element generating structure-borne sound triggered by the passing melt front. Due to the sensor design, melt pressure is the driving force. For pressure level measurement during pin movement a pressure transducer located at the same position as the movable pin. By deriving a mathematical model for the mechanical movement, dominant process parameters could be investigated towards their impact on the melt front detection characteristic. It was found that the sensor is not affected by the investigated parameters enabling it for reliable melt front detection. In addition, it could be proved that the novel sensor is in comparable range to conventional melt front detection sensors.

Keywords: Injection Moulding, In-Mould Sensor, Structure-Borne Sound, Wireless Sensor

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Authors: António J. R. Neves, Rui Garcia, Paulo Dias, Alina Trifan

Abstract:

With the aging of the world population and the continuous growth in technology, service robots are more and more explored nowadays as alternatives to healthcare givers or personal assistants for the elderly or disabled people. Any service robot should be capable of interacting with the human companion, receive commands, navigate through the environment, either known or unknown, and recognize objects. This paper proposes an approach for object recognition based on the use of depth information and color images for a service robot. We present a study on two of the most used methods for object detection, where 3D data is used to detect the position of objects to classify that are found on horizontal surfaces. Since most of the objects of interest accessible for service robots are on these surfaces, the proposed 3D segmentation reduces the processing time and simplifies the scene for object recognition. The first approach for object recognition is based on color histograms, while the second is based on the use of the SIFT and SURF feature descriptors. We present comparative experimental results obtained with a real service robot.

Keywords: Service Robot, Object Recognition, 3D Sensors, Plane Segmentation.

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Authors: Miroslav Popelka, Jakub Nožička

Abstract:

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

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

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Authors: P I Jagad, B P Puranik, A W Date

Abstract:

Flow through micro and mini channels requires relatively high driving pressure due to the large fluid pressure drop through these channels. Consequently the forces acting on the walls of the channel due to the fluid pressure are also large. Due to these forces there are displacement fields set up in the solid substrate containing the channels. If the movement of the substrate is constrained at some points, then stress fields are established in the substrate. On the other hand, if the deformation of the channel shape is sufficiently large then its effect on the fluid flow is important to be calculated. Such coupled fluid-solid systems form a class of problems known as fluidstructure interactions. In the present work a co-located finite volume discretization procedure on unstructured meshes is described for solving fluid-structure interaction type of problems. A linear elastic solid is assumed for which the effect of the channel deformation on the flow is neglected. Thus the governing equations for the fluid and the solid are decoupled and are solved separately. The procedure is validated by solving two benchmark problems, one from fluid mechanics and another from solid mechanics. A fluid-structure interaction problem of flow through a U-shaped channel embedded in a plate is solved.

Keywords: Finite volume method, flow induced stresses, fluidstructureinteraction, unstructured meshes.

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Authors: Babak Safaei, A. M. Fattahi

Abstract:

In the present study we have investigated axial buckling characteristics of nanocomposite beams reinforced by single-walled carbon nanotubes (SWCNTs). Various types of beam theories including Euler-Bernoulli beam theory, Timoshenko beam theory and Reddy beam theory were used to analyze the buckling behavior of carbon nanotube-reinforced composite beams. Generalized differential quadrature (GDQ) method was utilized to discretize the governing differential equations along with four commonly used boundary conditions. The material properties of the nanocomposite beams were obtained using molecular dynamic (MD) simulation corresponding to both short-(10,10) SWCNT and long- (10,10) SWCNT composites which were embedded by amorphous polyethylene matrix. Then the results obtained directly from MD simulations were matched with those calculated by the mixture rule to extract appropriate values of carbon nanotube efficiency parameters accounting for the scale-dependent material properties. The selected numerical results were presented to indicate the influences of nanotube volume fractions and end supports on the critical axial buckling loads of nanocomposite beams relevant to long- and short-nanotube composites.

Keywords: Nanocomposites, molecular dynamics simulation, axial buckling, generalized differential quadrature (GDQ).

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Authors: Rebhi A. Damseh, H. M. Duwairi, Benbella A. Shannak

Abstract:

This work deals with heat and mass transfer by steady laminar boundary layer flow of a Newtonian, viscous fluid over a vertical flat plate with variable surface heat flux embedded in a fluid saturated porous medium in the presence of thermophoresis particle deposition effect. The governing partial differential equations are transformed into no-similar form by using special transformation and solved numerically by using an implicit finite difference method. Many results are obtained and a representative set is displaced graphically to illustrate the influence of the various physical parameters on the wall thermophoresis deposition velocity and concentration profiles. It is found that the increasing of thermophoresis constant or temperature differences enhances heat transfer rates from vertical surfaces and increase wall thermophoresis velocities; this is due to favorable temperature gradients or buoyancy forces. It is also found that the effect of thermophoresis phenomena is more pronounced near pure natural convection heat transfer limit; because this phenomenon is directly a temperature gradient or buoyancy forces dependent. Comparisons with previously published work in the limits are performed and the results are found to be in excellent agreement.

Keywords: Thermophoresis, porous medium, variable surface heat flux.

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