Search results for: predetermined motion time system

Authors: Chuen-Ching Wang, Yao-Tang Chang, Yu-Chang Hsu

Abstract:

A simple but effective digital watermarking scheme utilizing a context adaptive variable length coding (CAVLC) method is presented for wireless communication system. In the proposed approach, the watermark bits are embedded in the final non-zero quantized coefficient of each DCT block, thereby yielding a potential reduction in the length of the coded block. As a result, the watermarking scheme not only provides the means to check the authenticity and integrity of the video stream, but also improves the compression ratio and therefore reduces both the transmission time and the storage space requirements of the coded video sequence. The results confirm that the proposed scheme enables the detection of malicious tampering attacks and reduces the size of the coded H.264 file. Therefore, the current study is feasible to apply in the video applications of wireless communication such as 3G system

Keywords: 3G, wireless communication, CAVLC, digitalwatermarking, motion compensation

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Authors: S. Hu, J. Mortensen, Bernard F. Buxton

Abstract:

A real-time tracking system was built to track performers on an interactive stage. Using an ordinary, up to date, desktop workstation, the performers- silhouette was segmented from the background and parameterized by calculating the normalized central image moments. In the stage system, the silhouette moments were then sent to a parallel workstation, which used them to generate corresponding 3D virtual geometry and projected the generated graphic back onto the stage.

Keywords: Image moment, interactive stage, real-time, silhouette.

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Authors: Kejun Zhuang

Abstract:

In this paper, the semi–ratio–dependent predator-prey system with nonmonotonic functional response on time scales is investigated. By using the coincidence degree theory, sufficient conditions for existence of periodic solutions are obtained.

Keywords: Semi–ratio–dependent, predator–prey system, coincidence degree, time scales.

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Authors: C Hisham, K Komal, Amit K Mishra

Abstract:

Full search block matching algorithm is widely used for hardware implementation of motion estimators in video compression algorithms. In this paper we are proposing a new architecture, which consists of a 2D parallel processing unit and a 1D unit both working in parallel. The proposed architecture reduces both data access power and computational power which are the main causes of power consumption in integer motion estimation. It also completes the operations with nearly the same number of clock cycles as compared to a 2D systolic array architecture. In this work sum of absolute difference (SAD)-the most repeated operation in block matching, is calculated in two steps. The first step is to calculate the SAD for alternate rows by a 2D parallel unit. If the SAD calculated by the parallel unit is less than the stored minimum SAD, the SAD of the remaining rows is calculated by the 1D unit. Early termination, which stops avoidable computations has been achieved with the help of alternate rows method proposed in this paper and by finding a low initial SAD value based on motion vector prediction. Data reuse has been applied to the reference blocks in the same search area which significantly reduced the memory access.

Keywords: Sum of absolute difference, high speed DSP.

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Authors: Bhaveshkumar P. Patel, J. M. Prajapati

Abstract:

Excavators are high power machines used in the mining, agricultural and construction industry whose principal functions are digging (material removing), ground leveling and material transport operations. During the digging task there are certain unknown forces exerted by the bucket on the soil and the digging operation is repetitive in nature. Automation of the digging task can be performed by an automatically controlled excavator system, which is not only control the forces but also follow the planned digging trajectories. To develop such a controller for automated excavation, it is required to develop a dynamic model to describe the behavior of the control system during digging operation and motion of excavator with time. The presented work described a dynamic model needed for controller design and which is derived by applying Lagrange-Euler approach. The developed dynamic model is intended for further development of an automated excavation control system for light duty construction work and can be applied for heavy duty or all types of backhoe excavators.

Keywords: Backhoe excavator, controller, digging, excavation, trajectory.

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Authors: Nyan Phyo Aung, Zaw Min Naing, Hla Myo Tun

Abstract:

The paper presents a PD controller for the Networked Control Systems (NCS) with delay. The major challenges in this networked control system (NCS) are the delay of the data transmission throughout the communication network. The comparative performance analysis is carried out for different delays network medium. In this paper, simulation is carried out on Ac servo motor control system using CAN Bus as communication network medium. The True Time toolbox of MATLAB is used for simulation to analyze the effect of different delays.

Keywords: NCS, Time delay, CAN Bus, True time, MATLAB.

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Authors: M. Nemer, E. I. Konukseven

Abstract:

In this paper, a motion generation algorithm for a six Degrees of Freedom (DoF) robotic hand in a static environment is presented. The purpose of developing this method is to be used in the path generation of the end-effector for edge finishing and inspection processes by utilizing the CAD model of the considered workpiece. Nonetheless, the proposed algorithm may be extended to be applicable for other similar manufacturing processes. A software package programmed in the application programming interface (API) of SolidWorks generates tool path data for the robot. The proposed method significantly simplifies the given problem, resulting in a reduction in the CPU time needed to generate the path, and offers an efficient overall solution. The ABB IRB2000 robot is chosen for executing the generated tool path.

Keywords: Offline programming, CAD-based tools, edge deburring, edge scanning, path generation.

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Authors: Pisit Boonsrimuang, Arjin Numsomran, Tawil Paungma, Hideo Kobayashi

Abstract:

One of the disadvantages of using OFDM is the larger peak to averaged power ratio (PAPR) in its time domain signal. The larger PAPR signal would course the fatal degradation of bit error rate performance (BER) due to the inter-modulation noise in the nonlinear channel. This paper proposes an improved DSI (Dummy Sequence Insertion) method, which can achieve the better PAPR and BER performances. The feature of proposed method is to optimize the phase of each dummy sub-carrier so as to reduce the PAPR performance by changing all predetermined phase coefficients in the time domain signal, which is calculated for data sub-carriers and dummy sub-carriers separately. To achieve the better PAPR performance, this paper also proposes to employ the time-frequency domain swapping algorithm for fine adjustment of phase coefficient of the dummy subcarriers, which can achieve the less complexity of processing and achieves the better PAPR and BER performances than those for the conventional DSI method. This paper presents various computer simulation results to verify the effectiveness of proposed method as comparing with the conventional methods in the non-linear channel.

Keywords: OFDM, PAPR, dummy sub-carriers, non-linear

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Authors: Sophia Fry, Mahir Irtiza, Alexa Hoffman, Yousef Sardahi

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This study presents an intelligent control algorithm for a flexible robotic arm. Fuzzy control is used to control the motion of the arm to maintain the arm tip at the desired position while reducing vibration and increasing the system speed of response. The Fuzzy controller (FC) is based on adding the tip angular position to the arm deflection angle and using their sum as a feedback signal to the control algorithm. This reduces the complexity of the FC in terms of the input variables, number of membership functions, fuzzy rules, and control structure. Also, the design of the fuzzy controller is model-free and uses only our knowledge about the system. To show the efficacy of the FC, the control algorithm is implemented on the flexible joint manipulator (FJM) developed by Quanser. The results show that the proposed control method is effective in terms of response time, overshoot, and vibration amplitude.

Keywords: Fuzzy logic control, model-free control, flexible joint manipulators, nonlinear control.

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Authors: M. Pasbani Khiavi, A. R. M. Gharabaghi, K. Abedi

Abstract:

The mechanical behavior of porous media is governed by the interaction between its solid skeleton and the fluid existing inside its pores. The interaction occurs through the interface of gains and fluid. The traditional analysis methods of porous media, based on the effective stress and Darcy's law, are unable to account for these interactions. For an accurate analysis, the porous media is represented in a fluid-filled porous solid on the basis of the Biot theory of wave propagation in poroelastic media. In Biot formulation, the equations of motion of the soil mixture are coupled with the global mass balance equations to describe the realistic behavior of porous media. Because of irregular geometry, the domain is generally treated as an assemblage of fmite elements. In this investigation, the numerical formulation for the field equations governing the dynamic response of fluid-saturated porous media is analyzed and employed for the study of transient wave motion. A finite element model is developed and implemented into a computer code called DYNAPM for dynamic analysis of porous media. The weighted residual method with 8-node elements is used for developing of a finite element model and the analysis is carried out in the time domain considering the dynamic excitation and gravity loading. Newmark time integration scheme is developed to solve the time-discretized equations which are an unconditionally stable implicit method Finally, some numerical examples are presented to show the accuracy and capability of developed model for a wide variety of behaviors of porous media.

Keywords: Dynamic analysis, Interaction, Porous media, time domain

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Authors: P. Sanzo

Abstract:

Increased physical fitness participation has been paralleled by increasedoveruse injuries such as insertional Achilles tendinosis (AT). Treatment has provided inconsistentresults. The use of extracorporeal shockwave therapy (ECSWT) offers a new treatment consideration.The purpose of this study was to assess the effects of ECSWTon pain, function, range of motion (ROM), joint mobility and strength in patients with AT. Thirty subjects were treated with ECSWT and measures were takenbefore and three months after treatment. There was significant differences in visual analog scale (VAS) scores for pain at rest (p=0.002); after activity (p= 0.0001); overall improvement(p=0.0001); Lower Extremity Functional Scale (LEFS) scores (p=0.002); dorsiflexion range of motion (ROM) (p=0.0001); plantarflexion strength (p=0.025); talocrural joint anterior glide (p=0.046); and subtalar joint medial and lateral glide (p=0.025).ECSWT offers a new intervention that may limit the progression of the disorder and the long term healthcare costs associated with AT.

Keywords: Extracorporeal shockwave therapy, shockwave therapy, Achilles tendinosis, range of motion, strength, joint mobility

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Authors: M. Kalichová

Abstract:

The aim of this study was to analyse the most important parameters determining the quality of the motion structure of the basic classical dance jump – grand jeté.Research sample consisted of 8 students of the Dance Conservatory in Brno. Using the system Simi motion we performed a 3D kinematic analysis of the jump. On the basis of the comparison of structure quality and measured data of the grand jeté, we defined the optimal values of the relevant parameters determining the quality of the performance. The take-off speed should achieve about 2.4 m·s-1, the optimum take-off angle is 28 - 30º. The take-off leg should swing backward at the beginning of the flight phase with the minimum speed of 3.3 m·s-1.If motor abilities of dancers achieve the level necessary for optimal performance of a classical dance jump, there is room for certain variability of the structure of the dance jump.

Keywords: biomechanical analysis, classical dance, grand jeté, jump

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Authors: Rangoli Goyal, Rama Bhargava

Abstract:

The triple diffusive boundary layer flow of nanofluid under the action of constant magnetic field over a non-linear stretching sheet has been investigated numerically. The model includes the effect of Brownian motion, thermophoresis, and cross-diffusion; slip mechanisms which are primarily responsible for the enhancement of the convective features of nanofluid. The governing partial differential equations are transformed into a system of ordinary differential equations (by using group theory transformations) and solved numerically by using variational finite element method. The effects of various controlling parameters, such as the magnetic influence number, thermophoresis parameter, Brownian motion parameter, modified Dufour parameter, and Dufour solutal Lewis number, on the fluid flow as well as on heat and mass transfer coefficients (both of solute and nanofluid) are presented graphically and discussed quantitatively. The present study has industrial applications in aerodynamic extrusion of plastic sheets, coating and suspensions, melt spinning, hot rolling, wire drawing, glass-fibre production, and manufacture of polymer and rubber sheets, where the quality of the desired product depends on the stretching rate as well as external field including magnetic effects.

Keywords: FEM, Thermophoresis, Diffusiophoresis, Brownian motion.

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Authors: Changjin Xu

Abstract:

In this paper, using the Gaines and Mawhin,s continuation theorem of coincidence degree theory on time scales, the existence of periodic solutions for a two-prey one-predator system is studied. Some sufficient conditions for the existence of positive periodic solutions are obtained. The results provide unified existence theorems of periodic solution for the continuous differential equations and discrete difference equations.

Keywords: Time scales, competitive system, periodic solution, coincidence degree, topological degree.

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Authors: Pham Luu Trung Duong, Moonyong Lee

Abstract:

To increase precision and reliability of automatic control systems, we have to take into account of random factors affecting the control system. Thus, operational matrix technique is used for statistical analysis of first order plus time delay system with uniform random parameter. Examples with deterministic and stochastic disturbance are considered to demonstrate the validity of the method. Comparison with Monte Carlo method is made to show the computational effectiveness of the method.

Keywords: First order plus dead-time, Operational matrix, Statistical analysis, Walsh function.

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Authors: Sheikh I. Azid, Bibhya Sharma

Abstract:

A low cost Short Message System (SMS) based Home security system equipped with motion, smoke, temperature, humidity and light sensors has been studied and tested. The sensors are controlled by a microprocessor PIC 18F4520 through the SMS having password protection code for the secure operation. The user is able to switch light and the appliances and get instant feedback. Also in cases of emergencies such as fire or robbery the system will send alert message to occupant and relevant civil authorities. The operation of the home security has been tested on Vodafone- Fiji network and Digicel Fiji Network for emergency and feedback responses for 25 samples. The experiment showed that it takes about 8-10s for the security system to respond in case of emergency. It takes about 18-22s for the occupant to switch and monitor lights and appliances and then get feedback depending upon the network traffic.

Keywords: Smart Home, SMS, Sensors, Microprocessor.

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Authors: M. H. M. Rusli, A. Jaffar, M. T. Ali, S. Muhamud @ Kayat

Abstract:

Lean manufacturing is a production philosophy made popular by Toyota Motor Corporation (TMC). It is globally known as the Toyota Production System (TPS) and has the ultimate aim of reducing cost by thoroughly eliminating wastes or muda. TPS embraces the Just-in-time (JIT) manufacturing; achieving cost reduction through lead time reduction. JIT manufacturing can be achieved by implementing Pull system in the production. Furthermore, TPS aims to improve productivity and creating continuous flow in the production by arranging the machines and processes in cellular configurations. This is called as Cellular Manufacturing Systems (CMS). This paper studies on integrating the CMS with the Pull system to establish a Big Island-Pull system production for High Mix Low Volume (HMLV) products in an automotive component industry. The paper will use the build-in JIT system steps adapted from TMC to create the Pull system production and also create a shojinka line which, according to takt time, has the flexibility to adapt to demand changes simply by adding and taking out manpower. This will lead to optimization in production.

Keywords: Big Island layout, Lean manufacturing, Material and Information Flow Chart, Pull system production, TPS.

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Authors: Soltani Amir, Hu Jiaxin

Abstract:

Determination of optimal parameters of a passive  control system device is the primary objective of this study.  Expanding upon the use of control devices in wind and earthquake  hazard reduction has led to development of various control systems.  The advantage of non-linearity characteristics in a passive control  device and the optimal control method using LQR algorithm are  explained in this study. Finally, this paper introduces a simple  approach to determine optimum parameters of a nonlinear viscous  damper for vibration control of structures. A MATLAB program is  used to produce the dynamic motion of the structure considering the  stiffness matrix of the SDOF frame and the non-linear damping  effect. This study concluded that the proposed system (variable  damping system) has better performance in system response control  than a linear damping system. Also, according to the energy  dissipation graph, the total energy loss is greater in non-linear  damping system than other systems.

 

Keywords: Passive Control System, Damping Devices, Viscous Dampers, Control Algorithm.

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Authors: Chanhoe Kang, Changhyun Lee, Seock-Hee Jun, Yeong-Tae Oh

Abstract:

Offshore floating structure under the various environmental conditions maintains a fixed position by mooring system. Environmental conditions, vessel motions and mooring loads are applied to mooring lines as the dynamic tension. Because global responses of mooring system in deep water are specified as wave frequency and low frequency response, they should be calculated from the time-domain analysis due to non-linear dynamic characteristics. To take into account all mooring loads, environmental conditions, added mass and damping terms at each time step, a lot of computation time and capacities are required. Thus, under the premise that reliable fatigue damage could be derived through reasonable analysis method, it is necessary to reduce the analysis cases through the sensitivity studies and appropriate assumptions. In this paper, effects in fatigue are studied for spread mooring system connected with oil FPSO which is positioned in deep water of West Africa offshore. The target FPSO with two Mbbls storage has 16 spread mooring lines (4 bundles x 4 lines). The various sensitivity studies are performed for environmental loads, type of responses, vessel offsets, mooring position, loading conditions and riser behavior. Each parameter applied to the sensitivity studies is investigated from the effects of fatigue damage through fatigue analysis. Based on the sensitivity studies, the following results are presented: Wave loads are more dominant in terms of fatigue than other environment conditions. Wave frequency response causes the higher fatigue damage than low frequency response. The larger vessel offset increases the mean tension and so it results in the increased fatigue damage. The external line of each bundle shows the highest fatigue damage by the governed vessel pitch motion due to swell wave conditions. Among three kinds of loading conditions, ballast condition has the highest fatigue damage due to higher tension. The riser damping occurred by riser behavior tends to reduce the fatigue damage. The various analysis results obtained from these sensitivity studies can be used for a simplified fatigue analysis of spread mooring line as the reference.

Keywords: Mooring system, fatigue analysis, time domain, non-linear dynamic characteristics.

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Authors: Ming-Hui Lee, Iau-Teh Wang

Abstract:

The innovative fuzzy estimator is used to estimate the ground motion acceleration of the retaining structure in this study. The Kalman filter without the input term and the fuzzy weighting recursive least square estimator are two main portions of this method. The innovation vector can be produced by the Kalman filter, and be applied to the fuzzy weighting recursive least square estimator to estimate the acceleration input over time. The excellent performance of this estimator is demonstrated by comparing it with the use of difference weighting function, the distinct levels of the measurement noise covariance and the initial process noise covariance. The availability and the precision of the proposed method proposed in this study can be verified by comparing the actual value and the one obtained by numerical simulation.

Keywords: Earthquake, Fuzzy Estimator, Kalman Filter, Recursive Least Square Estimator.

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Authors: Zixin Liu

Abstract:

The problem of robust stability and robust stabilization for a class of discrete-time uncertain systems with time delay is investigated. Based on Tchebychev inequality, by constructing a new augmented Lyapunov function, some improved sufficient conditions ensuring exponential stability and stabilization are established. These conditions are expressed in the forms of linear matrix inequalities (LMIs), whose feasibility can be easily checked by using Matlab LMI Toolbox. Compared with some previous results derived in the literature, the new obtained criteria have less conservatism. Two numerical examples are provided to demonstrate the improvement and effectiveness of the proposed method.

Keywords: Robust stabilization, robust stability, discrete-time system, time delay.

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Authors: Thi Nguyen, Lee Gordon-Brown, Jim Peterson, Peter Wheeler

Abstract:

An additive fuzzy system comprising m rules with n inputs and p outputs in each rule has at least t m(2n + 2 p + 1) parameters needing to be tuned. The system consists of a large number of if-then fuzzy rules and takes a long time to tune its parameters especially in the case of a large amount of training data samples. In this paper, a new learning strategy is investigated to cope with this obstacle. Parameters that tend toward constant values at the learning process are initially fixed and they are not tuned till the end of the learning time. Experiments based on applications of the additive fuzzy system in function approximation demonstrate that the proposed approach reduces the learning time and hence improves convergence speed considerably.

Keywords: Additive fuzzy system, improving convergence, parameter learning process, unsupervised learning.

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Authors: Irshad Ahmad, Abdul Muhamin Naeem, Muhammad Islam

Abstract:

Information on weed distribution within the field is necessary to implement spatially variable herbicide application. Since hand labor is costly, an automated weed control system could be feasible. This paper deals with the development of an algorithm for real time specific weed recognition system based on Histogram Analysis of an image that is used for the weed classification. This algorithm is specifically developed to classify images into broad and narrow class for real-time selective herbicide application. The developed system has been tested on weeds in the lab, which have shown that the system to be very effectiveness in weed identification. Further the results show a very reliable performance on images of weeds taken under varying field conditions. The analysis of the results shows over 95 percent classification accuracy over 140 sample images (broad and narrow) with 70 samples from each category of weeds.

Keywords: Image Processing, real-time recognition, Weeddetection.

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Authors: Ming Cong, Yinghua Wu, Dong Liu, Haiying Wen, Junfa Yu

Abstract:

In order to improve control performance and eliminate steady, a coupling compensation for 6-DOF parallel robot is presented. Taking dynamic load Tank Simulator as the research object, this paper analyzes the coupling of 6-DOC parallel robot considering the degree of freedom of the 6-DOF parallel manipulator. The coupling angle and coupling velocity are derived based on inverse kinematics model. It uses the mechanism-model combined method which takes practical moving track that considering the performance of motion controller and motor as its input to make the study. Experimental results show that the coupling compensation improves motion stability as well as accuracy. Besides, it decreases the dither amplitude of dynamic load Tank Simulator.

Keywords: coupling compensation, screw theory, parallel robot, mechanism-model combined motion

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Authors: T. C. Manjunath, C. Ardil

Abstract:

This paper presents an efficient method of obtaining a straight-line motion in the tool configuration space using an articulated robot between two specified points. The simulation results & the implementation results show the effectiveness of the method.

Keywords: Bounded deviation algorithm, Straight line motion, Tool configuration space, Joint space, TCV.

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Authors: Meftah O. Bashir, Fatma A. Karkory

Abstract:

Rapid prototyping is a new group of manufacturing processes, which allows fabrication of physical of any complexity using a layer by layer deposition technique directly from a computer system. The rapid prototyping process greatly reduces the time and cost necessary to bring a new product to market. The prototypes made by these systems are used in a range of industrial application including design evaluation, verification, testing, and as patterns for casting processes. These processes employ a variety of materials and mechanisms to build up the layers to build the part. The present work was to build a FDM prototyping machine that could control the X-Y motion and material deposition, to generate two-dimensional and three-dimensional complex shapes. This study focused on the deposition of wax material. This work was to find out the properties of the wax materials used in this work in order to enable better control of the FDM process. This study will look at the integration of a computer controlled electro-mechanical system with the traditional FDM additive prototyping process. The characteristics of the wax were also analysed in order to optimise the model production process. These included wax phase change temperature, wax viscosity and wax droplet shape during processing.

Keywords: Rapid prototyping, wax, manufacturing processes, additive prototyping.

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Authors: Olfa.Ben Ahmed, Mahmoud. Mejdoub, Chokri. Ben Amar

Abstract:

Recognizing human action from videos is an active field of research in computer vision and pattern recognition. Human activity recognition has many potential applications such as video surveillance, human machine interaction, sport videos retrieval and robot navigation. Actually, local descriptors and bag of visuals words models achieve state-of-the-art performance for human action recognition. The main challenge in features description is how to represent efficiently the local motion information. Most of the previous works focus on the extension of 2D local descriptors on 3D ones to describe local information around every interest point. In this paper, we propose a new spatio-temporal descriptor based on a spacetime description of moving points. Our description is focused on an Accordion representation of video which is well-suited to recognize human action from 2D local descriptors without the need to 3D extensions. We use the bag of words approach to represent videos. We quantify 2D local descriptor describing both temporal and spatial features with a good compromise between computational complexity and action recognition rates. We have reached impressive results on publicly available action data set

Keywords: Accordion, Bag of Features, Human action, Motion, Moving point, Space-Time Descriptor, SIFT, Video.

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Authors: Hemani Kaushal, V.K.Jain, Subrat Kar

Abstract:

The performance of ground to deep space optical communication systems is degraded by distortion of the beam as it propagates through the turbulent atmosphere. Turbulence causes fluctuations in the intensity of the received signal which ultimately affects the acquisition time required to acquire and locate the spaceborne target using narrow laser beam. In this paper, performance of free-space optical (FSO) communication system in atmospheric turbulence has been analyzed in terms of acquisition time for coherent and non-coherent modulation schemes. Numerical results presented in graphical and tabular forms show that the acquisition time increases with the increase in turbulence level. This is true for both schemes. The BPSK has lowest acquisition time among all schemes. In non-coherent schemes, M-PPM performs better than the other schemes. With the increase in M, acquisition time becomes lower, but at the cost of increase in system complexity.

Keywords: Atmospheric Turbulence, Acquisition Time, BinaryPhase Shift Keying (BPSK), Free-Space Optical (FSO)Communication System, M-ary Pulse Position Modulation (M-PPM), Coherent/Non-coherent Modulation Schemes.

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Authors: Kwan Hee Han, Jun Woo Park, Seock Kyu Yoo, Geon Lee

Abstract:

As business environments are rapidly changing, the manufacturing system must be reconfigured to adapt to various customer needs. In order to cope with this challenge, it is quintessential to test industrial control logic rapidly and easily in the design time, and monitor operational behavior in the run time of automated manufacturing system. Proposed integrated model for virtual prototyping and operational monitoring of industrial control logic is to improve limitations of current ladder programming practices and general discrete event simulation method. Each plant layout model using HMI package and object-oriented control logic model is designed independently and is executed simultaneously in integrated manner to reflect design practices of automation system in the design time. Control logic is designed and executed using UML activity diagram without considering complicated control behavior to deal with current trend of reconfigurable manufacturing. After the physical installation, layout model of virtual prototype constructed in the design time is reused for operational monitoring of system behavior during run time.

Keywords: automated manufacturing system, HMI, monitoring, object-oriented, PLC, virtual prototyping

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Authors: Martin Leroux, Sylvain Brisebois

Abstract:

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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