Search results for: Autonomous four rotors helicopter

Authors: A. Khebli, S. Aguib, Y. Kateb, L. Guenfoud, N. Chikh, M. Tourab, T. Djedid, W. Dilmi, A. Hadidi, H. Meglouli

Abstract:

Composite structures based on magnetorheological elastomers (MREs) are widely used in many industrial sectors, such as automotive, naval, railway, aeronautical, aerospace, and building industries because of their adjustable mechanical properties by an external stimulus. In this work, experimental tests and numerical simulations carried out have shown that the use of these new structures, developed from honeycomb core, and MRE with aluminum skins, make it possible to improve particularly the overall rigidity and to reduce the vibration amplitudes. The results found showed that these hybrid structures have a very good mechanical resistance due mainly to the honeycomb core, and a very good shock absorber due mainly to the core of the MRE. The elaborated composite structure is intended to be used in industrial sectors subject to great efforts and a high amplitude of vibration such as helicopter wings and air turbines.

Keywords: Hybrid sandwich structures, magnetorheological elastomer, honeycomb, 3-point bending, mechanical strength.

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Authors: E T. Rakgati, E. Matlotse

Abstract:

In this paper the principle, basic torque theory and design optimisation of a six-phase reluctance dc machine are considered. A trapezoidal phase current waveform for the machine drive is proposed and evaluated to minimise ripple torque. Low cost normal laminated salient-pole rotors with and without slits and chamfered poles are investigated. The six-phase machine is optimised in multi-dimensions by linking the finite-element analysis method directly with an optimisation algorithm; the objective function is to maximise the torque per copper losses of the machine. The armature reaction effect is investigated in detail and found to be severe. The measured and calculated torque performances of a 35 kW optimum designed six-phase reluctance dc machine drive are presented.

Keywords: Reluctance dc machine, current waveform, design optimisation, finite element analysis, armature reaction effect.

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Authors: Anukriti Kumar, Tanmay Singh, Dinesh Kumar Vishwakarma

Abstract:

Traffic control has been one of the most common and irritating problems since the time automobiles have hit the roads. Problems like traffic congestion have led to a significant time burden around the world and one significant solution to these problems can be the proper implementation of the Intelligent Transport System (ITS). It involves the integration of various tools like smart sensors, artificial intelligence, position technologies and mobile data services to manage traffic flow, reduce congestion and enhance driver's ability to avoid accidents during adverse weather. Road and traffic signs’ recognition is an emerging field of research in ITS. Classification problem of traffic signs needs to be solved as it is a major step in our journey towards building semi-autonomous/autonomous driving systems. The purpose of this work focuses on implementing an approach to solve the problem of traffic sign classification by developing a Convolutional Neural Network (CNN) classifier using the GTSRB (German Traffic Sign Recognition Benchmark) dataset. Rather than using hand-crafted features, our model addresses the concern of exploding huge parameters and data method augmentations. Our model achieved an accuracy of around 97.6% which is comparable to various state-of-the-art architectures.

Keywords: Multiclass classification, convolution neural network, OpenCV, Data Augmentation.

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Authors: Taylan Kabbani, Ekrem Duman

Abstract:

Deep Reinforcement Learning (DRL) algorithms can scale to previously intractable problems. The automation of profit generation in the stock market is possible using DRL, by combining  the financial assets price ”prediction” step and the ”allocation” step of the portfolio in one unified process to produce fully autonomous systems capable of interacting with its environment to make optimal decisions through trial and error. This work represents a DRL model to generate profitable trades in the stock market, effectively overcoming the limitations of supervised learning approaches. We formulate the trading problem as a Partially observed Markov Decision Process (POMDP) model, considering the constraints imposed by the stock market, such as liquidity and transaction costs. We then solved the formulated POMDP problem using the Twin Delayed Deep Deterministic Policy Gradient (TD3) algorithm and achieved a 2.68 Sharpe ratio on the test dataset. From the point of view of stock market forecasting and the intelligent decision-making mechanism, this paper demonstrates the superiority of DRL in financial markets over other types of machine learning and proves its credibility and advantages of strategic decision-making.

Keywords: Autonomous agent, deep reinforcement learning, MDP, sentiment analysis, stock market, technical indicators, twin delayed deep deterministic policy gradient.

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Authors: Andi Pawawoi, Syafii

Abstract:

Instantaneous electromagnetic torque of simple reflectance generator can be positive at a time and negative at other time. It is utilized to design a permanent magnet reluctance generator specifically. Generator is designed by combining two simple reluctance generators, consists of two rotors mounted on the same shaft, two output-windings and a field source of the permanent magnet. By this design, the electromagnetic torque on both rotor will be eliminated each other, so the input torque generator can be smaller. Rotor is expected only to regulate the flux flow to both output windings alternately, until the magnetic energy is converted into electrical energy, such as occurs in the transformer energy conversion. ​​The prototype trials have been made to test this design. The test result show that the new design of permanent magnets reluctance generator able to convert energy from permanent magnets into electrical energy, this is proven by the existence 167% power output compared to the shaft input power.

Keywords: Energy, Magnet permanent, Reluctance generator.

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Authors: D. Sujan, Z. Oo, M. E. Rahman, M. A. Maleque, C. K. Tan

Abstract:

Particulate reinforced metal matrix composites (MMCs) are potential materials for various applications due to their advantageous of physical and mechanical properties. This paper presents a study on the performance of stir cast Al2O3 SiC reinforced metal matrix composite materials. The results indicate that the composite materials exhibit improved physical and mechanical properties, such as, low coefficient of thermal expansion, high ultimate tensile strength, high impact strength, and hardness. It has been found that with the increase of weight percentage of reinforcement particles in the aluminium metal matrix, the new material exhibits lower wear rate against abrasive wearing. Being extremely lighter than the conventional gray cast iron material, the Al-Al2O3 and Al-SiC composites could be potential green materials for applications in the automobile industry, for instance, in making car disc brake rotors.

Keywords: Metal Matrix Composite, Strength to Weight Ratio, Wear Rate

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Authors: Zh. Kumganbayev, U. Ahatov, A. Darkenbayev

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This article refers to the action of Kazakh intelligentsia towards the formation of national state and their attempt for reconstruction of national independence and building the way to nowadays- independence through reviewing the history of our national ideology.

Keywords: Kazakh intelligentsia's activity, Kazakh intellectuals, independence of Kazakhstan, Kazakh nation, Alashorda.

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Authors: Robson C. Santos, Julio C. P. Ribeiro, Iorran M. de Castro, Luan C. F. Rodrigues, Sandro R. L. Silva, Diego M. Quesada

Abstract:

The work aims to develop a robot in the form of autonomous vehicle to detect, inspection and mapping of underground pipelines through the ATmega328 Arduino platform. Hardware prototyping is very similar to C / C ++ language that facilitates its use in robotics open source, resembles PLC used in large industrial processes. The robot will traverse the surface independently of direct human action, in order to automate the process of detecting buried pipes, guided by electromagnetic induction. The induction comes from coils that send the signal to the Arduino microcontroller contained in that will make the difference in intensity and the treatment of the information, and then this determines actions to electrical components such as relays and motors, allowing the prototype to move on the surface and getting the necessary information. This change of direction is performed by a stepper motor with a servo motor. The robot was developed by electrical and electronic assemblies that allowed test your application. The assembly is made up of metal detector coils, circuit boards and microprocessor, which interconnected circuits previously developed can determine, process control and mechanical actions for a robot (autonomous car) that will make the detection and mapping of buried pipelines plates. This type of prototype can prevent and identifies possible landslides and they can prevent the buried pipelines suffer an external pressure on the walls with the possibility of oil leakage and thus pollute the environment.

Keywords: Robotic, metal detector, embedded system, pipeline.

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Authors: Chi-Fang Huang, Yun-Shiow Chen, Yun-Kung Chung

Abstract:

In the past decade, artificial neural networks (ANNs) have been regarded as an instrument for problem-solving and decision-making; indeed, they have already done with a substantial efficiency and effectiveness improvement in industries and businesses. In this paper, the Back-Propagation neural Networks (BPNs) will be modulated to demonstrate the performance of the collaborative forecasting (CF) function of a Collaborative Planning, Forecasting and Replenishment (CPFR®) system. CPFR functions the balance between the sufficient product supply and the necessary customer demand in a Supply and Demand Chain (SDC). Several classical standard BPN will be grouped, collaborated and exploited for the easy implementation of the proposed modular ANN framework based on the topology of a SDC. Each individual BPN is applied as a modular tool to perform the task of forecasting SKUs (Stock-Keeping Units) levels that are managed and supervised at a POS (point of sale), a wholesaler, and a manufacturer in an SDC. The proposed modular BPN-based CF system will be exemplified and experimentally verified using lots of datasets of the simulated SDC. The experimental results showed that a complex CF problem can be divided into a group of simpler sub-problems based on the single independent trading partners distributed over SDC, and its SKU forecasting accuracy was satisfied when the system forecasted values compared to the original simulated SDC data. The primary task of implementing an autonomous CF involves the study of supervised ANN learning methodology which aims at making “knowledgeable" decision for the best SKU sales plan and stocks management.

Keywords: CPFR, artificial neural networks, global logistics, supply and demand chain.

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Authors: Omowunmi E. Isafiade, Isaac O. Osunmakinde, Antoine B. Bagula

Abstract:

Robots- visual perception is a field that is gaining increasing attention from researchers. This is partly due to emerging trends in the commercial availability of 3D scanning systems or devices that produce a high information accuracy level for a variety of applications. In the history of mining, the mortality rate of mine workers has been alarming and robots exhibit a great deal of potentials to tackle safety issues in mines. However, an effective vision system is crucial to safe autonomous navigation in underground terrains. This work investigates robots- perception in underground terrains (mines and tunnels) using statistical region merging (SRM) model. SRM reconstructs the main structural components of an imagery by a simple but effective statistical analysis. An investigation is conducted on different regions of the mine, such as the shaft, stope and gallery, using publicly available mine frames, with a stream of locally captured mine images. An investigation is also conducted on a stream of underground tunnel image frames, using the XBOX Kinect 3D sensors. The Kinect sensors produce streams of red, green and blue (RGB) and depth images of 640 x 480 resolution at 30 frames per second. Integrating the depth information to drivability gives a strong cue to the analysis, which detects 3D results augmenting drivable and non-drivable regions in 2D. The results of the 2D and 3D experiment with different terrains, mines and tunnels, together with the qualitative and quantitative evaluation, reveal that a good drivable region can be detected in dynamic underground terrains.

Keywords: Drivable Region Detection, Kinect Sensor, Robots' Perception, SRM, Underground Terrains.

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Authors: Kejun Zhuang

Abstract:

In this paper, a three dimensional autonomous chaotic system is considered. The existence of Hopf bifurcation is investigated by choosing the appropriate bifurcation parameter. Furthermore, formulas for determining the direction of the Hopf bifurcation and the stability of bifurcating periodic solutions are derived with the help of normal form theory. Finally, a numerical example is given.

Keywords: Chaotic system, Hopf bifurcation, normal form theory.

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Authors: Y. Deng, X. Li, C. Kwan, B. Raj, R. Stern

Abstract:

The current speech interfaces in many military applications may be adequate for native speakers. However, the recognition rate drops quite a lot for non-native speakers (people with foreign accents). This is mainly because the nonnative speakers have large temporal and intra-phoneme variations when they pronounce the same words. This problem is also complicated by the presence of large environmental noise such as tank noise, helicopter noise, etc. In this paper, we proposed a novel continuous acoustic feature adaptation algorithm for on-line accent and environmental adaptation. Implemented by incremental singular value decomposition (SVD), the algorithm captures local acoustic variation and runs in real-time. This feature-based adaptation method is then integrated with conventional model-based maximum likelihood linear regression (MLLR) algorithm. Extensive experiments have been performed on the NATO non-native speech corpus with baseline acoustic model trained on native American English. The proposed feature-based adaptation algorithm improved the average recognition accuracy by 15%, while the MLLR model based adaptation achieved 11% improvement. The corresponding word error rate (WER) reduction was 25.8% and 2.73%, as compared to that without adaptation. The combined adaptation achieved overall recognition accuracy improvement of 29.5%, and WER reduction of 31.8%, as compared to that without adaptation.

Keywords: speaker adaptation; environment adaptation; robust speech recognition; SVD; non-native speech recognition

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Authors: Nazim Mir-Nasiri, Hudyjaya Siswoyo Jo

Abstract:

The paper describes conceptual design, control strategies, and partial simulation for a new fully autonomous lower limb wearable exoskeleton system for human motion enhancement that can support its weight and increase strength and endurance. Various problems still remain to be solved where the most important is the creation of a power and cost efficient system that will allow an exoskeleton to operate for extended period without batteries being frequently recharged. The designed exoskeleton is enabling to decouple the weight/mass carrying function of the system from the forward motion function which reduces the power and size of propulsion motors and thus the overall weight, cost of the system. The decoupling takes place by blocking the motion at knee joint by placing passive air cylinder across the joint. The cylinder is actuated when the knee angle has reached the minimum allowed value to bend. The value of the minimum bending angle depends on usual walk style of the subject. The mechanism of the exoskeleton features a seat to rest the subject’s body weight at the moment of blocking the knee joint motion. The mechanical structure of each leg has six degrees of freedom: four at the hip, one at the knee, and one at the ankle. Exoskeleton legs are attached to subject legs by using flexible cuffs. The operation of all actuators depends on the amount of pressure felt by the feet pressure sensors and knee angle sensor. The sensor readings depend on actual posture of the subject and can be classified in three distinct cases: subject stands on one leg, subject stands still on both legs and subject stands on both legs but transit its weight from one leg to other. This exoskeleton is power efficient because electrical motors are smaller in size and did not participate in supporting the weight like in all other existing exoskeleton designs.

Keywords: Energy efficient system, exoskeleton, motion enhancement, robotics.

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Authors: A. Ribeiro, N. Valério, C. Vilarinho, J. Araujo, J. Carvalho

Abstract:

Res2ValHUM project involves institutions from the Spanish Autonomous Region of Galicia and the north of Portugal (districts of Porto and Braga) and has as overall objectives of promotion of composting as an process for the correct managing of organic waste, valorization of compost in different fields or applications for the constitution of products with high added value, reducing of raw materials losses, and reduction of the amount of waste throw in landfills. Three main actions were designed to achieve the objectives: development of a management tool to improve collection and residue channeling for composting, sensibilization of the population for composting and characterization of the chemical and biological properties of compost and humic and fulvic substances to envisage high-value applications of compost. Here we present the cooperative activity of Galician and northern Portuguese institutions to valorize organic waste in both regions with common socio-economic characteristics and residue management problems. Results from the creation of the resource manage tool proved the existence of a large number of agricultural wastes that could be valorized. In the North of Portugal, the wastes from maize, oats, potato, apple, grape pomace, rye, and olive pomace can be highlighted. In the Autonomous Region of Galicia the wastes from maize, wheat, potato, apple, and chestnuts can be emphasized. Regarding the isolation and identification of microbial consortia from compost samples, results proved microorganisms belong mainly to the genus Bacillus spp. Among all the species identified in compost samples, Bacillus licheniformis can be highlighted in the production of humic and fulvic acids.

Keywords: Agricultural wastes, Bacillus licheniformis, Bacillus spp., Humic-acids, Fulvic-acids.

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Authors: Viridiana Edith Ardura Perea, José Luis Bermúdez Alcocer

Abstract:

The purpose of this paper is to establish the influence of shading on a Building Integrated Photovoltaic (BIPV) system´s performance in an urban context. The PV systems of the Science Center of Complexity (Centro de Ciencias de la Complejidad) Building based in the Main Campus of the National and Autonomous University of Mexico (UNAM) in Mexico City was taken as case study.  The PV systems are placed on the rooftop and on the south façade of the building.  The south-façade PV system, operating as sunshades, consists of two strings:  one at the ground floor and the other one at the first floor.  According to the building’s facility manager, the south-façade PV system generates 42% less electricity per kilowatt peak (kWp) installed than the one on the roof.  The methods applied in this study were Solar Radiation Analysis (SRA) simulations performed with the Insight 360 Plug-in from Revit 2018^® and an on-site measurement using specialized tools.  The results of the SRA simulations showed that the shading casted by the PV system placed on the first floor on top of the PV system of the ground floor decreases its solar incident radiation over 50%.  The simulation outcome was compared and validated to the measured data obtained from the on-site measurement.  In conclusion, the loss factor achieved from the shading of the PVs is due to the surroundings and the PV system´s own design.  The south-façade BIPV system’s deficient design generates critical losses on its performance and decreases its profitability.

Keywords: Building integrated photovoltaics (BIPV) design, energy analysis software, shading losses, solar radiation analysis.

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Authors: Hirohide Ushida

Abstract:

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

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

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Authors: A. Safaee, M. S. Mehrabani, M. B. Menhaj, V. Mousavi, S. Z. Moussavi

Abstract:

Monocopter is a single-wing rotary flying vehicle which has the capability of hovering. This flying vehicle includes two dynamic parts in which more efficiency can be expected rather than other Micro UAVs due to the extended area of wing compared to its fuselage. Low cost and simple mechanism in comparison to other vehicles such as helicopter are the most important specifications of this flying vehicle. In the previous paper we discussed the introduction of the final system but in this paper, the experimental design process of Monocopter and its control algorithm has been investigated in general. Also the editorial bugs in the previous article have been corrected and some translational ambiguities have been resolved. Initially by constructing several prototypes and carrying out many flight tests the main design parameters of this air vehicle were obtained by experimental measurements. Eventually the required main monocopter for this project was constructed. After construction of the monocopter in order to design, implementation and testing of control algorithms first a simple optic system used for determining the heading angle. After doing numerous tests on Test Stand, the control algorithm designed and timing of applying control inputs adjusted. Then other control parameters of system were tuned in flight tests. Eventually the final control system designed and implemented using the AHRS sensor and the final operational tests performed successfully.

Keywords: Monocopter, Flap, Heading Angle, AHRS, Cyclic, Photo Diode.

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Authors: Evgeniia V. Mekhonoshina, Vladimir Ya. Modorskii, Vasilii Yu. Petrov

Abstract:

At present, vibrations of rotors of gas transmittal unit evade sustainable forecasting. This paper describes elastic oscillation modes in resilient supports and rotor impellers modeled during computational experiments with regard to interference in the system of gas-dynamic flow and compressor rotor. Verification of aeroelastic approach was done on model problem of interaction between supersonic jet in shock tube with deformed plate. ANSYS 15.0 engineering analysis system was used as a modeling tool of numerical simulation in this paper. Finite volume method for gas dynamics and finite elements method for assessment of the strain stress state (SSS) components were used as research methods. Rotation speed and material’s elasticity modulus varied during calculations, and SSS components and gas-dynamic parameters in the dynamic system of gas-dynamic flow and compressor rotor were evaluated. The analysis of time dependence demonstrated that gas-dynamic parameters near the rotor blades oscillate at 200 Hz, and SSS parameters at the upper blade edge oscillate four times higher, i.e. with blade frequency. It has been detected that vibration amplitudes correction in the test points at magnetic bearings by aeroelasticity may correspond up to 50%, and about -π/4 for phases.

Keywords: Centrifugal compressor, aeroelasticity, interdisciplinary calculation, oscillation phase displacement, vibration, nonstationarity.

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Authors: Y. J. Huang, J. D. Yu, B. W. Hong, C. H. Tai, T. C. Kuo

Abstract:

In this paper, a multi-agent robot system is presented. The system consists of four robots. The developed robots are able to automatically enter and patrol a harmful environment, such as the building infected with virus or the factory with leaking hazardous gas. Further, every robot is able to perform obstacle avoidance and search for the victims. Several operation modes are designed: remote control, obstacle avoidance, automatic searching, and so on.

Keywords: autonomous robot, field programmable gate array, obstacle avoidance, ultrasonic sensor, wireless communication.

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Authors: Huan Xiong, Ming Chen

Abstract:

In order to research Internet quantificationally and better model the performance of network, this paper proposes a novel AS level network performance model (MNPM), it takes autonomous system (AS) as basic modeling unit, measures E2E performance between any two outdegrees of an AS and organizes measurement results into matrix form which called performance matrix (PM). Inter-AS performance calculation is defined according to performance information stored in PM. Simulation has been implemented to verify the correctness of MNPM and a practical application of MNPM (network congestion detection) is given.

Keywords: AS, network performance, model, metric, congestion.

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Authors: Abdolhamid Fetanat, Mehdi Naghian Feshaareki

Abstract:

In open settings, the participants in virtual organization are autonomous and there is no central authority to ensure the felicity of their interactions. When agents interact in such settings, each relies upon being able to model the trustworthiness of the agents with whom it interacts. Fundamentally, such models must consider the past behavior of the other parties in order to predict their future behavior. Further, it is sensible for the agents to share information via referrals to trustworthy agents. In this article, trust is a bet on the future contingent actions of others" and enumerates six major factors supporting it: (1) reputation, (2) performance, (3) appearance, (4) accountability, (5) precommitment, and (6) contextual facilitation.

Keywords: Trustworthy, trust, virtual organization.

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Authors: Michel Han, Christophe Besson, Alain Savary, Yvan Becher

Abstract:

The variable flux permanent magnet synchronous motor (VF-PMSM), also called "Memory Motor", is a new generation of motor capable of modifying the magnetization state with short pulses of current during operation or standstill. The impact of such operation is the expansion of the operating range in the torque-speed characteristic and an improvement in energy efficiency at high-speed in comparison to conventional permanent magnet synchronous machines (PMSMs). This paper reviews the operating principle and the unique features of the proposed memory motor. The benefits of this concept are highlighted by comparing the performance of the rotor of the VF-PMSM to that of two PM rotors that are typically found in the industry. The investigation emphasizes the properties of the variable magnetization and presents the comparison of the torque-speed characteristic with the capability of loss reduction in a VF-PMSM by means of experimental results, especially when tests are conducted under identical conditions for each rotor (same stator, same inverter and same experimental setup). The experimental results demonstrated that the VF-PMSM gives an additional degree of freedom to optimize the efficiency over a wide speed range. Thus, with a design easy to manufacture and with the possibility of controlling the magnetization and the demagnetization of the magnets during operations, the VF-PMSM can be interesting for various applications.

Keywords: Efficiency, magnetization state, memory motors, performances, permanent-magnet, synchronous machine, variable-flux, variable magnetization, wide speed application.

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Authors: Rohana Mahmud, Hairul Aysa Abdul Halim Sithiq, Haryuna Mohd Taharim

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In this paper, the authors present architecture of a multi agent consultation system for obesity related problems, which hybrid the technology of an expert system (ES) and an intelligent agent (IA). The strength of the ES which is capable of pulling the expert knowledge is consulted and presented to the end user via the autonomous and friendly pushing environment of the intelligent agent.

Keywords: Expert System, Hybrid Technology, Intelligent Agent, Medical Informatics, Multi Agent Consultation System.

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Authors: Hajer Taktak, Faouzi Moussa

Abstract:

With the ubiquitous computing’s emergence and the evolution of enterprises’ needs, one of the main challenges is to build context-aware applications based on Web services. These applications have become particularly relevant in the pervasive computing domain. In this paper, we introduce our approach that optimizes the use of Web services with context notions when dealing with contextual environments. We focus particularly on making Web services autonomous and natively context-aware. We implement and evaluate the proposed approach with a pedagogical example of a context-aware Web service treating temperature values. 

Keywords: Context-aware, CXF framework, ubiquitous computing, web service.

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Authors: Yiming Nie, Tao Wu, Xiangjing An, Hangen He

Abstract:

Fast depth estimation from binocular vision is often desired for autonomous vehicles, but, most algorithms could not easily be put into practice because of the much time cost. We present an image-processing technique that can fast estimate depth image from binocular vision images. By finding out the lines which present the best matched area in the disparity space image, the depth can be estimated. When detecting these lines, an edge-emphasizing filter is used. The final depth estimation will be presented after the smooth filter. Our method is a compromise between local methods and global optimization.

Keywords: Depth estimation, image filters, stereo match.

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Authors: Omid A. Zargar

Abstract:

Vibration analysis of screw compressors is one of the most challenging cases in preventive maintenance. This kind of equipment considered as vibration bad actor facilities in industrial plants. On line condition monitoring systems developed too much in recent years. The high frequency vibration of ball bearings, gears, male and female caused complex fast Fourier transform (FFT) and time wave form (TWF) in screw compressors. The male and female randomly are sent to balance shop for balancing operation. This kind of operation usually caused some bending in rotors during the process that could cause further machining in such equipment. This kind of machining operation increased the vibration analysis complexity beside some process characteristic abnormality like inlet and out let pressure and temperature. In this paper mechanical principal and different type of screw compressors explained. Besides, some new condition monitoring systems and techniques for screw compressors discussed. Finally, one of the common behavior of oil injected twin rotary screw compressors called hydraulic unbalance that usually occurred after machining operation of male or female and have some specific characteristics in FFT and TWF discussed in details through a case history related to Iran oil industries.

Keywords: Vibration analysis, twin screw compressor, oil injected screw compressor, time wave form (TWF), fast Fourier transform (FFT), Hydraulic unbalance and rotor unbalance.

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Authors: Paul Y. Oh, William E. Green

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This paper describes a prototype aircraft that can fly slowly, safely and transmit wireless video for tasks like reconnaissance, surveillance and target acquisition. The aircraft is designed to fly in closed quarters like forests, buildings, caves and tunnels which are often spacious but GPS reception is poor. Envisioned is that a small, safe and slow flying vehicle can assist in performing dull, dangerous and dirty tasks like disaster mitigation, search-and-rescue and structural damage assessment.

Keywords: Unmanned aerial vehicles, autonomous collisionavoidance, optic flow, near-Earth environments

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Authors: Adnene Arbi, Chaouki Aouiti, Abderrahmane Touati

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In this paper, we consider the uniform asymptotic stability, global asymptotic stability and global exponential stability of the equilibrium point of discrete Hopfield neural networks with delays. Some new stability criteria for system are derived by using the Lyapunov functional method and the linear matrix inequality approach, for estimating the upper bound of Lyapunov functional derivative.

Keywords: Hopfield neural networks, uniform asymptotic stability, global asymptotic stability, exponential stability.

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Authors: Akbar F. Moghaddam, Magnus Lange, Omid Mirmotahari, Mats Høvin

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To improve HSE standards, oil and gas industries are interested in using remotely controlled and autonomous robots instead of human workers on offshore platforms. In addition to earlier reason this strategy would increase potential revenue, efficient usage of work experts and even would allow operations in more remote areas. This article is the presentation of a custom climbing robot, called Walloid, designed for offshore platform topside automation. This 4 arms climbing robot with grippers is an ongoing project at University of Oslo.

Keywords: Climbing Robots, Mobile Robots, Offshore Robotics, Offshore Platforms, Automation, Inspection, Monitoring.

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Authors: Selim Yannier, Asif Sabanovic, Ahmet Onat, Muhammet Bastan

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In this work, we suggested a new approach for the control of a mobile robot capable of being a building block of an intelligent agent. This approach includes obstacle avoidance and goal tracking implemented as two different sliding mode controllers. A geometry based behavior arbitration is proposed for fusing the two outputs. Proposed structure is tested on simulations and real robot. Results have confirmed the high performance of the method.

Keywords: Autonomous Mobile Robot, Behavior Based Control, Fast Local Obstacle Avoidance, Sliding Mode Control.

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