Search results for: Robot joint module

Authors: Marco Raciti Castelli, Ernesto Benini

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This paper presents a model for the evaluation of energy performance and aerodynamic forces acting on a small straight-bladed Darrieus-type vertical axis wind turbine depending on blade geometrical section. It consists of an analytical code coupled to a solid modeling software, capable of generating the desired blade geometry based on the desired blade design geometric parameters. Such module is then linked to a finite volume commercial CFD code for the calculation of rotor performance by integration of the aerodynamic forces along the perimeter of each blade for a full period of revolution.After describing and validating the computational model with experimental data, the results of numerical simulations are proposed on the bases of two candidate airfoil sections, that is a classical symmetrical NACA 0021 blade profile and the recently developed DU 06-W-200 non-symmetric and laminar blade profile.Through a full CFD campaign of analysis, the effects of blade geometrical section on angle of attack are first investigated and then the overall rotor torque and power are analyzed as a function of blade azimuthal position, achieving a numerical quantification of the influence of airfoil geometry on overall rotor performance.

Keywords: Wind turbine, NACA 0021, DU 06-W-200.

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Authors: Hani M. Aburas

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

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

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Authors: P. Sanzo

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

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

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Authors: Mehmet Nefes, Selman Demirel, Hasan H. Ertok, Cenk Sen

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A typical reliability engineering problem regarding communication satellites has been considered to determine redundancy allocation scheme of power amplifiers within payload transponder module, whose dominant function is to amplify power levels of the received signals from the Earth, through maximizing reliability against mass, power, and other technical limitations. Adding each redundant power amplifier component increases not only reliability but also hardware, testing, and launch cost of a satellite. This study investigates a multi-objective approach used in order to solve Redundancy Allocation Problem (RAP) for a communication satellite payload transponder, focusing on design cost due to redundancy and reliability factors. The main purpose is to find the optimum power amplifier redundancy configuration satisfying reliability and capacity thresholds simultaneously instead of analyzing respectively or independently. A mathematical model and calculation approach are instituted including objective function definitions, and then, the problem is solved analytically with different input parameters in MATLAB environment. Example results showed that payload capacity and failure rate of power amplifiers have remarkable effects on the solution and also processing time.

Keywords: Communication satellite payload, multi-objective optimization, redundancy allocation problem, reliability, transponder.

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Authors: Vijayalakshmy Periaswamy S., Kevin McDaid

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Testing accounts for the major percentage of technical contribution in the software development process. Typically, it consumes more than 50 percent of the total cost of developing a piece of software. The selection of software tests is a very important activity within this process to ensure the software reliability requirements are met. Generally tests are run to achieve maximum coverage of the software code and very little attention is given to the achieved reliability of the software. Using an existing methodology, this paper describes how to use Bayesian Belief Networks (BBNs) to select unit tests based on their contribution to the reliability of the module under consideration. In particular the work examines how the approach can enhance test-first development by assessing the quality of test suites resulting from this development methodology and providing insight into additional tests that can significantly reduce the achieved reliability. In this way the method can produce an optimal selection of inputs and the order in which the tests are executed to maximize the software reliability. To illustrate this approach, a belief network is constructed for a modern software system incorporating the expert opinion, expressed through probabilities of the relative quality of the elements of the software, and the potential effectiveness of the software tests. The steps involved in constructing the Bayesian Network are explained as is a method to allow for the test suite resulting from test-driven development.

Keywords: Software testing, Test Driven Development, Bayesian Belief Networks.

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Authors: Jehad Al Dallal

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Program slicing is the task of finding all statements in a program that directly or indirectly influence the value of a variable occurrence. The set of statements that can affect the value of a variable at some point in a program is called a program slice. In several software engineering applications, such as program debugging and measuring program cohesion and parallelism, several slices are computed at different program points. In this paper, algorithms are introduced to compute all backward and forward static slices of a computer program by traversing the program representation graph once. The program representation graph used in this paper is called Program Dependence Graph (PDG). We have conducted an experimental comparison study using 25 software modules to show the effectiveness of the introduced algorithm for computing all backward static slices over single-point slicing approaches in computing the parallelism and functional cohesion of program modules. The effectiveness of the algorithm is measured in terms of time execution and number of traversed PDG edges. The comparison study results indicate that using the introduced algorithm considerably saves the slicing time and effort required to measure module parallelism and functional cohesion.

Keywords: Backward slicing, cohesion measure, forward slicing, parallelism measure, program dependence graph, program slicing, static slicing.

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Authors: Hasan Keshavarzian, Tayebeh Nesari

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

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

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Authors: Ahmad Zahran, Ahmed Herzallah, Ahmad Ahmad, Mahran Quraan

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Generation of high DC voltages is necessary for testing the insulation material of high voltage AC transmission lines with long lengths. The harmonic and ripple contents of the output DC voltage supplied by high voltage DC circuits require the use of costly capacitors to smooth the output voltage after rectification. This paper proposes a new modular multiplier high voltage DC generator with embedded Cockcroft-Walton circuits that achieve a negligible harmonic and ripple contents of the output DC voltage without the need for costly filters to produce a nearly constant output voltage. In this new topology, Cockcroft-Walton modules are connected in series to produce a high DC output voltage. The modules are supplied by low input AC voltage sources that have the same magnitude and frequency and shifted from each other by a certain angle to eliminate the harmonics from the output voltage. The small ripple factor is provided by the smoothing column capacitors and the phase shifted input voltages of the cascaded modules. The constituent harmonics within each module are determined using Fourier analysis. The viability of the proposed DC generator for testing purposes and the effectiveness of the cascaded connection are confirmed by numerical simulations using MATLAB/Simulink.

Keywords: Cockcroft-Walton circuit, Harmonics, Ripple factor, HVDC generator.

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Authors: Marley Rosa Luciano, Rodney Rezende Saldanha

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The race for electrification and the need for innovation to attract customers has led the automotive industry to do something different with vehicles. New emissions control challenges and efficient technological availability are the pillars of creation. The growing demand to upgrade industrial manufacturing systems creates actions that directly impact vehicle production. With this comes the search for new prototyping methods and virtual tools for component testing and validation, and vehicle systems have established themselves. The demand for Electronic Control Units (ECU) is increasing due to the availability of intelligence and safety in today's vehicles, directly affecting their development, performance, and functional testing. In order to keep up with global changes, the automotive industry uses different virtual environments to produce, verify and validate their vehicles and test prototypes used during development. Therefore, in this paper, integration and validation were performed using the Hardware in the Loop (HIL) test platform, focusing on the ECU Body Control Module (BCM). Then, a brief commentary reviews other test medium platforms, such as the Plywood Buck (PWB), and examines the reliability, flexibility, installation time, and cost of the three test platforms, software in the loop (SIL), Model in the loop (MIL), and HIL, to review their benefits, challenges, and issues in use and information to optimize the use of each platform and test medium.

Keywords: Automotive, Electronic Central Unit, xIL, Hardware in the loop.

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Authors: Atena Sajedin, Shokoufeh Zakernejad, Soheil Faridi, Mehrdad Javadi, Reza Ebrahimpour

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This paper illustrates the use of a combined neural network model for classification of electrocardiogram (ECG) beats. We present a trainable neural network ensemble approach to develop customized electrocardiogram beat classifier in an effort to further improve the performance of ECG processing and to offer individualized health care. We process a three stage technique for detection of premature ventricular contraction (PVC) from normal beats and other heart diseases. This method includes a denoising, a feature extraction and a classification. At first we investigate the application of stationary wavelet transform (SWT) for noise reduction of the electrocardiogram (ECG) signals. Then feature extraction module extracts 10 ECG morphological features and one timing interval feature. Then a number of multilayer perceptrons (MLPs) neural networks with different topologies are designed. The performance of the different combination methods as well as the efficiency of the whole system is presented. Among them, Stacked Generalization as a proposed trainable combined neural network model possesses the highest recognition rate of around 95%. Therefore, this network proves to be a suitable candidate in ECG signal diagnosis systems. ECG samples attributing to the different ECG beat types were extracted from the MIT-BIH arrhythmia database for the study.

Keywords: ECG beat Classification; Combining Classifiers;Premature Ventricular Contraction (PVC); Multi Layer Perceptrons;Wavelet Transform

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Authors: Aleksandra Chiniaeva

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

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

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

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

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

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

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

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

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Authors: Lokesh Tharani, R.P.Yadav

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

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

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Authors: Azin Shakibabarough, Mojtaba Valinejadshoubi, Ashutosh Bagchi

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

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

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Authors: M. S. Sivagamasundari, P. Melba Mary

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Multilevel inverter is a promising inverter topology for high voltage and high power applications. This inverter synthesizes several different levels of DC voltages to produce a stepped AC output that approaches the pure sine waveform. The three different topologies, diode-clamped inverter, capacitor-clamped inverter and cascaded h-bridge multilevel inverter are widely used in these multilevel inverters. Among the three topologies, cascaded h-bridge multilevel inverter is more suitable for photovoltaic applications since each PV array can act as a separate dc source for each h-bridge module. This research especially focus on photovoltaic power source as input to the system and shows the potential of a Single Phase Cascaded H-bridge Eleven level inverter governed by the fuzzy logic controller to improve the power quality by reducing the total harmonic distortion at the output voltage. Hence the efficiency of the system will be improved. Simulation using MATLAB/SIMULINK has been done to verify the performance of cascaded h-bridge eleven level inverter using sinusoidal pulse width modulation technique. The simulated output shows very favorable result.

Keywords: Multilevel inverter, Cascaded H-Bridge multilevel inverter, Total Harmonic Distortion, Photovoltaic cell, Sinusoidal pulse width modulation.

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

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

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

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Authors: Michael Johnson, Vincenzo Oliveri

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This work considers an interdisciplinary Problem-Based Learning (PBL) project developed by lecturers from the Aeronautical and Electronic and Computer Engineering departments at the University of Limerick. This “CANSAT” project utilises the CanSat can-sized satellite platform in order to allow students from aeronautical and electronic engineering to engage in a mixed format (online/face-to-face), interdisciplinary PBL assignment using a real-world platform and application. The project introduces students to the design, development, and construction of the CanSat system over the course of a single semester, enabling student(s) to apply their aeronautical and technical skills/capabilities to the realisation of a working CanSat system. In this case study, the CanSat kits are used to pivot the real-world, discipline-relevant PBL goal of designing, building, and testing the CanSat system with payload(s) from a traditional module-based setting to an online PBL setting. Feedback, impressions, benefits, and challenges identified through the semester are presented. Students found the project to be interesting and rewarding, with the interdisciplinary nature of the project appealing to them. Challenges and difficulties encountered are also addressed, with solutions developed between the students and facilitators to overcoming these discussed.

Keywords: Problem-Based Learning, Online PBL, Electronic Engineering, Aeronautical Engineering, Interdisciplinary Project, CanSat.

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Authors: Azeemsha Thacham Poyil, Nasimudeen KM

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

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

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Authors: Kyung-Suk Choi, Hyung-Joon Kim

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

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

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Authors: Sufian Ashraf Mazhari, Surendra Kumar

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

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

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Authors: Ya Lv

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This article presents the application of the semi-analytic method (SAM) in the thermal management solution (TMS) of the energy storage system (ESS). The TMS studied in this work is fluid cooling. In fluid cooling, both effective heat conduction and heat convection are indispensable due to the heat transfer from solid to fluid. Correspondingly, an efficient TMS requires a design investigation of the following parameters: fluid inlet temperature, ESS initial temperature, fluid flow rate, working c rate, continuous working time, and materials properties. Their variation induces a change of thermal performance in the battery module, which is usually evaluated by numerical simulation. Compared to complicated computation resources and long computation time in simulation, the SAM is developed in this article to predict the thermal influence within a few seconds. In SAM, a fast prediction model is reckoned by combining numerical simulation with theoretical/empirical equations. The SAM can explore the thermal effect of boundary parameters in both steady-state and transient heat transfer scenarios within a short time. Therefore, the SAM developed in this work can simplify the design cycle of TMS and inspire more possibilities in TMS design.

Keywords: Semi-analytic method, fast prediction model, thermal influence of boundary parameters, energy storage system.

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Authors: Alireza Noorpoor, Akbar Abvabi, Mehdi Saeed Kiasat

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

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

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Authors: Jungho Choi, Youngwan Cho

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

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

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

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

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

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

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

Keywords: BPSD, reminiscence, tactile telecommunication, utterances.

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Authors: L. C. Moreira, M. Kauffman

Abstract:

This paper outlines the results of an experimental research on deploying an emerging augmented reality (AR) system for real-time task assistance (or work instructions) of highly customised and high-risk manual operations. The focus is on human operators’ training effectiveness and performance and the aim is to test if such technologies can support enhancing the knowledge retention levels and accuracy of task execution to improve health and safety (H&S). An AR enhanced assembly method is proposed and experimentally tested using a real industrial process as case study for electric vehicles’ (EV) battery module assembly. The experimental results revealed that the proposed method improved the training practices and performance through increases in the knowledge retention levels from 40% to 84%, and accuracy of task execution from 20% to 71%, when compared to the traditional paper-based method. The results of this research validate and demonstrate how emerging technologies are advancing the choice for manual, hybrid or fully automated processes by promoting the XR-assisted processes, and the connected worker (a vision for Industry 4 and 5.0), and supporting manufacturing become more resilient in times of constant market changes.

Keywords: Augmented reality, extended reality, connected worker, XR-assisted operator, manual assembly 4.0, industry 5.0, smart training, battery assembly.

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Authors: Javaid Butt, Habtom Mebrahtu, Hassan Shirvani

Abstract:

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

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

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Authors: Mohamed Al-Badrashiny, Abdelghani Bellaachia

Abstract:

This paper presents a classifier ensemble approach for predicting the survivability of the breast cancer patients using the latest database version of the Surveillance, Epidemiology, and End Results (SEER) Program of the National Cancer Institute. The system consists of two main components; features selection and classifier ensemble components. The features selection component divides the features in SEER database into four groups. After that it tries to find the most important features among the four groups that maximizes the weighted average F-score of a certain classification algorithm. The ensemble component uses three different classifiers, each of which models different set of features from SEER through the features selection module. On top of them, another classifier is used to give the final decision based on the output decisions and confidence scores from each of the underlying classifiers. Different classification algorithms have been examined; the best setup found is by using the decision tree, Bayesian network, and Na¨ıve Bayes algorithms for the underlying classifiers and Na¨ıve Bayes for the classifier ensemble step. The system outperforms all published systems to date when evaluated against the exact same data of SEER (period of 1973-2002). It gives 87.39% weighted average F-score compared to 85.82% and 81.34% of the other published systems. By increasing the data size to cover the whole database (period of 1973-2014), the overall weighted average F-score jumps to 92.4% on the held out unseen test set.

Keywords: Classifier ensemble, breast cancer survivability, data mining, SEER.

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

Abstract:

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

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

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