Search results for: ball throwing robot.

Authors: Hamidreza Hoshyarmanesh, Hosein Madieh, Sanju Lama, Yaser Maddahi, Garnette R. Sutherland, Kourosh Zareinia

Abstract:

This paper illustrates the concept of an algorithm to register specified markers on the neuroArm surgical manipulators, an image-guided MR-compatible tele-operated robot for microsurgery and stereotaxy. Two range-finding algorithms, namely time-of-flight and phase-shift, are evaluated for registration and supervisory control. The time-of-flight approach is implemented in a semi-field experiment to determine the precise position of a tiny retro-reflective moving object. The moving object simulates a surgical tool tip. The tool is a target that would be connected to the neuroArm end-effector during surgery inside the magnet bore of the MR imaging system. In order to apply flight approach, a 905-nm pulsed laser diode and an avalanche photodiode are utilized as the transmitter and receiver, respectively. For the experiment, a high frequency time to digital converter was designed using a field-programmable gate arrays. In the phase-shift approach, a continuous green laser beam with a wavelength of 530 nm was used as the transmitter. Results showed that a positioning error of 0.1 mm occurred when the scanner-target point distance was set in the range of 2.5 to 3 meters. The effectiveness of this non-contact approach exhibited that the method could be employed as an alternative for conventional mechanical registration arm. Furthermore, the approach is not limited by physical contact and extension of joint angles.

Keywords: 3D laser scanner, intraoperative MR imaging, neuroArm, real time registration, robot-assisted surgery, supervisory control.

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Authors: Suma. V., T. R. Gopalakrishnan Nair

Abstract:

Defect prevention is the most vital but habitually neglected facet of software quality assurance in any project. If functional at all stages of software development, it can condense the time, overheads and wherewithal entailed to engineer a high quality product. The key challenge of an IT industry is to engineer a software product with minimum post deployment defects. This effort is an analysis based on data obtained for five selected projects from leading software companies of varying software production competence. The main aim of this paper is to provide information on various methods and practices supporting defect detection and prevention leading to thriving software generation. The defect prevention technique unearths 99% of defects. Inspection is found to be an essential technique in generating ideal software generation in factories through enhanced methodologies of abetted and unaided inspection schedules. On an average 13 % to 15% of inspection and 25% - 30% of testing out of whole project effort time is required for 99% - 99.75% of defect elimination. A comparison of the end results for the five selected projects between the companies is also brought about throwing light on the possibility of a particular company to position itself with an appropriate complementary ratio of inspection testing.

Keywords: Defect Detection and Prevention, Inspections, Software Engineering, Software Process, Testing.

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Authors: A. Arockia Selvakumar, R. Sivaramakrishnan, Srinivasa Karthik.T.V, Valluri Siva Ramakrishna, B.Vinodh.

Abstract:

Industrial robots play a vital role in automation however only little effort are taken for the application of robots in machining work such as Grinding, Cutting, Milling, Drilling, Polishing etc. Robot parallel manipulators have high stiffness, rigidity and accuracy, which cannot be provided by conventional serial robot manipulators. The aim of this paper is to perform the modeling and the workspace analysis of a 3 DOF Parallel Manipulator (3 DOF PM). The 3 DOF PM was modeled and simulated using 'ADAMS'. The concept involved is based on the transformation of motion from a screw joint to a spherical joint through a connecting link. This paper work has been planned to model the Parallel Manipulator (PM) using screw joints for very accurate positioning. A workspace analysis has been done for the determination of work volume of the 3 DOF PM. The position of the spherical joints connected to the moving platform and the circumferential points of the moving platform were considered for finding the workspace. After the simulation, the position of the joints of the moving platform was noted with respect to simulation time and these points were given as input to the 'MATLAB' for getting the work envelope. Then 'AUTOCAD' is used for determining the work volume. The obtained values were compared with analytical approach by using Pappus-Guldinus Theorem. The analysis had been dealt by considering the parameters, link length and radius of the moving platform. From the results it is found that the radius of moving platform is directly proportional to the work volume for a constant link length and the link length is also directly proportional to the work volume, at a constant radius of the moving platform.

Keywords: Three Degrees of freedom Parallel Manipulator (3DOF PM), ADAMS, Work volume, MATLAB, AUTOCAD, Pappus- Guldinus Theorem.

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Authors: Alexandros Lioulemes, Michail Theofanidis, Varun Kanal, Konstantinos Tsiakas, Maher Abujelala, Chris Collander, William B. Townsend, Angie Boisselle, Fillia Makedon

Abstract:

This paper presents a home-based robot-rehabilitation instrument, called ”MAGNI Dynamics”, that utilized a vision-based kinematic/dynamic module and an adaptive haptic feedback controller. The system is expected to provide personalized rehabilitation by adjusting its resistive and supportive behavior according to a fuzzy intelligence controller that acts as an inference system, which correlates the user’s performance to different stiffness factors. The vision module uses the Kinect’s skeletal tracking to monitor the user’s effort in an unobtrusive and safe way, by estimating the torque that affects the user’s arm. The system’s torque estimations are justified by capturing electromyographic data from primitive hand motions (Shoulder Abduction and Shoulder Forward Flexion). Moreover, we present and analyze how the Barrett WAM generates a force-field with a haptic controller to support or challenge the users. Experiments show that by shifting the proportional value, that corresponds to different stiffness factors of the haptic path, can potentially help the user to improve his/her motor skills. Finally, potential areas for future research are discussed, that address how a rehabilitation robotic framework may include multisensing data, to improve the user’s recovery process.

Keywords: Human-robot interaction, kinect, kinematics, dynamics, haptic control, rehabilitation robotics, artificial intelligence.

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Authors: Jobby K. Chacko, Deepu Oommen, Kevin K. Mathew, Noble Sunny, N. Babu

Abstract:

A new cost effective, eye controlled method was introduced to guide and control a wheel chair for disable people, based on Electrooculography (EOG). The guidance and control is effected by eye ball movements within the socket. The system consists of a standard electric wheelchair with an on-board microcontroller system attached. EOG is a new technology to sense the eye signals for eye movements and these signals are captured using electrodes, signal processed such as amplification, noise filtering, and then given to microcontroller which drives the motors attached with wheel chair for propulsion. This technique could be very useful in applications such as mobility for handicapped and paralyzed persons.

Keywords: Electrooculography, Microcontroller, Signal processing, Wheelchair.

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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: D. P. Clayton, E. A. Ball

Abstract:

This paper describes an investigation into the isolation characteristics and bandwidth performance of radio frequency (RF) combiners that are used as part of Chireix power amplifier (PA) architectures, designed for use in the X-Band range of frequencies. Combiner designs investigated are the typical Chireix and Wilkinson configurations which also include simulation of the Wilkinson using manufacturer’s data for the isolation resistor. Another simulation was the less common approach of using a Branchline coupler to form the combiner, as well as simulation results from adding an additional stage. This paper presents the findings of this investigation and compares the bandwidth performance and isolation characteristics to determine suitability.

Keywords: Bandwidth, Chireix, couplers, outphasing, power amplifiers, Wilkinson, X-Band.

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Authors: Khachatur V. Nerkararyan, Sergey I. Bozhevolnyi

Abstract:

We investigate relaxation dynamics of a quantum dipole emitter (QDE), e.g., a molecule or quantum dot, located near a metal nanoparticle (MNP) exhibiting a dipolar localized surface plasmon (LSP) resonance at the frequency of the QDE radiative transition. It is shown that under the condition of the QDE-MNP characteristic relaxation time being much shorter than that of the QDE in free-space but much longer than the LSP lifetime. It is also shown that energy dissipation in the QDE-MNP system is relatively weak with the probability of the photon emission being about 0.75, a number which, rather surprisingly, does not explicitly depend on the metal absorption characteristics. The degree of entanglement measured by the concurrency takes the maximum value, while the distances between the QDEs and metal ball approximately are equal.

Keywords: Metal nanoparticle, Localized surface plasmon, Quantum dipole emitter, Relaxation dynamics.

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Authors: R. Sammoura

Abstract:

In Lebanon, public construction projects are awarded to the contractor submitting the lowest bid price based on a competitive bidding process. The contractor has to make a strategic decision in choosing the appropriate bid price that will offer a satisfactory profit with a greater probability to win. A simulation model for bid price decision making based on the lowest bid price evaluation is developed. The model, built using Crystal Ball decisionengineering software, considers two main factors affecting the bidding process: the number of qualified bidders and the size of the project. The validity of the model is tested on twelve separate projects. The study also shows how to use the model to conduct risk analysis and help any specific contractor to decide on his bid price with associated certainty level in a scientific method.

Keywords: Bid price, Competition, Decision making, Simulation.

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Authors: Byung Ki Kim, Ho Min Jung, Jae-Bong Yoo, Wan Yeon Lee, Chan Young Park, Young Woong Ko

Abstract:

In this paper, we present a novel approach to location system under indoor environment. The key idea of our work is accurate distance estimation with cricket-based location system using A* algorithm. We also use magnetic sensor for detecting obstacles in indoor environment. Finally, we suggest how this system can be used in various applications such as asset tracking and monitoring.

Keywords: Cricket, Indoor Location Tracking, Mobile Robot, Localization.

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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: Ruedee Niyomrath

Abstract:

Ranong province has the best kaolin, and it is the most useful of all the clay types used in ceramic making. Until recently, there has been only one community business making ceramics in Ranong province. And this business could not build the mix of body and glaze from their raw material without assistance. Considering these problems, this research is aimed to test the composition of ceramic body and glaze which suit. Kaolin from Ranong is the raw material which these search focuses on. All other raw materials use in the investigation will come from southern Thailand, kaolin and limestone from Ranong province, ball clay from Surat Thani province, white sand from Songkhla province, and feldspar from Nakhon Si Thammarat province. Results can be used to develop the efficiency of industrial production which in return will enhance the business process.

Keywords: Ceramic body and glaze, Ceramic material, Ceramic production from kaolin, Ceramic souvenirs.

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Authors: A. Emre Ozturk, Ergun Ercelebi

Abstract:

Autonomous robotic systems need an equipment like a human eye for their movement. In this study a 3D laser scanner has been designed and implemented for those autonomous robotic systems. In general 3D laser scanners are using 2 dimension laser range finders that are moving on one-axis (1D) to generate the model. In this study, the model has been obtained by a one-dimensional laser range finder that is moving in two –axis (2D) and because of this the laser scanner has been produced cheaper.

Keywords: 3D Laser Scanner, embedded systems.

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Authors: M.A. Hosseini, P. Ebrahimi Naghani

Abstract:

In this research work, a novel parallel manipulator with high positioning and orienting rate is introduced. This mechanism has two rotational and one translational degree of freedom. Kinematics and Jacobian analysis are investigated. Moreover, workspace analysis and optimization has been performed by using genetic algorithm toolbox in Matlab software. Because of decreasing moving elements, it is expected much more better dynamic performance with respect to other counterpart mechanisms with the same degrees of freedom. In addition, using couple of cylindrical and revolute joints increased mechanism ability to have more extended workspace.

Keywords: Kinematics, Workspace, 3-CRS/PU, Parallel robot

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Authors: Sanda Win, Tin Shein, Khin Maung Latt

Abstract:

This document describes an electronic speed control designed to drive two DC motors from a 6 V battery pack to be controlled by a commercial universal infrared remote control hand set. Conceived for a tank-like vehicle, one motor drives the left side wheels or tracks and the other motor drives the right side. As it is shown here, there is a left-right steering input and a forward– backward throttles input, like would be used on a model car. It is designed using a microcontroller PIC16F873A.

Keywords: Assembly Language, Direction Control, SpeedControl, PIC 16F 873A

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Authors: D. W. Kim , D. J. Ryu, M. J. Go, D. Chang, S. B. Han, J. M. Hur, B. R. Chung, B. K. Kim, Yeon Hye Jin

Abstract:

Biological treatment of secondary effluent wastewater by two combined denitrification/oxic filtration systems packed with Lock type(denitrification filter) and ceramic ball (oxic filter) has been studied for 5months. Two phases of operating conditions were carried out with an influent nitrate and ammonia concentrations varied from 5.8 to 11.7mg/L and 5.4 to 12.4mg/L,respectively. Denitrification/oxic filter treatment system were operated under an EBCT (Empty Bed Contact Time) of 4h at system recirculation ratio in the range from 0 to 300% (Linear Velocity increased 19.5m/d to 78m/d). The system efficiency of denitrification , nitrification over 95% respectively. Total nitrogen and COD removal range from 54.6%(recirculation 0%) to 92.3%(recirculation 300%) and 10% to 62.5%, respectively.

Keywords: Advanced treatment , Biofilter, Nitrogen removal, Two combined denitrification/oxic filter

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Authors: Wipada Ploysuksai, Pramoch Rangsunvigit, Santi Kulprathipanja

Abstract:

In this work, effects of catalysts (TiO2, and Nb2O5) were investigated on the hydrogen desorption of Mg(BH4)2. LiBH4 and MgCl2 with 2:1 molar ratio were mixed by using ball milling to prepare Mg(BH4)2. The desorption behaviors were measured by thermo-volumetric apparatus. The hydrogen desorption capacity of the mixed sample milled for 2 h was 4.78 wt% with a 2-step released. The first step occurred at 214 °C and the second step appeared at 374 °C. The addition of 16 wt% Nb2O5 decreased the desorption temperature in the second step about 66 °C and increased the hydrogen desorption capacity to 4.86 wt% hydrogen. The addition of TiO2 also improved the desorption temperature in the second step and the hydrogen desorption capacity. It decreased the desorption temperature about 71°C and showed a high amount of hydrogen, 5.27 wt%, released from the mixed sample. The hydrogen absorption after desorption of Mg(BH4)2 was also studied under 9.5 MPa and 350 °C for 12 h.

Keywords: hydrogen storage, LiBH4, metal hydride, Mg(BH4)2

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Authors: J. Ramírez A., A. Rubiano F.

Abstract:

In this paper the direct kinematic model of a multiple applications three degrees of freedom industrial manipulator, was developed using the homogeneous transformation matrices and the Denavit - Hartenberg parameters, likewise the inverse kinematic model was developed using the same method, verifying that in the workload border the inverse kinematic presents considerable errors, therefore a genetic algorithm was implemented to optimize the model improving greatly the efficiency of the model.

Keywords: Direct Kinematic, Genetic Algorithm, InverseKinematic, Optimization, Robot Manipulator

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Authors: A. Denker, U. Akıncıoğlu

Abstract:

In this paper a neural adaptive control method has been developed and applied to robot control. Simulation results are presented to verify the effectiveness of the controller. These results show that the performance by using this controller is better than those which just use either direct inverse control or predictive control. In addition, they show that the resulting is a useful method which combines the advantages of both direct inverse control and predictive control.

Keywords: Neural networks, robotics, direct inverse control, predictive control.

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Authors: Miloš Šeda, Tomáš Březina

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In this paper, we focus on the use of knowledge bases in two different application areas – control of systems with unknown or strongly nonlinear models (i.e. hardly controllable by the classical methods), and robot motion planning in eight directions. The first one deals with fuzzy logic and the paper presents approaches for setting and aggregating the rules of a knowledge base. Te second one is concentrated on a case-based reasoning strategy for finding the path in a planar scene with obstacles.

Keywords: fuzzy controller, fuzzification, rule base, inference, defuzzification, genetic algorithm, neural network, case-based reasoning

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Authors: E. Petrakis, V. Karmali, K. Komnitsas

Abstract:

In this study grinding experiments were performed in a laboratory ball mill using Polish ferronickel slag in order to study the effect of the particle size on alkali activation and the properties of the produced alkali activated materials (AAMs). In this regard, the particle size distribution and the specific surface area of the grinding products in relation to grinding time were assessed. The experimental results show that products with high compressive strength, e.g. higher than 60 MPa, can be produced when the slag median size decreased from 39.9 μm to 11.9 μm. Also, finer fractions are characterized by higher reactivity and result in the production of AAMs with lower porosity and better mechanical properties.

Keywords: Alkali activated materials, compressive strength, particle size distribution, slag.

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Authors: Djordjevic J. Sladjana, Djordjevic-Milošević B. Suzana, Milošević M. Slobodan

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The potential of biomass as a renewable energy source leads Serbia to be the top of European countries by the amount of available but unused biomass. Technologies for its use are available and ecologically acceptable. Moreover, they are not expensive high-tech solutions even for the poor investment environment of Serbia, while other options seem to be less achievable. From the other point of view, Serbia has a huge percentage of unused agriculture land. Agricultural production in Serbia languishes: a large share of agricultural land therefore remains untreated, and there is a significant proportion of degraded land. From all the above, biomass intended for energy production is becoming an increasingly important factor in the stabilization of agricultural activities. Orientation towards the growing bioenergy crops versus conventional crop cultivation becomes an interesting option. The aim of this paper is to point out the possibility of growing energy crops in accordance with the conditions and cultural practice in rural areas of Serbia. First of all, the cultivation of energy crops on lower quality land is being discussed, in order to revitalize the rural areas of crops through their inclusion into potential energy sector. Next is the theme of throwing more light on the increase in the area under this competitive agricultural production to correct land use in terms of climate change in Serbia. The goal of this paper is to point out the contribution of the share of biomass in energy production and consumption, and the effect of reducing the negative environmental impact.

Keywords: Agro-energy crops, conditions for plantation, revitalization of rural areas, degraded and unused soils.

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Authors: Peter Kostal, Karol Velisek

Abstract:

Flexible manufacturing system is a system that is able to respond to changed conditions. In general, this flexibility is divided into two key categories and several subcategories. The first category is the so called machine flexibility which enables to make various products by the given machinery. The second category is routing flexibility enabling to execute the same operation by various machines. Flexible manufacturing systems usually consist of three main parts: CNC machine tools, transport system and control system. A higher level of flexible manufacturing systems is represented by the so called intelligent manufacturing systems.

Keywords: drawing-free manufacturing, flexible manufacturing system, industrial robot, material flow.

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Authors: Yasuo Obikane

Abstract:

The frequency dependence of the phase field model(PFM) is studied. A simple PFM is proposed, and is tested in a laminar boundary layer. The Blasius-s laminar boundary layer solution on a flat plate is used for the flow pattern, and several frequencies are imposed on the PFM, and the decay times of the interfaces are obtained. The computations were conducted for three cases: 1) no-flow, and 2) a half ball on the laminar boundary layer, 3) a line of mass sources in the laminar boundary layer. The computations show the decay time becomes shorter as the frequency goes larger, and also show that it is sensitive to both background disturbances and surface tension parameters. It is concluded that the proposed simple PFM can describe the properties of decay process, and could give the fundamentals for the decay of the interface in turbulent flows.

Keywords: Phase field model, two phase flows, Laminarboundary Layer

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Authors: L. Lancaster, M. H. Lung, D. Sujan

Abstract:

The application of agro-industrial waste in Aluminum Metal Matrix Composites has been getting more attention as they can reinforce particles in metal matrix which enhance the strength properties of the composites. In addition, by applying these agroindustrial wastes in useful way not only save the manufacturing cost of products but also reduce the pollutions on environment. This paper represents a literature review on a range of industrial wastes and their utilization in metal matrix composites. The paper describes the synthesis methods of agro-industrial waste filled metal matrix composite materials and their mechanical, wear, corrosion, and physical properties. It also highlights the current application and future potential of agro-industrial waste reinforced composites in aerospace, automotive and other construction industries.

Keywords: Bond layer, Interfacial shear stress, Bi-layered assembly, Thermal mismatch, Flip Chip Ball Grid Array.

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Authors: Mario Gianni, Manuel A. Ruiz Garcia, Fiora Pirri

Abstract:

In this work, we present a Bayesian non-parametric approach to model the motion control of ATVs. The motion control model is based on a Dirichlet Process-Gaussian Process (DP-GP) mixture model. The DP-GP mixture model provides a flexible representation of patterns of control manoeuvres along trajectories of different lengths and discretizations. The model also estimates the number of patterns, sufficient for modeling the dynamics of the ATV.

Keywords: Dirichlet processes, Gaussian processes, robot control learning, tracked vehicles.

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Authors: Mamta Garg

Abstract:

While compressing text files is useful, compressing still image files is almost a necessity. A typical image takes up much more storage than a typical text message and without compression images would be extremely clumsy to store and distribute. The amount of information required to store pictures on modern computers is quite large in relation to the amount of bandwidth commonly available to transmit them over the Internet and applications. Image compression addresses the problem of reducing the amount of data required to represent a digital image. Performance of any image compression method can be evaluated by measuring the root-mean-square-error & peak signal to noise ratio. The method of image compression that will be analyzed in this paper is based on the lossy JPEG image compression technique, the most popular compression technique for color images. JPEG compression is able to greatly reduce file size with minimal image degradation by throwing away the least “important" information. In JPEG, both color components are downsampled simultaneously, but in this paper we will compare the results when the compression is done by downsampling the single chroma part. In this paper we will demonstrate more compression ratio is achieved when the chrominance blue is downsampled as compared to downsampling the chrominance red in JPEG compression. But the peak signal to noise ratio is more when the chrominance red is downsampled as compared to downsampling the chrominance blue in JPEG compression. In particular we will use the hats.jpg as a demonstration of JPEG compression using low pass filter and demonstrate that the image is compressed with barely any visual differences with both methods.

Keywords: JPEG, Discrete Cosine Transform, Quantization, Color Space Conversion, Image Compression, Peak Signal to Noise Ratio & Compression Ratio.

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Authors: Tamara Grujic, Mirjana Bonkovic

Abstract:

Measurements and quantitative analysis of kinematic parameters of human hand movements have an important role in different areas such as hand function rehabilitation, modeling of multi-digits robotic hands, and the development of machine-man interfaces. In this paper the assessment and evaluation of the reachto- grasp movement by using computerized and robot-assisted method is described. Experiment involved the measurements of hand positions of seven healthy subjects during grasping three objects of different shapes and sizes. Results showed that three dominant phases of reach-to-grasp movements could be clearly identified.

Keywords: Human hand, kinematics, reach-to-grasp movement.

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Authors: K. M. Shahot. I. A. Ekhmaj

Abstract:

The research study is carried out to determine the efficiency of the Biofilm sewage treatment plant which is located at the Engineering Complex-s. Wastewater analyses have been carried out at the Environmental Engineering laboratory to study the six parameters: Biochemical Oxygen Demand BOD, Chemical Oxygen Demand COD l, and Total Suspended Solids TSS, Ammoniac Nitrogen NH3-N and Phosphorous P which have been selected to determine the wastewater quality. The plant was designed to treat 750 Pe (population equivalent) at hydraulic retention time of 5 hours in the aerobic zone. The results show that Biofilm wastewater treatment plant was able to treat sewage successfully at different flow condition. The discharge has fulfilled the Malaysia Environmental of Standard A water quality. The achieved BOD removal is more than 85%, COD is more than 80%, TSS is more than 80%, NH3-N is more than 70%, and P was more than 70%. The Biofilm system provides a very efficient process for sewage treatment and it is compact in structure thus minimizes the required land area.

Keywords: Sewage, Bio film, Cosmo-Ball, Activated sludge

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Authors: César Garza

Abstract:

In supervised binary classification and regression problems, it is well-known that learnability is equivalent to uniform convergence of the hypothesis class, and if a problem is learnable, it is learnable by empirical risk minimization. For the general learning setting of unsupervised learning tasks, there are non-trivial learning problems where uniform convergence does not hold. We present here the task of learning centers of mass with an extra feature that “activates” some of the coordinates over the unit ball in a Hilbert space. We show that the learning problem is learnable under a stable RLM rule. We introduce a family of distributions over the domain space with some mild restrictions for which the sample complexity of uniform convergence for these problems must grow logarithmically with the dimension of the Hilbert space. If we take this dimension to infinity, we obtain a learnable problem for which the uniform convergence property fails for a vast family of distributions.

Keywords: Statistical learning theory, learnability, uniform convergence, stability, regularized loss minimization.

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