Search results for: smart glass cleaning robot.

Authors: Ghada Salem, Nihal Kabel

Abstract:

Objective: This in vitro study was carried out to assess the microleakage properties of nano-filled glass ionomer in comparison to resin-reinforced glass ionomers. Material and Methods: 40 deciduous molar teeth were included in this study. Class-II cavity was prepared in a standard form for all the specimens. The teeth were randomly distributed into two groups (20 per group) according to the restorative material used either nano-glass ionomer or Photac Fill glass ionomer restoration. All specimens were thermocycled for 1000 cycles between 5 and 55 °C. After that, the teeth were immersed in 2% methylene blue dye then sectioned and evaluated under a stereomicroscope. Microleakage was assessed using linear dye penetration and on a scale from zero to five. Results: Two way ANOVA test revealed a statistically significant lower degree of microleakage in both occlusal and gingival restorations (0.4±0.2), (0.9±0.1) for nano-filled glass ionomer group in comparison to resin modified glass ionomer (2.3±0.7), (2.4±0.5). No statistical difference was found between gingival and occlusal leakage regarding the effect of the measured site. Conclusion: Nano-filled glass ionomer shows superior sealing ability which enables this type of restoration to be used in minimum invasive treatment.

Keywords: Microleakage, nano-ionomer, resin-reinforced glass ionomer, proximal cavity preparation.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1200

Authors: Jozsef Katona, Attila Kovari, Tibor Ujbanyi, Gergely Sziladi

Abstract:

By the development of IT systems, human-computer interaction is also developing even faster and newer communication methods become available in human-machine interaction. In this article, the application of a hand gesture controlled human-computer interface is being introduced through the example of a mobile robot. The control of the mobile robot is implemented in a realistic virtual environment that is advantageous regarding the aspect of different tests, parallel examinations, so the purchase of expensive equipment is unnecessary. The usability of the implemented hand gesture control has been evaluated by test subjects. According to the opinion of the testing subjects, the system can be well used, and its application would be recommended on other application fields too.

Keywords: Human-machine interface, hand control, mobile robot, virtual environment.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 963

Authors: Chen Bi-Hsiang, Yang Hung-Wen, Lou Jie-Chung, Han Jia-Yun

Abstract:

This study was investigated on sampling and analyzing water quality in water reservoir & water tower installed in two kind of residential buildings and school facilities. Data of water quality was collected for correlation analysis with frequency of sanitization of water reservoir through questioning managers of building about the inspection charts recorded on equipment for water reservoir. Statistical software packages (SPSS) were applied to the data of two groups (cleaning frequency and water quality) for regression analysis to determine the optimal cleaning frequency of sanitization. The correlation coefficient (R) in this paper represented the degree of correlation, with values of R ranging from +1 to -1.After investigating three categories of drinking water users; this study found that the frequency of sanitization of water reservoir significantly influenced the water quality of drinking water. A higher frequency of sanitization (more than four times per 1 year) implied a higher quality of drinking water. Results indicated that sanitizing water reservoir & water tower should at least twice annually for achieving the aim of safety of drinking water.

Keywords: cleaning frequency of sanitization, parameters ofwater quality, regression analysis, water reservoir & water tower

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1690

Authors: Doraid Dalalah

Abstract:

A topologically oriented neural network is very efficient for real-time path planning for a mobile robot in changing environments. When using a recurrent neural network for this purpose and with the combination of the partial differential equation of heat transfer and the distributed potential concept of the network, the problem of obstacle avoidance of trajectory planning for a moving robot can be efficiently solved. The related dimensional network represents the state variables and the topology of the robot's working space. In this paper two approaches to problem solution are proposed. The first approach relies on the potential distribution of attraction distributed around the moving target, acting as a unique local extreme in the net, with the gradient of the state variables directing the current flow toward the source of the potential heat. The second approach considers two attractive and repulsive potential sources to decrease the time of potential distribution. Computer simulations have been carried out to interrogate the performance of the proposed approaches.

Keywords: Mobile robot, Path Planning, Mesh, Potential field.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1897

Authors: Seung You Na, Daejung Shin, Jin Young Kim, Bae-Ho Lee, Ji-Sung Lee

Abstract:

There has been a growing interest in the field of bio-mimetic robots that resemble the shape of an insect or an aquatic animal, among many others. One bio-mimetic robot serves the purpose of exploring pipelines, spotting any troubled areas or malfunctions and reporting its data. Moreover, the robot is able to prepare for and react to any abnormal routes in the pipeline. In order to move effectively inside a pipeline, the robot-s movement will resemble that of a lizard. When situated in massive pipelines with complex routes, the robot places fixed sensors in several important spots in order to complete its monitoring. This monitoring task is to prevent a major system failure by preemptively recognizing any minor or partial malfunctions. Areas uncovered by fixed sensors are usually impossible to provide real-time observation and examination, and thus are dependant on periodical offline monitoring. This paper provides the Monitoring System that is able to monitor the entire area of pipelines–with and without fixed sensors–by using the bio-mimetic robot.

Keywords: Bio-mimetic robots, Plant pipes monitoring, Mobileand active monitoring.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1545

Authors: S. W. Nawawi, M. N. Ahmad, J. H. S. Osman

Abstract:

The research on two-wheeled inverted pendulum (TWIP) mobile robots or commonly known as balancing robots have gained momentum over the last decade in a number of robotic laboratories around the world. This paper describes the hardware design of such a robot. The objective of the design is to develop a TWIP mobile robot as well as MATLAB interfacing configuration to be used as flexible platform comprises of embedded unstable linear plant intended for research and teaching purposes. Issues such as selection of actuators and sensors, signal processing units, MATLAB Real Time Workshop coding, modeling and control scheme will be addressed and discussed. The system is then tested using a wellknown state feedback controller to verify its functionality.

Keywords: Embedded System, Two-wheeled Inverted Pendulum Mobile Robot.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 4699

Authors: David Halley, Tyra Oseng-Rees, Luca Pagano, Juan A Ferriz-Papi

Abstract:

Recycled glass material is made from 100% recycled bottle glass and consumes less energy than re-melt technology. It also uses no additives in the manufacturing process allowing the recycled glass material, in principal, to go back to the recycling stream after end-of-use, contributing to the circular economy with a low ecological impact. The aim of this paper is to investigate the procedure for testing the recycled glass material for impact resistance, so it can be applied to pavements and other surfaces which are at risk of impact during service. A review of different impact test procedures for construction materials was undertaken, comparing methodologies and international standards applied to other materials such as natural stone, ceramics and glass. A drop weight impact testing machine was designed and manufactured in-house to perform these tests. As a case study, samples of the recycled glass material were manufactured with two different thicknesses and tested. The impact energy was calculated theoretically, obtaining results with 5 and 10 J. The results on the material were subsequently discussed. Improvements on the procedure can be made using high speed video technology to calculate velocity just before and immediately after the impact to know the absorbed energy. The initial results obtained in this procedure were positive although repeatability needs to be developed to obtain a correlation of results and finally be able to validate the procedure. The experiment with samples showed the practicality of this procedure and application to the recycled glass material impact testing although further research needs to be developed.

Keywords: Construction materials, drop weight impact, impact testing, recycled glass.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1480

Authors: Kwok Tak Kit

Abstract:

A smart city is an urban setting which effectively applies technology to enhance the benefits and provides solution to the shortcoming of urbanization for its citizens while the internet of things (loT) is to connect everything embedded with electronics, software, and sensors to the internet so as to enable them to collect and exchange data. Smart city development encompasses the development and application of IoT technology and prepares for the next generation of connectivity. The governments in the major developed cities and countries across the world already started the race to adopt the IoT technology to transform their cities into smart cities in coming few years. The development of smart city definitely can assist to tackle the problems which impede the quality of life of their citizens and the hindrance of the long-term challenges of sustainability and impacts from pollution. This paper is aims to outline the adoption of IoT in different key sectors in the Singapore and describe the revolution of IoT and its adoption in the smart city.

Keywords: Smart city, internet of things, sustainability, innovation.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 564

Authors: Boguslaw Schreyer

Abstract:

The paper investigates the application of the Kohonen’s Self-Organizing Map (SOM) to the wheeled robot starting and braking dynamic states. In securing wheeled robot stability as well as minimum starting and braking time, it is important to ensure correct torque distribution as well as proper slope of braking and driving moments. In this paper, a correct movement distribution has been formulated, securing optimum adhesion coefficient and good transversal stability of a wheeled robot. A neural tuner has been proposed to secure the above properties, although most of the attention is attached to the SOM network application. If the delay of the torque application or torque release is not negligible, it is important to change the rising and falling slopes of the torque. The road/surface condition is also paramount in robot dynamic states control. As the road conditions may randomly change in time, application of the SOM network has been suggested in order to classify the actual road conditions.

Keywords: SOM network, torque distribution, torque slope, wheeled robots.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 530

Authors: L. Pina, M. Mika, R. Havlikova, M. Landova, L. Sveda, R. Hudec, V. Marsikova, A. Inneman

Abstract:

We developed a non-contact method for the in-situ monitoring of the thermal forming of glass and Si foils to optimize the manufacture of mirrors for high-resolution space x-ray telescopes. Their construction requires precise and light-weight segmented optics with angular resolution better than 5 arcsec. We used 75x25 mm Desag D263 glass foils 0.75 mm thick and 0.6 mm thick Si foils. The glass foils were shaped by free slumping on a frame at viscosities in the range of 109.3-1012 dPa·s, the Si foils by forced slumping above 1000°C. Using a Nikon D80 digital camera, we took snapshots of a foil-s shape every 5 min during its isothermal heat treatment. The obtained results we can use for computer simulations. By comparing the measured and simulated data, we can more precisely define material properties of the foils and optimize the forming technology.

Keywords: Glass, in-situ monitoring, silicone, thermal forming, x-ray telescope

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1552

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

Abstract:

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

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

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1620

Authors: Vahid Rostami, Omid sojodishijani , Saeed Ebrahimijam, Ali MohsenizanjaniNejad

Abstract:

This paper is described one of the intelligent control method in Autonomous systems, which is called fuzzy control to correct the three wheel omnidirectional robot movement while it make mistake to catch the target. Fuzzy logic is especially advantageous for problems that can not be easily represented by mathematical modeling because data is either unavailable, incomplete or the process is too complex. Such systems can be easily up grated by adding new rules to improve performance or add new features. In many cases , fuzzy control can be used to improve existing traditional controller systems by adding an extra layer of intelligence to the current control method. The fuzzy controller designed here is more accurate and flexible than the traditional controllers. The project is done at MRL middle size soccer robot team.

Keywords: Robocup , omnidirectional , fuzzy control, soccer robot , intelligent control.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1893

Authors: N.M Abdul Ghani, L.K. Haur, T.P.Yon, F Naim

Abstract:

This project relates to a two-wheeled self balancing robot for transferring loads on different locations along a path. This robot specifically functions as a dual mode navigation to navigate efficiently along a desired path. First, as a plurality of distance sensors mounted at both sides of the body for collecting information on tilt angle of the body and second, as a plurality of speed sensors mounted at the bottom of the body for collecting information of the velocity of the body in relative to the ground. A microcontroller for processing information collected from the sensors and configured to set the path and to balance the body automatically while a processor operatively coupled to the microcontroller and configured to compute change of the tilt and velocity of the body. A direct current motor operatively coupled to the microcontroller for controlling the wheels and characterized in that a remote control is operatively coupled to the microcontroller to operate the robot in dual navigation modes.

Keywords: Two-Wheeled Balancing Robot, Dual Mode Navigation, Remote Control, Desired Path.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2164

Authors: Y. S. Oh, P. Abhishesh, B. S. Ryuh

Abstract:

This paper presents the method of trajectory planning by the robot end-effector which accounts for more accurate and smooth differential geometry of the ruled surface generated by tool line fixed with end-effector based on the methods of curvature theory of ruled surface and the dual curvature theory, and focuses on the underlying relation to unite them for enhancing the efficiency for trajectory planning. Robot motion can be represented as motion properties of the ruled surface generated by trajectory of the Tool Center Point (TCP). The linear and angular properties of the six degree-of-freedom motion of end-effector are computed using the explicit formulas and functions from curvature theory and dual curvature theory. This paper explains the complete dualization of ruled surface and shows that the linear and angular motion applied using the method of dual curvature theory is more accurate and less complex.

Keywords: Dual curvature theory, robot end effector, ruled surface, TCP, tool center point.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1312

Authors: Jingwen Shan

Abstract:

In order to explore the key factors affecting the robot program learning intention of school students, this study takes the technology acceptance model as the theoretical basis and invites 167 students from Jiading District of Shanghai as the research subjects. In the robot course, the model of school students on their learning behavior is constructed. By verifying the causal path relationship between variables, it is concluded that teachers can enhance students’ perceptual usefulness to robotics courses by enhancing subjective norms, entertainment perception, and reducing technical anxiety, such as focusing on the gradual progress of programming and analyzing learner characteristics. Students can improve perceived ease of use by enhancing self-efficacy. At the same time, robot hardware designers can optimize in terms of entertainment and interactivity, which will directly or indirectly increase the learning intention of the robot course. By changing these factors, the learning behavior of primary and secondary school students can be more sustainable.

Keywords: TAM, learning behavior intentions, robot courses, primary and secondary school students.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 589

Authors: Han-Gook Kim, Dong-Suk Hong

Abstract:

As the latest advancement and trend in IT field, Green & Smart IT has attracted more and more attentions from researchers. This study focuses on the development of assessing tools which can be used for evaluating Green & Smart IT level within an organization. In order to achieve meaningful results, a comprehensive review of relevant literature was performed in advance, then, Delphi survey and other processes were also employed to develop the assessment tools for Green & Smart IT level. Two rounds of Delphi questionnaire survey were conducted with 20 IT experts in public sector. The results reveal that the top five weighted KPIs to evaluate maturity of Green & Smart IT were: (1) electronic execution of business process; (2) shutdown of unused IT devices; (3) virtualization of severs; (4) automation of constant temperature and humidity; and (5) introduction of smart-work system. Finally, these tools were applied to case study of a public research institute in Korea. The findings presented in this study provide organizations with useful implications for the introduction and promotion of Green & Smart IT in the future

Keywords: Assessment, Case Study, Delphi, Green & Smart

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1459

Authors: Raed Abendeh, Mousa Bani Baker, Zaydoun Abu Salem, Heham Ahmad

Abstract:

The using of waste materials in the construction industry can reduce the dependence on the natural aggregates which are going at the end to deplete. The glass waste is generated in a huge amount which can make one of its disposals in concrete industry effective not only as a green solution but also as an advantage to enhance the performance of mechanical properties and durability of concrete. This article reports the performance of concrete specimens containing different percentages of milled glass waste as a partial replacement of cement (Powder), when they are subject to cycles of freezing and thawing. The tests were conducted on 75-mm cubes and 75 x 75 x 300-mm prisms. Compressive strength based on laboratory testing and non-destructive ultrasonic pulse velocity test were performed during the action of freezing-thawing cycles (F/T). The results revealed that the incorporation of glass waste in concrete mixtures is not only feasible but also showed generally better strength and durability performance than control concrete mixture. It may be said that the recycling of waste glass in concrete mixes is not only a disposal way, but also it can be an exploitation in concrete industry.

Keywords: Durability, glass waste, freeze-thaw cycles, nondestructive test.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2616

Authors: Soofiyan Atar, Adil Shaikh, Sahil Rajpurkar, Pragnesh Bhalala, Aniket Desai, Irfan Siddavatam

Abstract:

Deep reinforcement learning (deep RL) algorithms leverage the symbolic power of complex controllers by automating it by mapping sensory inputs to low-level actions. Deep RL eliminates the complex robot dynamics with minimal engineering. Deep RL provides high-risk involvement by directly implementing it in real-world scenarios and also high sensitivity towards hyperparameters. Tuning of hyperparameters on a pneumatic quadruped robot becomes very expensive through trial-and-error learning. This paper presents an automated learning control for a pneumatic quadruped robot using sample efficient deep Q learning, enabling minimal tuning and very few trials to learn the neural network. Long training hours may degrade the pneumatic cylinder due to jerk actions originated through stochastic weights. We applied this method to the pneumatic quadruped robot, which resulted in a hopping gait. In our process, we eliminated the use of a simulator and acquired a stable gait. This approach evolves so that the resultant gait matures more sturdy towards any stochastic changes in the environment. We further show that our algorithm performed very well as compared to programmed gait using robot dynamics.

Keywords: model-based reinforcement learning, gait stability, supervised learning, pneumatic quadruped

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 528

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

Abstract:

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

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

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1635

Authors: A. Srion, W. Thepsuwan, N. Monmaturapoj

Abstract:

Two Lithium Disilicate (LD) glass ceramics based on SiO2-Li2O-K2O-Al2O3 system were prepared through a glass melting method. The glass rods were then fabricated into dental crowns via a hot pressing at 900˚C and 850˚C in order to study the effect of the pressing temperatures on the phase formation and microstructure of the glasses. Different samples of as cast glass and heat treated samples (600˚C and 700˚C) were used to press for investigating the effect of an initial microstructure on the hot pressing technique. Xray diffraction (XRD) and scanning electron microscopy (SEM) were performed to determine the phase formation and microstructure of the samples, respectively. XRD results show that the main crystalline structure was Li2Si2O5 by having Li3PO4, Li0.6Al0.6Si2O6, Li2SiO3, Ca5 (PO4)3F and SiO2 as minor phases. Glass compositions with different heat treatment temperatures exhibited a difference phase formations but have less effect during pressing. SEM micrographs showed the microstructure of Li2Si2O5 as lath-like shape in all glasses. With increasing the initial heat treatment temperature, the longer the lath-like crystals of lithium disilicate were increased especially when using glass heat treatment at 700˚C followed by pressing at 900˚C. This could be suggested that LD1 heat treatment at 700˚C which pressing at 900˚C presented the best formation by the hot pressing and compiled microstructure.

Keywords: Lithium disilicate, Hot pressing, Dental crown, Microstructure.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 4156

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

Abstract:

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.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2065

Authors: Seung You Na, Daejung Shin, Jin Young Kim, Seong-Joon Baek, Bae-Ho Lee

Abstract:

Recently there has been a growing interest in the field of bio-mimetic robots that resemble the behaviors of an insect or an aquatic animal, among many others. One of various bio-mimetic robot applications is to explore pipelines, spotting any troubled areas or malfunctions and reporting its data. Moreover, the robot is able to prepare for and react to any abnormal routes in the pipeline. Special types of mobile robots are necessary for the pipeline monitoring tasks. In order to move effectively along a pipeline, the robot-s movement will resemble that of insects or crawling animals. When situated in massive pipelines with complex routes, the robot places fixed sensors in several important spots in order to complete its monitoring. This monitoring task is to prevent a major system failure by preemptively recognizing any minor or partial malfunctions. Areas uncovered by fixed sensors are usually impossible to provide real-time observation and examination, and thus are dependent on periodical offline monitoring. This paper proposes a monitoring system that is able to monitor the entire area of pipelines–with and without fixed sensors–by using the bio-mimetic robot.

Keywords: Bio-mimetic robots, Plant pipes monitoring, Mobile and active monitoring.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2227

Authors: Jae-Kyung LEE, Byung-Hak CHO, Kyung-Nam Jang, Sun-Chul Jung, Ki-Yong OH, Joon-Young PARK, Jong-Seog Kim

Abstract:

The cables in a nuclear power plant are designed to be used for about 40 years in safe operation environment. However, the heat and radiation in the nuclear power plant causes the rapid performance deterioration of cables in nuclear vessels and heat exchangers, which requires cable lifetime estimation. The most accurate method of estimating the cable lifetime is to evaluate the cables in a laboratory. However, removing cables while the plant is operating is not allowed because of its safety and cost. In this paper, a robot system to estimate the cable lifetime in nuclear power plants is developed and tested. The developed robot system can calculate a modulus value to estimate the cable lifetime even when the nuclear power plant is in operation.

Keywords: Autonomous robot, Cable Inspection, Indenter, Nuclear Power Plant

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1958

Authors: Gunther Reinhart, Marwan Radi

Abstract:

Since the 1940s, many promising telepresence research results have been obtained. However, telepresence technology still has not reached industrial usage. As human intelligence is necessary for successful execution of most manual assembly tasks, the ability of the human is hindered in some cases, such as the assembly of heavy parts of small/medium lots or prototypes. In such a case of manual assembly, the help of industrial robots is mandatory. The telepresence technology can be considered as a solution for performing assembly tasks, where the human intelligence and haptic sense are needed to identify and minimize the errors during an assembly process and a robot is needed to carry heavy parts. In this paper, preliminary steps to integrate the telepresence technology into industrial robot systems are introduced. The system described here combines both, the human haptic sense and the industrial robot capability to perform a manual assembly task remotely using a force feedback joystick. Mapping between the joystick-s Degrees of Freedom (DOF) and the robot-s ones are introduced. Simulation and experimental results are shown and future work is discussed.

Keywords: Assembly, Force Feedback, Industrial Robot, Teleassembly, Telepresence.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1209

Authors: M. Laamim, A. Benazzouz, A. Rochd, A. Ghennioui, A. El Fadili, M. Benzaazoua

Abstract:

Smart grids have recently sparked a lot of interest in the energy sector as they allow for the modernization and digitization of the existing power infrastructure. Smart grids have several advantages in terms of reducing the environmental impact of generating power from fossil fuels due to their capacity to integrate large amounts of distributed energy resources. On the other hand, smart grid technologies necessitate many field investigations and requirements. This paper focuses on the major difficulties that governments face around the world and compares them to the situation in Morocco. Also presented in this study are the current works and projects being developed to improve the penetration of smart grid technologies into the electrical system. Furthermore, the findings of this study will be useful to promote the smart grid revolution in Morocco, as well as to construct a strong foundation and develop future needs for better penetration of technologies that aid in the integration of smart grid features.

Keywords: Smart grids, microgrids, virtual power plants, digital twin, distributed energy resources, vehicle-to-grid, advanced metering infrastructure.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 644

Authors: Hataitep Wongsuwarn, Djitt Laowattana

Abstract:

This paper summaries basic principles and concepts of intelligent controls, implemented in humanoid robotics as well as recent algorithms being devised for advanced control of humanoid robots. Secondly, this paper presents a new approach neuro-fuzzy system. We have included some simulating results from our computational intelligence technique that will be applied to our humanoid robot. Subsequently, we determine a relationship between joint trajectories and located forces on robot-s foot through a proposed neuro-fuzzy technique.

Keywords: Biped Robot, Computational Intelligence, Static and Dynamic Walking, Gait Synthesis, Neuro-Fuzzy System.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2511

Authors: Saeed Mohammed Baneamoon, Rosalina Abdul Salam, Abdullah Zawawi Hj. Talib

Abstract:

Designing a simulated system and training it to optimize its tasks in simulated environment helps the designers to avoid problems that may appear when designing the system directly in real world. These problems are: time consuming, high cost, high errors percentage and low efficiency and accuracy of the system. The proposed system will investigate and improve the efficiency and accuracy of a simulated robot to choose correct behavior to perform its task. In this paper, machine learning, which uses genetic algorithm, is adopted. This type of machine learning is called genetic-based machine learning in which a distributed classifier system is used to improve the efficiency and accuracy of the robot. Consequently, it helps the robot to achieve optimal action.

Keywords: Machine Learning, Genetic-Based MachineLearning, Learning Classifier System, Behaviors.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1489

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

Abstract:

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.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1721

Authors: Vinicius Binotte, Guilherme Baldo, Christiane Goulart, Carlos Valadão, Eliete Caldeira, Teodiano Bastos

Abstract:

Socially assistive robotic has become increasingly active and it is present in therapies of people affected for several neurobehavioral conditions, such as Autism Spectrum Disorder (ASD). In fact, robots have played a significant role for positive interaction with children with ASD, by stimulating their social and cognitive skills. This work introduces a mobile socially-assistive robot, which was built for interaction with children with ASD, using non-linear control techniques for this interaction.

Keywords: Socially assistive robotics, mobile robot, autonomous control, autism.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1514

Authors: Rameshwar Kawitkar

Abstract:

With the exponentially increasing demand for wireless communications the capacity of current cellular systems will soon become incapable of handling the growing traffic. Since radio frequencies are diminishing natural resources, there seems to be a fundamental barrier to further capacity increase. The solution can be found in smart antenna systems. Smart or adaptive antenna arrays consist of an array of antenna elements with signal processing capability, that optimize the radiation and reception of a desired signal, dynamically. Smart antennas can place nulls in the direction of interferers via adaptive updating of weights linked to each antenna element. They thus cancel out most of the co-channel interference resulting in better quality of reception and lower dropped calls. Smart antennas can also track the user within a cell via direction of arrival algorithms. This implies that they are more advantageous than other antenna systems. This paper focuses on few issues about the smart antennas in mobile radio networks.

Keywords: Smart/Adaptive Antenna, Multipath fading, Beamforming, Radio propagation.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2634