Search results for: spherical robots.

Authors: N. Asadi, M. Jackson

Abstract:

Today, the central role of industrial robots in automation in general and in material handling in particular is crystal clear. Based on the current status of Photovoltaics and by focusing on lightweight material handling, PV industry has turned into a potential candidate for introducing a fresh “pick and place" robot technology. Thus, to examine the industry needs in this regard, firstly the best suited applications for such robotic automation,and then the essential prerequisites in PV industry should be identified. The objective of this paper is to present holistic views on the industry trends, general automation status and existing challenges facing lightweight robotic material handling in PV Silicon Wafer and Thin Film technologies. The results of this study show that currently no uniform pick and place solution prevails among PV Silicon Wafer manufacturers and the industry calls for a new robot solution to satisfy its needs in new directions.

Keywords: Automation, Material handling, Photovoltaic, Robot.

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Authors: Prachi Singh

Abstract:

This paper presents a low-cost, eco-friendly and reproducible microbe mediated biosynthesis of TiO₂ nanoparticles. TiO₂ nanoparticles synthesized using the bacterium, Bacillus subtilis, from titanium as a precursor, were confirmed by TEM analysis. The morphological characteristics state spherical shape, with the size of individual or aggregate nanoparticles, around 30-40 nm. Microbial resistance represents a challenge for the scientific community to develop new bioactive compounds. Here, the antibacterial effect of TiO₂ nanoparticles on Escherichia coli was investigated, which was confirmed by CFU (Colony-forming unit). Further, growth curve study of E. coli Hb101 in the presence and absence of TiO₂ nanoparticles was done. Optical density decrease was observed with the increase in the concentration of TiO₂. It could be attributed to the inactivation of cellular enzymes and DNA by binding to electron-donating groups such as carboxylates, amides, indoles, hydroxyls, thiols, etc. which cause little pores in bacterial cell walls, leading to increased permeability and cell death. This justifies that TiO₂ nanoparticles have efficient antibacterial effect and have potential to be used as an antibacterial agent for different purposes.

Keywords: Antibacterial effect, CFU, Escherichia coli Hb101, growth curve, TEM, TiO2 nanoparticle, toxicity, UV-Vis.

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Authors: Jito Vanualailai, Bibhya Sharma

Abstract:

Swarm principles are increasingly being used to design controllers for the coordination of multi-robot systems or, in general, multi-agent systems. This paper proposes a two-dimensional Lagrangian swarm model that enables the planar agents, modeled as point masses, to swarm whilst effectively avoiding each other and obstacles in the environment. A novel method, based on an extended Lyapunov approach, is used to construct the model. Importantly, the Lyapunov method ensures a form of practical stability that guarantees an emergent behavior, namely, a cohesive and wellspaced swarm with a constant arrangement of individuals about the swarm centroid. Computer simulations illustrate this basic feature of collective behavior. As an application, we show how multiple planar mobile unicycle-like robots swarm to eventually form patterns in which their velocities and orientations stabilize.

Keywords: Attractive-repulsive swarm model, individual-based swarm model, Lagrangian swarm model, Lyapunov stability, Lyapunov-like function, practical stability, unicycle.

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Authors: A. Maria G. Melero, A. M. Senna, J. A. Domingues, M. A. Hausen, E. Aparecida R. Duek, V. R. Botaro

Abstract:

A hydrogel from cellulose acetate cross linked with ethylenediaminetetraacetic dianhydride (HAC-EDTA) was synthesized by our research group, and submitted to characterization and biological tests. Cytocompatibility analysis was performed by confocal microscopy using human adipocyte derived stem cells (ASCs). The FTIR analysis showed characteristic bands of cellulose acetate and hydroxyl groups and the tensile tests evidence that HAC-EDTA present a Young’s modulus of 643.7 MPa. The confocal analysis revealed that there was cell growth at the surface of HAC-EDTA. After one day of culture the cells presented spherical morphology, which may be caused by stress of the sequestration of Ca²⁺ and Mg²⁺ ions at the cell medium by HAC-EDTA, as demonstrated by ICP-MS. However, after seven days and 14 days of culture, the cells present fibroblastoid morphology, phenotype expected by this cellular type. The results give efforts to indicate this new material as a potential biomaterial for tissue engineering, in the future in vivo approach.

Keywords: Cellulose acetate, hydrogel, biomaterial, cellular growth.

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Authors: Tian Kai, Yang Sheng-sheng, Li De-tian, Miao Yu-jun, Xue Yu-xiong Wang Yi, Yan Ze-dong, Ma Ya-li, ZHuang Jian-hong

Abstract:

The charge-exchange xenon (CEX) ion generated by ion thruster can backflow to the surface of spacecraft and threaten to the safety of spacecraft operation. In order to evaluate the effects of the induced plasma environment in backflow regions on the spacecraft, we designed a spherical single Langmuir probe of 5.8cm in diameter for measuring low-density plasma parameters in backflow region of ion thruster. In practice, the tests are performed in a two-dimensional array (40cm×60cm) composed of 20 sites. The experiment results illustrate that the electron temperature ranges from 3.71eV to 3.96eV, with the mean value of 3.82eV and the standard deviation of 0.064eV. The electron density ranges from 8.30×1012/m3 to 1.66×1013/m3, with the mean value of 1.30×1013/m3 and the standard deviation of 2.15×1012/m3. All data is analyzed according to the “ideal" plasma conditions of Maxwellian distributions.

Keywords: Langmuir Probe, Plasma parameters, Ion thruster, Backflow region.

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Authors: Anderson Rocha, Pedro Miguel de Figueiredo Dinis Oliveira Gaspar

Abstract:

Machine vision has been widely used in recent years in agriculture, as a tool to promote the automation of processes and increase the levels of productivity. The aim of this work is the development of a path recognition algorithm based on image processing to guide a terrestrial robot in-between tree rows. The proposed algorithm was developed using the software MATLAB, and it uses several image processing operations, such as threshold detection, morphological erosion, histogram equalization and the Hough transform, to find edge lines along tree rows on an image and to create a path to be followed by a mobile robot. To develop the algorithm, a set of images of different types of orchards was used, which made possible the construction of a method capable of identifying paths between trees of different heights and aspects. The algorithm was evaluated using several images with different characteristics of quality and the results showed that the proposed method can successfully detect a path in different types of environments.

Keywords: Agricultural mobile robot, image processing, path recognition, Hough transform.

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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.

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Authors: Eiichi Sasaki, Shin-ichi Takehiro, Michio Yamada

Abstract:

We study bifurcation structure of the zonal jet flow the streamfunction of which is expressed by a single spherical harmonics on a rotating sphere. In the non-rotating case, we find that a steady traveling wave solution arises from the zonal jet flow through Hopf bifurcation. As the Reynolds number increases, several traveling solutions arise only through the pitchfork bifurcations and at high Reynolds number the bifurcating solutions become Hopf unstable. In the rotating case, on the other hand, under the stabilizing effect of rotation, as the absolute value of rotation rate increases, the number of the bifurcating solutions arising from the zonal jet flow decreases monotonically. We also carry out time integration to study unsteady solutions at high Reynolds number and find that in the non-rotating case the unsteady solutions are chaotic, while not in the rotating cases calculated. This result reflects the general tendency that the rotation stabilizes nonlinear solutions of Navier-Stokes equations.

Keywords: rotating sphere, two-dimensional flow, bifurcationstructure

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Authors: N. Marzban, J. K. Heydarzadeh M. Pourmohammadbagher, M. H. Hatami, A. Samia

Abstract:

A nano-alumina-zirconia composite catalyst was synthesized by a simple aqueous sol-gel method using AlCl₃.6H₂O and ZrCl₄ as precursors. Thermal decomposition of the precursor and subsequent formation of γ-Al₂O₃ and t-Zr were investigated by thermal analysis. XRD analysis showed that γ-Al₂O₃ and t-ZrO₂ phases were formed at 700 °C. FT-IR analysis also indicated that the phase transition to γ-Al₂O₃ occurred in corroboration with X-ray studies. TEM analysis of the calcined powder revealed that spherical particles were in the range of 8-12 nm. The nano-alumina-zirconia composite particles were mesoporous and uniformly distributed in their crystalline phase. In order to measure the catalytic activity, esterification reaction was carried out. Biodiesel, as a renewable fuel, was formed in a continuous packed column reactor. Free fatty acid (FFA) was esterified with ethanol in a heterogeneous catalytic reactor. It was found that the synthesized γ-Al₂O₃/ZrO₂ composite had the potential to be used as a heterogeneous base catalyst for biodiesel production processes.

Keywords: Nano-alumina-zirconia, composite catalyst, thin film, biodiesel.

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Authors: Bongsoo Jeon, Jayoung Kim, Jihong Lee

Abstract:

Methods for measuring or estimating ground shape by a laser range finder and a vision sensor (Exteroceptive sensors) have critical weaknesses in terms that these methods need a prior database built to distinguish acquired data as unique surface conditions for driving. Also, ground information by Exteroceptive sensors does not reflect the deflection of ground surface caused by the movement of UGVs. Therefore, this paper proposes a method of recognizing exact and precise ground shape using an Inertial Measurement Unit (IMU) as a proprioceptive sensor. In this paper, firstly this method recognizes the attitude of a robot in real-time using IMU and compensates attitude data of a robot with angle errors through analysis of vehicle dynamics. This method is verified by outdoor driving experiments of a real mobile robot.

Keywords: Inertial Measurement Unit, Laser Range Finder, Real-time recognition of the ground shape.

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Authors: Kalakotla Shanker, G. Krishna Mohan

Abstract:

Nowadays, nanoparticles are being used in pharmacological studies for their exclusive properties such as small size, more surface area, biocompatibility and enhanced solubility. In view of this, the present study aimed to evaluate the antihyperglycemic potential of biologically synthesized silver nanoparticles (BSSNPs) and Gymnema sylvestre (GS) extract. The SEM and SEM analysis divulges that the BSSNPs were spherical in shape. EDAX spectrum exhibits peaks for the presence of silver, carbon, and oxygen atoms in the range of 1.0-3.1 keV. FT-IR reveals the binding properties of active bio-constituents responsible for capping and stabilizing BSSNPs. The results showed increased blood glucose, huge loss in body weight and downturn in plasma insulin. The GS extract (200 mg/kg, 400 mg/kg), BSSNPs (100 mg/kg, 200 mg/kg) and metformin 50 mg/kg were administered to the diabetic rats. BSSNPs at a dose level of 200 mg/kg (b.wt.p.o.) showed significant inhibition of (p<0.001) blood glucose levels as compared with GS extract treated group. The results obtained from study indicate that the BSSNP shows potent anti-diabetic activity.

Keywords: BSSNP, G.sylvetre, wistar rats, antihyperglycemic activity.

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Authors: Aneeqa Sabah, Saadat Anwar Siddiqi, Salamat Ali

Abstract:

The systematic manipulations of shapes and sizes of inorganic compounds greatly benefit the various application fields including optics, magnetic, electronics, catalysis and medicine. However shape control has been much more difficult to achieve. Hence exploration of novel method for the preparation of differently shaped nanoparticles is challenging research area. II-VI group of semiconductor cadmium sulphide (CdS) nanostructure with different morphologies (such as, acicular like, mesoporous, spherical shapes) and of crystallite sizes vary from 11 to 16 nm were successfully synthesized by chemical aqueous precipitation of Cd2+ ions with homogeneously released S2- ions from decomposition of cadmium sulphate (CdSO4) and thioacetamide (CH3CSNH2) by annealing at different radiations (microwave, ultrasonic and sunlight) with matter and systematic research has been done for various factors affecting the controlled growth rate of CdS nanoparticles. The obtained nanomaterials have been characterized by X-ray Diffraction (XRD), Fourier Transform Infrared Spectroscopy (FTIR), Thermogravometric (DSC-TGA) analysis and Scanning Electron Microscopy (SEM). The result indicates that on increasing the reaction time particle size increases but on increasing the molar ratios grain size decreases.

Keywords: CdS nanoparticles, Morphology, Oxidation, Radiations

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Authors: Abdullah M. Almeshal, Mohammad R. Alenezi, Talal H. Alzanki

Abstract:

This paper presents a hybrid fuzzy logic control strategy for a unicycle trajectory following robot on irregular terrains. In literature, researchers have presented the design of path tracking controllers of mobile robots on non-frictional surface. In this work, the robot is simulated to drive on irregular terrains with contrasting frictional profiles of peat and rough gravel. A hybrid fuzzy logic controller is utilised to stabilise and drive the robot precisely with the predefined trajectory and overcome the frictional impact. The controller gains and scaling factors were optimised using spiral dynamics optimisation algorithm to minimise the mean square error of the linear and angular velocities of the unicycle robot. The robot was simulated on various frictional surfaces and terrains and the controller was able to stabilise the robot with a superior performance that is shown via simulation results.

Keywords: Fuzzy logic control, mobile robot, trajectory tracking, spiral dynamic algorithm.

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Authors: Sajid Abbas, Joon Pyo Hong, Jung-Ryun Lee, Seungryong Cho

Abstract:

Computed tomography and laminography are heavily investigated in a compressive sensing based image reconstruction framework to reduce the dose to the patients as well as to the radiosensitive devices such as multilayer microelectronic circuit boards. Nowadays researchers are actively working on optimizing the compressive sensing based iterative image reconstruction algorithm to obtain better quality images. However, the effects of the sampled data’s properties on reconstructed the image’s quality, particularly in an insufficient sampled data conditions have not been explored in computed laminography. In this paper, we investigated the effects of two data properties i.e. sampling density and data incoherence on the reconstructed image obtained by conventional computed laminography and a recently proposed method called spherical sinusoidal scanning scheme. We have found that in a compressive sensing based image reconstruction framework, the image quality mainly depends upon the data incoherence when the data is uniformly sampled.

Keywords: Computed tomography, Computed laminography, Compressive sending, Low-dose.

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Authors: Azamossadat Nourbakhsh, Moharram Habibnezhad Korayem

Abstract:

In the visual servoing systems, the data obtained by Visionary is used for controlling robots. In this project, at first the simulator which was proposed for simulating the performance of a 6R robot before, was examined in terms of software and test, and in the proposed simulator, existing defects were obviated. In the first version of simulation, the robot was directed toward the target object only in a Position-based method using two cameras in the environment. In the new version of the software, three cameras were used simultaneously. The camera which is installed as eye-inhand on the end-effector of the robot is used for visual servoing in a Feature-based method. The target object is recognized according to its characteristics and the robot is directed toward the object in compliance with an algorithm similar to the function of human-s eyes. Then, the function and accuracy of the operation of the robot are examined through Position-based visual servoing method using two cameras installed as eye-to-hand in the environment. Finally, the obtained results are tested under ANSI-RIA R15.05-2 standard.

Keywords: 6R Robot , camera, visual servoing, Feature-based visual servoing, Position-based visual servoing, Performance tests.

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Authors: Alexander Winkler, Jozef Suchý

Abstract:

This paper investigates simple implicit force control algorithms realizable with industrial robots. A lot of approaches already published are difficult to implement in commercial robot controllers, because the access to the robot joint torques is necessary or the complete dynamic model of the manipulator is used. In the past we already deal with explicit force control of a position controlled robot. Well known schemes of implicit force control are stiffness control, damping control and impedance control. Using such algorithms the contact force cannot be set directly. It is further the result of controller impedance, environment impedance and the commanded robot motion/position. The relationships of these properties are worked out in this paper in detail for the chosen implicit approaches. They have been adapted to be implementable on a position controlled robot. The behaviors of stiffness control and damping control are verified by practical experiments. For this purpose a suitable test bed was configured. Using the full mechanical impedance within the controller structure will not be practical in the case when the robot is in physical contact with the environment. This fact will be verified by simulation.

Keywords: Damping control, impedance control, robot force control, stability, stiffness control.

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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.

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Authors: Parchami A., Fatahian Dehkordi RF.

Abstract:

The present investigation aimed to study the histomorphometric characterizations of the thyroid gland of the duck. Five adult male and five adult female ducks were used in the experiment. Results showed that the overall histological structure of the thyroid gland of the duck were similar to those of the other vertebrae. The gland consisted of roughly spherical randomly distributed micro and macrofollicles with very little interstitial tissue between them. Each follicle is lined by a single layer of epithelial cells enclosing a cavity, the follicular cavity, which is filled with colloid. Ultrastructural findings showed that the apical surface of the follicular cells bears a variable number of short, irregularly distributed microvilli which are apparently more numerous on the columnar cells than on the lower, relatively inactive cells. Mitochondria and rough endoplasmic reticulum occupy the subnuclear region of the follicular cell, whereas the Golgi complex, free ribosomes and colloid droplets were found in the apical cytoplasm. At light or electron microscopic levels, there was no sex difference in histomorphometric characteristics of the thyroid glands.ls.

Keywords: Duck, Thyroid gland, Light microscopy, Electron microscopy

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Authors: S. Levitsky

Abstract:

Acoustic properties of polymeric liquids are high sensitive to free gas traces in the form of fine bubbles. Their presence is typical for such liquids because of chemical reactions, small wettability of solid boundaries, trapping of air in technological operations, etc. Liquid temperature influences essentially its rheological properties, which may have an impact on the bubble pulsations and sound propagation in the system. The target of the paper is modeling of the liquid temperature effect on single bubble dynamics and sound dispersion and attenuation in polymeric solution with spherical gas bubbles. The basic sources of attenuation (heat exchange between gas in microbubbles and surrounding liquid, rheological and acoustic losses) are taken into account. It is supposed that in the studied temperature range the interface mass transfer has a minor effect on bubble dynamics. The results of the study indicate that temperature raise yields enhancement of bubble pulsations and increase in sound attenuation in the near-resonance range and may have a strong impact on sound dispersion in the liquid-bubble mixture at frequencies close to the resonance frequency of bubbles.

Keywords: Sound propagation, gas bubbles, temperature effect, polymeric liquid.

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Authors: Ahmad Forouzantabar

Abstract:

this paper presents a novel neural network controller with composite adaptation low to improve the trajectory tracking problems of biped robots comparing with classical controller. The biped model has 5_link and 6 degrees of freedom and actuated by Plated Pneumatic Artificial Muscle, which have a very high power to weight ratio and it has large stoke compared to similar actuators. The proposed controller employ a stable neural network in to approximate unknown nonlinear functions in the robot dynamics, thereby overcoming some limitation of conventional controllers such as PD or adaptive controllers and guarantee good performance. This NN controller significantly improve the accuracy requirements by retraining the basic PD/PID loop, but adding an inner adaptive loop that allows the controller to learn unknown parameters such as friction coefficient, therefore improving tracking accuracy. Simulation results plus graphical simulation in virtual reality show that NN controller tracking performance is considerably better than PD controller tracking performance.

Keywords: Biped robot, Neural network, Plated Pneumatic Artificial Muscle, Composite adaptation

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Authors: Ihor Trots, Yuriy Tasinkevych, Andrzej Nowicki, Marcin Lewandowski

Abstract:

The paper presents the study of synthetic transmit aperture method applying the Golay coded transmission for medical ultrasound imaging. Longer coded excitation allows to increase the total energy of the transmitted signal without increasing the peak pressure. Signal-to-noise ratio and penetration depth are improved maintaining high ultrasound image resolution. In the work the 128-element linear transducer array with 0.3 mm inter-element spacing excited by one cycle and the 8 and 16-bit Golay coded sequences at nominal frequencies 4 MHz was used. Single element transmission aperture was used to generate a spherical wave covering the full image region and all the elements received the echo signals. The comparison of 2D ultrasound images of the wire phantom as well as of the tissue mimicking phantom is presented to demonstrate the benefits of the coded transmission. The results were obtained using the synthetic aperture algorithm with transmit and receive signals correction based on a single element directivity function.

Keywords: Golay coded sequences, radiation pattern, synthetic aperture, ultrasound imaging.

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Authors: Brahim Brahmi, Mohammed Hamza Laraki, Mohammad Habibur Rahman, Islam M. Rasedul, M. Assad Uz-Zaman

Abstract:

The humanoid robot, specifically the NAO robot must be able to provide a highly dynamic performance on the soccer field. Maintaining the balance of the humanoid robot during the required motion is considered as one of a challenging problems especially when the robot is subject to external disturbances, as contact with other robots. In this paper, a dynamic controller is proposed in order to ensure a robust walking (stabilization) and to improve the dynamic balance of the robot during its contact with the environment (external disturbances). The generation of the trajectory of the center of mass (CoM) is done by a model predictive controller (MPC) conjoined with zero moment point (ZMP) technique. Taking into account the properties of the rotational dynamics of the whole-body system, a modified previous control mixed with feedback control is employed to manage the angular momentum and the CoM’s acceleration, respectively. This latter is dedicated to provide a robust gait of the robot in the presence of the external disturbances. Simulation results are presented to show the feasibility of the proposed strategy.

Keywords: Preview control, walking, stabilization, humanoid robot.

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Authors: P. K. Panigrahi, Saradindu Ghosh, Dayal R. Parhi

Abstract:

Now-a-days autonomous mobile robots have found applications in diverse fields. An autonomous robot system must be able to behave in an intelligent manner to deal with complex and changing environment. This work proposes the performance of path planning and navigation of autonomous mobile robot using Gravitational Search Algorithm (GSA), Simulated Annealing (SA) and Particle Swarm optimization (PSO) based intelligent controllers in an unstructured environment. The approach not only finds a valid collision free path but also optimal one. The main aim of the work is to minimize the length of the path and duration of travel from a starting point to a target while moving in an unknown environment with obstacles without collision. Finally, a comparison is made between the three controllers, it is found that the path length and time duration made by the robot using GSA is better than SA and PSO based controllers for the same work.

Keywords: Autonomous Mobile Robot, Gravitational Search Algorithm, Particle Swarm Optimization, Simulated Annealing Algorithm.

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Authors: M. Owlia, M. H. Azarsa, M. Khabbazan, A. Mirbagheri

Abstract:

Proprioceptive neuromuscular facilitation exercises are a series of stretching techniques that are commonly used in rehabilitation and exercise therapy. Assessment of these exercises for true maneuvering requires extensive experience in this field and could not be down with patients themselves. In this paper, we developed software that uses Microsoft Kinect sensor, a spherical color marker, and real-time image processing methods to evaluate patient’s performance in generating true patterns of movements. The software also provides the patient with a visual feedback by showing his/her avatar in a Virtual Reality environment along with the correct path of moving hand, wrist and marker. Primary results during PNF exercise therapy of a patient in a room environment shows the ability of the system to identify any deviation of maneuvering path and direction of the hand from the one that has been performed by an expert physician.

Keywords: Image processing, Microsoft Kinect, proprioceptive neuromuscular facilitation, upper extremities assessment, virtual reality.

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Authors: Martina Drdlová, Michal Frank, Jaroslav Buchar, Josef Krátký

Abstract:

The main aim of the presented experiments is to improve behaviour of sandwich structures under dynamic loading, such as crash or explosion. Several cellular materials are widely used as core of the sandwich structures and their properties influence the response of the entire element under impact load. To optimize their performance requires the characterisation of the core material behaviour at high strain rates and identification of the underlying mechanism. This work presents the study of high strain-rate characteristics of a specific porous lightweight blast energy absorbing foam using a Split Hopkinson Pressure Bar (SHPB) technique adapted to perform tests on low strength materials. Two different velocities, 15 and 30 m.s-1 were used to determine the strain sensitivity of the material. Foams were designed using two types of porous lightweight spherical raw materials with diameters of 30- 100 *m, combined with polymer matrix. Cylindrical specimens with diameter of 15 mm and length of 7 mm were prepared and loaded using a Split Hopkinson Pressure Bar apparatus to assess the relation between the composition of the material and its shock wave attenuation capacity.

Keywords: Blast, foam, microsphere, resin.

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Authors: Gopalu Karunakaran, Matheswaran Jagathambal, Nguyen Van Minh, Evgeny Kolesnikov, Denis Kuznetsov

Abstract:

This work investigated the use of Beijerinckia indica extracellular extract for the synthesis of silver nanoparticles using AgNO₃. The formation of nanoparticles was confirmed by different methods, such as UV-Vis absorption spectroscopy, XRD, FTIR, EDX, and TEM analysis. The formation of silver nanoparticles (AgNPs) was confirmed by the change in color from light yellow to dark brown. The absorbance peak obtained at 430 nm confirmed the presence of silver nanoparticles. The XRD analysis showed the cubic crystalline phase of the synthesized nanoparticles. FTIR revealed the presence of groups that acts as stabilizing and reducing agents for silver nanoparticles formation. The synthesized silver nanoparticles were generally found to be spherical in shape with size ranging from 5 to 20 nm, as evident by TEM analysis. These nanoparticles were found to inhibit pathogenic bacterial strains. This work proved that the bacterial extract is a potential eco-friendly candidate for the synthesis of silver nanoparticles with promising antibacterial and antioxidant properties. 

Keywords: Antioxidant activity, antimicrobial activity, Beijerinckia indica, characterisation, extracellular extracts, silver nanoparticles.

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Authors: Pascal Gliesche, Kathrin Seibert, Christian Kowalski, Dominik Domhoff, Max Pfingsthorn, Karin Wolf-Ostermann, Andreas Hein

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Robotic assistance in nursing care is an increasingly important area of research and development. Facing a shortage of labor and an increasing number of people in need of care, the German Nursing Care Innovation Center (Pflegeinnovationszentrum, PIZ) aims to address these challenges from the side of technology. Little is known about nurses experiences with existing robotic assistance systems. Especially nurses perspectives on starting points for the development of robotic solutions, that target recurring burdensome tasks in everyday nursing care, are of interest. This paper presents findings focusing on robotics resulting from an explanatory mixed-methods study on nurses experiences with and their expectations for innovative technologies in nursing care in stationary and ambulant care facilities and hospitals in Germany. Based on the findings, eight scenarios for robotic assistance are identified based on the real needs of practitioners. An initial system addressing a single use-case is described to show perspectives for the use of robots in nursing care.

Keywords: Robotics and automation, engineering management, engineering in medicine and biology, medical services, public healthcare.

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Authors: Maryam Alimardani, Kazuo Hiraki

Abstract:

This study presents a framework for development of a new generation of therapy robots that can interact with users by monitoring their physiological and mental states. Here, we focused on one of the controversial methods of therapy, hypnotherapy. Hypnosis has shown to be useful in treatment of many clinical conditions. But, even for healthy people, it can be used as an effective technique for relaxation or enhancement of memory and concentration. Our aim is to develop a robot that collects information about user’s mental and physical states using electroencephalogram (EEG) and electromyography (EMG) signals and performs costeffective hypnosis at the comfort of user’s house. The presented framework consists of three main steps: (1) Find the EEG-correlates of mind state before, during, and after hypnosis and establish a cognitive model for state changes, (2) Develop a system that can track the changes in EEG and EMG activities in real time and determines if the user is ready for suggestion, and (3) Implement our system in a humanoid robot that will talk and conduct hypnosis on users based on their mental states. This paper presents a pilot study in regard to the first stage, detection of EEG and EMG features during hypnosis.

Keywords: Hypnosis, EEG, robotherapy, brain-computer interface.

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Authors: Jianyong Xue, Olivier L. Georgeon, Salima Hassas

Abstract:

During the initial phase of cognitive development, infants exhibit amazing abilities to generate novel behaviors in unfamiliar situations, and explore actively to learn the best while lacking extrinsic rewards from the environment. These abilities set them apart from even the most advanced autonomous robots. This work seeks to contribute to understand and replicate some of these abilities. We propose the Bottom-up hiErarchical sequential Learning algorithm with Constructivist pAradigm (BEL-CA) to design agents capable of learning autonomously and continuously through interactions. The algorithm implements no assumption about the semantics of input and output data. It does not rely upon a model of the world given a priori in the form of a set of states and transitions as well. Besides, we propose a toolkit to analyze the learning process at run time called GAIT (Generating and Analyzing Interaction Traces). We use GAIT to report and explain the detailed learning process and the structured behaviors that the agent has learned on each decision making. We report an experiment in which the agent learned to successfully interact with its environment and to avoid unfavorable interactions using regularities discovered through interaction.

Keywords: Cognitive development, constructivist learning, hierarchical sequential learning, self-adaptation.

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Authors: Ondřej Lufinka, Jan Kadeřábek, Juraj Prstek, Jiří Skála, Kamil Kosturik

Abstract:

This paper deals with the problem of using Autonomous Robotic Platforms (ARP) for the ADAS (Advanced Driver Assistance Systems) testing in automotive. There are different possibilities of the testing already in development and lately, the ARP are beginning to be used more and more widely. ARP discussed in this paper explores the hardware and software design possibilities related to the field of embedded systems. The paper focuses in its chapters on the introduction of the problem in general, then it describes the proposed prototype concept and its principles from the embedded HW and SW point of view. It talks about the key features that can be used for the innovation of these platforms (e.g., modularity, omnidirectional movement, common and non-traditional sensors used for localization, synchronization of more platforms and cars together or safety mechanisms). In the end, the future possible development of the project is discussed as well.

Keywords: ADAS Systems, autonomous robotic platform, embedded systems, hardware, localization, modularity, multiple robots synchronization, omnidirectional movement, safety mechanisms, software.

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