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arm</title> <meta name="description" content="Search results for: robotic arm"> <meta name="keywords" content="robotic arm"> <meta name="viewport" content="width=device-width, initial-scale=1, minimum-scale=1, maximum-scale=1, user-scalable=no"> <meta charset="utf-8"> <link href="https://cdn.waset.org/favicon.ico" type="image/x-icon" rel="shortcut icon"> <link href="https://cdn.waset.org/static/plugins/bootstrap-4.2.1/css/bootstrap.min.css" rel="stylesheet"> <link href="https://cdn.waset.org/static/plugins/fontawesome/css/all.min.css" rel="stylesheet"> <link href="https://cdn.waset.org/static/css/site.css?v=150220211555" rel="stylesheet"> </head> <body> <header> <div class="container"> <nav class="navbar navbar-expand-lg navbar-light"> <a class="navbar-brand" href="https://waset.org"> <img src="https://cdn.waset.org/static/images/wasetc.png" alt="Open Science Research Excellence" title="Open Science Research Excellence" /> </a> <button class="d-block d-lg-none navbar-toggler ml-auto" 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id="custom-search-input"> <div class="input-group"> <i class="fas fa-search"></i> <input type="text" class="search-query" name="q" placeholder="Author, Title, Abstract, Keywords" value="robotic arm"> <input type="submit" class="btn_search" value="Search"> </div> </div> </form> </div> </div> <div class="row mt-3"> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Commenced</strong> in January 2007</div> </div> </div> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Frequency:</strong> Monthly</div> </div> </div> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Edition:</strong> International</div> </div> </div> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Paper Count:</strong> 277</div> </div> </div> </div> <h1 class="mt-3 mb-3 text-center" style="font-size:1.6rem;">Search results for: robotic arm</h1> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">37</span> Empirical Modeling and Optimization of Laser Welding of AISI 304 Stainless Steel</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Nikhil%20Kumar">Nikhil Kumar</a>, <a href="https://publications.waset.org/abstracts/search?q=Asish%20Bandyopadhyay"> Asish Bandyopadhyay</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Laser welding process is a capable technology for forming the automobile, microelectronics, marine and aerospace parts etc. In the present work, a mathematical and statistical approach is adopted to study the laser welding of AISI 304 stainless steel. A robotic control 500 W pulsed Nd:YAG laser source with 1064 nm wavelength has been used for welding purpose. Butt joints are made. The effects of welding parameters, namely; laser power, scanning speed and pulse width on the seam width and depth of penetration has been investigated using the empirical models developed by response surface methodology (RSM). Weld quality is directly correlated with the weld geometry. Twenty sets of experiments have been conducted as per central composite design (CCD) design matrix. The second order mathematical model has been developed for predicting the desired responses. The results of ANOVA indicate that the laser power has the most significant effect on responses. Microstructural analysis as well as hardness of the selected weld specimens has been carried out to understand the metallurgical and mechanical behaviour of the weld. Average micro-hardness of the weld is observed to be higher than the base metal. Higher hardness of the weld is the resultant of grain refinement and δ-ferrite formation in the weld structure. The result suggests that the lower line energy generally produce fine grain structure and improved mechanical properties than the high line energy. The combined effects of input parameters on responses have been analyzed with the help of developed 3-D response surface and contour plots. Finally, multi-objective optimization has been conducted for producing weld joint with complete penetration, minimum seam width and acceptable welding profile. Confirmatory tests have been conducted at optimum parametric conditions to validate the applied optimization technique. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=ANOVA" title="ANOVA">ANOVA</a>, <a href="https://publications.waset.org/abstracts/search?q=laser%20welding" title=" laser welding"> laser welding</a>, <a href="https://publications.waset.org/abstracts/search?q=modeling%20and%20optimization" title=" modeling and optimization"> modeling and optimization</a>, <a href="https://publications.waset.org/abstracts/search?q=response%20surface%20methodology" title=" response surface methodology"> response surface methodology</a> </p> <a href="https://publications.waset.org/abstracts/51733/empirical-modeling-and-optimization-of-laser-welding-of-aisi-304-stainless-steel" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/51733.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">294</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">36</span> Robotics Technology Supported Pedagogic Models in Science, Technology, Engineering, Arts and Mathematics Education</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Sereen%20Itani">Sereen Itani</a> </p> <p class="card-text"><strong>Abstract:</strong></p> As the world aspires for technological innovation, Innovative Robotics Technology-Supported Pedagogic Models in STEAM Education (Science, Technology, Engineering, Arts, and Mathematics) are critical in our global education system to build and enhance the next generation 21st century skills. Thus, diverse international schools endeavor in attempts to construct an integrated robotics and technology enhanced curriculum based on interdisciplinary subjects. Accordingly, it is vital that the globe remains resilient in STEAM fields by equipping the future learners and educators with Innovative Technology Experiences through robotics to support such fields. A variety of advanced teaching methods is employed to learn about Robotics Technology-integrated pedagogic models. Therefore, it is only when STEAM and innovations in Robotic Technology becomes integrated with real-world applications that transformational learning can occur. Robotics STEAM education implementation faces major challenges globally. Moreover, STEAM skills and concepts are communicated in separation from the real world. Instilling the passion for robotics and STEAM subjects and educators’ preparation could lead to the students’ majoring in such fields by acquiring enough knowledge to make vital contributions to the global STEAM industries. Thus, this necessitates the establishment of Pedagogic models such as Innovative Robotics Technologies to enhance STEAM education and develop students’ 21st-century skills. Moreover, an ICT innovative supported robotics classroom will help educators empower and assess students academically. Globally, the Robotics Design System and platforms are developing in schools and university labs creating a suitable environment for the robotics cross-discipline STEAM learning. Accordingly, the research aims at raising awareness about the importance of robotics design systems and methodologies of effective employment of robotics innovative technology-supported pedagogic models to enhance and develop (STEAM) education globally and enhance the next generation 21st century skills. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=education" title="education">education</a>, <a href="https://publications.waset.org/abstracts/search?q=robotics" title=" robotics"> robotics</a>, <a href="https://publications.waset.org/abstracts/search?q=STEAM%20%28Science" title=" STEAM (Science"> STEAM (Science</a>, <a href="https://publications.waset.org/abstracts/search?q=Technology" title=" Technology"> Technology</a>, <a href="https://publications.waset.org/abstracts/search?q=Engineering" title=" Engineering"> Engineering</a>, <a href="https://publications.waset.org/abstracts/search?q=Arts%20and%20Mathematics%20Education%29" title=" Arts and Mathematics Education)"> Arts and Mathematics Education)</a>, <a href="https://publications.waset.org/abstracts/search?q=challenges" title=" challenges"> challenges</a> </p> <a href="https://publications.waset.org/abstracts/79230/robotics-technology-supported-pedagogic-models-in-science-technology-engineering-arts-and-mathematics-education" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/79230.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">384</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">35</span> Decommissioning of Nuclear Power Plants: The Current Position and Requirements</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=A.%20Stifi">A. Stifi</a>, <a href="https://publications.waset.org/abstracts/search?q=S.%20Gentes"> S. Gentes</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Undoubtedly from construction's perspective, the use of explosives will remove a large facility such as a 40-storey building , that took almost 3 to 4 years for construction, in few minutes. Usually, the reconstruction or decommissioning, the last phase of life cycle of any facility, is considered to be the shortest. However, this is proved to be wrong in the case of nuclear power plant. Statistics says that in the last 30 years, the construction of a nuclear power plant took an average time of 6 years whereas it is estimated that decommissioning of such plants may take even a decade or more. This paper is all about the decommissioning phase of a nuclear power plant which needs to be given more attention and encouragement from the research institutes as well as the nuclear industry. Currently, there are 437 nuclear power reactors in operation and 70 reactors in construction. With around 139 nuclear facilities already been shut down and are in different decommissioning stages and approximately 347 nuclear reactors will be in decommissioning phase in the next 20 years (assuming the operation time of a reactor as 40 years), This fact raises the following two questions (1) How far is the nuclear and construction Industry ready to face the challenges of decommissioning project? (2) What is required for a safety and reliable decommissioning project delivery? The decommissioning of nuclear facilities across the global have severe time and budget overruns. Largely the decommissioning processes are being executed by the force of manual labour where the change in regulations is respectively observed. In term of research and development, some research projects and activities are being carried out in this area, but the requirement seems to be much more. The near future of decommissioning shall be better through a sustainable development strategy where all stakeholders agree to implement innovative technologies especially for dismantling and decontamination processes and to deliever a reliable and safety decommissioning. The scope of technology transfer from other industries shall be explored. For example, remotery operated robotic technologies used in automobile and production industry to reduce time and improve effecincy and saftey shall be tried here. However, the innovative technologies are highly requested but they are alone not enough, the implementation of creative and innovative management methodologies should be also investigated and applied. Lean Management with it main concept "elimination of waste within process", is a suitable example here. Thus, the cooperation between international organisations and related industries and the knowledge-sharing may serve as a key factor for the successful decommissioning projects. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=decommissioning%20of%20nuclear%20facilities" title="decommissioning of nuclear facilities">decommissioning of nuclear facilities</a>, <a href="https://publications.waset.org/abstracts/search?q=innovative%20technology" title=" innovative technology"> innovative technology</a>, <a href="https://publications.waset.org/abstracts/search?q=innovative%20management" title=" innovative management"> innovative management</a>, <a href="https://publications.waset.org/abstracts/search?q=sustainable%20development" title=" sustainable development"> sustainable development</a> </p> <a href="https://publications.waset.org/abstracts/21248/decommissioning-of-nuclear-power-plants-the-current-position-and-requirements" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/21248.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">471</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">34</span> FMCW Doppler Radar Measurements with Microstrip Tx-Rx Antennas</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Yusuf%20Ula%C5%9F%20Kabuk%C3%A7u">Yusuf Ulaş Kabukçu</a>, <a href="https://publications.waset.org/abstracts/search?q=Si%CC%87nan%20%C3%87eli%CC%87k"> Si̇nan Çeli̇k</a>, <a href="https://publications.waset.org/abstracts/search?q=Onur%20Salan"> Onur Salan</a>, <a href="https://publications.waset.org/abstracts/search?q=Mai%CC%87de%20Altunta%C5%9F"> Mai̇de Altuntaş</a>, <a href="https://publications.waset.org/abstracts/search?q=Mert%20Can%20Dalkiran"> Mert Can Dalkiran</a>, <a href="https://publications.waset.org/abstracts/search?q=G%C3%B6kseni%CC%87n%20Bozda%C4%9F"> Gökseni̇n Bozdağ</a>, <a href="https://publications.waset.org/abstracts/search?q=Metehan%20Bulut"> Metehan Bulut</a>, <a href="https://publications.waset.org/abstracts/search?q=Fati%CC%87h%20Yaman"> Fati̇h Yaman</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This study presents a more compact implementation of the 2.4GHz MIT Coffee Can Doppler Radar for 2.6GHz operating frequency. The main difference of our prototype depends on the use of microstrip antennas which makes it possible to transport with a small robotic vehicle. We have designed our radar system with two different channels: Tx and Rx. The system mainly consists of Voltage Controlled Oscillator (VCO) source, low noise amplifiers, microstrip antennas, splitter, mixer, low pass filter, and necessary RF connectors with cables. The two microstrip antennas, one is element for transmitter and the other one is array for receiver channel, was designed, fabricated and verified by experiments. The system has two operation modes: speed detection and range detection. If the switch of the operation mode is ‘Off’, only CW signal transmitted for speed measurement. When the switch is ‘On’, CW is frequency-modulated and range detection is possible. In speed detection mode, high frequency (2.6 GHz) is generated by a VCO, and then amplified to reach a reasonable level of transmit power. Before transmitting the amplified signal through a microstrip patch antenna, a splitter used in order to compare the frequencies of transmitted and received signals. Half of amplified signal (LO) is forwarded to a mixer, which helps us to compare the frequencies of transmitted and received (RF) and has the IF output, or in other words information of Doppler frequency. Then, IF output is filtered and amplified to process the signal digitally. Filtered and amplified signal showing Doppler frequency is used as an input of audio input of a computer. After getting this data Doppler frequency is shown as a speed change on a figure via Matlab script. According to experimental field measurements the accuracy of speed measurement is approximately %90. In range detection mode, a chirp signal is used to form a FM chirp. This FM chirp helps to determine the range of the target since only Doppler frequency measured with CW is not enough for range detection. Such a FMCW Doppler radar may be used in border security of the countries since it is capable of both speed and range detection. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=doppler%20radar" title="doppler radar">doppler radar</a>, <a href="https://publications.waset.org/abstracts/search?q=FMCW" title=" FMCW"> FMCW</a>, <a href="https://publications.waset.org/abstracts/search?q=range%20detection" title=" range detection"> range detection</a>, <a href="https://publications.waset.org/abstracts/search?q=speed%20detection" title=" speed detection"> speed detection</a> </p> <a href="https://publications.waset.org/abstracts/49523/fmcw-doppler-radar-measurements-with-microstrip-tx-rx-antennas" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/49523.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">398</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">33</span> Effects of Robot-Assisted Hand Training on Upper Extremity Performance in Patients with Stroke: A Randomized Crossover Controlled, Assessor-Blinded Study</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Hsin-Chieh%20Lee">Hsin-Chieh Lee</a>, <a href="https://publications.waset.org/abstracts/search?q=Fen-Ling%20Kuo"> Fen-Ling Kuo</a>, <a href="https://publications.waset.org/abstracts/search?q=Jui-Chi%20Lin"> Jui-Chi Lin</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Background: Upper extremity functional impairment that occurs after stroke includes hemiplegia, synergy movement, muscle hypertonicity, and somatosensory impairment, which result in inefficient and inaccurate movement. Robot-assisted rehabilitation is an intensive training approach that is effective in sensorimotor and hand function recovery. However, these systems mostly focused on the proximal part of the upper limb rather than the distal part. The device used in our study was Gloreha Sinfonia, which focuses on the distal part of the upper limb and uses a dynamic support system to facilitate the whole limb function. The objective of this study was to investigate the effects of robot-assisted therapy (RT) with Gloreha device on sensorimotor, and ADLs in patients with stroke. Method: Patients with stroke (N=25) participated AB or BA (A = 12 RT sessions and B = 12 conventional therapy (CT) sessions) for 6 weeks (60 min at each session, twice a week), with 1-month break for washout period. The performance of the patients was assessed by a blinded assessor at 4 time points (pretest 1, posttest 1, pretest 2, posttest 2) which including the Fugl–Meyer Assessment-upper extremity (FMA-UE), box and block test, electromyography of the extensor digitorum communis (EDC) and brachioradialis, a grip dynamometer for motor evaluation; Semmes–Weinstein hand monofilament and Revision of the Nottingham Sensory Assessment for sensory evaluation; and the Modified Barthel Index (MBI) for assessing the ADL ability. Result: RT group significantly improved FMA-UE proximal scores (p = 0.038), FMA-UE total scores (p = 0.046), and MBI (p = 0.030). The EDC exhibited higher efficiency during the small block grasping task in the RT group than in the CT group (p = 0.050). Conclusions: RT with the Gloreha device might lead to beneficial effects on arm motor function, ADL ability, and EDC muscle recruitment efficacy in patients with subacute to chronic stroke. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=activities%20of%20daily%20living" title="activities of daily living">activities of daily living</a>, <a href="https://publications.waset.org/abstracts/search?q=hand%20function" title=" hand function"> hand function</a>, <a href="https://publications.waset.org/abstracts/search?q=robotic%20rehabilitation" title=" robotic rehabilitation"> robotic rehabilitation</a>, <a href="https://publications.waset.org/abstracts/search?q=stroke" title=" stroke"> stroke</a> </p> <a href="https://publications.waset.org/abstracts/107876/effects-of-robot-assisted-hand-training-on-upper-extremity-performance-in-patients-with-stroke-a-randomized-crossover-controlled-assessor-blinded-study" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/107876.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">118</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">32</span> Cognitive Dissonance in Robots: A Computational Architecture for Emotional Influence on the Belief System</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Nicolas%20M.%20Beleski">Nicolas M. Beleski</a>, <a href="https://publications.waset.org/abstracts/search?q=Gustavo%20A.%20G.%20Lugo"> Gustavo A. G. Lugo</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Robotic agents are taking more and increasingly important roles in society. In order to make these robots and agents more autonomous and efficient, their systems have grown to be considerably complex and convoluted. This growth in complexity has led recent researchers to investigate forms to explain the AI behavior behind these systems in search for more trustworthy interactions. A current problem in explainable AI is the inner workings with the logic inference process and how to conduct a sensibility analysis of the process of valuation and alteration of beliefs. In a social HRI (human-robot interaction) setup, theory of mind is crucial to ease the intentionality gap and to achieve that we should be able to infer over observed human behaviors, such as cases of cognitive dissonance. One specific case inspired in human cognition is the role emotions play on our belief system and the effects caused when observed behavior does not match the expected outcome. In such scenarios emotions can make a person wrongly assume the antecedent P for an observed consequent Q, and as a result, incorrectly assert that P is true. This form of cognitive dissonance where an unproven cause is taken as truth induces changes in the belief base which can directly affect future decisions and actions. If we aim to be inspired by human thoughts in order to apply levels of theory of mind to these artificial agents, we must find the conditions to replicate these observable cognitive mechanisms. To achieve this, a computational architecture is proposed to model the modulation effect emotions have on the belief system and how it affects logic inference process and consequently the decision making of an agent. To validate the model, an experiment based on the prisoner's dilemma is currently under development. The hypothesis to be tested involves two main points: how emotions, modeled as internal argument strength modulators, can alter inference outcomes, and how can explainable outcomes be produced under specific forms of cognitive dissonance. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=cognitive%20architecture" title="cognitive architecture">cognitive architecture</a>, <a href="https://publications.waset.org/abstracts/search?q=cognitive%20dissonance" title=" cognitive dissonance"> cognitive dissonance</a>, <a href="https://publications.waset.org/abstracts/search?q=explainable%20ai" title=" explainable ai"> explainable ai</a>, <a href="https://publications.waset.org/abstracts/search?q=sensitivity%20analysis" title=" sensitivity analysis"> sensitivity analysis</a>, <a href="https://publications.waset.org/abstracts/search?q=theory%20of%20mind" title=" theory of mind"> theory of mind</a> </p> <a href="https://publications.waset.org/abstracts/102182/cognitive-dissonance-in-robots-a-computational-architecture-for-emotional-influence-on-the-belief-system" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/102182.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">132</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">31</span> Affective Robots: Evaluation of Automatic Emotion Recognition Approaches on a Humanoid Robot towards Emotionally Intelligent Machines</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Silvia%20Santano%20Guill%C3%A9n">Silvia Santano Guillén</a>, <a href="https://publications.waset.org/abstracts/search?q=Luigi%20Lo%20Iacono"> Luigi Lo Iacono</a>, <a href="https://publications.waset.org/abstracts/search?q=Christian%20Meder"> Christian Meder</a> </p> <p class="card-text"><strong>Abstract:</strong></p> One of the main aims of current social robotic research is to improve the robots’ abilities to interact with humans. In order to achieve an interaction similar to that among humans, robots should be able to communicate in an intuitive and natural way and appropriately interpret human affects during social interactions. Similarly to how humans are able to recognize emotions in other humans, machines are capable of extracting information from the various ways humans convey emotions—including facial expression, speech, gesture or text—and using this information for improved human computer interaction. This can be described as Affective Computing, an interdisciplinary field that expands into otherwise unrelated fields like psychology and cognitive science and involves the research and development of systems that can recognize and interpret human affects. To leverage these emotional capabilities by embedding them in humanoid robots is the foundation of the concept Affective Robots, which has the objective of making robots capable of sensing the user’s current mood and personality traits and adapt their behavior in the most appropriate manner based on that. In this paper, the emotion recognition capabilities of the humanoid robot Pepper are experimentally explored, based on the facial expressions for the so-called basic emotions, as well as how it performs in contrast to other state-of-the-art approaches with both expression databases compiled in academic environments and real subjects showing posed expressions as well as spontaneous emotional reactions. The experiments’ results show that the detection accuracy amongst the evaluated approaches differs substantially. The introduced experiments offer a general structure and approach for conducting such experimental evaluations. The paper further suggests that the most meaningful results are obtained by conducting experiments with real subjects expressing the emotions as spontaneous reactions. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=affective%20computing" title="affective computing">affective computing</a>, <a href="https://publications.waset.org/abstracts/search?q=emotion%20recognition" title=" emotion recognition"> emotion recognition</a>, <a href="https://publications.waset.org/abstracts/search?q=humanoid%20robot" title=" humanoid robot"> humanoid robot</a>, <a href="https://publications.waset.org/abstracts/search?q=human-robot-interaction%20%28HRI%29" title=" human-robot-interaction (HRI)"> human-robot-interaction (HRI)</a>, <a href="https://publications.waset.org/abstracts/search?q=social%20robots" title=" social robots"> social robots</a> </p> <a href="https://publications.waset.org/abstracts/78467/affective-robots-evaluation-of-automatic-emotion-recognition-approaches-on-a-humanoid-robot-towards-emotionally-intelligent-machines" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/78467.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">235</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">30</span> Robots for City Life: Design Guidelines and Strategy Recommendations for Introducing Robots in Cities</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Akshay%20Rege">Akshay Rege</a>, <a href="https://publications.waset.org/abstracts/search?q=Lara%20Gomaa"> Lara Gomaa</a>, <a href="https://publications.waset.org/abstracts/search?q=Maneesh%20Kumar%20Verma"> Maneesh Kumar Verma</a>, <a href="https://publications.waset.org/abstracts/search?q=Sem%20Carree"> Sem Carree</a> </p> <p class="card-text"><strong>Abstract:</strong></p> The aim of this paper is to articulate design strategies and recommendations for introducing robots into the city life of people based on experiments conducted with robots and semi-autonomous systems in three cities in the Netherlands. This research was carried out by the Spot robotics team of Impact Lab housed within YES!Delft, a start-up accelerator located in Delft, The Netherlands. The premise of this research is to inform the development of the ‘region of the future’ by the Municipality of Rotterdam-Den Haag (MRDH). The paper starts by reporting the desktop research carried out to find and develop multiple use cases for robots to support humans in various activities. Further, the paper reports the user research carried out by crowdsourcing responses collected in public spaces of Rotterdam-Den Haag region and on the internet. Furthermore, based on the knowledge gathered in the initial research, practical experiments were carried out using robots and semi-autonomous systems in order to test and validate our initial research. These experiments were conducted in three cities in the Netherlands which were Rotterdam, The Hague, and Delft. Custom sensor box, Drone, and Boston Dynamics' Spot robot were used to conduct these experiments. Out of thirty use cases, five were tested with experiments which were skyscraper emergency evacuation, human transportation and security, bike lane delivery, mobility tracking, and robot drama. The learnings from these experiments provided us with insights into human-robot interaction and symbiosis in cities which can be used to introduce robots in cities to support human activities, ultimately enabling the transitioning from a human only city life towards a blended one where robots can play a role. Based on these understandings, we formulated design guidelines and strategy recommendations for incorporating robots in the Rotterdam-Den Haag’s region of the future. Lastly, we discuss how our insights in the Rotterdam-Den Haag region can inspire and inform the incorporation of robots in different cities of the world. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=city%20life" title="city life">city life</a>, <a href="https://publications.waset.org/abstracts/search?q=design%20guidelines" title=" design guidelines"> design guidelines</a>, <a href="https://publications.waset.org/abstracts/search?q=human-robot%20Interaction" title=" human-robot Interaction"> human-robot Interaction</a>, <a href="https://publications.waset.org/abstracts/search?q=robot%20use%20cases" title=" robot use cases"> robot use cases</a>, <a href="https://publications.waset.org/abstracts/search?q=robotic%20experiments" title=" robotic experiments"> robotic experiments</a>, <a href="https://publications.waset.org/abstracts/search?q=strategy%20recommendations" title=" strategy recommendations"> strategy recommendations</a>, <a href="https://publications.waset.org/abstracts/search?q=user%20research" title=" user research"> user research</a> </p> <a href="https://publications.waset.org/abstracts/160182/robots-for-city-life-design-guidelines-and-strategy-recommendations-for-introducing-robots-in-cities" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/160182.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">97</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">29</span> The Effect of Surgical Intervention on Pediatric and Adolescent Obstructive Sleep Apnea Syndrome</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Ching-Yi%20Yiu">Ching-Yi Yiu</a>, <a href="https://publications.waset.org/abstracts/search?q=Hui-Chen%20Hsu"> Hui-Chen Hsu</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Objectives: Obstructive sleep apnea syndrome (OSAS) is a popular problem in the modern society. It usually leads to sleep disorder, excessive daytime sleepiness and associated with cardiovascular diseases, cognitive dysfunction and even death. The nonsurgical therapies include continuous positive airway pressure (CPAP), diet and oral appliances. The surgical approaches have nasal surgery, tonsillectomy, adenoidectomy, uvulopalatopharyngoplasty (UPPP) and transoral robotic surgery (TORS).We compare the impact of surgical treatments on these kinds of patients. Methods: Between January 2018 to September 2022, We have enrolled 125 OSAS patients including 82 male and 43 female in Chi Mei Medical Center, Liouying, Taiwan. The age distribution from 6 to 71 years old (y/o) with mean age 36.1 y/o. The averaged body mass index (BMI) is 25 kg/m2 in male and 25.5 kg/m2 in female. In this cohort, we evaluated their upper airway obstruction sites with nasopharyngoscopy and scheduled a planned surgery. Some of cases received polysomnography (PSG) preoperatively, the averaged apnea-hypopnea index (AHI) is 37.7 events/hour. We have 68 patients received tonsillectomy, 9 received UPPP, 42 received UPPP and septomeatoplasty (SMP) and 6 received adenoidectomy and tonsillectomy (A and T). The subjective daytime sleepiness was evaluated with the Epworth sleepiness scale (ESS). Results: In the 68 tonsillectomy group, the averaged BMI is 24.9 kg/m2. In the UPPP group, the averaged BMI is 28.9 kg/m2. In UPPP and SMP group, the averaged BMI is 27.9 kg/m2. In the A and T group, the averaged BMI is 17.2 kg/m2. The reduction of AHI less than 20 is 58% postoperatively. The ESS reduced from 10.9 to 4.9 after surgery. Conclusion: Obstructive sleep apnea syndrome is a common upper airway disturbance in the general population. The prevalence rate is ranging high depending on different regions, age, sex and race. It leads to severe morbidity and mortality including car accident, stroke, nocturnal desaand sudden death and should be considered to be a major public health problem. The CPAP is effective to improve daytime sleepiness but the long-term compliance is low. The surgical treatment with different modalities can produce 50% decrease in AHI and ESS after surgery in the 6 to 12 months short-term period. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=apnea-hypopnea%20index" title="apnea-hypopnea index">apnea-hypopnea index</a>, <a href="https://publications.waset.org/abstracts/search?q=obstructive%20sleep%20apnea%20syndrome" title=" obstructive sleep apnea syndrome"> obstructive sleep apnea syndrome</a>, <a href="https://publications.waset.org/abstracts/search?q=polysomnography" title=" polysomnography"> polysomnography</a>, <a href="https://publications.waset.org/abstracts/search?q=uvulopalatopharyngoplasty" title=" uvulopalatopharyngoplasty"> uvulopalatopharyngoplasty</a> </p> <a href="https://publications.waset.org/abstracts/160927/the-effect-of-surgical-intervention-on-pediatric-and-adolescent-obstructive-sleep-apnea-syndrome" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/160927.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">95</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">28</span> Navigating through Organizational Change: TAM-Based Manual for Digital Skills and Safety Transitions</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Margarida%20Porf%C3%ADrio%20Tom%C3%A1s">Margarida Porfírio Tomás</a>, <a href="https://publications.waset.org/abstracts/search?q=Paula%20Pereira"> Paula Pereira</a>, <a href="https://publications.waset.org/abstracts/search?q=Jos%C3%A9%20Palma%20Oliveira"> José Palma Oliveira</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Robotic grasping is advancing rapidly, but transferring techniques from rigid to deformable objects remains a challenge. Deformable and flexible items, such as food containers, demand nuanced handling due to their changing shapes. Bridging this gap is crucial for applications in food processing, surgical robotics, and household assistance. AGILEHAND, a Horizon project, focuses on developing advanced technologies for sorting, handling, and packaging soft and deformable products autonomously. These technologies serve as strategic tools to enhance flexibility, agility, and reconfigurability within the production and logistics systems of European manufacturing companies. Key components include intelligent detection, self-adaptive handling, efficient sorting, and agile, rapid reconfiguration. The overarching goal is to optimize work environments and equipment, ensuring both efficiency and safety. As new technologies emerge in the food industry, there will be some implications, such as labour force, safety problems and acceptance of the new technologies. To overcome these implications, AGILEHAND emphasizes the integration of social sciences and humanities, for example, the application of the Technology Acceptance Model (TAM). The project aims to create a change management manual, that will outline strategies for developing digital skills and managing health and safety transitions. It will also provide best practices and models for organizational change. Additionally, AGILEHAND will design effective training programs to enhance employee skills and knowledge. This information will be obtained through a combination of case studies, structured interviews, questionnaires, and a comprehensive literature review. The project will explore how organizations adapt during periods of change and identify factors influencing employee motivation and job satisfaction. This project received funding from European Union’s Horizon 2020/Horizon Europe research and innovation program under grant agreement No101092043 (AGILEHAND). <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=change%20management" title="change management">change management</a>, <a href="https://publications.waset.org/abstracts/search?q=technology%20acceptance%20model" title=" technology acceptance model"> technology acceptance model</a>, <a href="https://publications.waset.org/abstracts/search?q=organizational%20change" title=" organizational change"> organizational change</a>, <a href="https://publications.waset.org/abstracts/search?q=health%20and%20safety" title=" health and safety"> health and safety</a> </p> <a href="https://publications.waset.org/abstracts/184036/navigating-through-organizational-change-tam-based-manual-for-digital-skills-and-safety-transitions" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/184036.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">45</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">27</span> A Re-Evaluation of Green Architecture and Its Contributions to Environmental Sustainability</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Po-Ching%20Wang">Po-Ching Wang</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Considering the notable effects of natural resource consumption and impacts on fragile ecosystems, reflection on contemporary sustainable design is critical. Nevertheless, the idea of ‘green’ has been misapplied and even abused, and, in fact, much damage to the environment has been done in its name. In 1996’s popular science fiction film Independence Day, an alien species, having exhausted the natural resources of one planet, moves on to another —a fairly obvious irony on contemporary human beings’ irresponsible use of the Earth’s natural resources in modern times. In fact, the human ambition to master nature and freely access the world’s resources has long been inherent in manifestos evinced by productions of the environmental design professions. Ron Herron’s Walking City, an experimental architectural piece of 1964, is one example that comes to mind here. For this design concept, the architect imagined a gigantic nomadic urban aggregate that by way of an insect-like robotic carrier would move all over the world, on land and sea, to wherever its inhabitants want. Given the contemporary crisis regarding natural resources, recently ideas pertinent to structuring a sustainable environment have been attracting much interest in architecture, a field that has been accused of significantly contributing to ecosystem degradation. Great art, such as Fallingwater building, has been regarded as nature-friendly, but its notion of ‘green’ might be inadequate in the face of the resource demands made by human populations today. This research suggests a more conservative and scrupulous attitude to attempting to modify nature for architectural settings. Designs that pursue spiritual or metaphysical interconnections through anthropocentric aesthetics are not sufficient to benefit ecosystem integrity; though high-tech energy-saving processes may contribute to a fine-scale sustainability, they may ultimately cause catastrophe in the global scale. Design with frugality is proposed in order to actively reduce environmental load. The aesthetic taste and ecological sensibility of design professions and the public alike may have to be reshaped in order to make the goals of environmental sustainability viable. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=anthropocentric%20aesthetic" title="anthropocentric aesthetic">anthropocentric aesthetic</a>, <a href="https://publications.waset.org/abstracts/search?q=aquarium%20sustainability" title=" aquarium sustainability"> aquarium sustainability</a>, <a href="https://publications.waset.org/abstracts/search?q=biosphere%202" title=" biosphere 2"> biosphere 2</a>, <a href="https://publications.waset.org/abstracts/search?q=ecological%20aesthetic" title=" ecological aesthetic"> ecological aesthetic</a>, <a href="https://publications.waset.org/abstracts/search?q=ecological%20footprint" title=" ecological footprint"> ecological footprint</a>, <a href="https://publications.waset.org/abstracts/search?q=frugal%20design" title=" frugal design"> frugal design</a> </p> <a href="https://publications.waset.org/abstracts/71263/a-re-evaluation-of-green-architecture-and-its-contributions-to-environmental-sustainability" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/71263.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">209</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">26</span> Atmospheric Circulation Types Related to Dust Transport Episodes over Crete in the Eastern Mediterranean</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=K.%20Alafogiannis">K. Alafogiannis</a>, <a href="https://publications.waset.org/abstracts/search?q=E.%20E.%20Houssos"> E. E. Houssos</a>, <a href="https://publications.waset.org/abstracts/search?q=E.%20Anagnostou"> E. Anagnostou</a>, <a href="https://publications.waset.org/abstracts/search?q=G.%20Kouvarakis"> G. Kouvarakis</a>, <a href="https://publications.waset.org/abstracts/search?q=N.%20Mihalopoulos"> N. Mihalopoulos</a>, <a href="https://publications.waset.org/abstracts/search?q=A.%20Fotiadi"> A. Fotiadi</a> </p> <p class="card-text"><strong>Abstract:</strong></p> The Mediterranean basin is an area where different aerosol types coexist, including urban/industrial, desert dust, biomass burning and marine particles. Particularly, mineral dust aerosols, mostly originated from North African deserts, significantly contribute to high aerosol loads above the Mediterranean. Dust transport, controlled by the variation of the atmospheric circulation throughout the year, results in a strong spatial and temporal variability of aerosol properties. In this study, the synoptic conditions which favor dust transport over the Eastern Mediterranean are thoroughly investigated. For this reason, three datasets are employed. Firstly, ground-based daily data of aerosol properties, namely Aerosol Optical Thickness (AOT), Ångström exponent (α440-870) and fine fraction from the FORTH-AERONET (Aerosol Robotic Network) station along with measurements of PM10 concentrations from Finokalia station, for the period 2003-2011, are used to identify days with high coarse aerosol load (episodes) over Crete. Then, geopotential height at 1000, 850 and 700 hPa levels obtained from the NCEP/NCAR Reanalysis Project, are utilized to depict the atmospheric circulation during the identified episodes. Additionally, air-mass back trajectories, calculated by HYSPLIT, are used to verify the origin of aerosols from neighbouring deserts. For the 227 identified dust episodes, the statistical methods of Factor and Cluster Analysis are applied on the corresponding atmospheric circulation data to reveal the main types of the synoptic conditions favouring dust transport towards Crete (Eastern Mediterranean). The 227 cases are classified into 11 distinct types (clusters). Dust episodes in Eastern Mediterranean, are found to be more frequent (52%) in spring with a secondary maximum in autumn. The main characteristic of the atmospheric circulation associated with dust episodes, is the presence of a low-pressure system at surface, either in southwestern Europe or western/central Mediterranean, which induces a southerly air flow favouring dust transport from African deserts. The exact position and the intensity of the low-pressure system vary notably among clusters. More rarely dust may originate from deserts of Arabian Peninsula. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=aerosols" title="aerosols">aerosols</a>, <a href="https://publications.waset.org/abstracts/search?q=atmospheric%20circulation" title=" atmospheric circulation"> atmospheric circulation</a>, <a href="https://publications.waset.org/abstracts/search?q=dust%20particles" title=" dust particles"> dust particles</a>, <a href="https://publications.waset.org/abstracts/search?q=Eastern%20Mediterranean" title=" Eastern Mediterranean"> Eastern Mediterranean</a> </p> <a href="https://publications.waset.org/abstracts/63484/atmospheric-circulation-types-related-to-dust-transport-episodes-over-crete-in-the-eastern-mediterranean" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/63484.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">230</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">25</span> Economics of Precision Mechanization in Wine and Table Grape Production</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Dean%20A.%20McCorkle">Dean A. McCorkle</a>, <a href="https://publications.waset.org/abstracts/search?q=Ed%20W.%20Hellman"> Ed W. Hellman</a>, <a href="https://publications.waset.org/abstracts/search?q=Rebekka%20M.%20Dudensing"> Rebekka M. Dudensing</a>, <a href="https://publications.waset.org/abstracts/search?q=Dan%20D.%20Hanselka"> Dan D. Hanselka</a> </p> <p class="card-text"><strong>Abstract:</strong></p> The motivation for this study centers on the labor- and cost-intensive nature of wine and table grape production in the U.S., and the potential opportunities for precision mechanization using robotics to augment those production tasks that are labor-intensive. The objectives of this study are to evaluate the economic viability of grape production in five U.S. states under current operating conditions, identify common production challenges and tasks that could be augmented with new technology, and quantify a maximum price for new technology that growers would be able to pay. Wine and table grape production is primed for precision mechanization technology as it faces a variety of production and labor issues. Methodology: Using a grower panel process, this project includes the development of a representative wine grape vineyard in five states and a representative table grape vineyard in California. The panels provided production, budget, and financial-related information that are typical for vineyards in their area. Labor costs for various production tasks are of particular interest. Using the data from the representative budget, 10-year projected financial statements have been developed for the representative vineyard and evaluated using a stochastic simulation model approach. Labor costs for selected vineyard production tasks were evaluated for the potential of new precision mechanization technology being developed. These tasks were selected based on a variety of factors, including input from the panel members, and the extent to which the development of new technology was deemed to be feasible. The net present value (NPV) of the labor cost over seven years for each production task was derived. This allowed for the calculation of a maximum price for new technology whereby the NPV of labor costs would equal the NPV of purchasing, owning, and operating new technology. Expected Results: The results from the stochastic model will show the projected financial health of each representative vineyard over the 2015-2024 timeframe. Investigators have developed a preliminary list of production tasks that have the potential for precision mechanization. For each task, the labor requirements, labor costs, and the maximum price for new technology will be presented and discussed. Together, these results will allow technology developers to focus and prioritize their research and development efforts for wine and table grape vineyards, and suggest opportunities to strengthen vineyard profitability and long-term viability using precision mechanization. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=net%20present%20value" title="net present value">net present value</a>, <a href="https://publications.waset.org/abstracts/search?q=robotic%20technology" title=" robotic technology"> robotic technology</a>, <a href="https://publications.waset.org/abstracts/search?q=stochastic%20simulation" title=" stochastic simulation"> stochastic simulation</a>, <a href="https://publications.waset.org/abstracts/search?q=wine%20and%20table%20grapes" title=" wine and table grapes"> wine and table grapes</a> </p> <a href="https://publications.waset.org/abstracts/70990/economics-of-precision-mechanization-in-wine-and-table-grape-production" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/70990.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">260</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">24</span> Strategy and Mechanism for Intercepting Unpredictable Moving Targets in the Blue-Tailed Damselfly (Ischnura elegans)</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Ziv%20Kassner">Ziv Kassner</a>, <a href="https://publications.waset.org/abstracts/search?q=Gal%20Ribak"> Gal Ribak</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Members of the Odonata order (dragonflies and damselflies) stand out for their maneuverability and superb flight control, which allow them to catch flying prey in the air. These outstanding aerial abilities were fine-tuned during millions of years of an evolutionary arms race between Odonata and their prey, providing an attractive research model for studying the relationship between sensory input – and aerodynamic output in a flying insect. The ability to catch a maneuvering target in air is interesting not just for insect behavioral ecology and neuroethology but also for designing small and efficient robotic air vehicles. While the aerial prey interception of dragonflies (suborder: Anisoptera) have been studied before, little is known about how damselflies (suborder: Zygoptera) intercept prey. Here, high-speed cameras (filming at 1000 frames per second) were used to explore how damselflies catch unpredictable targets that move through air. Blue-tailed damselflies - Ischnura elegans (family: Coenagrionidae) were introduced to a flight arena and filmed while landing on moving targets that were oscillated harmonically. The insects succeeded in capturing targets that were moved with an amplitude of 6 cm and frequencies of 0-2.5 Hz (fastest mean target speed of 0.3 m s⁻¹) and targets that were moved in 1 Hz (an average speed of 0.3 m s⁻¹) but with an amplitude of 15 cm. To land on stationary or slow targets, damselflies either flew directly to the target, or flew sideways, up to a point in which the target was fixed in the center of the field of view, followed by direct flight path towards the target. As the target moved in increased frequency, damselflies demonstrated an ability to track the targets while flying sideways and minimizing the changes of their body direction on the yaw axis. This was likely an attempt to keep the targets at the center of the visual field while minimizing rotational optic flow of the surrounding visual panorama. Stabilizing rotational optic flow helps in estimation of the velocity and distance of the target. These results illustrate how dynamic visual information is used by damselflies to guide them towards a maneuvering target, enabling the superb aerial hunting abilities of these insects. They also exemplifies the plasticity of the damselfly flight apparatus which enables flight in any direction, irrespective of the direction of the body. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=bio-mechanics" title="bio-mechanics">bio-mechanics</a>, <a href="https://publications.waset.org/abstracts/search?q=insect%20flight" title=" insect flight"> insect flight</a>, <a href="https://publications.waset.org/abstracts/search?q=target%20fixation" title=" target fixation"> target fixation</a>, <a href="https://publications.waset.org/abstracts/search?q=tracking%20and%20interception" title=" tracking and interception"> tracking and interception</a> </p> <a href="https://publications.waset.org/abstracts/72758/strategy-and-mechanism-for-intercepting-unpredictable-moving-targets-in-the-blue-tailed-damselfly-ischnura-elegans" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/72758.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">152</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">23</span> 6-Degree-Of-Freedom Spacecraft Motion Planning via Model Predictive Control and Dual Quaternions</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Omer%20Burak%20Iskender">Omer Burak Iskender</a>, <a href="https://publications.waset.org/abstracts/search?q=Keck%20Voon%20Ling"> Keck Voon Ling</a>, <a href="https://publications.waset.org/abstracts/search?q=Vincent%20Dubanchet"> Vincent Dubanchet</a>, <a href="https://publications.waset.org/abstracts/search?q=Luca%20Simonini"> Luca Simonini</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper presents Guidance and Control (G&C) strategy to approach and synchronize with potentially rotating targets. The proposed strategy generates and tracks a safe trajectory for space servicing missions, including tasks like approaching, inspecting, and capturing. The main objective of this paper is to validate the G&C laws using a Hardware-In-the-Loop (HIL) setup with realistic rendezvous and docking equipment. Throughout this work, the assumption of full relative state feedback is relaxed by onboard sensors that bring realistic errors and delays and, while the proposed closed loop approach demonstrates the robustness to the above mentioned challenge. Moreover, G&C blocks are unified via the Model Predictive Control (MPC) paradigm, and the coupling between translational motion and rotational motion is addressed via dual quaternion based kinematic description. In this work, G&C is formulated as a convex optimization problem where constraints such as thruster limits and the output constraints are explicitly handled. Furthermore, the Monte-Carlo method is used to evaluate the robustness of the proposed method to the initial condition errors, the uncertainty of the target's motion and attitude, and actuator errors. A capture scenario is tested with the robotic test bench that has onboard sensors which estimate the position and orientation of a drifting satellite through camera imagery. Finally, the approach is compared with currently used robust H-infinity controllers and guidance profile provided by the industrial partner. The HIL experiments demonstrate that the proposed strategy is a potential candidate for future space servicing missions because 1) the algorithm is real-time implementable as convex programming offers deterministic convergence properties and guarantee finite time solution, 2) critical physical and output constraints are respected, 3) robustness to sensor errors and uncertainties in the system is proven, 4) couples translational motion with rotational motion. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=dual%20quaternion" title="dual quaternion">dual quaternion</a>, <a href="https://publications.waset.org/abstracts/search?q=model%20predictive%20control" title=" model predictive control"> model predictive control</a>, <a href="https://publications.waset.org/abstracts/search?q=real-time%20experimental%20test" title=" real-time experimental test"> real-time experimental test</a>, <a href="https://publications.waset.org/abstracts/search?q=rendezvous%20and%20docking" title=" rendezvous and docking"> rendezvous and docking</a>, <a href="https://publications.waset.org/abstracts/search?q=spacecraft%20autonomy" title=" spacecraft autonomy"> spacecraft autonomy</a>, <a href="https://publications.waset.org/abstracts/search?q=space%20servicing" title=" space servicing"> space servicing</a> </p> <a href="https://publications.waset.org/abstracts/108672/6-degree-of-freedom-spacecraft-motion-planning-via-model-predictive-control-and-dual-quaternions" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/108672.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">146</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">22</span> A Framework of Virtualized Software Controller for Smart Manufacturing</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Pin%20Xiu%20Chen">Pin Xiu Chen</a>, <a href="https://publications.waset.org/abstracts/search?q=Shang%20Liang%20Chen"> Shang Liang Chen</a> </p> <p class="card-text"><strong>Abstract:</strong></p> A virtualized software controller is developed in this research to replace traditional hardware control units. This virtualized software controller transfers motion interpolation calculations from the motion control units of end devices to edge computing platforms, thereby reducing the end devices' computational load and hardware requirements and making maintenance and updates easier. The study also applies the concept of microservices, dividing the control system into several small functional modules and then deploy into a cloud data server. This reduces the interdependency among modules and enhances the overall system's flexibility and scalability. Finally, with containerization technology, the system can be deployed and started in a matter of seconds, which is more efficient than traditional virtual machine deployment methods. Furthermore, this virtualized software controller communicates with end control devices via wireless networks, making the placement of production equipment or the redesign of processes more flexible and no longer limited by physical wiring. To handle the large data flow and maintain low-latency transmission, this study integrates 5G technology, fully utilizing its high speed, wide bandwidth, and low latency features to achieve rapid and stable remote machine control. An experimental setup is designed to verify the feasibility and test the performance of this framework. This study designs a smart manufacturing site with a 5G communication architecture, serving as a field for experimental data collection and performance testing. The smart manufacturing site includes one robotic arm, three Computer Numerical Control machine tools, several Input/Output ports, and an edge computing architecture. All machinery information is uploaded to edge computing servers and cloud servers via 5G communication and the Internet of Things framework. After analysis and computation, this information is converted into motion control commands, which are transmitted back to the relevant machinery for motion control through 5G communication. The communication time intervals at each stage are calculated using the C++ chrono library to measure the time difference for each command transmission. The relevant test results will be organized and displayed in the full-text. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=5G" title="5G">5G</a>, <a href="https://publications.waset.org/abstracts/search?q=MEC" title=" MEC"> MEC</a>, <a href="https://publications.waset.org/abstracts/search?q=microservices" title=" microservices"> microservices</a>, <a href="https://publications.waset.org/abstracts/search?q=virtualized%20software%20controller" title=" virtualized software controller"> virtualized software controller</a>, <a href="https://publications.waset.org/abstracts/search?q=smart%20manufacturing" title=" smart manufacturing"> smart manufacturing</a> </p> <a href="https://publications.waset.org/abstracts/181522/a-framework-of-virtualized-software-controller-for-smart-manufacturing" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/181522.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">82</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">21</span> Analysis of Splicing Methods for High Speed Automated Fibre Placement Applications </h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Phillip%20Kearney">Phillip Kearney</a>, <a href="https://publications.waset.org/abstracts/search?q=Constantina%20Lekakou"> Constantina Lekakou</a>, <a href="https://publications.waset.org/abstracts/search?q=Stephen%20Belcher"> Stephen Belcher</a>, <a href="https://publications.waset.org/abstracts/search?q=Alessandro%20Sordon"> Alessandro Sordon</a> </p> <p class="card-text"><strong>Abstract:</strong></p> The focus in the automotive industry is to reduce human operator and machine interaction, so manufacturing becomes more automated and safer. The aim is to lower part cost and construction time as well as defects in the parts, sometimes occurring due to the physical limitations of human operators. A move to automate the layup of reinforcement material in composites manufacturing has resulted in the use of tapes that are placed in position by a robotic deposition head, also described as Automated Fibre Placement (AFP). The process of AFP is limited with respect to the finite amount of material that can be loaded into the machine at any one time. Joining two batches of tape material together involves a splice to secure the ends of the finishing tape to the starting edge of the new tape. The splicing method of choice for the majority of prepreg applications is a hand stich method, and as the name suggests requires human input to achieve. This investigation explores three methods for automated splicing, namely, adhesive, binding and stitching. The adhesive technique uses an additional adhesive placed on the tape ends to be joined. Binding uses the binding agent that is already impregnated onto the tape through the application of heat. The stitching method is used as a baseline to compare the new splicing methods to the traditional technique currently in use. As the methods will be used within a High Speed Automated Fibre Placement (HSAFP) process, this meant the parameters of the splices have to meet certain specifications: (a) the splice must be able to endure a load of 50 N in tension applied at a rate of 1 mm/s; (b) the splice must be created in less than 6 seconds, dictated by the capacity of the tape accumulator within the system. The samples for experimentation were manufactured with controlled overlaps, alignment and splicing parameters, these were then tested in tension using a tensile testing machine. Initial analysis explored the use of the impregnated binding agent present on the tape, as in the binding splicing technique. It analysed the effect of temperature and overlap on the strength of the splice. It was found that the optimum splicing temperature was at the higher end of the activation range of the binding agent, 100 °C. The optimum overlap was found to be 25 mm; it was found that there was no improvement in bond strength from 25 mm to 30 mm overlap. The final analysis compared the different splicing methods to the baseline of a stitched bond. It was found that the addition of an adhesive was the best splicing method, achieving a maximum load of over 500 N compared to the 26 N load achieved by a stitching splice and 94 N by the binding method. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=analysis" title="analysis">analysis</a>, <a href="https://publications.waset.org/abstracts/search?q=automated%20fibre%20placement" title=" automated fibre placement"> automated fibre placement</a>, <a href="https://publications.waset.org/abstracts/search?q=high%20speed" title=" high speed"> high speed</a>, <a href="https://publications.waset.org/abstracts/search?q=splicing" title=" splicing"> splicing</a> </p> <a href="https://publications.waset.org/abstracts/124737/analysis-of-splicing-methods-for-high-speed-automated-fibre-placement-applications" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/124737.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">155</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">20</span> Discrete PID and Discrete State Feedback Control of a Brushed DC Motor</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=I.%20Valdez">I. Valdez</a>, <a href="https://publications.waset.org/abstracts/search?q=J.%20Perdomo"> J. Perdomo</a>, <a href="https://publications.waset.org/abstracts/search?q=M.%20Colindres"> M. Colindres</a>, <a href="https://publications.waset.org/abstracts/search?q=N.%20Castro"> N. Castro</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Today, digital servo systems are extensively used in industrial manufacturing processes, robotic applications, vehicles and other areas. In such control systems, control action is provided by digital controllers with different compensation algorithms, which are designed to meet specific requirements for a given application. Due to the constant search for optimization in industrial processes, it is of interest to design digital controllers that offer ease of realization, improved computational efficiency, affordable return rates, and ease of tuning that ultimately improve the performance of the controlled actuators. There is a vast range of options of compensation algorithms that could be used, although in the industry, most controllers used are based on a PID structure. This research article compares different types of digital compensators implemented in a servo system for DC motor position control. PID compensation is evaluated on its two most common architectures: PID position form (1 DOF), and PID speed form (2 DOF). State feedback algorithms are also evaluated, testing two modern control theory techniques: discrete state observer for non-measurable variables tracking, and a linear quadratic method which allows a compromise between the theoretical optimal control and the realization that most closely matches it. The compared control systems’ performance is evaluated through simulations in the Simulink platform, in which it is attempted to model accurately each of the system’s hardware components. The criteria by which the control systems are compared are reference tracking and disturbance rejection. In this investigation, it is considered that the accurate tracking of the reference signal for a position control system is particularly important because of the frequency and the suddenness in which the control signal could change in position control applications, while disturbance rejection is considered essential because the torque applied to the motor shaft due to sudden load changes can be modeled as a disturbance that must be rejected, ensuring reference tracking. Results show that 2 DOF PID controllers exhibit high performance in terms of the benchmarks mentioned, as long as they are properly tuned. As for controllers based on state feedback, due to the nature and the advantage which state space provides for modelling MIMO, it is expected that such controllers evince ease of tuning for disturbance rejection, assuming that the designer of such controllers is experienced. An in-depth multi-dimensional analysis of preliminary research results indicate that state feedback control method is more satisfactory, but PID control method exhibits easier implementation in most control applications. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=control" title="control">control</a>, <a href="https://publications.waset.org/abstracts/search?q=DC%20motor" title=" DC motor"> DC motor</a>, <a href="https://publications.waset.org/abstracts/search?q=discrete%20PID" title=" discrete PID"> discrete PID</a>, <a href="https://publications.waset.org/abstracts/search?q=discrete%20state%20feedback" title=" discrete state feedback"> discrete state feedback</a> </p> <a href="https://publications.waset.org/abstracts/42513/discrete-pid-and-discrete-state-feedback-control-of-a-brushed-dc-motor" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/42513.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">266</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">19</span> Characterization of Aerosol Particles in Ilorin, Nigeria: Ground-Based Measurement Approach</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Razaq%20A.%20Olaitan">Razaq A. Olaitan</a>, <a href="https://publications.waset.org/abstracts/search?q=Ayansina%20Ayanlade"> Ayansina Ayanlade</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Understanding aerosol properties is the main goal of global research in order to lower the uncertainty associated with climate change in the trends and magnitude of aerosol particles. In order to identify aerosol particle types, optical properties, and the relationship between aerosol properties and particle concentration between 2019 and 2021, a study conducted in Ilorin, Nigeria, examined the aerosol robotic network's ground-based sun/sky scanning radiometer. The AERONET algorithm version 2 was utilized to retrieve monthly data on aerosol optical depth and angstrom exponent. The version 3 algorithm, which is an almucantar level 2 inversion, was employed to retrieve daily data on single scattering albedo and aerosol size distribution. Excel 2016 was used to analyze the data's monthly, seasonal, and annual mean averages. The distribution of different types of aerosols was analyzed using scatterplots, and the optical properties of the aerosol were investigated using pertinent mathematical theorems. To comprehend the relationships between particle concentration and properties, correlation statistics were employed. Based on the premise that aerosol characteristics must remain constant in both magnitude and trend across time and space, the study's findings indicate that the types of aerosols identified between 2019 and 2021 are as follows: 29.22% urban industrial (UI) aerosol type, 37.08% desert (D) aerosol type, 10.67% biomass burning (BB), and 23.03% urban mix (Um) aerosol type. Convective wind systems, which frequently carry particles as they blow over long distances in the atmosphere, have been responsible for the peak-of-the-columnar aerosol loadings, which were observed during August of the study period. The study has shown that while coarse mode particles dominate, fine particles are increasing in seasonal and annual trends. Burning biomass and human activities in the city are linked to these trends. The study found that the majority of particles are highly absorbing black carbon, with the fine mode having a volume median radius of 0.08 to 0.12 meters. The investigation also revealed that there is a positive coefficient of correlation (r = 0.57) between changes in aerosol particle concentration and changes in aerosol properties. Human activity is rapidly increasing in Ilorin, causing changes in aerosol properties, indicating potential health risks from climate change and human influence on geological and environmental systems. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=aerosol%20loading" title="aerosol loading">aerosol loading</a>, <a href="https://publications.waset.org/abstracts/search?q=aerosol%20types" title=" aerosol types"> aerosol types</a>, <a href="https://publications.waset.org/abstracts/search?q=health%20risks" title=" health risks"> health risks</a>, <a href="https://publications.waset.org/abstracts/search?q=optical%20properties" title=" optical properties"> optical properties</a> </p> <a href="https://publications.waset.org/abstracts/184518/characterization-of-aerosol-particles-in-ilorin-nigeria-ground-based-measurement-approach" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/184518.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">63</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">18</span> Advancing Trustworthy Human-robot Collaboration: Challenges and Opportunities in Diverse European Industrial Settings</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Margarida%20Porf%C3%ADrio%20Tom%C3%A1s">Margarida Porfírio Tomás</a>, <a href="https://publications.waset.org/abstracts/search?q=Paula%20Pereira"> Paula Pereira</a>, <a href="https://publications.waset.org/abstracts/search?q=Jos%C3%A9%20Manuel%20Palma%20Oliveira"> José Manuel Palma Oliveira</a> </p> <p class="card-text"><strong>Abstract:</strong></p> The decline in employment rates across sectors like industry and construction is exacerbated by an aging workforce. This has far-reaching implications for the economy, including skills gaps, labour shortages, productivity challenges due to physical limitations, and workplace safety concerns. To sustain the workforce and pension systems, technology plays a pivotal role. Robots provide valuable support to human workers, and effective human-robot interaction is essential. FORTIS, a Horizon project, aims to address these challenges by creating a comprehensive Human-Robot Interaction (HRI) solution. This solution focuses on multi-modal communication and multi-aspect interaction, with a primary goal of maintaining a human-centric approach. By meeting the needs of both human workers and robots, FORTIS aims to facilitate efficient and safe collaboration. The project encompasses three key activities: 1) A Human-Centric Approach involving data collection, annotation, understanding human behavioural cognition, and contextual human-robot information exchange. 2) A Robotic-Centric Focus addressing the unique requirements of robots during the perception and evaluation of human behaviour. 3) Ensuring Human-Robot Trustworthiness through measures such as human-robot digital twins, safety protocols, and resource allocation. Factor Social, a project partner, will analyse psycho-physiological signals that influence human factors, particularly in hazardous working conditions. The analysis will be conducted using a combination of case studies, structured interviews, questionnaires, and a comprehensive literature review. However, the adoption of novel technologies, particularly those involving human-robot interaction, often faces hurdles related to acceptance. To address this challenge, FORTIS will draw upon insights from Social Sciences and Humanities (SSH), including risk perception and technology acceptance models. Throughout its lifecycle, FORTIS will uphold a human-centric approach, leveraging SSH methodologies to inform the design and development of solutions. This project received funding from European Union’s Horizon 2020/Horizon Europe research and innovation program under grant agreement No 101135707 (FORTIS). <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=skills%20gaps" title="skills gaps">skills gaps</a>, <a href="https://publications.waset.org/abstracts/search?q=productivity%20challenges" title=" productivity challenges"> productivity challenges</a>, <a href="https://publications.waset.org/abstracts/search?q=workplace%20safety" title=" workplace safety"> workplace safety</a>, <a href="https://publications.waset.org/abstracts/search?q=human-robot%20interaction" title=" human-robot interaction"> human-robot interaction</a>, <a href="https://publications.waset.org/abstracts/search?q=human-centric%20approach" title=" human-centric approach"> human-centric approach</a>, <a href="https://publications.waset.org/abstracts/search?q=social%20sciences%20and%20humanities" title=" social sciences and humanities"> social sciences and humanities</a>, <a href="https://publications.waset.org/abstracts/search?q=risk%20perception" title=" risk perception"> risk perception</a> </p> <a href="https://publications.waset.org/abstracts/184035/advancing-trustworthy-human-robot-collaboration-challenges-and-opportunities-in-diverse-european-industrial-settings" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/184035.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">52</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">17</span> A Tutorial on Model Predictive Control for Spacecraft Maneuvering Problem with Theory, Experimentation and Applications</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=O.%20B.%20Iskender">O. B. Iskender</a>, <a href="https://publications.waset.org/abstracts/search?q=K.%20V.%20Ling"> K. V. Ling</a>, <a href="https://publications.waset.org/abstracts/search?q=V.%20Dubanchet"> V. Dubanchet</a>, <a href="https://publications.waset.org/abstracts/search?q=L.%20Simonini"> L. Simonini</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper discusses the recent advances and future prospects of spacecraft position and attitude control using Model Predictive Control (MPC). First, the challenges of the space missions are summarized, in particular, taking into account the errors, uncertainties, and constraints imposed by the mission, spacecraft and, onboard processing capabilities. The summary of space mission errors and uncertainties provided in categories; initial condition errors, unmodeled disturbances, sensor, and actuator errors. These previous constraints are classified into two categories: physical and geometric constraints. Last, real-time implementation capability is discussed regarding the required computation time and the impact of sensor and actuator errors based on the Hardware-In-The-Loop (HIL) experiments. The rationales behind the scenarios’ are also presented in the scope of space applications as formation flying, attitude control, rendezvous and docking, rover steering, and precision landing. The objectives of these missions are explained, and the generic constrained MPC problem formulations are summarized. Three key design elements used in MPC design: the prediction model, the constraints formulation and the objective cost function are discussed. The prediction models can be linear time invariant or time varying depending on the geometry of the orbit, whether it is circular or elliptic. The constraints can be given as linear inequalities for input or output constraints, which can be written in the same form. Moreover, the recent convexification techniques for the non-convex geometrical constraints (i.e., plume impingement, Field-of-View (FOV)) are presented in detail. Next, different objectives are provided in a mathematical framework and explained accordingly. Thirdly, because MPC implementation relies on finding in real-time the solution to constrained optimization problems, computational aspects are also examined. In particular, high-speed implementation capabilities and HIL challenges are presented towards representative space avionics. This covers an analysis of future space processors as well as the requirements of sensors and actuators on the HIL experiments outputs. The HIL tests are investigated for kinematic and dynamic tests where robotic arms and floating robots are used respectively. Eventually, the proposed algorithms and experimental setups are introduced and compared with the authors' previous work and future plans. The paper concludes with a conjecture that MPC paradigm is a promising framework at the crossroads of space applications while could be further advanced based on the challenges mentioned throughout the paper and the unaddressed gap. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=convex%20optimization" title="convex optimization">convex optimization</a>, <a href="https://publications.waset.org/abstracts/search?q=model%20predictive%20control" title=" model predictive control"> model predictive control</a>, <a href="https://publications.waset.org/abstracts/search?q=rendezvous%20and%20docking" title=" rendezvous and docking"> rendezvous and docking</a>, <a href="https://publications.waset.org/abstracts/search?q=spacecraft%20autonomy" title=" spacecraft autonomy "> spacecraft autonomy </a> </p> <a href="https://publications.waset.org/abstracts/108674/a-tutorial-on-model-predictive-control-for-spacecraft-maneuvering-problem-with-theory-experimentation-and-applications" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/108674.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">110</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">16</span> Approach on Conceptual Design and Dimensional Synthesis of the Linear Delta Robot for Additive Manufacturing</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Efrain%20Rodriguez">Efrain Rodriguez</a>, <a href="https://publications.waset.org/abstracts/search?q=Cristhian%20Riano"> Cristhian Riano</a>, <a href="https://publications.waset.org/abstracts/search?q=Alberto%20Alvares"> Alberto Alvares</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In recent years, robots manipulators with parallel architectures are used in additive manufacturing processes – 3D printing. These robots have advantages such as speed and lightness that make them suitable to help with the efficiency and productivity of these processes. Consequently, the interest for the development of parallel robots for additive manufacturing applications has increased. This article deals with the conceptual design and dimensional synthesis of the linear delta robot for additive manufacturing. Firstly, a methodology based on structured processes for the development of products through the phases of informational design, conceptual design and detailed design is adopted: a) In the informational design phase the Mudge diagram and the QFD matrix are used to aid a set of technical requirements, to define the form, functions and features of the robot. b) In the conceptual design phase, the functional modeling of the system through of an IDEF0 diagram is performed, and the solution principles for the requirements are formulated using a morphological matrix. This phase includes the description of the mechanical, electro-electronic and computational subsystems that constitute the general architecture of the robot. c) In the detailed design phase, a digital model of the robot is drawn on CAD software. A list of commercial and manufactured parts is detailed. Tolerances and adjustments are defined for some parts of the robot structure. The necessary manufacturing processes and tools are also listed, including: milling, turning and 3D printing. Secondly, a dimensional synthesis method applied on design of the linear delta robot is presented. One of the most important key factors in the design of a parallel robot is the useful workspace, which strongly depends on the joint space, the dimensions of the mechanism bodies and the possible interferences between these bodies. The objective function is based on the verification of the kinematic model for a prescribed cylindrical workspace, considering geometric constraints that possibly lead to singularities of the mechanism. The aim is to determine the minimum dimensional parameters of the mechanism bodies for the proposed workspace. A method based on genetic algorithms was used to solve this problem. The method uses a cloud of points with the cylindrical shape of the workspace and checks the kinematic model for each of the points within the cloud. The evolution of the population (point cloud) provides the optimal parameters for the design of the delta robot. The development process of the linear delta robot with optimal dimensions for additive manufacture is presented. The dimensional synthesis enabled to design the mechanism of the delta robot in function of the prescribed workspace. Finally, the implementation of the robotic platform developed based on a linear delta robot in an additive manufacturing application using the Fused Deposition Modeling (FDM) technique is presented. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=additive%20manufacturing" title="additive manufacturing">additive manufacturing</a>, <a href="https://publications.waset.org/abstracts/search?q=delta%20parallel%20robot" title=" delta parallel robot"> delta parallel robot</a>, <a href="https://publications.waset.org/abstracts/search?q=dimensional%20synthesis" title=" dimensional synthesis"> dimensional synthesis</a>, <a href="https://publications.waset.org/abstracts/search?q=genetic%20algorithms" title=" genetic algorithms"> genetic algorithms</a> </p> <a href="https://publications.waset.org/abstracts/80263/approach-on-conceptual-design-and-dimensional-synthesis-of-the-linear-delta-robot-for-additive-manufacturing" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/80263.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">190</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">15</span> Solar Electric Propulsion: The Future of Deep Space Exploration</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Abhishek%20Sharma">Abhishek Sharma</a>, <a href="https://publications.waset.org/abstracts/search?q=Arnab%20Banerjee"> Arnab Banerjee</a> </p> <p class="card-text"><strong>Abstract:</strong></p> The research is intended to study the solar electric propulsion (SEP) technology for planetary missions. The main benefits of using solar electric propulsion for such missions are shorter flight times, more frequent target accessibility and the use of a smaller launch vehicle than that required by a comparable chemical propulsion mission. Energized by electric power from on-board solar arrays, the electrically propelled system uses 10 times less propellant than conventional chemical propulsion system, yet the reduced fuel mass can provide vigorous power which is capable of propelling robotic and crewed missions beyond the Lower Earth Orbit (LEO). The various thrusters used in the SEP are gridded ion thrusters and the Hall Effect thrusters. The research is solely aimed to study the ion thrusters and investigate the complications related to it and what can be done to overcome the glitches. The ion thrusters are used because they are found to have a total lower propellant requirement and have substantially longer time. In the ion thrusters, the anode pushes or directs the incoming electrons from the cathode. But the anode is not maintained at a very high potential which leads to divergence. Divergence leads to the charges interacting against the surface of the thruster. Just as the charges ionize the xenon gases, they are capable of ionizing the surfaces and over time destroy the surface and hence contaminate it. Hence the lifetime of thruster gets limited. So a solution to this problem is using substances which are not easy to ionize as the surface material. Another approach can be to increase the potential of anode so that the electrons don’t deviate much or reduce the length of thruster such that the positive anode is more effective. The aim is to work on these aspects as to how constriction of the deviation of charges can be done by keeping the input power constant and hence increase the lifetime of the thruster. Predominantly ring cusp magnets are used in the ion thrusters. However, the study is also intended to observe the effect of using solenoid for producing micro-solenoidal magnetic field apart from using the ring cusp magnetic field which are used in the discharge chamber for prevention of interaction of electrons with the ionization walls. Another foremost area of interest is what are the ways by which power can be provided to the Solar Electric Propulsion Vehicle for lowering and boosting the orbit of the spacecraft and also provide substantial amount of power to the solenoid for producing stronger magnetic fields. This can be successfully achieved by using the concept of Electro-dynamic tether which will serve as a power source for powering both the vehicle and the solenoids in the ion thruster and hence eliminating the need for carrying extra propellant on the spacecraft which will reduce the weight and hence reduce the cost of space propulsion. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=electro-dynamic%20tether" title="electro-dynamic tether">electro-dynamic tether</a>, <a href="https://publications.waset.org/abstracts/search?q=ion%20thruster" title=" ion thruster"> ion thruster</a>, <a href="https://publications.waset.org/abstracts/search?q=lifetime%20of%20thruster" title=" lifetime of thruster"> lifetime of thruster</a>, <a href="https://publications.waset.org/abstracts/search?q=solar%20electric%20propulsion%20vehicle" title=" solar electric propulsion vehicle"> solar electric propulsion vehicle</a> </p> <a href="https://publications.waset.org/abstracts/76778/solar-electric-propulsion-the-future-of-deep-space-exploration" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/76778.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">211</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">14</span> Robotics Education Continuity from Diaper Age to Doctorate</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Vesa%20Salminen">Vesa Salminen</a>, <a href="https://publications.waset.org/abstracts/search?q=Esa%20Santakallio"> Esa Santakallio</a>, <a href="https://publications.waset.org/abstracts/search?q=Heikki%20Ruohomaa"> Heikki Ruohomaa</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Introduction: The city of Riihimäki has decided robotics on well-being, service and industry as the main focus area on their ecosystem strategy. Robotics is going to be an important part of the everyday life of citizens and present in the working day of the average citizen and employee in the future. For that reason, also education system and education programs on all levels of education from diaper age to doctorate have been directed to fulfill this ecosystem strategy. Goal: The objective of this activity has been to develop education continuity from diaper age to doctorate. The main target of the development activity is to create a unique robotics study entity that enables ongoing robotics studies from preprimary education to university. The aim is also to attract students internationally and supply a skilled workforce to the private sector, capable of the challenges of the future. Methodology: Education instances (high school, second grade, Universities on all levels) in a large area of Tavastia Province have gradually directed their education programs to support this goal. On the other hand, applied research projects have been created to make proof of concept- phases on areal real environment field labs to test technology opportunities and digitalization to change business processes by applying robotic solutions. Customer-oriented applied research projects offer for students in robotics education learning environments to learn new knowledge and content. That is also a learning environment for education programs to adapt and co-evolution. New content and problem-based learning are used in future education modules. Major findings: Joint robotics education entity is being developed in cooperation with the city of Riihimäki (primary education), Syria Education (secondary education) and HAMK (bachelor and master education). The education modules have been developed to enable smooth transitioning from one institute to another. This article is introduced a case study of the change of education of wellbeing education because of digitalization and robotics. Riihimäki's Elderly citizen's service house, Riihikoti, has been working as a field lab for proof-of-concept phases on testing technology opportunities. According to successful case studies also education programs on various levels of education have been changing. Riihikoti has been developed as a physical learning environment for home care and robotics, investigating and developing a variety of digital devices and service opportunities and experimenting and learn the use of equipment. The environment enables the co-development of digital service capabilities in the authentic environment for all interested groups in transdisciplinary cooperation. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=ecosystem%20strategy" title="ecosystem strategy">ecosystem strategy</a>, <a href="https://publications.waset.org/abstracts/search?q=digitalization%20and%20robotics" title=" digitalization and robotics"> digitalization and robotics</a>, <a href="https://publications.waset.org/abstracts/search?q=education%20continuity" title=" education continuity"> education continuity</a>, <a href="https://publications.waset.org/abstracts/search?q=learning%20environment" title=" learning environment"> learning environment</a>, <a href="https://publications.waset.org/abstracts/search?q=transdisciplinary%20co-operation" title=" transdisciplinary co-operation"> transdisciplinary co-operation</a> </p> <a href="https://publications.waset.org/abstracts/138437/robotics-education-continuity-from-diaper-age-to-doctorate" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/138437.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">176</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">13</span> Platform Virtual for Joint Amplitude Measurement Based in MEMS</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Mauro%20Callejas-Cuervo">Mauro Callejas-Cuervo</a>, <a href="https://publications.waset.org/abstracts/search?q=Andrea%20C.%20Alarcon-Aldana"> Andrea C. Alarcon-Aldana</a>, <a href="https://publications.waset.org/abstracts/search?q=Andres%20F.%20Ruiz-Olaya"> Andres F. Ruiz-Olaya</a>, <a href="https://publications.waset.org/abstracts/search?q=Juan%20C.%20Alvarez"> Juan C. Alvarez</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Motion capture (MC) is the construction of a precise and accurate digital representation of a real motion. Systems have been used in the last years in a wide range of applications, from films special effects and animation, interactive entertainment, medicine, to high competitive sport where a maximum performance and low injury risk during training and competition is seeking. This paper presents an inertial and magnetic sensor based technological platform, intended for particular amplitude monitoring and telerehabilitation processes considering an efficient cost/technical considerations compromise. Our platform particularities offer high social impact possibilities by making telerehabilitation accessible to large population sectors in marginal socio-economic sector, especially in underdeveloped countries that in opposition to developed countries specialist are scarce, and high technology is not available or inexistent. This platform integrates high-resolution low-cost inertial and magnetic sensors with adequate user interfaces and communication protocols to perform a web or other communication networks available diagnosis service. The amplitude information is generated by sensors then transferred to a computing device with adequate interfaces to make it accessible to inexperienced personnel, providing a high social value. Amplitude measurements of the platform virtual system presented a good fit to its respective reference system. Analyzing the robotic arm results (estimation error RMSE 1=2.12° and estimation error RMSE 2=2.28°), it can be observed that during arm motion in any sense, the estimation error is negligible; in fact, error appears only during sense inversion what can easily be explained by the nature of inertial sensors and its relation to acceleration. Inertial sensors present a time constant delay which acts as a first order filter attenuating signals at large acceleration values as is the case for a change of sense in motion. It can be seen a damped response of platform virtual in other images where error analysis show that at maximum amplitude an underestimation of amplitude is present whereas at minimum amplitude estimations an overestimation of amplitude is observed. This work presents and describes the platform virtual as a motion capture system suitable for telerehabilitation with the cost - quality and precision - accessibility relations optimized. These particular characteristics achieved by efficiently using the state of the art of accessible generic technology in sensors and hardware, and adequate software for capture, transmission analysis and visualization, provides the capacity to offer good telerehabilitation services, reaching large more or less marginal populations where technologies and specialists are not available but accessible with basic communication networks. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=inertial%20sensors" title="inertial sensors">inertial sensors</a>, <a href="https://publications.waset.org/abstracts/search?q=joint%20amplitude%20measurement" title=" joint amplitude measurement"> joint amplitude measurement</a>, <a href="https://publications.waset.org/abstracts/search?q=MEMS" title=" MEMS"> MEMS</a>, <a href="https://publications.waset.org/abstracts/search?q=telerehabilitation" title=" telerehabilitation"> telerehabilitation</a> </p> <a href="https://publications.waset.org/abstracts/51951/platform-virtual-for-joint-amplitude-measurement-based-in-mems" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/51951.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">259</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">12</span> Case Report: Opioid Sparing Anaesthesia with Dexmedetomidine in General Surgery</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Shang%20Yee%20Chong">Shang Yee Chong</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Perioperative pain is a complex mechanism activated by various nociceptive, neuropathic, and inflammatory pathways. Opioids have long been a mainstay for analgesia in this period, even as we are continuously moving towards a multimodal model to improve pain control while minimising side effects. Dexmedetomidine, a potent alpha-2 agonist, is a useful sedative and hypnotic agent. Its use in the intensive care unit has been well described, and it is increasingly an adjunct intraoperatively for its opioid sparing effects and to decrease pain scores. We describe a case of a general surgical patient in whom minimal opioids was required with dexmedetomidine use. The patient was a 61-year-old Indian gentleman with a history of hyperlipidaemia and type 2 diabetes mellitus, presenting with rectal adenocarcinoma detected on colonoscopy. He was scheduled for a robotic ultra-low anterior resection. The patient was induced with intravenous fentanyl 75mcg, propofol 160mg and atracurium 40mg. He was intubated conventionally and mechanically ventilated. Anaesthesia was maintained with inhalational desflurane and anaesthetic depth was measured with the Masimo EEG Sedline brain function monitor. An initial intravenous dexmedetomidine dose (bolus) of 1ug/kg for 10 minutes was given prior to anaesthetic induction and thereafter, an infusion of 0.2-0.4ug/kg/hr to the end of surgery. In addition, a bolus dose of intravenous lignocaine 1.5mg/kg followed by an infusion at 1mg/kg/hr throughout the surgery was administered. A total of 10mmol of magnesium sulphate and intravenous paracetamol 1000mg were also given for analgesia. There were no significant episodes of bradycardia or hypotension. A total of intravenous phenylephrine 650mcg was given throughout to maintain the patient’s mean arterial pressure within 10-15mmHg of baseline. The surgical time lasted for 5 hours and 40minutes. Postoperatively the patient was reversed and extubated successfully. He was alert and comfortable and pain scores were minimal in the immediate post op period in the postoperative recovery unit. Time to first analgesia was 4 hours postoperatively – with paracetamol 1g administered. This was given at 6 hourly intervals strictly for 5 days post surgery, along with celecoxib 200mg BD as prescribed by the surgeon regardless of pain scores. Oral oxycodone was prescribed as a rescue analgesic for pain scores > 3/10, but the patient did not require any dose. Neither was there nausea or vomiting. The patient was discharged on postoperative day 5. This case has reinforced the use of dexmedetomidine as an adjunct in general surgery cases, highlighting its excellent opioid-sparing effects. In the entire patient’s hospital stay, the only dose of opioid he received was 75mcg of fentanyl at the time of anaesthetic induction. The patient suffered no opioid adverse effects such as nausea, vomiting or postoperative ileus, and pain scores varied from 0-2/10. However, intravenous lignocaine infusion was also used in this instance, which would have helped improve pain scores. Paracetamol, lignocaine, and dexmedetomidine is thus an effective, opioid-sparing combination of multi-modal analgesia for major abdominal surgery cases. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=analgesia" title="analgesia">analgesia</a>, <a href="https://publications.waset.org/abstracts/search?q=dexmedetomidine" title=" dexmedetomidine"> dexmedetomidine</a>, <a href="https://publications.waset.org/abstracts/search?q=general%20surgery" title=" general surgery"> general surgery</a>, <a href="https://publications.waset.org/abstracts/search?q=opioid%20sparing" title=" opioid sparing"> opioid sparing</a> </p> <a href="https://publications.waset.org/abstracts/109472/case-report-opioid-sparing-anaesthesia-with-dexmedetomidine-in-general-surgery" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/109472.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">135</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">11</span> Row Detection and Graph-Based Localization in Tree Nurseries Using a 3D LiDAR</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Ionut%20Vintu">Ionut Vintu</a>, <a href="https://publications.waset.org/abstracts/search?q=Stefan%20Laible"> Stefan Laible</a>, <a href="https://publications.waset.org/abstracts/search?q=Ruth%20Schulz"> Ruth Schulz</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Agricultural robotics has been developing steadily over recent years, with the goal of reducing and even eliminating pesticides used in crops and to increase productivity by taking over human labor. The majority of crops are arranged in rows. The first step towards autonomous robots, capable of driving in fields and performing crop-handling tasks, is for robots to robustly detect the rows of plants. Recent work done towards autonomous driving between plant rows offers big robotic platforms equipped with various expensive sensors as a solution to this problem. These platforms need to be driven over the rows of plants. This approach lacks flexibility and scalability when it comes to the height of plants or distance between rows. This paper proposes instead an algorithm that makes use of cheaper sensors and has a higher variability. The main application is in tree nurseries. Here, plant height can range from a few centimeters to a few meters. Moreover, trees are often removed, leading to gaps within the plant rows. The core idea is to combine row detection algorithms with graph-based localization methods as they are used in SLAM. Nodes in the graph represent the estimated pose of the robot, and the edges embed constraints between these poses or between the robot and certain landmarks. This setup aims to improve individual plant detection and deal with exception handling, like row gaps, which are falsely detected as an end of rows. Four methods were developed for detecting row structures in the fields, all using a point cloud acquired with a 3D LiDAR as an input. Comparing the field coverage and number of damaged plants, the method that uses a local map around the robot proved to perform the best, with 68% covered rows and 25% damaged plants. This method is further used and combined with a graph-based localization algorithm, which uses the local map features to estimate the robot’s position inside the greater field. Testing the upgraded algorithm in a variety of simulated fields shows that the additional information obtained from localization provides a boost in performance over methods that rely purely on perception to navigate. The final algorithm achieved a row coverage of 80% and an accuracy of 27% damaged plants. Future work would focus on achieving a perfect score of 100% covered rows and 0% damaged plants. The main challenges that the algorithm needs to overcome are fields where the height of the plants is too small for the plants to be detected and fields where it is hard to distinguish between individual plants when they are overlapping. The method was also tested on a real robot in a small field with artificial plants. The tests were performed using a small robot platform equipped with wheel encoders, an IMU and an FX10 3D LiDAR. Over ten runs, the system achieved 100% coverage and 0% damaged plants. The framework built within the scope of this work can be further used to integrate data from additional sensors, with the goal of achieving even better results. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=3D%20LiDAR" title="3D LiDAR">3D LiDAR</a>, <a href="https://publications.waset.org/abstracts/search?q=agricultural%20robots" title=" agricultural robots"> agricultural robots</a>, <a href="https://publications.waset.org/abstracts/search?q=graph-based%20localization" title=" graph-based localization"> graph-based localization</a>, <a href="https://publications.waset.org/abstracts/search?q=row%20detection" title=" row detection"> row detection</a> </p> <a href="https://publications.waset.org/abstracts/98467/row-detection-and-graph-based-localization-in-tree-nurseries-using-a-3d-lidar" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/98467.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">139</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">10</span> Robots for the Elderly at Home: For Men Only</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Christa%20Fricke">Christa Fricke</a>, <a href="https://publications.waset.org/abstracts/search?q=Sibylle%20Meyer"> Sibylle Meyer</a>, <a href="https://publications.waset.org/abstracts/search?q=Gert%20G.%20Wagner"> Gert G. Wagner</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Our research focuses on the question of whether assistive and social robotics could pose a promising strategy to support the independent living of elderly people and potentially relieve relatives of any anxieties. To answer the question of how elderly people perceive the potential of robotics, we analysed the data from the Berlin Aging Study BASE-II (https://www.base2.mpg.de/de) (N=1463) and data from the German SYMPARTNER study (http://www.sympartner.de) (N=120) and compared those to a control group made up of people younger than 30 years (BASE II: N=241; SYMPARTNER: N=30). BASE-II is a cohort study of people living in Berlin, Germany. The sample covers more than 2200 cases; a questionnaire on the use and acceptance of assistive and social robots was carried out with a sub-sample of 1463 respondents in 2015. The SYMPARTNER study was done by SIBIS institute of Social Research, Berlin and included a total of 120 persons between the ages of 60 and 87 in Berlin and the rural German federal state of Thuringia. Both studies included a control group of persons between the ages of 20 and 35 (BASE II: N=241; SYMPARTNER: N=30). Additional data, representative for the whole population in Germany, will be surveyed in fall 2017 (Survey “Technikradar” [technology radar] by the National Academy of Science and Engineering). Since this survey is including some identical questions as BASE-II/SYMPARTNER, comparative results can be presented at 20th International Conference on Social Robotics in New York 2018. The complexity of the data gathered in BASE-II and SYMPARTNER, encompassing detailed socio-economic background characteristics as well as personality traits such as the personal attitude to risk taking, locus of control and Big Five, proves highly valuable and beneficial. Results show that participants’ expressions of resentment against robots are comparatively low. Participants’ personality traits play a role, however the effect sizes are small. Only 15 percent of participants received domestic robots with great scepticism. Participants aged older than 70 years expressed greatest rejection of the robotic assistant. The effect sizes however account for only a few percentage points. Overall, participants were surprisingly open to the robot and its usefulness. The analysis also shows that men’s acceptance of the robot is generally greater than that of women (with odds ratios of about 0.6 to 0.7). This applies to both assistive robots in the private household and in care environments. Men expect greater benefits of the robot than women. Women tend to be more sceptical of their technical feasibility than men. Interview results prove our hypothesis that men, in particular of the age group 60+, are more accustomed to delegate household chores to women. A delegation to machines instead of humans, therefore, seems palpable. The answer to the title question of this planned presentation is: social and assistive robots at home robots are not only accepted by men – but by fewer women than men. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=acceptance" title="acceptance">acceptance</a>, <a href="https://publications.waset.org/abstracts/search?q=care" title=" care"> care</a>, <a href="https://publications.waset.org/abstracts/search?q=gender" title=" gender"> gender</a>, <a href="https://publications.waset.org/abstracts/search?q=household" title=" household"> household</a> </p> <a href="https://publications.waset.org/abstracts/79695/robots-for-the-elderly-at-home-for-men-only" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/79695.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">197</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">9</span> Hardware Implementation for the Contact Force Reconstruction in Tactile Sensor Arrays</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Mar%C3%ADa-Luisa%20Pinto-Salamanca">María-Luisa Pinto-Salamanca</a>, <a href="https://publications.waset.org/abstracts/search?q=Wilson-Javier%20P%C3%A9rez-Holgu%C3%ADn"> Wilson-Javier Pérez-Holguín</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Reconstruction of contact forces is a fundamental technique for analyzing the properties of a touched object and is essential for regulating the grip force in slip control loops. This is based on the processing of the distribution, intensity, and direction of the forces during the capture of the sensors. Currently, efficient hardware alternatives have been used more frequently in different fields of application, allowing the implementation of computationally complex algorithms, as is the case with tactile signal processing. The use of hardware for smart tactile sensing systems is a research area that promises to improve the processing time and portability requirements of applications such as artificial skin and robotics, among others. The literature review shows that hardware implementations are present today in almost all stages of smart tactile detection systems except in the force reconstruction process, a stage in which they have been less applied. This work presents a hardware implementation of a model-driven reported in the literature for the contact force reconstruction of flat and rigid tactile sensor arrays from normal stress data. From the analysis of a software implementation of such a model, this implementation proposes the parallelization of tasks that facilitate the execution of matrix operations and a two-dimensional optimization function to obtain a vector force by each taxel in the array. This work seeks to take advantage of the parallel hardware characteristics of Field Programmable Gate Arrays, FPGAs, and the possibility of applying appropriate techniques for algorithms parallelization using as a guide the rules of generalization, efficiency, and scalability in the tactile decoding process and considering the low latency, low power consumption, and real-time execution as the main parameters of design. The results show a maximum estimation error of 32% in the tangential forces and 22% in the normal forces with respect to the simulation by the Finite Element Modeling (FEM) technique of Hertzian and non-Hertzian contact events, over sensor arrays of 10×10 taxels of different sizes. The hardware implementation was carried out on an MPSoC XCZU9EG-2FFVB1156 platform of Xilinx® that allows the reconstruction of force vectors following a scalable approach, from the information captured by means of tactile sensor arrays composed of up to 48 × 48 taxels that use various transduction technologies. The proposed implementation demonstrates a reduction in estimation time of x / 180 compared to software implementations. Despite the relatively high values of the estimation errors, the information provided by this implementation on the tangential and normal tractions and the triaxial reconstruction of forces allows to adequately reconstruct the tactile properties of the touched object, which are similar to those obtained in the software implementation and in the two FEM simulations taken as reference. Although errors could be reduced, the proposed implementation is useful for decoding contact forces for portable tactile sensing systems, thus helping to expand electronic skin applications in robotic and biomedical contexts. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=contact%20forces%20reconstruction" title="contact forces reconstruction">contact forces reconstruction</a>, <a href="https://publications.waset.org/abstracts/search?q=forces%20estimation" title=" forces estimation"> forces estimation</a>, <a href="https://publications.waset.org/abstracts/search?q=tactile%20sensor%20array" title=" tactile sensor array"> tactile sensor array</a>, <a href="https://publications.waset.org/abstracts/search?q=hardware%20implementation" title=" hardware implementation"> hardware implementation</a> </p> <a href="https://publications.waset.org/abstracts/140158/hardware-implementation-for-the-contact-force-reconstruction-in-tactile-sensor-arrays" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/140158.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">195</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">8</span> Framework Proposal on How to Use Game-Based Learning, Collaboration and Design Challenges to Teach Mechatronics</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Michael%20Wendland">Michael Wendland</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper presents a framework to teach a methodical design approach by the help of using a mixture of game-based learning, design challenges and competitions as forms of direct assessment. In today’s world, developing products is more complex than ever. Conflicting goals of product cost and quality with limited time as well as post-pandemic part shortages increase the difficulty. Common design approaches for mechatronic products mitigate some of these effects by helping the users with their methodical framework. Due to the inherent complexity of these products, the number of involved resources and the comprehensive design processes, students very rarely have enough time or motivation to experience a complete approach in one semester course. But, for students to be successful in the industrial world, it is crucial to know these methodical frameworks and to gain first-hand experience. Therefore, it is necessary to teach these design approaches in a real-world setting and keep the motivation high as well as learning to manage upcoming problems. This is achieved by using a game-based approach and a set of design challenges that are given to the students. In order to mimic industrial collaboration, they work in teams of up to six participants and are given the main development target to design a remote-controlled robot that can manipulate a specified object. By setting this clear goal without a given solution path, a constricted time-frame and limited maximal cost, the students are subjected to similar boundary conditions as in the real world. They must follow the methodical approach steps by specifying requirements, conceptualizing their ideas, drafting, designing, manufacturing and building a prototype using rapid prototyping. At the end of the course, the prototypes will be entered into a contest against the other teams. The complete design process is accompanied by theoretical input via lectures which is immediately transferred by the students to their own design problem in practical sessions. To increase motivation in these sessions, a playful learning approach has been chosen, i.e. designing the first concepts is supported by using lego construction kits. After each challenge, mandatory online quizzes help to deepen the acquired knowledge of the students and badges are awarded to those who complete a quiz, resulting in higher motivation and a level-up on a fictional leaderboard. The final contest is held in presence and involves all teams with their functional prototypes that now need to contest against each other. Prices for the best mechanical design, the most innovative approach and for the winner of the robotic contest are awarded. Each robot design gets evaluated with regards to the specified requirements and partial grades are derived from the results. This paper concludes with a critical review of the proposed framework, the game-based approach for the designed prototypes, the reality of the boundary conditions, the problems that occurred during the design and manufacturing process, the experiences and feedback of the students and the effectiveness of their collaboration as well as a discussion of the potential transfer to other educational areas. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=design%20challenges" title="design challenges">design challenges</a>, <a href="https://publications.waset.org/abstracts/search?q=game-based%20learning" title=" game-based learning"> game-based learning</a>, <a href="https://publications.waset.org/abstracts/search?q=playful%20learning" title=" playful learning"> playful learning</a>, <a href="https://publications.waset.org/abstracts/search?q=methodical%20framework" title=" methodical framework"> methodical framework</a>, <a href="https://publications.waset.org/abstracts/search?q=mechatronics" title=" mechatronics"> mechatronics</a>, <a href="https://publications.waset.org/abstracts/search?q=student%20assessment" title=" student assessment"> student assessment</a>, <a href="https://publications.waset.org/abstracts/search?q=constructive%20alignment" title=" constructive alignment"> constructive alignment</a> </p> <a href="https://publications.waset.org/abstracts/159874/framework-proposal-on-how-to-use-game-based-learning-collaboration-and-design-challenges-to-teach-mechatronics" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/159874.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">67</span> </span> </div> </div> <ul class="pagination"> <li class="page-item"><a class="page-link" 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