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2024 Brazilian Symposium on Robotics (SBR), and 2024 Workshop on Robotics in Education (WRE)

作者： M. A. Pastrana William Humberto Cuéllar Sánchez Jose Mendoza-Peñaloza M. S. Santana Daniel M. Muñoz Department of Mechanical Engineering Mechatronics Graduate Program University of Federal District UDF Brasilia DF Brazil Faculty of Gama Electronics Engineering Undergraduate Program University of Brasilia Brasilia DF Brazil

ISBN: (数字)9798350391084

ISBN: (纸本)9798350391091

Advances in information and communication technologies have significantly transformed engineering education. Virtual laboratories are increasingly adopted to enhance student interaction with control system simulations. The improved visualization and interaction capabilities of modern computers offer a more organic way to teach theoretical foundations. This paper describes the implementation of a methodology for teaching control theory that until now was entirely online in a face-to-face environment at the University of the Federal District in Brasilia, Brazil. This methodology utilizes virtual laboratories with CoppeliaSim, MATLAB, and the EVA mobile robot to teach control theory focused on single-input, single-output (SISO) systems for mobile robot tracking and obstacle avoidance applications. The results of the face-to-face implementation are compared to those of the fully online methodology, revealing that in-person teaching significantly enhances the quality of instruction.

关键词： Visualization mechatronics Educational robots SISO Education Laboratories Software Control theory Mobile robots MATLAB

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Investigation of thermal conductivity and physical properties of oil palm trunks/ramie fiber reinforced biopolymer hybrid composites as building bio-insulation

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Materials Today: Proceedings 2022年 60卷 373-377页

作者： Mawardi, Indra Aprilia, Sri Faisal, Muhammad Rizal, Samsul Doctoral Program School of Engineering Post Graduate Program Universitas Syiah Kuala Banda Aceh23111 Indonesia Department of Mechanical Engineering Politeknik Negeri Lhokseumawe Lhokseumawe24301 Indonesia Department of Chemical Engineering Universitas Syiah Kuala Banda Aceh23111 Indonesia Department of Mechanical Engineering Universitas Syiah Kuala Banda Aceh23111 Indonesia

The current buildings insulating materials in the construction market, which mainly consist of synthetic materials, have a high performance in thermal resistivity. However, they negatively impact the human health and the environment, thereby finding bio-insulating materials is necessary. This research investigates the thermal conductivity and physical performance of oil palm trunks/ramie fibers reinforced biopolymer hybrid composites for thermal insulation of buildings. The hybrid composites were further prepared using oil palm trunk particles, ramie fiber as the reinforcement, and tapioca starch as a biopolymer binder. All the manufactured hybrid composites exhibited thermal conductivity in a range of 0.0723 W/mK to 0.1344 W/mK and density of 732 kg/m3 to 801 kg/m3, respectively. Sample C1, with a density of 732 kg/m3 had the lowest thermal conductivity of (0.0723 W/mK). Moreover, the minimum absorbed water (53.66%) and thickness swelling (21.36%) were found in the C1 sample hybrid composites after 24-hours immersion in water. Thermal conductivity performance was influenced positively by physical properties. Therefore, the results of this research show that waste oil palm trunks and ramie fiber could be used as a thermal insulating material for buildings. © 2022

关键词： Thermal conductivity

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Automatic Anti-Swing Gantry Crane Based on Gradient Descent Optimization Proportional Integrated Derivative (PID): A Comparison Simulation and Real Experiment

Automatic Anti-Swing Gantry Crane Based on Gradient Descent ...

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2023 International Conference on Electrical engineering and Informatics, ICEEI 2023

作者： Qadri, Munzir Harjanto, Danang Karuna Miharja, Jonathan Astuti, Winda Mariana, Yosica Tan, Sofyan Solihin, Mahmud Iwan University of Muhammadiyah Jakarta Engineering Faculty Mechanical Engineering Department Jakarta10510 Indonesia Binus Aso School of Engineering Bina Nusantara University Automotive and Robotics Program Computer Engineering Department Jakarta11480 Indonesia Binus Aso School of Engineering Bina Nusantara University Product Design Program Industrial Engineering Department Jakarta11480 Indonesia Ucsi University Departement of Mechanical & Mechatronics Engineering Kuala Lumpur Malaysia

ISBN: (纸本)9798350381290

Transporting payload with precise swing angles and transfer times poses a challenging task in building construction, which is why gantry crane systems are extensively utilized. Various control strategies, including open-loop and closed-loop systems, have been proposed to tackle this issue. However, most of these controllers rely on a model and parameters specific to the crane system, making the process of modeling and parameter identification complex and time-consuming. To address this challenge, this work presents a practical and simulation control method for automatic gantry cranes, which is evaluated simulation and experimentally. The lab-scale Gantry crane is developed in this work, which consists of mechanical and electrical parts. Proportional Integral and Derivative (PID) and Proportional Derivative (PD) controllers which applied optimization method are implemented in the electrical part of the system. The PID and PD controller applied in controlled the position and swing angle, respectively. The Gradient Decent optimization method is the best optimization method in determining the parameter of the controller, since it has the best simulation performance in the output of the system. The experimental result is developed and compared between simulation and lab-scale Gantry crane hardware implementation part. The performance of experimental results is shown appropriately approaching the performance of the simulation result, with the approximately settling time. © 2023 IEEE.

关键词： Proportional control systems

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Thermoeconomic and thermoenvironmental analysis of the chilled water system in a shopping mall

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INTERNATIONAL JOURNAL OF REFRIGERATION 2022年 134卷 304-311页

作者： Abreu, Renata Portela Correia, Victor Hugo Lobo Lourenco, Atilio Barbosa Marques, Adriano da Silva Carvalho, Monica [a]Graduate Program of Mechanical Engineering Federal University of Paraíba João Pessoa Brazil [b]Department of Mechanical Engineering Federal University of Espírito Santo Vitória Brazil [c]Department of Mechanical Engineering Federal Rural University of Pernambuco Cabo de Santo Agostinho Brazil [d]Department of Renewable Energy Engineering Federal University of Paraíba João Pessoa Brazil

This is the first study to apply a combination of two thermoeconomic approaches (UFS and H & S) with Life Cycle Assessment (LCA) to a chilled water system installed in a shopping mall. The objective is to obtain monetary and environmental costs for the thermal energy stored by developing both thermoeconomic and thermoenvir-onmental assessments. The thermoeconomic study determined internal flows, defined inputs and products, and described the productive structure to obtain exergy and monetary costs. The LCA methodology quantified the greenhouse gas emissions associated with equipment operation and energy flows. The results indicated efficient thermoeconomic behavior for the heat exchangers. The monetary and environmental costs of chilled water are, respectively, US$ 0.2267/MJ and 0.8186 kg CO2-eq/MJ.

关键词： UFS model H&S model Life Cycle Assessment Greenhouse gases Refrigeration Cooling

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Heading Angle Estimation Using Intelligent Fusion for Autonomous Vehicles

Heading Angle Estimation Using Intelligent Fusion for Autono...

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Advances in Science and engineering Technology International Conferences (ASET)

作者： Ali A. Barakat Mohammad A. Jardat Ahmed M. Elsergany Nidal A. Sherif Mechanical Engineering Department American University of Sharjah Sharjah UAE Mechatronics Engineering Graduate Program American University of Sharjah Sharjah UAE

Low-cost navigation systems for ground vehicles often rely on the fusion with Global Positioning System (GPS) for improved state estimation. In this study a low-cost gyroscope is fused with a GPS for improved vehicle heading angle estimation using several Artificial Intelligence (AI) based architectures that include Shallow Neural Networks (SNN), Multi-Layer Neural Networks (MLNN), and Adaptive Neuro- Fuzzy Inference Systems (ANFIS). The primary goal behind using AI based sensor fusion is to obtain a highly accurate vehicle heading estimation suitable for autonomous navigation applications. When available, the GPS signal is used to correct the vehicle's heading angle. The neural networks and ANFIS methods both use the difference between the GPS signal and the heading angle from the integrated gyroscope as inputs. The performance achieved is shown and analyzed. According to the results obtained, the MLNN provides the most accurate heading estimates.

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Intelligent Adaptive RRT* Path Planning Algorithm for Mobile Robots

Intelligent Adaptive RRT* Path Planning Algorithm for Mobile...

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Advances in Science and engineering Technology International Conferences (ASET)

作者： Omar Khattab Ahmed Yasser Mohammad A. Jaradat Lotfi Romdhane Mechatronics Engineering Graduate Program American University of Sharjah Sharjah UAE Mechanical Engineering Department American University of Sharjah Sharjah UAE

In this paper a new variant of the widely used Rapidly exploring Random Tree (RRT*) algorithm is proposed. The main goal of this variant is to improve the efficiency of the generated path, in both computation time and the quality of the path. In a previous work by the authors, an improved version RRT*N was proposed, where a normal probability distribution was used to control the generation of the random nodes. The proposed variant utilizes an intelligent fuzzy logic system (FLS) to control the generation of the random nodes and commands the robot to the required target introducing an intelligent fuzzy adaptive RRT*N path planning approach (FA-RRT*N). The proposed approach not only reduced the time required about 29.5 % of the time required by the RRT*, but also generally resulted in shorter path about 63% of the path generated by the traditional RRT * .

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Fuzzy Logic for Assessing the Health of a Corn Crop within Family Farming

Fuzzy Logic for Assessing the Health of a Corn Crop within F...

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Latin America Congress on Computational Intelligence (LA-CCI)

作者： Vanessa Mendonça Mikael Santos Daniel M. Muñoz Carlos Humberto Llanos Department of Computer Science Federal Institute of Brasilia Department of Mechanical Engineering Mechatronics Graduate Program Department of Agronomy Federal Institute of Brasilia Faculty of Gama Electronics Engineering Undergraduate Program University of Brasilia Brasilia DF Brazil

ISBN: (数字)9798350374575

ISBN: (纸本)9798350374582

Technological advancements are increasingly evident across various sectors, including automobiles, industry, and healthcare. In precision agriculture, significant progress has been made, with AgroTICs and Smart Agriculture gaining substantial traction in the market. However, a gap remains between cutting-edge technology and family farming, presenting a challenge from both social and applied research perspectives. However, there is still a gap between cutting-edge technology and family farming, which creates a challenge from a social and applied research point of view. In this context, this paper proposes a monitoring model based on Fuzzy Logic and sensor automation applied to estimate the health of a corn crop. The proposed Fuzzy inference system involves calculating an indicator of nutrients as well as the average color and area of corn plants. The nutrient indicator is automatically computed by an ESP32 microcontroller using sensor readings, while the average color and area inputs are manually entered via a mobile application. Additionally, the Fuzzy inference is integrated into the ESP32. The model underwent experimental validation on the health of the plantation, and the results were evaluated in four areas: one was designated for testing, and three were for validation. The model achieved an accuracy of 97.5% in Scenario 3, categorized as ’Very Favorable’, and an accuracy of 65% in Scenarios 2 and 4, categorized as ‘Unfavorable’. The implications of this research contribute to the advancement of AgroTICs among small producers, with the potential to enhance and automate the monitoring of their harvest production.

关键词： Fuzzy logic Accuracy Computational modeling Plantations Crops Production Color Nutrients Monitoring Fuzzy systems

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Synthesis of amorphous silica from rice husk ash using the sol–gel method: Effect of alkaline and alkaline concentration

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Materials Today: Proceedings 2023年 87卷 225-229页

作者： Aprilia S. Rosnelly C.M. Zuhra Fitriani F. Haffiz Akbar E. Raqib M. Rahmah K. Amin A. Baity R.A. Department of Chemical Engineering Engineering Faculty Universitas Syiah Kuala Banda Aceh 23111 Indonesia Doctoral Program School of Engineering Post Graduate Program Universitas Syiah Kuala Banda Aceh 23111 Indonesia Mechanical Engineering Department Engineering Faculty University of Abulyatama Lampoh Keude-Aceh Besar Indonesia

In this study, silica extraction from RHA (rice husk ash) has been successfully performed by alkaline using KOH and NaOH with sol–gel precipitation. The silica gel was characterized for the functional group by FTIR, crystallinity with XRD, structure silica with SEM and particle size with PSA. The results show the higher concentration of solvent led to higher silica. The FTIR analysis revealed vibrations of Si[sbnd]O and Si[sbnd]O[sbnd]Si on the product. Additionally, observed to be amorphous and aggregated, the silica extracted from RHA also exhibited a decrease in all samples. © 2023

关键词： Alkaline extraction Concentration of solvent Potassium hydroxide Rice husk ash Silica Sodium hydroxide

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A Hybrid Rolling and Flying Robot for Pipeline Fault Detection Using Deep Learning

A Hybrid Rolling and Flying Robot for Pipeline Fault Detecti...

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2023 Advances in Science and engineering Technology International Conferences, ASET 2023

作者： Ghaly, Megan Mitra, Rohan Rayess, Abdullah Al Ahmed, Assem Varam, Dara Jaradat, Mohammad A. Pasquier, Michel Khalil, Ahmed American University of Sharjah Department of Mechanical Engineering Sharjah United Arab Emirates American University of Sharjah Department of Computer Science and Engineering Sharjah United Arab Emirates American University of Sharjah Mechatronics Engineering Gradute Program Sharjah United Arab Emirates

ISBN: (纸本)9781665454742

The Middle Eastern and North African region is highly reliant on the oil and gas industry. Subsequently, the need for pipeline inspection and fault diagnosis has become paramount. Current inspection methods rely on manual procedures that introduce sources of error into the results. In this paper, the design for a hybrid rolling and flying unmanned aerial vehicle (UAV) for pipeline inspection is proposed. The UAV was developed with a rolling frame capable of landing on pipelines to externally inspect them for cracks, leaks, or faults by traversing along the pipeline's surface while maintaining its stability. The hybrid UAV uses a camera to classify cracks along the surface of the pipeline using deep learning models. The paper then tests several models and deploys the best model found during testing -MobileNet100 along with the proposed design for the UAV. Finally, the prototype that was presented in this paper has been tested within a controlled environment to verify the compliance of the flying, rolling and fault detection subsystems. © 2023 IEEE.

关键词： Fault detection

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Design considerations for piezocomposite materials for electrical stimulation in medical implants

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Journal of Medical engineering and Technology 2022年第5期46卷 402-414页

作者： Krech, Ember Haas, Evan Tideman, Grace Reinsch, Bonnie Friis, Elizabeth Bioengineering Graduate Program University of Kansas LawrenceKS United States Department of Mechanical Engineering University of Kansas LawrenceKS United States Department of Chemical Engineering University of Kansas LawrenceKS United States

Incidence of non-union following long bone fracture fixation and spinal fusion procedures is increasing, and very costly for patients and the medical system. Direct current (DC) electrical stimulation has shown success as an adjunct therapy to stimulate bone healing and increase surgery success rates, though drawbacks of current devices and implantable battery packs have limited widespread use. Energy harvesting utilising piezoelectric materials has been widely studied for powering devices without a battery, and a preclinical animal study has shown efficacy of a piezocomposite spinal fusion implant resulting in faster, more robust fusion. Most piezoelectric energy harvesters operate most effectively at high frequencies, limiting power generation from loads experienced by orthopaedic implants during human motion. This work characterises the efficient power generation capability of a novel composite piezoelectric material under simulated walking loads. Building on compliant layer adaptive composite stacks (CLACS), the power generation of mixed-mode CLACS (MMCLACS) is defined. Utilising poling direction to capitalise on in-plane strain generation due to compliant layer expansion, MMCLACS significantly increased power output compared to a standard piezo stack. The combination of radial and through-thickness poled piezoelectric elements within a stack to create MMCLACS significantly increases power generation under low-frequency dynamic loads. This technology can be adapted to a variety of architectures and assembled as a load-bearing energy harvester within current implants. MMCLACS integrated with implants would provide enough power to deliver bone healing electrical stimulation directly to the fusion site, decreasing non-union rates, and also could provide quantitative assessment of healing progression through load sensing. © 2022 Informa UK Limited, trading as Taylor & Francis Group.

关键词： Energy harvesting

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