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Experimental investigation of the bullet-proof properties of different kevlar, comparing .22 inch with 9 mm projectiles

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Current Materials Science 2020年第1期13卷 26-38页

作者： Stopforth, Riaan Adali, Sarp Stopforth Mechatronics Robotics and Research Lab Discipline of Mechanical Engineering University of KwaZulu-Natal Durban South Africa Discipline of Mechanical Engineering University of KwaZulu-Natal Durban South Africa

Background: Results of an experimental study are given involving high-impact ballistic tests using .22 inch diameter ammunition (commonly known only as .22 ammuni-tion) with the target set up as a combination of different numbers and weights of Kevlar layers. These experimental tests are conducted as literature indicating that the .22 projectiles are not as effective as with larger calibre ammunition. Present work is part of a research study to assess the safety limits of Kevlar layers of different weights against various calibre projectiles. Objective: The objective is to obtain test data to determine the number of Kevlar layers and weights needed for the design of safe bullet proof vests capable of stopping various size ammunition. In the present study, results are given for .22 inch ammunition, which provide data on the characteristics of high-speed ballistic penetration of .22 bullets into Kevlar layers and stopping distances in gel/Kevlar combinations. Methods: Tests were performed with Kevlar fabrics of different weights of Gram per Square Meter (GSM) to provide a comparison among different Kevlar fabrics as well as with different number of Kevlar layers. The tests were conducted with the use of a chronograph in a controlled test environment. The penetration depth in ballistic gelatine was recorded. Results: The results identify the number of layers of Kevlar required to stop a .22 projectile and the relationship between the different layers and weights of Kevlar materials. The results of the .22 projectile penetration are compared with those of different 9 mm Parabellum projectiles to assess the effect of different size ammunition on the bullet-proof capabilities of Kevlar. Experimental data on the penetration depths of different types of bullets into the gel/Kevlar combinations are presented using various graphs. Conclusion: The .22 projectiles perform similar penetration depths compared to that of 9 mm projectiles, and therefore cannot be considered as inef

关键词： Projectiles

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Balancing Worker Utility and Recruitment Cost in Spatial Crowdsensing: A Nash Game Approach 21

Balancing Worker Utility and Recruitment Cost in Spatial Cro...

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8th International Conference on Networking, Systems and Security, NSysS 2021

作者： Arafat, Md. Tanvir Emon, Mehedi Hasan Sarker, Sujan Razzaque, Md. Abdur Rahman, Md. Mustafizur Department of Robotics and Mechatronics Engineering University of Dhaka Bangladesh Department of Computer Science and Engineering University of Dhaka Bangladesh

ISBN: (纸本)9781450387378

Leveraging the power of mobile crowdsensing (MCS) to achieve unparalleled coverage of tasks by utilizing the crucial spatiooral co-relation between the workers and tasks results in the distributed sensing system named spatiooral crowdsensing system (STCS). An STCS outsources sensing tasks to ubiquitous mobile computing devices to exploit their multi-modal sensing capabilities, collects the sensing results and process those to provide meaningful services. While realizing sustainable crowdsensing services, an STCS struggles with two conflicting objectives- maximizing the assignment quality and minimizing the recruitment cost. The first one requires assigning highly reputed workers in the spatiooral task blocks which results in higher recruitment costs. Thus a tradeoff between the aformentioned objectives is required. Existing works bring this tradeoff either by formulating a single objective as the linear weighted sum of both of the objectives or incorporating one of these as a constraint to another, yielding to an unfair and skewed tradeoff. In this work, we formulate the worker recruitment problem in STCS as a Nash game to attain fairness between the objectives while bringing this tradeoff. The performance of the proposed system is evaluated using MATLAB and results show its effectiveness compared to the state-of-the-art works in terms of fairness and per cost utility gain. © 2021 ACM.

关键词： nash bargaining mobile crowdsensing cost and quality fair trade-off

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Micro-Seismic Event Detection using statistical feature extraction and machine learning techniques 7

Micro-Seismic Event Detection using statistical feature extr...

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7th IEEE International conference for Convergence in Technology, I2CT 2022

作者： Chakraborty, Mainak Das, Manisha Aruchamy, Srinivasan Indian Institute of Engineering Science and Technology School of Mechatronics and Robotics Shibpur India CSIR- Cmeri Robotics and Automation Group Durgapur India

ISBN: (纸本)9781665421683

In this paper, we propose a novel methodology for micro-seismic event detection using multiple statistical feature extraction and machine learning techniques. The method is based on amplitude thresholding and is grounded on the idea, that each relevant seismic event crosses a particular threshold value. We have created a unique dataset of movement, hammering and no-movement using off-the-shelve geophones and 16-bit analog to digital converter. The data is sampled at 10000Hz. Each recorded dataset is of duration 2 min. The data recorded is passed through amplitude thresholding method. Multiple statistical features like root mean square, standard deviation, variance, minimum value and maximum value are extracted from the dataset in both time and frequency domain. k-fold cross validation is done to obtain validation accuracy. We have explored various machine learning algorithms and the results are discussed here. Among all classifiers, Random Forest algorithm achieves the overall highest accuracy of 92.76%. © 2022 IEEE.

关键词： Decision trees

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Region boundary-based control scheme for an underwater vehicle with an edge-based segmentation approach

Region boundary-based control scheme for an underwater vehic...

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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Ismail, Z.H. Department of Mechatronics and Robotics Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Johor Malaysia

ISBN: (纸本)9781457721373

In this paper, a novel point-to-point motion controller is proposed for an underwater vehicle. Within this control concept, an edge-based segmentation approach is utilized to facilitate the problem that is associated with the region boundary-based control technique. The stability of the presented control law is proven in the sense of Lyapunov. Simulations on a 6-DOF underwater vehicle are carried out to illustrate the performance of the proposed control scheme. © 2011 IEEE.

关键词： Vehicles

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A new extensible continuum manipulator using flexible parallel mechanism and rigid motion transmission

A new extensible continuum manipulator using flexible parall...

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ASME 2020 International Design engineering Technical Conferences and Computers and Information in engineering Conference, IDETC-CIE 2020

作者： Liu, Yujiong Ben-Tzvi, Pinhas Robotics and Mechatronics Laboratory Mechanical Engineering Department Virginia Tech BlacksburgVA United States

ISBN: (纸本)9780791883990

An extensible continuum manipulator (ECM) has specific advantages over its non-extensible counterparts. For instance, in certain applications, such as minimally invasive surgery or tube inspection, the base motion might be limited or disallowed. The additional extensibility provides the robot with more dexterous manipulation and larger workspace. Existing continuum robot designs achieve extensibility mainly through artificial muscle/pneumatic, extensible backbone, concentric tube, and base extension etc. This paper proposes a new way to achieve this additional motion degree of freedom by taking advantage of the rigid coupling hybrid mechanism concept and a flexible parallel mechanism. More specifically, a rack and pinion set is used to transmit the motion of the i-th subsegment to drive the (i+1)-th subsegment. A six-chain flexible parallel mechanism is used to generate the desired spatial bending and one extension mobility for each subsegment. This way, the new manipulator is able to achieve tail-like spatial bending and worm-like extension at the same time. A proof-of-concept prototype was integrated to verify the mobility of the new mechanism. Corresponding kinematic analyses are conducted to estimate the workspace and the motion non-uniformity. Copyright © 2020 ASME

关键词： Manipulators

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Design and Implementation of Model Predictive Control (MPC) Based Pressure Regulation System for a Precision Agricultural Sprayer

Design and Implementation of Model Predictive Control (MPC) ...

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2023 International Conference on robotics and Automation in Industry, ICRAI 2023

作者： Khan, Adrees Nasir, Fazal Tufail, Muhammad Haris, Muhammad Khan, Muhammad Tahir Dong, Zhang University of Engineering and Technology Department of Mechatronics Engineering Peshawar Pakistan Advanced Robotics and Automation Lab National Center of Robotics and Automation Peshawar Pakistan Jinan China

ISBN: (纸本)9781665464727

Model Predictive Control (MPC) is a control scheme that involves predicting the future behavior of a system and optimizing control actions to accomplish the desired objective. In this study, we develop an intelligent control algorithm, based on MPC to regulate the target pressure in variable-rate agriculture sprayer robots. Modeling and simulation steps of the spraying system are developed using MATLAB/Simulink environment, before passing to the description of the MPC algorithm. Real-time implementation of the MPC algorithm was conducted on an Arduino Mega 2560 controller board by using Simulink Support Package for Arduino Hardware in MATLAB/Simulink to experimentally validate the preliminary results of simulations. The work evaluates MPC to regulate the pressure in the system and compares the results with a traditional PID control system. Moreover, MPC is a novel method for nonlinear system control that achieves zero steady-state error, low transient response, and reduces peak overshoot compared to the results obtained with a PID controller, thereby reducing the waste of chemicals, and minimizing the toxicology and environmental risk. © 2023 IEEE.

关键词： Model predictive control

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Real-Time Plant Recognition and Crop Row Navigation for Autonomous Precision Agricultural Sprayer Robot

Real-Time Plant Recognition and Crop Row Navigation for Auto...

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2023 International Conference on robotics and Automation in Industry, ICRAI 2023

作者： Nasir, Fazal Haris, Muhammad Khan, Bilawal Tufail, Muhammad Khan, Muhammad Tahir Dong, Zhang National Center of Robotics and Automation Advanced Robotics and Automation Lab Peshawar Pakistan University of Engineering and Technology Department of Mechatronics Engineering Peshawar Pakistan Jinan China

ISBN: (纸本)9781665464727

This paper presents a vision-based selective spraying technique for an autonomous agricultural sprayer robot. In traditional methods, excessive chemical spraying cause deleterious effects on human health, environment and becomes uneconomical. In order to reduce the agrochemical wastage encounters in a broadcast spraying, a selective plant spraying method is used for crop chemical treatment. The sensor-based approach assisted with YOLOv7 model is deployed on a custom designed robot for recognizing and localizing the lettuce plants in field. The PID-based pressure controller is designed that minimizes the undesirable fluctuations cause by the opening/closing of solenoid-valve-nozzles (SVNs) during spraying. Thus the nozzle's spraying quality is maintained by keeping the pressure constant to a desired value. A visual servoing scheme for row tracking is presented that uses the detected plant's spatial features. The robustness of the visual-based navigation is validated in the real field experiments. © 2023 IEEE.

关键词： Crops

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Invariant funnels for underactuated dynamic walking robots: New phase variable and experimental validation

Invariant funnels for underactuated dynamic walking robots: ...

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2017 IEEE International Conference on robotics and Automation, ICRA 2017

作者： Tang, Justin Z. Boudali, A. Mounir Manchester, Ian R. Australian Centre for Field Robotics School of Aerospace Mechanical and Mechatronics Engineering University of Sydney Australia

ISBN: (纸本)9781509046331

We address the problem of finding useful invariant funnels for dynamic walking robots, i.e. sets of initial conditions from which continued walking in a stable manner is guaranteed. The construction is based on transverse dynamics and sum-of-squares verification. This paper makes two main contributions: firstly, we show that for typical models of walking robots the construction of such funnels can be significantly simplified by use of a new phase variable. Secondly, we provide the first hardware validation of the resulting funnels on an experimental testbed. © 2017 IEEE.

关键词： Mobile robots

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Analysis of the Stability and postcritical Behavior of the Ziegler's Pendulum in Simulink 7

Analysis of the Stability and postcritical Behavior of the Z...

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7th International Conference on Information Technologies in engineering Education, Inforino 2024

作者： Radin, Vladimir P. Poznyak, Elena V. Novikova, Olga V. Tsoy, Valerian E. Chirkov, Viktor P. Kuznetsov, Sergey F. Moscow Power Engineering Institute Department of Robotics Mechatronics Dynamics and Strength of Machines Moscow Russia

ISBN: (纸本)9798350371369

The paper presents a nonlinear Simulink model of a double pendulum loaded with potential and follower forces. At first stability region of the initial equilibrium position was found using the dynamic method. Then time-depended displacements and phase portraits of the pendulum were obtained and investigated for various parameters of the loading: in the stable regions, at the intersection of the boundaries of flutter and divergence, in distant postcritical regions. In the simulation some features of phase trajectories of the nonlinear nonconservative system have been found and illustrated. The relevance of simulation for training future specialists in the field of dynamics and strength of machines is shown. © 2024 IEEE.

关键词： Simulink

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Au-Based Biocompatible Capacitive Strain Sensor 5

Au-Based Biocompatible Capacitive Strain Sensor

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5th IEEE International Conference on Flexible and Printable Sensors and Systems, FLEPS 2023

作者： Lee, Mugeun Kim, Hwajoong Kim, Jinho Jeong, Minji Lee, Jaehong Daegu Gyeongbuk Institute of Science and Technology Department of Robotics and Mechatronics Engineering Daegu Korea Republic of

ISBN: (纸本)9781665457330

Various strain sensors have been developed due to their capability to monitor a piece of basic physiological information. However, a lot of existing strain sensor is based on planar soft sensors, which have a few critical challenges such as structural mismatch and stable fixation on the target organ. Here, we present a 1-dimensional and biocompatible capacitive fiber strain sensor. The fiber strain sensor comprises a conductive fiber electrode based on Au, a representative biocompatible material. The structure of the fiber strain sensor is a double helix. The sensor shows high sensitivity of 9.8 and high stability. © 2023 IEEE.

关键词： Biocompatibility

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