Abstract: Industrial robots become useless without end-effectors
that for many instances are in the form of friction grippers.
Commonly friction grippers apply frictional forces to different
objects on the basis of programmers- experiences. This puts a
limitation on the effectiveness of gripping force that may result in
damaging the object. This paper describes various stages of design
and development of a low cost sensor-based robotic gripper that
would facilitate the task of applying right gripping forces to different
objects. The gripper is also equipped with range sensors in order to
avoid collisions of the gripper with objects. It is a fully functional
automated pick and place gripper which can be used in many
industrial applications. Yet it can also be altered or further developed
in order to suit a larger number of industrial activities. The current
design of gripper could lead to designing completely automated robot
grippers able to improve the efficiency and productivity of industrial
robots.
Abstract: This paper describes the design concepts and
implementation of a 5-Joint mechanical arm for a rescue robot named
CEO Mission II. The multi-joint arm is a five degree of freedom
mechanical arm with a four bar linkage, which can be stretched to
125 cm. long. It is controlled by a teleoperator via the user-friendly
control and monitoring GUI program. With Inverse Kinematics
principle, we developed the method to control the servo angles of all
arm joints to get the desired tip position. By clicking the determined
tip position or dragging the tip of the mechanical arm on the
computer screen to the desired target point, the robot will compute
and move its multi-joint arm to the pose as seen on the GUI screen.
The angles of each joint are calculated and sent to all joint servos
simultaneously in order to move the mechanical arm to the desired
pose at once. The operator can also use a joystick to control the
movement of this mechanical arm and the locomotion of the robot.
Many sensors are installed at the tip of this mechanical arm for
surveillance from the high level and getting the vital signs of victims
easier and faster in the urban search and rescue tasks. It works very
effectively and easy to control. This mechanical arm and its software
were developed as a part of the CEO Mission II Rescue Robot that
won the First Runner Up award and the Best Technique award from
the Thailand Rescue Robot Championship 2006. It is a low cost,
simple, but functioning 5-Jiont mechanical arm which is built from
scratch, and controlled via wireless LAN 802.11b/g. This 5-Jiont
mechanical arm hardware concept and its software can also be used
as the basic mechatronics to many real applications.
Abstract: In this paper a novel, simple and reliable digital firing
scheme has been implemented for speed control of three-phase
induction motor using ac voltage controller. The system consists of
three-phase supply connected to the three-phase induction motor via
three triacs and its control circuit. The ac voltage controller has three
modes of operation depending on the shape of supply current. The
performance of the induction motor differs in each mode where the
speed is directly proportional with firing angle in two modes and
inversely in the third one. So, the control system has to detect the
current mode of operation to choose the correct firing angle of triacs.
Three sensors are used to feed the line currents to control system to
detect the mode of operation. The control strategy is implemented
using a low cost Xilinx Spartan-3E field programmable gate array
(FPGA) device. Three PI-controllers are designed on FPGA to
control the system in the three-modes. Simulation of the system is
carried out using PSIM computer program. The simulation results
show stable operation for different loading conditions especially in
mode 2/3. The simulation results have been compared with the
experimental results from laboratory prototype.
Abstract: Nowadays due to globalization of economy and
competition environment, innovation and technology plays key role
at creation of wealth and economic growth of countries. In fact
prompt growth of practical and technologic knowledge may results in
social benefits for countries when changes into effective innovation.
Considering the importance of innovation for the development of
countries, this study addresses the radical technological innovation
introduced by nanopapers at different stages of producing paper
including stock preparation, using authorized additives, fillers and
pigments, using retention, calender, stages of producing conductive
paper, porous nanopaper and Layer by layer self-assembly. Research
results show that in coming years the jungle related products will lose
considerable portion of their market share, unless embracing radical
innovation. Although incremental innovations can make this industry
still competitive in mid-term, but to have economic growth and
competitive advantage in long term, radical innovations are
necessary. Radical innovations can lead to new products and
materials which their applications in packaging industry can produce
value added. However application of nanotechnology in this industry
can be costly, it can be done in cooperation with other industries to
make the maximum use of nanotechnology possible. Therefore this
technology can be used in all the production process resulting in the
mass production of simple and flexible papers with low cost and
special properties such as facility at shape, form, easy transportation,
light weight, recovery and recycle marketing abilities, and sealing.
Improving the resistance of the packaging materials without reducing
the performance of packaging materials enhances the quality and the
value added of packaging. Improving the cellulose at nano scale can
have considerable electron optical and magnetic effects leading to
improvement in packaging and value added. Comparing to the
specifications of thermoplastic products and ordinary papers,
nanopapers show much better performance in terms of effective
mechanical indexes such as the modulus of elasticity, tensile strength,
and strain-stress. In densities lower than 640 kgm -3, due to the
network structure of nanofibers and the balanced and randomized
distribution of NFC in flat space, these specifications will even
improve more. For nanopapers, strains are 1,4Gpa, 84Mpa and 17%,
13,3 Gpa, 214Mpa and 10% respectively. In layer by layer self
assembly method (LbL) the tensile strength of nanopaper with Tio3
particles and Sio2 and halloysite clay nanotube are 30,4 ±7.6Nm/g
and 13,6 ±0.8Nm/g and 14±0.3,3Nm/g respectively that fall within
acceptable range of similar samples with virgin fiber. The usage of
improved brightness and porosity index in nanopapers can create
more competitive advantages at packaging industry.
Abstract: In the past few years, the use of wireless sensor networks (WSNs) potentially increased in applications such as intrusion detection, forest fire detection, disaster management and battle field. Sensor nodes are generally battery operated low cost devices. The key challenge in the design and operation of WSNs is to prolong the network life time by reducing the energy consumption among sensor nodes. Node clustering is one of the most promising techniques for energy conservation. This paper presents a novel clustering algorithm which maximizes the network lifetime by reducing the number of communication among sensor nodes. This approach also includes new distributed cluster formation technique that enables self-organization of large number of nodes, algorithm for maintaining constant number of clusters by prior selection of cluster head and rotating the role of cluster head to evenly distribute the energy load among all sensor nodes.
Abstract: This paper describes a newly designed decentralized
nonlinear control strategy to control a robot manipulator. Based on the
concept of the nonlinear state feedback theory and decentralized
concept is developed to improve the drawbacks in previous works
concerned with complicate intelligent control and low cost effective
sensor. The control methodology is derived in the sense of Lyapunov
theorem so that the stability of the control system is guaranteed. The
decentralized algorithm does not require other joint angle and velocity
information. Individual Joint controller is implemented using a digital
processor with nearly actuator to make it possible to achieve good
dynamics and modular. Computer simulation result has been
conducted to validate the effectiveness of the proposed control scheme
under the occurrence of possible uncertainties and different reference
trajectories. The merit of the proposed control system is indicated in
comparison with a classical control system.
Abstract: Haptics has been used extensively in many applications especially in human machine interaction and virtual reality systems. Haptic technology allows user to perceive virtual reality as in real world. However, commercially available haptic devices are expensive and may not be suitable for educational purpose. This paper describes the design and development of a low cost haptic knob, with only one degree of freedom, for use in rehabilitation or training hand pronation and supination. End-effectors can be changed to suit different applications or variation in hand sizes and hand orientation.
Abstract: We propose a low-cost uniform analysis framework
allowing comparison of the strengths and weaknesses of the
bicycling experience within and between cities. A primary
component is an expedient, one-page mobility survey from which
mode share is calculated. The bicycle mode share of many cities
remains unknown, creating a serious barrier for both scientists and
policy makers aiming to understand and increase rates of bicycling.
Because of its low cost and expedience, this framework could be
replicated widely, uniformly filling the data gap. The framework has
been applied to 13 Central European cities with success. Data is
collected on multiple modes with specific questions regarding both
behavior and quality of travel experience. Individual preferences are
also collected, examining the conditions under which respondents
would change behavior to adopt more sustainable modes (bicycling
or public transportation). A broad analysis opportunity results,
intended to inform policy choices.
Abstract: Nowadays, a passenger car suspension must has high
performance criteria with light weight, low cost, and low energy
consumption. Pilot controlled proportional valve is designed and
analyzed to get small pressure change rate after blow-off, and to get a
fast response of the damper, a reverse damping mechanism is adapted.
The reverse continuous variable damper is designed as a HS-SH
damper which offers good body control with reduced transferred input
force from the tire, compared with any other type of suspension
system. The damper structure is designed, so that rebound and
compression damping forces can be tuned independently, of which the
variable valve is placed externally. The rate of pressure change with
respect to the flow rate after blow-off becomes smooth when the fixed
orifice size increases, which means that the blow-off slope is
controllable using the fixed orifice size. Damping forces are measured
with the change of the solenoid current at the different piston
velocities to confirm the maximum hysteresis of 20 N, linearity, and
variance of damping force. The damping force variance is wide and
continuous, and is controlled by the spool opening, of which scheme is
usually adapted in proportional valves. The reverse continuous
variable damper developed in this study is expected to be utilized in
the semi-active suspension systems in passenger cars after its
performance and simplicity of the design is confirmed through a real
car test.
Abstract: Optical flow is a research topic of interest for many
years. It has, until recently, been largely inapplicable to real-time
applications due to its computationally expensive nature. This paper
presents a new reliable flow technique which is combined with a
motion detection algorithm, from stationary camera image streams,
to allow flow-based analyses of moving entities, such as rigidity, in
real-time. The combination of the optical flow analysis with motion
detection technique greatly reduces the expensive computation of
flow vectors as compared with standard approaches, rendering the
method to be applicable in real-time implementation. This paper
describes also the hardware implementation of a proposed pipelined
system to estimate the flow vectors from image sequences in real
time. This design can process 768 x 576 images at a very high frame
rate that reaches to 156 fps in a single low cost FPGA chip, which is
adequate for most real-time vision applications.
Abstract: In this era of competitiveness, there is a growing need for supply chains also to become competitive enough to handle pressures like varying customer’s expectations, low cost high quality products to be delivered at the minimum time and the most important is throat cutting competition at world wide scale. In the recent years, supply chain competitiveness has been, therefore, accepted as one of the most important philosophies in the supply chain literature. Various researchers and practitioners have tried to identify and implement strategies in supply chains which can bring competitiveness in the supply chains i.e. supply chain competitiveness. The purpose of this paper is to suggest select strategies for supply chain competitiveness in the Indian manufacturing sector using an integrated approach of literature review and exploratory interviews with eminent professionals from the supply chain area in various industries, academia and research. The aim of the paper is to highlight the important area of competitiveness in the supply chain and to suggest recommendations to the industry and managers of manufacturing sector.
Abstract: Sophorolipids (SLs) production by the yeast Candida
bombicola was studied in batch shake flasks using synthetic dairy
wastewaters (SDWW) with or without any added external carbon and
nitrogen sources. A maximum SLs production of 38.76 g/l was
observed with the SDWW supplemented with low cost substrate of
sugarcane molasses at 50 g/l and soybean oil at 50 g/l. When the
SDWW was supplemented with more costly glucose, yeast extract,
urea and soybean oil, the production, however, got lowered to only
29.49 g/l, but with a maximum biomass production of 17.38 g/l
together with a complete utilization of the carbon sources.
Abstract: Simulation is a very powerful method used for highperformance
and high-quality design in distributed system, and now
maybe the only one, considering the heterogeneity, complexity and
cost of distributed systems. In Grid environments, foe example, it is
hard and even impossible to perform scheduler performance
evaluation in a repeatable and controllable manner as resources and
users are distributed across multiple organizations with their own
policies. In addition, Grid test-beds are limited and creating an
adequately-sized test-bed is expensive and time consuming.
Scalability, reliability and fault-tolerance become important
requirements for distributed systems in order to support distributed
computation. A distributed system with such characteristics is called
dependable. Large environments, like Cloud, offer unique
advantages, such as low cost, dependability and satisfy QoS for all
users. Resource management in large environments address
performant scheduling algorithm guided by QoS constrains. This
paper presents the performance evaluation of scheduling heuristics
guided by different optimization criteria. The algorithms for
distributed scheduling are analyzed in order to satisfy users
constrains considering in the same time independent capabilities of
resources. This analysis acts like a profiling step for algorithm
calibration. The performance evaluation is based on simulation. The
simulator is MONARC, a powerful tool for large scale distributed
systems simulation. The novelty of this paper consists in synthetic
analysis results that offer guidelines for scheduler service
configuration and sustain the empirical-based decision. The results
could be used in decisions regarding optimizations to existing Grid
DAG Scheduling and for selecting the proper algorithm for DAG
scheduling in various actual situations.
Abstract: Next Generation Wireless Network (NGWN) is
expected to be a heterogeneous network which integrates all different
Radio Access Technologies (RATs) through a common platform. A
major challenge is how to allocate users to the most suitable RAT for
them. An optimized solution can lead to maximize the efficient use
of radio resources, achieve better performance for service providers
and provide Quality of Service (QoS) with low costs to users.
Currently, Radio Resource Management (RRM) is implemented
efficiently for the RAT that it was developed. However, it is not
suitable for a heterogeneous network. Common RRM (CRRM) was
proposed to manage radio resource utilization in the heterogeneous
network. This paper presents a user level Markov model for a three
co-located RAT networks. The load-balancing based and service
based CRRM algorithms have been studied using the presented
Markov model. A comparison for the performance of load-balancing
based and service based CRRM algorithms is studied in terms of
traffic distribution, new call blocking probability, vertical handover
(VHO) call dropping probability and throughput.
Abstract: In this paper we discuss on the security module for the
car appliances to prevent stealing and illegal use on other cars. We
proposed an open structure including authentication and encryption by
embed a security module in each to protect car appliances. Illegal
moving and use a car appliance with the security module without
permission will lead the appliance to useless. This paper also presents
the component identification and deal with relevant procedures. It is at
low cost to recover from destroys by the burglar. Expect this paper to
offer the new business opportunity to the automotive and technology
industry.
Abstract: The world of wireless telecommunications is rapidly evolving. Technologies under research and development promise to deliver more services to more users in less time. This paper presents the emerging technologies helping wireless systems grow from where we are today into our visions of the future. This paper will cover the applications and characteristics of emerging wireless technologies: Wireless Local Area Networks (WiFi-802.11n), Wireless Personal Area Networks (ZigBee) and Wireless Metropolitan Area Networks (WiMAX). The purpose of this paper is to explain the impending 802.11n standard and how it will enable WLANs to support emerging media-rich applications. The paper will also detail how 802.11n compares with existing WLAN standards and offer strategies for users considering higher-bandwidth alternatives. The emerging IEEE 802.15.4 (ZigBee) standard aims to provide low data rate wireless communications with high-precision ranging and localization, by employing UWB technologies for a low-power and low cost solution. WiMAX (Worldwide Interoperability for Microwave Access) is a standard for wireless data transmission covering a range similar to cellular phone towers. With high performance in both distance and throughput, WiMAX technology could be a boon to current Internet providers seeking to become the leader of next generation wireless Internet access. This paper also explores how these emerging technologies differ from one another.
Abstract: Arc welding is an important joining process widely used in many industrial applications including production of automobile, ships structures and metal tanks. In welding process, the moving electrode causes highly non-uniform temperature distribution that leads to residual stresses and different deviations, especially buckling distortions in thin plates. In order to control the deviations and increase the quality of welded plates, a fixture can be used as a practical and low cost method with high efficiency. In this study, a coupled thermo-mechanical finite element model is coded in the software ANSYS to simulate the behavior of thin plates located by a 3-2-1 positioning system during the welding process. Computational results are compared with recent similar works to validate the finite element models. The agreement between the result of proposed model and other reported data proves that finite element modeling can accurately predict the behavior of welded thin plates.
Abstract: Gas turbine systems with wet compression have a
potential for future power generation, since they can offer a high
efficiency and a high specific power with a relatively low cost. In this
study influence of ambient condition on the performance of the wet
compression process is investigated with a non-equilibrium analytical
modeling based on droplet evaporation. Transient behaviors of droplet
diameter and temperature of mixed air are investigated for various
ambient temperatures. Special attention is paid for the effects of
ambient temperature, pressure ratio, and water injection ratios on the
important wet compression variables including compressor outlet
temperature and compression work. Parametric studies show that
downing of the ambient temperature leads to lower compressor outlet
temperature and consequently lower consumption of compression
work even in wet compression processes.
Abstract: A modified Saleh-Valenzuela channel model has been
adapted for Ultra Wideband (UWB) system. The suggested realistic
channel is assessed by its distribution of fading amplitude and time of
arrivals. Furthermore, the propagation characteristic has been distinct
into four channel models, namely CM 1 to 4. Each are differentiate in
terms of cluster arrival rates, rays arrival rate within each cluster and
its respective constant decay rates. This paper described the
multiband OFDM system performance simulates under these
multipath conditions. Simulation work described in this paper is
based on WiMedia ECMA-368 standard, which has been deployed
for practical implementation of low cost and low power UWB
devices.
Abstract: Compaction testing methods allow at-speed detecting
of errors while possessing low cost of implementation. Owing to this
distinctive feature, compaction methods have been widely used for
built-in testing, as well as external testing. In the latter case, the
bandwidth requirements to the automated test equipment employed
are relaxed which reduces the overall cost of testing. Concurrent
compaction testing methods use operational signals to detect
misbehavior of the device under test and do not require input test
stimuli. These methods have been employed for digital systems only.
In the present work, we extend the use of compaction methods for
concurrent testing of analog-to-digital converters. We estimate
tolerance bounds for the result of compaction and evaluate the
aliasing rate.