Kinematic Design Problems for Low-Cost Easy-Operation Humanoid Robots

In this paper, a numerical-experimental procedure is proposed for an identification of parameters in cam transmissions. Models with lumped parameters are defined specifically for cam transmissions. Experimental tests are carried out on main components of a cam transmission in order to estimate the values of mass, damping and stiffness lumped parameters through a low-cost easy-operation procedure. Experimental tests are also carried out in order to characterize the dynamic behaviour of a whole cam transmission. A comparison of numerical and experimental results is used in order to calibrate the values of lumped parameters. Experimental tests have been carried out by means of suitable test-beds for cams that have been built specifically at University of Brescia and at LARM in Cassino as alternative testing solutions.

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Design of a post-disaster shelter through soft computing

International Journal of Architectural Computing ◽

10.1177/1478077119849694 ◽

2019 ◽

Vol 17 (2) ◽

pp. 185-205 ◽

Cited By ~ 2

Author(s):

Füsun Cemre Karaoğlan ◽

Sema Alaçam

Keyword(s):

Soft Computing ◽

Architectural Design ◽

Low Cost ◽

Computing Methods ◽

Modular System ◽

Design Problems ◽

Novel Approach ◽

Fuzzy Neural ◽

Experiential Quality ◽

Post Disaster

Temporary shelters become a more critical subject of architectural design as the increasing number of natural disasters taking place each year result in a larger number of people in need of urgent sheltering. Therefore, this project focuses on designing a temporary living space that can respond to the needs of different post-disaster scenarios and form a modular system through differentiation of units. When designing temporary shelters, it is a necessity to deal with the provision of materials, low-cost production and the time limit in the emergency as well as the needs of the users and the experiential quality of the space. Although computational approaches might lead to much more efficient and resilient design solutions, they have been utilized in very few examples. For that reason and due to their suitability to work with architectural design problems, soft computing methods shape the core of the methodology of the study. Initially, a digital model is generated through a set of rules that define a growth algorithm. Then, Multi-Objective Genetic Algorithms alter this growth algorithm while evaluating different configurations through the objective functions constructed within a Fuzzy Neural Tree. The struggle to represent design goals in the form of Fuzzy Neural Tree holds potential for the further use of it for architectural design problems centred on resilience. Resilience in this context is defined as a measure of how agile a design is when dealing with a major sheltering need in a post-disaster environment. Different from the previous studies, this article aims to focus on the design of a temporary shelter that can respond to different user types and disaster scenarios through mass customization, using Fuzzy Neural Tree as a novel approach. While serving as a temporary space, the design outcomes are expected to create a more neighbourhood-like pattern with a stronger sense of community for the users compared to the previous examples.

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The Use of Algae and Fungi for Removal of Pharmaceuticals by Bioremediation and Biosorption Processes: A Review

Water ◽

10.3390/w11081555 ◽

2019 ◽

Vol 11 (8) ◽

pp. 1555 ◽

Cited By ~ 7

Author(s):

Andreia Silva ◽

Cristina Delerue-Matos ◽

Sónia Figueiredo ◽

Olga Freitas

Keyword(s):

Aquatic Environment ◽

Capital Investment ◽

Environmental Chemistry ◽

Wastewater Treatment Plants ◽

Low Cost ◽

Treatment Processes ◽

Operation Costs ◽

Emerging Issues ◽

By Products ◽

Easy Operation

The occurrence and fate of pharmaceuticals in the aquatic environment is recognized as one of the emerging issues in environmental chemistry. Conventional wastewater treatment plants (WWTPs) are not designed to remove pharmaceuticals (and their metabolites) from domestic wastewaters. The treatability of pharmaceutical compounds in WWTPs varies considerably depending on the type of compound since their biodegradability can differ significantly. As a consequence, they may reach the aquatic environment, directly or by leaching of the sludge produced by these facilities. Currently, the technologies under research for the removal of pharmaceuticals, namely membrane technologies and advanced oxidation processes, have high operation costs related to energy and chemical consumption. When chemical reactions are involved, other aspects to consider include the formation of harmful reaction by-products and the management of the toxic sludge produced. Research is needed in order to develop economic and sustainable treatment processes, such as bioremediation and biosorption. The use of low-cost materials, such as biological matrices (e.g., algae and fungi), has advantages such as low capital investment, easy operation, low operation costs, and the non-formation of degradation by-products. An extensive review of existing research on this subject is presented.

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Performance of a GaAs-Based Pseudomorphic High Electron Mobility Transistor (PHEMT) with an Electroless-Plated Treated Gate

Materials Science Forum ◽

10.4028/www.scientific.net/msf.694.891 ◽

2011 ◽

Vol 694 ◽

pp. 891-895

Author(s):

Chien Chang Huang ◽

Chun Chia Chen ◽

Jian Kai Liou ◽

Po Cheng Chou ◽

Huey Ing Chen ◽

...

Keyword(s):

Electron Mobility ◽

Thermal Evaporation ◽

Low Cost ◽

High Electron Mobility Transistor ◽

High Electron ◽

Electron Microscopic ◽

High Electron Mobility ◽

Dc Characteristics ◽

Scanning Electron Microscopic ◽

Easy Operation

An interesting GaAs based pseudomorphic high electron mobility transistor (PHEMT) with an electroless-plated (EP) surface treated gate is fabricated and studied. Based on the low-temperature and low-energy deposition conditions, the EP approach can form better metal-semiconductor (M-S) interface with the reduction in surface thermal damages and disordered-states. The material analyses of EP approach, including Auger electron spectroscopy (AES) and scanning electron microscopic (SEM), are examined. The DC performance of EP-gate device is investigated. In addition, the temperature influences of the studied devices, at the temperature region of 300 to 500K, are studied. As compared with the conventional thermal evaporation (TE) approach, the EP-based device shows significantly improved DC characteristics over a wide temperature range (300-500K). Moreover, the EP approach also has advantages of easy operation and low cost.

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Design of Separating Screen for Tenebrio molitor L

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.543-547.258 ◽

2014 ◽

Vol 543-547 ◽

pp. 258-262

Author(s):

Li Ping Wang ◽

Yi Guo ◽

Gang Fu ◽

Jiang Hui Dong

Keyword(s):

Performance Test ◽

High Efficiency ◽

Structural Parameters ◽

Low Cost ◽

Tenebrio Molitor ◽

Vector Method ◽

Working Principle ◽

Design Requirements ◽

And Performance ◽

Easy Operation

In order to meet requirement of separation screen for tenebrio molitor L, one separation screen was designed, this product has a good separation, simple structure, low cost, high efficiency, easy operation. Based on the analysis of design requirement of separating screen for tenebrio molitor L, overall structure, working principle and the main structural parameters were determined. The kinematic mathematical model of shaking mechanism was established by using the vector method. The kinematics analysis of shaking mechanism was conducted by using Matlab, the displacement, velocity and acceleration curves of sieve box were obtained. The performance test showed that the prototype machine can screen different instar tenebrio molitor L and frass, this machine has good screening effect. In addition, machine design and performance are able to meet the design requirements.

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An Advanced Active Vision System with Multimodal Visual Odometry Perception for Humanoid Robots

International Journal of Humanoid Robotics ◽

10.1142/s0219843617500062 ◽

2017 ◽

Vol 14 (03) ◽

pp. 1750006

Author(s):

Xin Wang ◽

Pieter Jonker

Keyword(s):

Eye Movements ◽

Vision System ◽

Low Cost ◽

Active Vision ◽

Human Perception ◽

Personal Space ◽

Visual Odometry ◽

Humanoid Robots ◽

Industrial Applications ◽

Human Vision

Using active vision to perceive surroundings instead of just passively receiving information, humans develop the ability to explore unknown environments. Humanoid robot active vision research has already half a century history. It covers comprehensive research areas and plenty of studies have been done. Nowadays, the new trend is to use a stereo setup or a Kinect with neck movements to realize active vision. However, human perception is a combination of eye and neck movements. This paper presents an advanced active vision system that works in a similar way as human vision. The main contributions are: a design of a set of controllers that mimic eye and neck movements, including saccade eye movements, pursuit eye movements, vestibulo-ocular reflex eye movements and vergence eye movements; an adaptive selection mechanism based on properties of objects to automatically choose an optimal tracking algorithm; a novel Multimodal Visual Odometry Perception method that combines stereopsis and convergence to enable robots to perform both precise action in action space and scene exploration in personal space. Experimental results prove the effectiveness and robustness of our system. Besides, the system works in real-time constraints with low-cost cameras and motors, providing an affordable solution for industrial applications.

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An Angle Measuring System for Knife Blade Based on Laser and Electronic Clinometer

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.339.80 ◽

2011 ◽

Vol 339 ◽

pp. 80-83

Author(s):

Fen Ju An ◽

Yu Jun Feng ◽

Zhong Ming Tan ◽

Wen Qing Shi ◽

Zheng Ye Xiong ◽

...

Keyword(s):

High Precision ◽

Low Cost ◽

Measuring System ◽

Practical Application ◽

Blade Angle ◽

Angle Measuring ◽

Knife Blade ◽

Easy Operation

In order to measure the knife blade angle, which has a great impact on sharpness and sharpness retentivity of knives and scissors, an angle measuring system for knife blade based on laser and electronic clinometer is presented. Practical running and testing proved the system's feasibility, reliability and great value in practical application. Meanwhile, the system has many advantages, such as easy operation, low cost, high precision, small errors, non-contact, etc.

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Buckling strength of additively manufactured cylindrical shells: An exploratory study of as-printed and reinforced ABS and PLA cases

10.31224/osf.io/f7h9j ◽

2020 ◽

Author(s):

Tais Rocha Pereira ◽

Albert E. Patterson ◽

Sherri L. Messimer

Keyword(s):

Exploratory Study ◽

Low Cost ◽

Thin Shells ◽

Thin Structures ◽

Design Problems ◽

Buckling Behavior ◽

Hard Polymer ◽

Radial Loading ◽

Future Work ◽

The Impact

Additively-manufactured (AM) materials have a defined mesostructure and natural voids which impact their structural stability; thin shells which so not have bulk to support or absorb the effects of the variances in properties are particularly affected. Thin shells are a common feature in many designs, providing good strength-to-weight ratios for many applications, particularly in the aerospace and structural design domains. The use of AM processes to produce thin structures could both expand the use of AM and improve the application space for thin structures in design, but this problem has not yet been widely explored for buckling cases. The brief exploratory study presented in this paper examined the characteristics and critical buckling load of thin-walled ABS and PLA cylinders under static axial and angled radial loading. A designed 2(4-1) factorial experiment was used to explore the buckling behavior, examining the impact of wall thickness, material, and two kinds of internal reinforcement (soft infill and polyurethane foam). Analysis of variance (ANOVA) (including model adequacy testing and proof of Fisher Assumption validity) was completed on data from two replications (32 total tests), providing useful information on the significance of the factors and their interactions. The data is provided in full, along with a discussion of the experimental design and testing method, the results, and the importance of this problem in further research efforts. The results of the tests showed a dramatic variance in the performance based on the characteristics of the cylinders. The data collected can be used to drive future work toward the modeling and design of hard polymer AM thin structures, as well as developing efficient and low-cost methods for testing and exploring these structures for practical design problems.

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