Security robot for the prevention of workplace violence using the non-linear adaptive heuristic mathematical model

Work ◽  
2021 ◽  
pp. 1-9
Author(s):  
Hai Tao ◽  
Md Arafatur Rahman ◽  
Ahmed AL-Saffar ◽  
Renrui Zhang ◽  
Sinan Q Salih ◽  
...  
Keyword(s):  
Mathematical Model ◽  
Workplace Violence ◽  
Physical Contact ◽  
Optimal Decision ◽  
Human Being ◽  
Human Beings ◽  
Wide Range ◽  
Non Linear ◽  
Adaptive Heuristic ◽  
Human Robot Collaboration

BACKGROUND: Nowadays, workplace violence is found to be a mental health hazard and considered a crucial topic. The collaboration between robots and humans is increasing with the growth of Industry 4.0. Therefore, the first problem that must be solved is human-machine security. Ensuring the safety of human beings is one of the main aspects of human-robotic interaction. This is not just about preventing collisions within a shared space among human beings and robots; it includes all possible means of harm for an individual, from physical contact to unpleasant or dangerous psychological effects. OBJECTIVE: In this paper, Non-linear Adaptive Heuristic Mathematical Model (NAHMM) has been proposed for the prevention of workplace violence using security Human-Robot Collaboration (HRC). Human-Robot Collaboration (HRC) is an area of research with a wide range of up-demands, future scenarios, and potential economic influence. HRC is an interdisciplinary field of research that encompasses cognitive sciences, classical robotics, and psychology. RESULTS: The robot can thus make the optimal decision between actions that expose its capabilities to the human being and take the best steps given the knowledge that is currently available to the human being. Further, the ideal policy can be measured carefully under certain observability assumptions. CONCLUSION: The system is shown on a collaborative robot and is compared to a state of the art security system. The device is experimentally demonstrated. The new system is being evaluated qualitatively and quantitatively.

scholarly journals NILAI-NILAI KEPENDIDIKAN DALAM IBADAH HAJI

At-Tuhfah ◽  
2019 ◽  
Vol 5 (9) ◽  
pp. 152
Author(s):  
M. Jauharul Ma'arif
Keyword(s):  
Human Being ◽  
Human Beings ◽  
Wide Range ◽  
Value Of Education

The Hajj is one of the pillars of Islam that must be implemented for people who can afford. Implementation of the pilgrimage involves three potential possessed by man: physical, spiritual and treasure. If internalized, the whole set of Hajj contains a lot of value, especially the value of education. With the pilgrimage, someone forged educated by Allah with a wide range of education to achieve self-perfection as a human being. After the pilgrimage, one will become human beings of all the necessary competence to face challenges and are expected to be probadi better quality than before Hajj.

scholarly journals Iterative Learning Control Based Fractional Order PID Controller for Magnetic Levitation System

2019 ◽  
Vol 38 (4) ◽  
pp. 885-900
Author(s):  
Bushra Hanif ◽  
Inam-ul-Hassan Shaikh ◽  
Ahsan Ali
Keyword(s):  
Fractional Order ◽  
Iterative Learning Control ◽  
Magnetic Levitation ◽  
Learning Control ◽  
Iterative Learning ◽  
Physical Contact ◽  
Control Input ◽  
Stabilizing Controller ◽  
Wide Range ◽  
Non Linear

Maglev (Magnetic Levitation) systems are an interesting class of systems since they work without any physical contact and are hence frictionless. Due to this attractive property, such systems have the potential for wide range of applications such as maglev trains. Maglev is non-linear due to magnetic field and unstable that suggest the need of stabilizing controller. An appropriate controller is required to levitate the object at desired position. FOPID (Fractional Order Proportional Integral Derivative) controller and ILC (Iterative learning Control) based FOPID controller are designed in this paper for the levitation of metallic ball with desired reference at minimum transient errors. Since maglev is unstable and ILC is used only for stable systems, FOPID controller is used to stabilize the plant. Non-linear interior point optimization method is used to obtain the parameters of FOPID controller. An ILC is used as a feedforward controller in order to improve the response iteratively. P, PD and PID-ILC control laws are used to update the new control input in ILC based FOPID controller. The overall control scheme is therefore a hybrid combination of ILC and FOPID. The effectiveness of proposed technique is analyzed based on performance indices via simulation. ISE (Integral Square Error) and IAE (Integral Absolute Error) is lesser in case of hybrid PID-ILC as compared to simple FOPID controller.

Modelling of a Novel Gas Strut Using Neural Networks

2004 ◽  
Author(s):  
B. Gao ◽  
J. Darling ◽  
D. G. Tilley ◽  
R. A. Williams ◽  
A. Bean ◽  
...  
Keyword(s):  
Neural Network ◽  
Neural Networks ◽  
Mathematical Model ◽  
Least Square ◽  
Operation Conditions ◽  
The Neural Network ◽  
Wide Range ◽  
Non Linear ◽  
Vehicle Suspension System ◽  
And Control

The strut is one of the most important components in a vehicle suspension system. Since it is highly non-linear it is difficult to predict its performance characteristics using a physical mathematical model. However, neural networks have been successfully used as universal ‘black-box’ models in the identification and control of non-linear systems. This approach has been used to model a novel gas strut and the neural network was trained with experimental data obtained in the laboratory from simulated road profiles. The results obtained from the neural network demonstrated good agreement with the experimental results over a wide range of operation conditions. In contrast a linearised mathematical model using least square estimates of system parameters was shown to perform badly due to the highly non-linear nature of the system. A quarter car mathematical model was developed to predict strut behavior. It was shown that the two models produced different predictions of ride performance and it was argued that the neural network was preferable as it included the effects of non-linearities. Although the neural network model does not provide a good understanding of the physical behavior of the strut it is a useful tool for assessing vehicle ride and NVH performance due to its good computational efficiency and accuracy.

scholarly journals A Mixed-Perception Approach for Safe Human–Robot Collaboration in Industrial Automation

Sensors ◽  
2020 ◽  
Vol 20 (21) ◽  
pp. 6347
Author(s):  
Fatemeh Mohammadi Amin ◽  
Maryam Rezayati ◽  
Hans Wernher van de Venn ◽  
Hossein Karimpour
Keyword(s):  
Action Recognition ◽  
Manufacturing Systems ◽  
Physical Contact ◽  
Contact Detection ◽  
Human Beings ◽  
Industrial Automation ◽  
Human Actions ◽  
Shared Workspace ◽  
Human Safety ◽  
Human Robot Collaboration

Digital-enabled manufacturing systems require a high level of automation for fast and low-cost production but should also present flexibility and adaptiveness to varying and dynamic conditions in their environment, including the presence of human beings; however, this presence of workers in the shared workspace with robots decreases the productivity, as the robot is not aware about the human position and intention, which leads to concerns about human safety. This issue is addressed in this work by designing a reliable safety monitoring system for collaborative robots (cobots). The main idea here is to significantly enhance safety using a combination of recognition of human actions using visual perception and at the same time interpreting physical human–robot contact by tactile perception. Two datasets containing contact and vision data are collected by using different volunteers. The action recognition system classifies human actions using the skeleton representation of the latter when entering the shared workspace and the contact detection system distinguishes between intentional and incidental interactions if physical contact between human and cobot takes place. Two different deep learning networks are used for human action recognition and contact detection, which in combination, are expected to lead to the enhancement of human safety and an increase in the level of cobot perception about human intentions. The results show a promising path for future AI-driven solutions in safe and productive human–robot collaboration (HRC) in industrial automation.

scholarly journals Mathematical modeling of temporal changes in snow-firn properties in the cold season

1997 ◽  
Vol 24 ◽  
pp. 309-313 ◽  
Author(s):  
Elena Guseva-Lozinski
Keyword(s):  
Mathematical Model ◽  
Structural Changes ◽  
Structural Parameters ◽  
Meteorological Data ◽  
Cold Season ◽  
Structural Equations ◽  
High Mountain ◽  
Thermomechanical Model ◽  
Wide Range ◽  
Non Linear

The paper describes a non-linear dynamic thermomechanical model of the snow–firn development in the high mountain environment during the cold season. The model allows the estimation of the thermal and mechanical development of snow in an inhomogeneous stratified snowpack and in the upper part of the firn layer, the development of the snow–firn structure and transformation of snow into firn. The non-linear mathematical model consists of a heat problem, water-vapor diffusion problem, densification of the snow–firn layer, structural equations and strength conditions of the metamorphosed snow–firn depending on its temperature, structural parameters, density and rate of sublimation. The model includes conditions of snow transformation into firn and its structural changes. These equations are non-linear and coupled. The iterative finite-difference numerical method was used for the calculations and involved a full mathematical model. Numerical experiments were implemented using the complete model as well as real. The numerical computations were made for various meteorological data, temperature gradients and in the wide range of structural parameters. The calculation results were found to be in good agreement with the results of observations.

scholarly journals PSYCHOLOGICAL AND SPIRITUAL-MORAL PROBLEMS OF MODERN HUMAN BEING: RISKS, THREATS, CHALLENGES

2020 ◽  
pp. 35-66
Author(s):  
А.А. Гостев
Keyword(s):  
Political Psychology ◽  
New Technologies ◽  
Life Experience ◽  
Personal Characteristics ◽  
Integral Characteristic ◽  
Future Research ◽  
Human Being ◽  
Human Beings ◽  
Wide Range ◽  
Moral Problems

Анализируется широкий спектр психологических и духовно-нравственных проблем человека и групповых субъектов в противоречивых процессах глобальной трансформации современного общества. Рассматриваются многообразные угрозы и вызовы человечеству в целом. Описана соответствующая феноменология. Намечены пути ее системного анализа и синтеза на новом уровне понимания. Обсуждаются актуальные для этой задачи теоретико-методологические идеи. Научному осмыслению подлежит взаимовлияние и единство всех содержаний актуального и потенциального сознания на индивидуальном и групповом уровнях. Субъективные представления об угрозах рассматриваются как «внешние» воздействия, влияющие через внутренние условия в виде индивидуальных и/или групповых ценностей , социо-этно-культурных норм и социально-психологических закономерностей . Поставлен вопрос о поиске адекватного алармизма на основе закономерности Йеркса-Додсона с учетом существования тематики, относительно которой он уместен ( духовно-нравственное состояние человечества, перспективы тотального социального контроля и пр.). Подчеркнуто значение взаимодействия познавательного потенциала социальной, политической и исторической психологии, а также психологии личности и психологии религии. Намечена теоретико-методологическая основа создания макрополитической психологии , более целостно отражающей происходящее в мире за счет опоры на междисциплинарное взаимодействие указанных направлений психологической науки с геополитическими исследованиями с учетом финансово-экономических, мировоззренческих и иных факторов глобальной трансформации . Ее психологические и духовно-нравственные проблемы рассматриваются относительно взаимодействующих позиций макроописания человека: «личности», «субъекта», «индивидуальности» и «индивида» . Проявления личности анализируются как реактивное отражение мира в ответ на внешние социальные воздействия. Субъект описывается с позиции активного реагирования на изменение жизнедеятельности. Индивидуальность, характеризуемая активным отражением информации в зависимости от опыта, картины мира и особенностей человека, рассматривается в связи с проблематикой сознания и менталитета. К индивиду отнесены риски и угрозы для человеческого организма, включая влияния новых технологий на основе искусственного интеллекта. Сформулированы перспективные задачи исследований. A wide range of psychological, spiritual and moral problems of human beings in contradictory processes of global transformation are analyzes. Diverse threats for humanity are considered, and the corresponding phenomenology is described. Some ways for analysis-synthesis of such phenomenology are set. Relevant theoretical and methodological ideas are discussed. It is emphasized the importance of understanding mutual interaction of actual and potential consciousness at individual and group levels. Subjective images of global risks and threats are considered as “external” influences through internal conditions in forms of individual and/or group values, socio-ethno-cultural norms, socio-psychological laws. It is raised the problem of finding adequate ‘alarmism’, based on the Yerkes-Dodson regularity, considering the existence of topics for which alarmism is appropriate (e.g. moral state of humanity, prospects of total social control, "digital slavery", etc.). The role of interaction of cognitive capabilities of social, political, historical psychology, psychology of personality, and psychology of religion is emphasized. The article outlines theoretical basis for creating a ‘macro-political psychology’ designed for more holistic reflection of global transformation. ‘Macro-political psychology’ should be based on interdisciplinary interaction of these areas of psychological science with geopolitical research, with study of financial, economics, ideological factors. Psychological and spiritual / moral problems of humankind are considered regarding to interacting positions of a human being’s description: “personality”, “subject”, “individuality”, “individ”. Manifestations of personality are analyzed as reactive reflection of the world in response to external social influences. Subject is described in terms of active response to changes in life activity. Individuality is characterized by active reflection of information regarding life experience, worldview, personal characteristics of human being; individuality is considered as an integral characteristic related to consciousness and mentality issues. The individual's position relates to threats for human body, including impact of new technologies based on artificial intelligence. Some future research tasks are formulated.

scholarly journals Mathematical modeling of temporal changes in snow-firn properties in the cold season

1997 ◽  
Vol 24 ◽  
pp. 309-313
Author(s):  
Elena Guseva-Lozinski
Keyword(s):  
Mathematical Model ◽  
Structural Changes ◽  
Structural Parameters ◽  
Meteorological Data ◽  
Cold Season ◽  
Structural Equations ◽  
High Mountain ◽  
Thermomechanical Model ◽  
Wide Range ◽  
Non Linear

The paper describes a non-linear dynamic thermomechanical model of the snow–firn development in the high mountain environment during the cold season. The model allows the estimation of the thermal and mechanical development of snow in an inhomogeneous stratified snowpack and in the upper part of the firn layer, the development of the snow–firn structure and transformation of snow into firn. The non-linear mathematical model consists of a heat problem, water-vapor diffusion problem, densification of the snow–firn layer, structural equations and strength conditions of the metamorphosed snow–firn depending on its temperature, structural parameters, density and rate of sublimation. The model includes conditions of snow transformation into firn and its structural changes. These equations are non-linear and coupled. The iterative finite-difference numerical method was used for the calculations and involved a full mathematical model. Numerical experiments were implemented using the complete model as well as real. The numerical computations were made for various meteorological data, temperature gradients and in the wide range of structural parameters. The calculation results were found to be in good agreement with the results of observations.

scholarly journals A Mixed Perception Approach for Safe Human-Robot Collaboration in Industrial Automation

2020 ◽  
Author(s):  
Fatemeh Mohammadi Amin ◽  
Maryam Rezayati ◽  
Hans Wernher van de Venn ◽  
Hossein Karimpour
Keyword(s):  
Action Recognition ◽  
Manufacturing Systems ◽  
Detection System ◽  
Low Cost ◽  
Human Action ◽  
Physical Contact ◽  
Contact Detection ◽  
Human Beings ◽  
Industrial Automation ◽  
Human Robot Collaboration

Digital enabled manufacturing systems require high level of automation for fast and low-cost production but should also present flexibility and adaptiveness to varying and dynamic conditions in their environment, including the presence of human beings. This issue is addressed in this work by implementing a reliable system for real-time safe human-robot collaboration based upon the combination of human action and contact type detection systems. Two datasets containing contact and vision data are collected by using different volunteers. The action recognition system classifies human actions using the skeleton representation of the latter when entering the shared workspace and the contact detection system distinguishes between intentional and incidental interactions if a physical contact between human and robot takes place. Two different deep learning networks are used for human action recognition and contact detection which in combination, lead to the enhancement of human safety and an increase of the level of robot awareness about human intentions. The results show a promising path for future AI-driven solutions in safe and productive human–robot collaboration (HRC) in industrial automation.

Imprecision of Laboratory Determinations and Diagnostic Accuracy: Theoretical Considerations

1974 ◽  
Vol 13 (03) ◽  
pp. 151-158 ◽  
Author(s):  
D. A. B. Lindbebo ◽  
Fr. R. Watson
Keyword(s):  
Mathematical Model ◽  
Diagnostic Accuracy ◽  
Diagnostic Process ◽  
Clinical Laboratories ◽  
Non Linear ◽  
Theoretical Considerations ◽  
Made In

Recent studies suggest the determinations of clinical laboratories must be made more precise than at present. This paper presents a means of examining benefits of improvement in precision. To do this we use a mathematical model of the effect upon the diagnostic process of imprecision in measurements and the influence upon these two of Importance of Diagnosis and Prevalence of Disease. The interaction of these effects is grossly non-linear. There is therefore no proper intuitive answer to questions involving these matters. The effects can always, however, be calculated.Including a great many assumptions the modeling suggests that improvements in precision of any determination ought probably to be made in hospital rather than screening laboratories, unless Importance of Diagnosis is extremely high.

Conceptions of Trust in the Qur'an

2011 ◽  
Vol 13 (2) ◽  
pp. 56-85 ◽  
Author(s):  
Nora S. Eggen
Keyword(s):  
Social Trust ◽  
Social Ethics ◽  
Religious Discourse ◽  
Human Being ◽  
Human Beings ◽  
Normative Claim ◽  
Trust Relationship ◽  
Trust Relationships ◽  
The Absolute ◽  
The Guardian

In the Qur'an we find different concepts of trust situated within different ethical discourses. A rather unambiguous ethico-religious discourse of the trust relationship between the believer and God can be seen embodied in conceptions of tawakkul. God is the absolute wakīl, the guardian, trustee or protector. Consequently He is the only holder of an all-encompassing trusteeship, and the normative claim upon the human being is to trust God unconditionally. There are however other, more polyvalent, conceptions of trust. The main discussion in this article evolves around the conceptions of trust as expressed in the polysemic notion of amāna, involving both trust relationships between God and man and inter-human trust relationships. This concept of trust involves both trusting and being trusted, although the strongest and most explicit normative claim put forward is on being trustworthy in terms of social ethics as well as in ethico-religious discourse. However, ‘trusting’ when it comes to fellow human beings is, as we shall see, framed in the Qur'an in less absolute terms, and conditioned by circumstantial factors; the Qur'anic antithesis to social trust is primarily betrayal, ‘khiyāna’, rather than mistrust.

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