Study of the Search and Rescue Robot’s Motion System in the Underground Environment

For the unstructured extreme environment of coal mine underground accidents, this paper puts forward a multi section crawler search robots. Based on the analysis of the working environment of the robot, underground search robot of crawler - ground model is built , overall configuration of robot that can cross obstacles flexibly in the complicated unstructured environment is put forward, high mobility of walking mechanism and joint module are designed and simulate by simulation software MATLAB, which provides the basis for establishing systematic engineering prototype and completing engineering test result.

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Design and kinematics analysis of coordinated variable wheel-track walking mechanism

International Journal of Advanced Robotic Systems ◽

10.1177/1729881420930577 ◽

2020 ◽

Vol 17 (4) ◽

pp. 172988142093057

Author(s):

Liguo Zang ◽

Shaoqing Yang ◽

Chongyou Wu ◽

Xingyu Wang ◽

Fei Teng

Keyword(s):

High Mobility ◽

Rolling Resistance ◽

Front Wheel ◽

Motion Simulation ◽

Climbing Ability ◽

Walking Mechanism ◽

The Stability ◽

Flat Ground ◽

Slow Walking Speed ◽

Wheel Track

Wheeled walking mechanism has the advantages of high mobility and low rolling resistance, but it is easy to sink and slip when working in soft and muddy terrain. Tracked walking mechanism has the advantages of high passability and stability, but it has the problems of difficult steering and slow walking speed. In order to make the walking mechanism possess a combination of passability, stability, and mobility, a coordinated variable wheel-track walking mechanism was designed. The coordinated variable triangle track can change the landing area through the deformation structure to improve the ability of the walking mechanism to adapt to different terrains. The kinematics equation of the wheel-track walking mechanism was established, and the front wheel steering angle equation during motion was derived. Based on RecurDyn software, the motion simulation of the walking mechanism was carried out under the conditions of straight walking and turning on the flat ground, climbing hillsides, and crossing ditches. The simulation results show that the coordinated variable wheel-track walking mechanism has the mobility of wheeled walking mechanism and the passability and stability of the tracked walking mechanism. The stability and climbing ability of the wheel-track walking mechanism was better when the coordinated variable triangle track in the stretch state, and the mobility and steering ability was better in the contraction state.

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A Cloudware Architecture for Collaboration of Multiple AGVs in Indoor Logistics: Case Study in Fabric Manufacturing Enterprises

Electronics ◽

10.3390/electronics9122023 ◽

2020 ◽

Vol 9 (12) ◽

pp. 2023

Author(s):

Fatih Okumuş ◽

Emrah Dönmez ◽

Adnan Fatih Kocamaz

Keyword(s):

Collision Avoidance ◽

Task Allocation ◽

Simulation Software ◽

Working Environment ◽

Automated Guided Vehicles ◽

Cloud System ◽

Problem Model ◽

Logistics Systems ◽

Optimum Path

In Industry 4.0 compatible workshops, the demand for Automated Guided Vehicles (AGVs) used in indoor logistics systems has increased remarkably. In these indoor logistics systems, it may be necessary to execute multiple transport tasks simultaneously using multiple AGVs. However, some challenges require special solutions for AGVs to be used in industrial autonomous transportation. These challenges can be addressed under four main headings: positioning, optimum path planning, collision avoidance and optimum task allocation. The solutions produced for these challenges may require special studies that vary depending on the type of tasks and the working environment in which AGVs are used. This study focuses on the problem of automated indoor logistics carried out in the simultaneous production of textile finishing enterprises. In the study, a centralized cloud system that enables multiple AGVs to work in collaboration has been developed. The finishing enterprise of a denim manufacturing factory was handled as a case study and modelling of mapping-planning processes was carried out using the developed cloud system. In the cloud system, RestFul APIs, for mapping the environment, and WebSocket methods, to track the locations of AGVs, have been developed. A collaboration module in harmony with the working model has been developed for AGVs to be used for fabric transportation. The collaboration module consists of task definition, battery management-optimization, selection of the most suitable batch trolleys (provides mobility of fabrics for the finishing mills), optimum task distribution and collision avoidance stages. In the collaboration module, all the finishing processes until the product arrives the delivery point are defined as tasks. A task allocation algorithm has been developed for the optimum performance of these tasks. The multi-fitness function that optimizes the total path of the AGVs, the elapsed time and the energy spent while performing the tasks have been determined. An assignment matrix based on K nearest neighbor (k-NN) and permutation possibilities was created for the optimal task allocation, and the most appropriate row was selected according to the optimal path totals of each row in the matrix. The D* Lite algorithm has been used to calculate the optimum path between AGVs and goals by avoiding static obstacles. By developing simulation software, the problem model was adapted and the operation of the cloud system was tested. Simulation results showed that the developed cloud system was successfully implemented. Although the developed cloud system has been applied as a case study in fabric finishing workshops with a complex structure, it can be used in different sectors as its logistic processes are similar.

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An Improved AMCL Algorithm Based on Laser Scanning Match in a Complex and Unstructured Environment

Complexity ◽

10.1155/2018/2327637 ◽

2018 ◽

Vol 2018 ◽

pp. 1-11 ◽

Cited By ~ 12

Author(s):

Gang Peng ◽

Wei Zheng ◽

Zezao Lu ◽

Jinhu Liao ◽

Lu Hu ◽

...

Keyword(s):

Point Cloud ◽

Laser Scanning ◽

Particle Swarm ◽

Working Environment ◽

Laser Sensor ◽

Accuracy Characteristic ◽

Scan Matching ◽

Localization Accuracy ◽

Matching Process ◽

Unstructured Environment

Adaptive Monte Carlo localization (AMCL) algorithm has a limited pose accuracy because of the nonconvexity of the laser sensor model, the complex and unstructured features of the working environment, the randomness of particle sampling, and the final pose selection problem. In this paper, an improved AMCL algorithm is proposed, aiming to build a laser radar-based robot localization system in a complex and unstructured environment, with a LIDAR point cloud scan-matching process after the particle score calculating process. The weighted mean pose of AMCL particle swarm is used as the initial pose of the scan matching process. The LIDAR point cloud is matched with the probability grid map from coarse to fine using the Gaussian-Newton method, which results in more accurate poses. Moreover, the scan-matching pose is added into the particle swarm as a high-weight particle. So the particle swarm after resampling will be more concentrated in the correct position. The particle filter and the scan-matching process form a closed loop, thus enhancing the localization accuracy of mobile robots. The experiment results demonstrate that the proposed improved AMCL algorithm is superior to the traditional AMCL algorithm in the complex and unstructured environment, by exploiting the high-accuracy characteristic of scan matching while inheriting the stability of AMCL.

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Constructing a Virtual Environment for Multibody Simulation Software Using Photogrammetry

Applied Sciences ◽

10.3390/app10124079 ◽

2020 ◽

Vol 10 (12) ◽

pp. 4079 ◽

Cited By ~ 2

Author(s):

Manouchehr Mohammadi ◽

Roope Eskola ◽

Aki Mikkola

Keyword(s):

Simulation Model ◽

Real Time ◽

Three Dimensional ◽

Simulation Models ◽

Simulation Software ◽

Working Environment ◽

University Campus ◽

Environment Model ◽

Time Simulation ◽

Planar Images

Real-time simulation models based on multibody system dynamics can replicate reality with high accuracy. As real-time models typically describe machines that interact with a complicated environment, it is important to have an accurate environment model in which the simulation model operates. Photogrammetry provides a set of tools that can be used to create a three-dimensional environment from planar images. A created environment and a multibody-based simulation model can be combined in a Unity environment. This paper introduces a procedure to generate an accurate spatial working environment based on an existing real environment. As a numerical example, a detailed environment model is created from a University campus area.

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Automatic Dredging Robot for Metallurgical Drainage Trench Based on Virtual Design Technology

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.490-495.2115 ◽

2012 ◽

Vol 490-495 ◽

pp. 2115-2119

Author(s):

Feng Wang

Keyword(s):

Operating Mode ◽

Working Environment ◽

Virtual Design ◽

Iron And Steel ◽

Closed Type ◽

Walking Mechanism ◽

The Stability ◽

3D Solid ◽

3D Solid Modeling ◽

Dredging Operation

The artificial dredging method is now used for the closed-type drainage trench of Tangshan Iron and Steel Co. Ltd., with low operation efficiency and large labor intensity. A new kind of dredging robot was presented in order to completely replace the human to clean the trench automatically. It is mainly composed of the crawler type walking mechanism, dredging chain bucket, silt conveying belt, and silt conveying carriage. Due to the adoption of the operating mode of mechanized dredging and mechanized conveying, the robot can enable the workers to get rid of the bad working environment thoroughly and overcome the various problems resulting from the artificial method. The 3D solid modeling and virtual assembly were conducted and the stability was analyzed by the use of Pro/E. It has been proved that under the condition of full load, the robot can implement the dredging operation stably and efficiently, which means that the design of the robot is feasible and effective.

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PENGARUH INSENTIF, DISIPLIN KERJA, DAN KOMUNIKASI TERHADAP KINERJA KARYAWAN BAGIAN SEWING PT. PELITA TOMANGMAS KARANGANYAR

JURNAL AKUNTANSI DAN PAJAK ◽

10.29040/jap.v18i01.92 ◽

2017 ◽

Vol 18 (01) ◽

Author(s):

Yeri Yuliyanti, Istiatin, Ida Aryati

Keyword(s):

Employee Performance ◽

Linear Regression Analysis ◽

T Test ◽

Working Environment ◽

Significant Positive Effect ◽

Test Instrument ◽

Significant Difference ◽

Independent Variable ◽

Positive Effect ◽

Test Result

The purpose of this research are: 1) To determine the effect of incentive, dicipline, and comunication simultaneously on employee performance sewing division PT.Pelita Tomangmas Karanganyar. 2) To determine the effect of incentive, dicipline, and comunication on employee performance sewing division PT.Pelita Tomangmas Karanganyar..Data collection method used is the method of questionnaire / questionnaire to 50 employees as respondents. Sampling technique used is random sampling method convenionce sampling. Data analysis methods used include: test instrument (validity and reliability), hypothesis testing (multiple linear regression analysis, t-test, f and the coefficient of determination (R2).Results Descriptive analysis showed that most respondents gender female (90%). All data from the questionnaires have passed the test instrument. For testing f test result that the value of F (46.710)> F table (2,81) with a probability of 0.000 (p <0.05). This means Fhitung in the region of Ho rejected, which means a significant difference between the independent variable (incentive, dicipline, and comunication) simultaneously on the dependent variable (employee performance). From the results of the t test result incentive have a significant positive effect on an individual basis to variable employee performance. This is evident from tcount (5.697)> t table (2.013) with a significance value <α (0.05). Variable dicipline are also significant positive effect on employee performance. This is because tcount (2.164)> t table (2.013) with a significance value <α (0.05). comication is also significant positive effect on employee performance. This is because tcount (2,551)> t table (2.013) with a significance value <α (0.05). The results of the analysis in this study was obtained R2 values of 0.753 (75.3%). This means that the independent variable (incentive, dicipline, and comunication) able to contribute 75.3% influence on the dependent variable (employee performance). While the rest of 24.7% is influenced by other variables outside of this study as a leadership, compensation, organisational culture, working environment, etc.Keywords: Incentive, dicipline, comunication, employee performance

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PENGARUH INSENTIF, KOMPETENSI, DAN LINGKUNGAN KERJA TERHADAP KINERJA PEGAWAI DINAS PEKERJAAN UMUM KABUPATEN SUKOHARJO

JURNAL AKUNTANSI DAN PAJAK ◽

10.29040/jap.v18i01.86 ◽

2017 ◽

Vol 18 (01) ◽

Author(s):

Djuwarto, Istiatin, Sri Hartono

Keyword(s):

Employee Performance ◽

Linear Regression Analysis ◽

T Test ◽

Working Environment ◽

Significant Positive Effect ◽

Test Instrument ◽

Significant Difference ◽

Independent Variable ◽

Positive Effect ◽

Test Result

The purpose of this research are: 1) To determine the effect of incentive, competent, and working environment simultaneously on employee performance Dinas Pekerjaan Umum Kabupaten Sukoharjo. 2) To determine the effect of incentive, competence, and working environment on employee performance Dinas Pekerjaan Umum Kabupaten Sukoharjo.Data collection method used is the method of questionnaire / questionnaire to 50 employees as respondents. Sampling technique used is random sampling method convenionce sampling. Data analysis methods used include: test instrument (validity and reliability), hypothesis testing (multiple linear regression analysis, t-test, f and the coefficient of determination (R2).Results Descriptive analysis showed that most respondents gender male (82%). All data from the questionnaires have passed the test instrument. For testing f test result that the value of F (45.186)> F table (3.15) with a probability of 0.000 (p <0.05). This means Fhitung in the region of Ho rejected, which means a significant difference between the independent variable (incentive, competence, and working environment) simultaneously on the dependent variable (employee performance). From the results of the t test result incentive have a significant positive effect on an individual basis to variable employee performance. This is evident from tcount (5.907)> t table (2.000) with a significance value <α (0.05). Variable competence are also significant positive effect on employee performance. This is because tcount (2.919)> t table (2.000) with a significance value <α (0.05). Variable working environment is also significant positive effect on employee performance. This is because tcount (4.570)> t table (2.000) with a significance value <α (0.05). The results of the analysis in this study was obtained R2 values of 0.685 (68.5%). This means that the independent variable (incentive, competence, and working environment) able to contribute 68.5% influence on the dependent variable (employee performance). While the rest of 31.5% is influenced by other variables outside of this study as a leadership, compensation, organisational culture, etc.Keywords: Incentive, competence, working environment, employee performance

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A virtuális valóság mint szimulációs módszer alkalmazása a telepített sürgősségi egységek, valamint COVID–19-kórházak személyzetének képzésében

Orvosi Hetilap ◽

10.1556/650.2021.32227 ◽

2021 ◽

Vol 162 (40) ◽

pp. 1591-1600

Author(s):

Emilia Turucz ◽

Teodora Sorana Truta ◽

Ernő Jerzicska ◽

Marius Cristian Boeriu ◽

János Szedejesi ◽

...

Keyword(s):

Virtual Reality ◽

Hospital Admissions ◽

Simulation Software ◽

Working Environment ◽

Sudden Increase ◽

Medical Systems ◽

Chi Square ◽

Field Hospital ◽

Hospital Units ◽

Promising Tool

Összefoglaló. Bevezetés: A COVID–19-pandémia okozta nagyfokú betegszám-növekedés ellátásának érdekében az egészségügyi rendszerek gyakran a kórházak teljes átszervezésére kényszerültek. A szakállomány gyors és hatékony felzárkóztatása kulcsfontosságú ilyen körülmények között. A telepített kórházi egységek személyzetének felkészítésére a virtuális valóságban levezethető csoportos gyakorlatozás ígéretes módszernek mutatkozik. Célkitűzés: Célunk egy telepített kórház személyzetének felkészítésére alkalmazott virtuális szimulációs gyakorlatsorozat tapasztalatainak bemutatása, valamint a létrehozott és kipróbált virtuális gyakorlatcsomagok adaptálási lehetőségeinek elméleti bemutatása a COVID–19-kórházak személyzetének gyors felzárkóztatását szolgáló gyakorlatsorozat lehetséges kivitelezése érdekében. Módszer: Három, prototípusként előállított virtuális gyakorlat került alkalmazásba két próbatanfolyam keretén belül. A virtuális színterek kialakítására az XVR szimulációs szoftvert használtuk. A gyakorlatok alkalmazhatóságának és hasznosságának kiértékelésére anonim kérdőíves felméréseket készítettünk. Az adatok feldolgozásában kereszttábla-elemzést és khi-négyzet-próbát alkalmaztunk. Eredmények: A két próbaképzésen nyolc ország képviseletében összesen 76 gyakornok vett részt. A résztvevők 63,9%-a szerint a módszer alkalmas ilyen jellegű gyakorlatok levezetésére, de további fejlesztéseket igényel. Véleményük, hogy technikai használata „elég könnyen” elsajátítható (59,7%), és interaktív (90,32%), valósághű (45,0%) szimulációs közeget biztosít. Megbeszélés: Eredményeink alapján a virtuális valóság egy alkalmazható módszer a telepített kórházak szakállományának valós bevetésekre való felkészítésére. A létrehozott virtuális gyakorlatcsomagok tartalma és szerkezete könnyen adaptálható egy COVID–19 ideiglenes egészségügyi egység sajátos munkakörülményeihez való gyors személyzeti felzárkóztatást szolgáló műhelygyakorlatok megszervezéséhez. Következtetés: A virtuális valóság ígéretes oktatási eszköz, amely kiegészítheti a nagy költségekkel és bonyolult szervezéssel járó terepgyakorlatokat, megközelítve azok oktatási hatásfokát. A virtuális térben megélt tapasztalatok valós szakmai élményekké alakulnak, és hozzájárulnak egy biztonságos és hatékony munkaközeg gyors kialakításához. Orv Hetil. 2021; 162(40): 1591–1600. Summary. Introduction: COVID-19 pandemic imposed sudden increase in hospital admissions, thus medical systems needed to reorganize entire hospitals quite often. Quick and efficient training is of outmost importance. Virtual reality team training is a promising tool for newly organized hospital units’ staff. Objective: Our goal was to present the usefulness and applicability of virtual simulation exercises for training of field hospital personnel and to evaluate the adaptability of these created and tested exercise packs for urgent staff training of COVID-19 hospitals. Method: Three prototypes of virtual reality exercises were assessed through two test courses. XVR simulation software was used to create virtual environments. Evaluation of exercise applicability and utility was performed by anonymous questionnaires. Statistical data-processing was performed using contingency table and chi-square tests. Results: 76 trainees from eight countries participated in the two pilot courses. 63.9% of the participants stated that the method is suitable for conducting such exercises, but needs further development. Its technical use is “easy enough” to learn (59.7%) and provides an interactive (90.32%) and realistic (45.0%) working environment. Discussion: Virtual reality is applicable to train field hospital staffs for real missions. The created virtual exercise packages are easily adaptable, both in content and structure, to workshops dedicated for quick training of specific COVID-19 temporary medical facility’s personnel. Conclusion: Virtual reality is a promising educational tool that can complement the expensive and laborious field exercises, with comparable training efficiency. These virtual reality experiences may become real professional memories and create swiftly a secure and efficient professional milieu. Orv Hetil. 2021; 160(40): 1591–1600.

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Automatic Generation of the CAE Parametric Model from the CATIA Model for an Aircraft Hydraulic Tube Structure

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.291-294.2250 ◽

2011 ◽

Vol 291-294 ◽

pp. 2250-2255

Author(s):

Yong Kang Wu ◽

Yuan Ying Qiu ◽

Chun He Li ◽

Ying Sheng

Keyword(s):

Finite Element Analysis ◽

Data Transmission ◽

Automatic Generation ◽

Parametric Model ◽

Simulation Software ◽

Working Environment ◽

Model Data ◽

Element Analysis ◽

Key Technologies ◽

Tube Structure

In order to help the designers estimate the dynamic response of the aircraft hydraulic tubes in the working environment, a design and simulation software is developed based on CATIA and ANSYS using VB as the developing tool. This paper concentrates on the part of auto-modeling and introduces the key technologies to automatically extract the CATIA model data and build the CAE parametric model of aircraft hydraulic tube structure in ANSYS. It provides an approach to transfer a CATIA model into a CAE model conveniently which reduces the time for FE (Finite Element) analysis and makes the designers be free from the repetitious data transmission, modeling and so on.

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A Design of the Automatic Spray System of Belt Conveyor’s Loading Point

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.591-593.267 ◽

2012 ◽

Vol 591-593 ◽

pp. 267-270

Author(s):

Yong Cun Guo ◽

Jian Zhang ◽

Kun Hu

Keyword(s):

Automatic Control ◽

Simulation Software ◽

Working Environment ◽

Spray System ◽

Control Section ◽

Working Principle ◽

Normal Work ◽

Accurate Experimental Data ◽

Control Part ◽

Removal System

In this paper, against the belt conveyor point dust requirements, I design automatic dust removal system set apply loading point. working principle this system. At the same time carried out a detailed description automatic control section on the principle of superiority its work automatically. Finally, simulation software AMEsim its automatic control part the computer simulation obtained a more accurate experimental data. The simulation data show that the system be able to timely adjust the operating parameters system with change dust concentration has the effect of dust, special profiles to normal work. Improve working environment workers, improve the safety of operations, reducing moisture content coal, electricity and water savings, in line with the call the national energy saving, with good promotional value.

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