In this paper, an augmented humanmachine interface and a virtual simulator for magnetically actuated endoscopic capsules are proposed. The interface provides the operator with two types of feedback information: (i) 3D visual information feedback through a 3D reconstructed map and (ii) 3D pseudo force feedback through a haptic device. The proposed simulation environment allows visual and haptic control strategies for capsule constrained motion in image coordinates. The virtual simulation environment also offers both offline training for medical doctors and a testing platform for researchers.
Calibration is a common procedure to increase the accuracy of machine tools. Estimation as an important part of the calibration has been conducted by using various algorithms. This paper presents the implementation of nonlinear least squares (Gaussian least squares differential correction) algorithm to estimate the geometrical parameters of 3PRR planar parallel kinematics manipulator having nonlinear kinematics which can be used in a hybrid serialparallel kinematics machine tool. The independent parameters are first estimated followed by the dependent parameters. The convergence to the true values with zero estimation error is guaranteed with any initial estimates provided that no measurement noise is introduced. Subsequently, the estimation by incorporating noise from all measurement devices is conducted which gives the estimates with certain estimation errors. It is shown that larger size of measurement samples increases the estimation accuracy. Finally, the uncertainty of the estimates is evaluated by using Monte Carlo simulation.
MultiUAV collaborative manipulation in outdoor environments, especially in absence of accurate position estimation mechanisms, brings forth challenges such as dynamic stability, control techniques and algorithms of collaboration. The proposed work is an attempt to develop such an algorithm for collaboration with the help of an open source physics engine GAZEBO, where in, a previously developed simulation platform RotorS is used to simulate Hexrotors. Multilink arms with alternating joint axes with zero damping are used to simulate a cable attached with the Hexrotors. A magnetic gripper is attached to the cable as endeffector and a node is developed already, demonstrating the hardcoded picking, transportation and dropping of the payload.A comparison is performed amongst mechanical coupling, vision marker based method and the perfect position estimation method for collaborative aerial manipulation.
In this paper we propose a method to reinforce preference of objectives using the reward function of a MultiObjectives Partially Observable Markov Decision Process (MOPOMDP). The technique is applied in context of search and rescue that involves heterogeneous team with multiobjective with potential conflictingobjectives situations. It ensures that a highpriority preferences get high accumulative rewards, solve ambiguities and it can be conducted before the low-priority-preference. We used existing POMDP solver to solve the problem. The algorithm has been tested for a 50 test case to show its effectiveness
In this paper, the Cord Grounding Unit (CGU) mechanism is presented. CGU is a novel design for energy efficient unidirectional selective self?locking mechanism. The novelty lies in the design and functionality of the CGU. The CGU is consisted of a cam?cleat, which is retracted away from the cord motion space by a leaf spring. When locking is required, a linear solenoid actuator pushes the cam?cleat towards the moving cord. The engagement between the cam?cleat and the moving cord will move the cam?cleat towards its space?eliminating region, this will block the motion of the cord creating a new grounding point. The application of CGU in robotics can vary from safety to stiffness altering depending on the intended application. Energy efficiency is guaranteed due to short actuation time of the linear solenoid (single second) as the locking process is passively occurring through the engagement between the moving cord and the cam cleat.
Organizations and entrepreneurs used mapping models to map the innovation, identify the dominant types of innovations, anticipate unused areas to innovate in it, and assist in identifying the current innovation patterns. The available mapping models were shortfall in covering all innovation dimension as well as in covering the new challenges rise with sustainability issues in industry. In this work, literature review conducted to identify the types of innovations available in the literature and summarize it, highlight the importance of considering innovation for sustainability, and identify the gaps and criticisms on the current mapping models. New mapping models proposed. The proposed models were able to cover the main innovation types, i.e. 1D, 2D, 3D, and 4D, and adding sustainability attributes to the mapping of innovation. Future work could be, embedding innovation models, i.e. technology push, market pull, coupling model, interactive model, and network model, in the mapping models.
This paper seeks to jointly optimize the operational decisions associated with raw material procurement, production lot sizing as well as finished product dispatching for a two layer supply chain comprised of a singlevendor and a singlebuyer. As per the justintime replenishment policy, a raw material quantity enough to cover exactly the production during one cycle is ordered at the beginning of each production cycle. In this paper, however, a more general raw material replenishment schedule is considered wherein multiple raw material shipments may take place within one cycle, referred to as multitoone (MTO) policy, or alternatively a single shipment that covers the production for multiple cycles, referred to as onetomulti (OTM) policy, may rather be adopted depending on whichever is optimal. The aforementioned decisions are simultaneously optimized through mathematical models that embrace the integer multiplier of the cycle time policy.
Abu Dhabi, capital city of United Arab Emirates, is an emerging global city. As part of its identity, the city aims to provide world class facilities and services in the region, including a good network of public transportation. Understanding the transit user perception will provide service recommendations and help identifying the trip characteristics, travel behavior and perceptions that can enhance current transit system and provide future recommendations for effective transit network. Due to the lack of information about the patterns of transit use by individuals in Abu Dhabi City, this study uses the transit user stated preference survey to examine the trip characteristics? travel behavior? perception of quality of service, social network and personal characteristics of transit users of Abu Dhabi. The analysis of respondents provides insights into the housing development, transit service enhancement and creating transitoriented development within walkable distance of transit stops.
Production planning is a crucial activity for companies to satisfy customers demand while minimizing cost. The objective of this research is to optimize the production planning and scheduling decisions of companies in petrochemical industry field. A MixedInteger Linear Programming (MILP) model is developed for the capacitated lot sizing and scheduling problem with sequence dependent setup costs where changeover cost occurs when changing the production from one grade to another. The model considers the chain of multiple suppliers, affiliates, warehouses, and customers. It provides answers to questions regarding the amount of each raw material to be purchased from each supplier, the sequence of production plans, inventory levels, and warehouse selection to satisfy orders. The problem under study is considered an NPHard problem due to its complexity and size? therefore, a three stage heuristic was developed which provided good quality solutions with a range of 0.09% - 2.0% away from optimality.
Accessibility, as a conceptual and operational definition, has gone through several iterations. However, it still remains as an often misunderstood and poorly defined and measured construct. In general, it is understood that accessibility is a measure of spatial distribution of potential destinations, the ease of reaching these destination (individually or collectively) and the magnitude, character, and quality of various activities existing in that particular geography. Currently, four perspectives of measuring accessibility exists: Infrastructurebased, locationbased, personbased and utility based. Locationbased accessibility is the most commonly used measure because it is easier to access since it is less data intensive and easy for researchers to communicate and comprehend the implications. Masdar city, when developed as planned, will consists of several types of sustainable transportation options including walking, biking, personal rapid transit, group rapid transit, bus/light rapid transit and metro. The planned city is divided into grids of 400m using the contour approach.
