Pub Date : 2023-06-08DOI: 10.1109/HORA58378.2023.10156707
Tomás Soucek, A. Richter, J. Eichler
The paper introduces a physical principle of the skin effect and its possible action in the living tissues of organism. The simple analytical calculation is indicated. This estimation will show possible unwanted risks that induced current cause in the body. The approximate formulae for skin effect in the body can help to define the limit of risk. It shown differences in the current distribution anatomically dissimilar tissues. This paper should describe a first step in the clinical study.
{"title":"The Investigation of Skin Effect in Tissue, the Estimation of the Electromagnetic Risk Interference with Living Organisms","authors":"Tomás Soucek, A. Richter, J. Eichler","doi":"10.1109/HORA58378.2023.10156707","DOIUrl":"https://doi.org/10.1109/HORA58378.2023.10156707","url":null,"abstract":"The paper introduces a physical principle of the skin effect and its possible action in the living tissues of organism. The simple analytical calculation is indicated. This estimation will show possible unwanted risks that induced current cause in the body. The approximate formulae for skin effect in the body can help to define the limit of risk. It shown differences in the current distribution anatomically dissimilar tissues. This paper should describe a first step in the clinical study.","PeriodicalId":247679,"journal":{"name":"2023 5th International Congress on Human-Computer Interaction, Optimization and Robotic Applications (HORA)","volume":"155 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123772545","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-08DOI: 10.1109/HORA58378.2023.10155776
S. Pohasii, R. Korolov, Nataliia Dzheniuk, Alla Jammine, Tetiana K. Andriushchenko, Tetiana Milevska
Unmanned aerial vehicles (UAVs) can pose a significant threat to critical infrastructure such as power plants, reservoirs, oil and gas pipelines, airports, etc. This is due to the fact that some types of UAVs can be used to carry out terrorist acts or espionage. A variety of measures can be used to protect critical infrastructure from UAV threats, including physical barriers, security drones, UAV detection and defense systems, and airspace management systems. It is also important to develop technologies for detecting and intercepting UAVs in order to quickly respond to threats and prevent possible attacks. The paper is devoted to decision making on the choice of the appropriate small weight UAV detection system in order to counter UAV threats for critical infrastructure facilities. As the basic system was chosen the combined use of optical systems and acoustic sensors working on two-component UAV complex: radar UAV and interceptor UAV.
{"title":"Decision Making in Managing the Choice of UAV Threat Detection Systems in the Protection of Critical Infrastructure Facilities","authors":"S. Pohasii, R. Korolov, Nataliia Dzheniuk, Alla Jammine, Tetiana K. Andriushchenko, Tetiana Milevska","doi":"10.1109/HORA58378.2023.10155776","DOIUrl":"https://doi.org/10.1109/HORA58378.2023.10155776","url":null,"abstract":"Unmanned aerial vehicles (UAVs) can pose a significant threat to critical infrastructure such as power plants, reservoirs, oil and gas pipelines, airports, etc. This is due to the fact that some types of UAVs can be used to carry out terrorist acts or espionage. A variety of measures can be used to protect critical infrastructure from UAV threats, including physical barriers, security drones, UAV detection and defense systems, and airspace management systems. It is also important to develop technologies for detecting and intercepting UAVs in order to quickly respond to threats and prevent possible attacks. The paper is devoted to decision making on the choice of the appropriate small weight UAV detection system in order to counter UAV threats for critical infrastructure facilities. As the basic system was chosen the combined use of optical systems and acoustic sensors working on two-component UAV complex: radar UAV and interceptor UAV.","PeriodicalId":247679,"journal":{"name":"2023 5th International Congress on Human-Computer Interaction, Optimization and Robotic Applications (HORA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129658804","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-08DOI: 10.1109/HORA58378.2023.10156762
Ghaith Ashqar, Alev Mutlu
Automatic keyword extraction from a text document is the problem of identifying in-text words or phrases that best describe the content of the text document. Recently, word embeddings found application in keyword extraction as they improve the performance by incorporating semantic information. In this study, we focus various embeddings and and compare their performance in keyword extraction. To this aim, firstly, we modified a keyword extraction system called KeyBERT to work with different embeddings. Then, we run the modfied application using ten models on seven benchmark datasets. The experimental findings show that all-mpnet-base-v2 achieved statistically better results over the other models in precision, recall, and F1 score. Moreover, all-mpnet-base-v2 achieved highest scores for MAP and MRR and also retrieved the most number of relevant keywords on the average.
{"title":"A Comparative Assessment of Various Embeddings for Keyword Extraction","authors":"Ghaith Ashqar, Alev Mutlu","doi":"10.1109/HORA58378.2023.10156762","DOIUrl":"https://doi.org/10.1109/HORA58378.2023.10156762","url":null,"abstract":"Automatic keyword extraction from a text document is the problem of identifying in-text words or phrases that best describe the content of the text document. Recently, word embeddings found application in keyword extraction as they improve the performance by incorporating semantic information. In this study, we focus various embeddings and and compare their performance in keyword extraction. To this aim, firstly, we modified a keyword extraction system called KeyBERT to work with different embeddings. Then, we run the modfied application using ten models on seven benchmark datasets. The experimental findings show that all-mpnet-base-v2 achieved statistically better results over the other models in precision, recall, and F1 score. Moreover, all-mpnet-base-v2 achieved highest scores for MAP and MRR and also retrieved the most number of relevant keywords on the average.","PeriodicalId":247679,"journal":{"name":"2023 5th International Congress on Human-Computer Interaction, Optimization and Robotic Applications (HORA)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129878490","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-08DOI: 10.1109/HORA58378.2023.10156764
Volodymir Kireyenko, Yurii Kolomiiets, Andriy Makarchuk, Alla Hutnik, T. Fedchuk, Yuriy Shcheblanin
This paper considers the problem of the measure of the signal change from the Weyl-Nagy class of differentiable functions when the signal is filtered by means of weight functions. Asymptotic estimates characterizing the measure of the signal change of the specified class of Weyl-Nagy differentiable functions have been established. The difference in signal filtering described by both differentiable and non-differentiable functions has been shown. The established signal change estimates have been demonstrated by applying a specific low-pass filter to the given signal. This example illustrates the difference between differentiable and non-differentiable signal filtering. The behavior of the measure of signal change depending on the filter parameters and the maximum order of the derivative function characterizing the signal has been also shown.
{"title":"Signal Change Estimation of One Important Class in the Filtering Process","authors":"Volodymir Kireyenko, Yurii Kolomiiets, Andriy Makarchuk, Alla Hutnik, T. Fedchuk, Yuriy Shcheblanin","doi":"10.1109/HORA58378.2023.10156764","DOIUrl":"https://doi.org/10.1109/HORA58378.2023.10156764","url":null,"abstract":"This paper considers the problem of the measure of the signal change from the Weyl-Nagy class of differentiable functions when the signal is filtered by means of weight functions. Asymptotic estimates characterizing the measure of the signal change of the specified class of Weyl-Nagy differentiable functions have been established. The difference in signal filtering described by both differentiable and non-differentiable functions has been shown. The established signal change estimates have been demonstrated by applying a specific low-pass filter to the given signal. This example illustrates the difference between differentiable and non-differentiable signal filtering. The behavior of the measure of signal change depending on the filter parameters and the maximum order of the derivative function characterizing the signal has been also shown.","PeriodicalId":247679,"journal":{"name":"2023 5th International Congress on Human-Computer Interaction, Optimization and Robotic Applications (HORA)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124582501","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-08DOI: 10.1109/HORA58378.2023.10155785
Elif Nur Küçük, Aybars Uğur
- The role of the amount of data used in increasing the effectiveness of deep learning models is very important. Due to the insufficient publicly available data in some sub-fields of health, data augmentation is vital. This study proposes an approach to improve the experimental work process in deep learning-based injury detection using data augmentation techniques on knee Magnetic Resonance (MR) images. The study is also one of the few in the body of literature to examine the impact of data augmentation in hard tissues. The effect of data augmentation on classification performance is tested using various transfer learning models, and the highest success rates in this study are determined for three classes. Forecasting achievements: the accuracy is 89.98% in the abnormal, 80.35% in the anterior cruciate ligament, and 76.66% in the meniscus classes. As a result of the experiments, it has been seen that the AutoAugment architecture works faster and generally gives more successful results than other augmentation methods.
{"title":"Effects of Data Augmentation Techniques on Classification Performance in Knee MRIs","authors":"Elif Nur Küçük, Aybars Uğur","doi":"10.1109/HORA58378.2023.10155785","DOIUrl":"https://doi.org/10.1109/HORA58378.2023.10155785","url":null,"abstract":"- The role of the amount of data used in increasing the effectiveness of deep learning models is very important. Due to the insufficient publicly available data in some sub-fields of health, data augmentation is vital. This study proposes an approach to improve the experimental work process in deep learning-based injury detection using data augmentation techniques on knee Magnetic Resonance (MR) images. The study is also one of the few in the body of literature to examine the impact of data augmentation in hard tissues. The effect of data augmentation on classification performance is tested using various transfer learning models, and the highest success rates in this study are determined for three classes. Forecasting achievements: the accuracy is 89.98% in the abnormal, 80.35% in the anterior cruciate ligament, and 76.66% in the meniscus classes. As a result of the experiments, it has been seen that the AutoAugment architecture works faster and generally gives more successful results than other augmentation methods.","PeriodicalId":247679,"journal":{"name":"2023 5th International Congress on Human-Computer Interaction, Optimization and Robotic Applications (HORA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122595468","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-08DOI: 10.1109/HORA58378.2023.10156728
Mustafa Mert Sandal, Tunç Taner, Burak Barış Firat, Hasan Tolga Ünal, Serkan Ulucan, A. Mendi, Ömer Özkan, Mehmet Akif Nacar
The Web 1.0, Web 2.0, and Web 3.0 concepts have been popular frequently in recent years and they continue to exist as the given name to the evolution of the Web and the whole of the developments in these periods rather than a specific technology, method, or standard. Unlike Web 1.0 and Web 2.0, Web 3.0 has no accepted definition, yet it is considered as the beginning of the end of Web 2.0. The Web 3.0 era focuses on the developments in blockchain and token-based economy. In addition, some opinions characterize the concept of Web 3.0 as a vague, marketing-oriented, and fashionable term. Despite the intense debate about the clarity and maturity of the Web 3.0 definition, the developments associated with Web 3.0 are believed to have led to significant changes. For this reason, in this study, the developments in the field of distributed applications and Blockchain are examined. In this way, it is aimed to raise awareness within the company about current developments in this field and work of HAVELSAN in the area, and to take steps for future studies.
{"title":"WEB 3.0 Applications and Projections","authors":"Mustafa Mert Sandal, Tunç Taner, Burak Barış Firat, Hasan Tolga Ünal, Serkan Ulucan, A. Mendi, Ömer Özkan, Mehmet Akif Nacar","doi":"10.1109/HORA58378.2023.10156728","DOIUrl":"https://doi.org/10.1109/HORA58378.2023.10156728","url":null,"abstract":"The Web 1.0, Web 2.0, and Web 3.0 concepts have been popular frequently in recent years and they continue to exist as the given name to the evolution of the Web and the whole of the developments in these periods rather than a specific technology, method, or standard. Unlike Web 1.0 and Web 2.0, Web 3.0 has no accepted definition, yet it is considered as the beginning of the end of Web 2.0. The Web 3.0 era focuses on the developments in blockchain and token-based economy. In addition, some opinions characterize the concept of Web 3.0 as a vague, marketing-oriented, and fashionable term. Despite the intense debate about the clarity and maturity of the Web 3.0 definition, the developments associated with Web 3.0 are believed to have led to significant changes. For this reason, in this study, the developments in the field of distributed applications and Blockchain are examined. In this way, it is aimed to raise awareness within the company about current developments in this field and work of HAVELSAN in the area, and to take steps for future studies.","PeriodicalId":247679,"journal":{"name":"2023 5th International Congress on Human-Computer Interaction, Optimization and Robotic Applications (HORA)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117132225","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-08DOI: 10.1109/HORA58378.2023.10156776
José María Pasco Sánchez, Luis Antonio Orbegoso Moreno, José Luis Ruíz Rodríguez, Isac Daniel Miñano Corro
This research proposes the use of CNN in the classification systems of unwashed eggs. In this work, a database of 1500 images is generated from unwashed brown eggs, which includes intact, cracked, dirty, and dirty-cracked classes, to make a comparison between the ResNet34, ResNet50, and VGG19 models using two batch sizes, 32 and 64, during training. Additionally, a custom learning rate assignment was applied for the pre-trained layers and classification layers, with rates of 0.001 and 0.0001 for the respective layers. The models were trained with retrained weights and followed a fine-tuning configuration of 20% of the layers. The highest accuracy of 97.33% was achieved with the VGG19 model using a batch size of 64.
{"title":"Poultry Egg Classification System Using Deep Learning","authors":"José María Pasco Sánchez, Luis Antonio Orbegoso Moreno, José Luis Ruíz Rodríguez, Isac Daniel Miñano Corro","doi":"10.1109/HORA58378.2023.10156776","DOIUrl":"https://doi.org/10.1109/HORA58378.2023.10156776","url":null,"abstract":"This research proposes the use of CNN in the classification systems of unwashed eggs. In this work, a database of 1500 images is generated from unwashed brown eggs, which includes intact, cracked, dirty, and dirty-cracked classes, to make a comparison between the ResNet34, ResNet50, and VGG19 models using two batch sizes, 32 and 64, during training. Additionally, a custom learning rate assignment was applied for the pre-trained layers and classification layers, with rates of 0.001 and 0.0001 for the respective layers. The models were trained with retrained weights and followed a fine-tuning configuration of 20% of the layers. The highest accuracy of 97.33% was achieved with the VGG19 model using a batch size of 64.","PeriodicalId":247679,"journal":{"name":"2023 5th International Congress on Human-Computer Interaction, Optimization and Robotic Applications (HORA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131236347","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-08DOI: 10.1109/hora58378.2023.10156711
Prabhakara Rao Kapula, Anudeep Deekonda, S. Dubey, B. Sushannth, B. S. Srikar, B. V. Reddy
As technology develops, robots are increasingly becoming a part of our daily life. Applications include those for rehabilitation, assisted living, education, domestic help, and warfare. All these applications require specific control strategies and controllers. To combat this, recently developed depth sensors resolve the issue relating to input response and latency issues with immediate response time. Our project presents a robotic system that can imitate human motions and work accordingly. while compared to other motion sensors, the Raspberry Pi camera makes the device more comfortable to use while collecting human movements. The gadget extracts the robot's skeletal data, which is then processed to create the robot's joint angles. The proposed design of the robot imitates the human in real-time with very little or no lag. The Raspberry Pi camera that we employ can monitor joint locations in order to create software application gesture detection and mapping into control instructions that the robotic system can display.
{"title":"Design and Implementation of Motion Imitation Robot","authors":"Prabhakara Rao Kapula, Anudeep Deekonda, S. Dubey, B. Sushannth, B. S. Srikar, B. V. Reddy","doi":"10.1109/hora58378.2023.10156711","DOIUrl":"https://doi.org/10.1109/hora58378.2023.10156711","url":null,"abstract":"As technology develops, robots are increasingly becoming a part of our daily life. Applications include those for rehabilitation, assisted living, education, domestic help, and warfare. All these applications require specific control strategies and controllers. To combat this, recently developed depth sensors resolve the issue relating to input response and latency issues with immediate response time. Our project presents a robotic system that can imitate human motions and work accordingly. while compared to other motion sensors, the Raspberry Pi camera makes the device more comfortable to use while collecting human movements. The gadget extracts the robot's skeletal data, which is then processed to create the robot's joint angles. The proposed design of the robot imitates the human in real-time with very little or no lag. The Raspberry Pi camera that we employ can monitor joint locations in order to create software application gesture detection and mapping into control instructions that the robotic system can display.","PeriodicalId":247679,"journal":{"name":"2023 5th International Congress on Human-Computer Interaction, Optimization and Robotic Applications (HORA)","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127356472","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-08DOI: 10.1109/HORA58378.2023.10156743
Ivan Garcia, Lukas Gerbeth, E. Villani, W. Oliveira, João Mello
This paper discusses an approach for implementing predictive and reliability displays in aircraft manufacturing processes. The aim is to support the operator to complete all operations with quality, safety, efficient resource utilization, and on schedule. This study presents the first step of the design process to assess different ways of conveying automation information to operators. The primary goal here is to propose a first iteration that aids in future display design iterations prior to behavioral studies. Additionally, this paper presents the design and testing of a representative test demonstrator for aircraft manufacturing processes, which will be used to evaluate the effectiveness of these displays. The authors used the Human Readiness Level (HLR) framework to design the test demonstrator, considering the specific needs and requirements of the aircraft manufacturing industry. The paper presents simulation and test demonstrator results and the collected feedback from participants. The findings suggest that the test demonstrator can be a valuable tool for improving the overall efficiency of the manufacturing process. The paper contributes to the body of knowledge on the use of advanced technologies in improving manufacturing processes by providing insights into the potential benefits and limitations of predictive and reliability displays and identifying areas for further research and development.
{"title":"A Technology Demonstration and Design Approach to Predictive and Reliability Displays to Aircraft Manufacturing Processes","authors":"Ivan Garcia, Lukas Gerbeth, E. Villani, W. Oliveira, João Mello","doi":"10.1109/HORA58378.2023.10156743","DOIUrl":"https://doi.org/10.1109/HORA58378.2023.10156743","url":null,"abstract":"This paper discusses an approach for implementing predictive and reliability displays in aircraft manufacturing processes. The aim is to support the operator to complete all operations with quality, safety, efficient resource utilization, and on schedule. This study presents the first step of the design process to assess different ways of conveying automation information to operators. The primary goal here is to propose a first iteration that aids in future display design iterations prior to behavioral studies. Additionally, this paper presents the design and testing of a representative test demonstrator for aircraft manufacturing processes, which will be used to evaluate the effectiveness of these displays. The authors used the Human Readiness Level (HLR) framework to design the test demonstrator, considering the specific needs and requirements of the aircraft manufacturing industry. The paper presents simulation and test demonstrator results and the collected feedback from participants. The findings suggest that the test demonstrator can be a valuable tool for improving the overall efficiency of the manufacturing process. The paper contributes to the body of knowledge on the use of advanced technologies in improving manufacturing processes by providing insights into the potential benefits and limitations of predictive and reliability displays and identifying areas for further research and development.","PeriodicalId":247679,"journal":{"name":"2023 5th International Congress on Human-Computer Interaction, Optimization and Robotic Applications (HORA)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125392568","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The use of Remote Operated Vehicles (ROVs) in underwater research has become widespread. However, conventional gripper systems are often inadequate for handling delicate underwater objects, such as archaeological artifacts. This study presents the development and integration of a soft pneumatic gripper into a ROV system, specifically designed for underwater archaeological applications. The soft gripper offers adaptability and compliance, ensuring safer and more precise grasping of fragile items. The manufactured soft force sensor is incorporated into the soft pneumatic gripper for tactile feedback, minimizing the risk of damage during handling. The gripper system also includes a pneumatic cylinder for extending its reach during grasping. Using Abaqus Finite Element Software, preliminary simulations were made to study the contact forces exerted by the gripper jaws. The numerical results, based on static non-linear analysis demonstrated the soft gripper's effectiveness, adaptability, and reliability on force feedback in land-based and underwater scenarios. This research contributes to the advancement of robotics for underwater archaeology by providing a soft pneumatic gripper system that enables safe and efficient handling of delicate artifacts.
{"title":"Additively Manufactured Soft Pneumatic Gripper Integrated Remotely Operated Underwater Vehicle (ROV) for Grasping Archeological Remains","authors":"Emre Tugberk Gulnergiz, S. Dilibal, Bilal Gormus, Josiah Owusu Danquah, Omar Faruk Emon","doi":"10.1109/HORA58378.2023.10156774","DOIUrl":"https://doi.org/10.1109/HORA58378.2023.10156774","url":null,"abstract":"The use of Remote Operated Vehicles (ROVs) in underwater research has become widespread. However, conventional gripper systems are often inadequate for handling delicate underwater objects, such as archaeological artifacts. This study presents the development and integration of a soft pneumatic gripper into a ROV system, specifically designed for underwater archaeological applications. The soft gripper offers adaptability and compliance, ensuring safer and more precise grasping of fragile items. The manufactured soft force sensor is incorporated into the soft pneumatic gripper for tactile feedback, minimizing the risk of damage during handling. The gripper system also includes a pneumatic cylinder for extending its reach during grasping. Using Abaqus Finite Element Software, preliminary simulations were made to study the contact forces exerted by the gripper jaws. The numerical results, based on static non-linear analysis demonstrated the soft gripper's effectiveness, adaptability, and reliability on force feedback in land-based and underwater scenarios. This research contributes to the advancement of robotics for underwater archaeology by providing a soft pneumatic gripper system that enables safe and efficient handling of delicate artifacts.","PeriodicalId":247679,"journal":{"name":"2023 5th International Congress on Human-Computer Interaction, Optimization and Robotic Applications (HORA)","volume":"128 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115887380","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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