—Facial expression is one of the most useful information in human robot interaction. To improve the accuracy in 3-dimension based facial expression recognition, Hidden Markov Models (HMMs) are used to recognize the emotion from facial expressions in this study. In particular, facial expressions are measured by two parameters, which are given by previous work. The human emotions are defined as: anger, smile, normal, sadness, fear, and surprise. The referred parts in human face are selected based on the activeness during the facial expression. The activity and arousal values of each facial part are used as the observations for each hidden state in HMMs. Baum-Welch algorithm is used to train the hidden Markov model. As a result, six different emotions are very efficiently recognized through the trained HMMs.
{"title":"Design and Implementation of HMM for 3D Emotion Recognition","authors":"Y. Lang","doi":"10.20342/IJSMM.4.1.269","DOIUrl":"https://doi.org/10.20342/IJSMM.4.1.269","url":null,"abstract":"—Facial expression is one of the most useful information in human robot interaction. To improve the accuracy in 3-dimension based facial expression recognition, Hidden Markov Models (HMMs) are used to recognize the emotion from facial expressions in this study. In particular, facial expressions are measured by two parameters, which are given by previous work. The human emotions are defined as: anger, smile, normal, sadness, fear, and surprise. The referred parts in human face are selected based on the activeness during the facial expression. The activity and arousal values of each facial part are used as the observations for each hidden state in HMMs. Baum-Welch algorithm is used to train the hidden Markov model. As a result, six different emotions are very efficiently recognized through the trained HMMs.","PeriodicalId":30772,"journal":{"name":"International Journal on Smart Material and Mechatronics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-03-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47859080","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}
Unmanned Aerial Vehicles (UAVs) have been researched as a means of collecting information during disasters. Among them, VTOL UAVs that are called Quadrotor, have been attracting attention. A Quadrotor has a superior maneuverability than other UAVs. However, it is inferior to fixed-wing type UAVs in flying speed and cruising range. When UAVs are used for extensive disasters such as earthquakes, it needs to collect widespread information.Therefore, this research is aimed at developing a Quadrotor that can realize high-speed flight and wide cruising range by mounting a tilt system on the rotors in the conventional Quadrotor. This paper presents the overview of the new Quadrotor suggested in this study and describes the production of a tilt system attached to the conventional Quadrotor. Then, some experiments are conducted to check the fundamental operation of the tilt system. In addition, the overview of the PD control is also described for the speed control of a DC motor.
{"title":"Production of a Tilt Rotor System and a Speed Control of a DC Motor for Quadrotors","authors":"T. Hasegawa, Keigo Watanabe","doi":"10.20342/IJSMM.4.1.278","DOIUrl":"https://doi.org/10.20342/IJSMM.4.1.278","url":null,"abstract":"Unmanned Aerial Vehicles (UAVs) have been researched as a means of collecting information during disasters. Among them, VTOL UAVs that are called Quadrotor, have been attracting attention. A Quadrotor has a superior maneuverability than other UAVs. However, it is inferior to fixed-wing type UAVs in flying speed and cruising range. When UAVs are used for extensive disasters such as earthquakes, it needs to collect widespread information.Therefore, this research is aimed at developing a Quadrotor that can realize high-speed flight and wide cruising range by mounting a tilt system on the rotors in the conventional Quadrotor. This paper presents the overview of the new Quadrotor suggested in this study and describes the production of a tilt system attached to the conventional Quadrotor. Then, some experiments are conducted to check the fundamental operation of the tilt system. In addition, the overview of the PD control is also described for the speed control of a DC motor.","PeriodicalId":30772,"journal":{"name":"International Journal on Smart Material and Mechatronics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-03-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48915345","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 alternative energy searching for electrical generation should be pursued, along with fossil fuel reserves reducing. The rice husk is a biomass type with very abundant avaibility in South Sulawesi and had not been utilized optimally for electrical generation. Currently, the average production of rice husk in South Sulawesi around 964,359.64 tons/year and increases every year. Based on linear regression method, the rice husk production in 2024 estimated at 2,055,762 tons. The results showed that 1 kg of rice husk is able to generate 1.3 kWh of electrical energy. For South Sulawesi, rice husk can generate 305 MW electrical power in 2024.
{"title":"The Potential Of Rice Husk For Electrical Energy Generation In South Sulawesi, Indonesia","authors":"Yusran, Hanser Aprusmin","doi":"10.20342/IJSMM.4.1.248","DOIUrl":"https://doi.org/10.20342/IJSMM.4.1.248","url":null,"abstract":"—The alternative energy searching for electrical generation should be pursued, along with fossil fuel reserves reducing. The rice husk is a biomass type with very abundant avaibility in South Sulawesi and had not been utilized optimally for electrical generation. Currently, the average production of rice husk in South Sulawesi around 964,359.64 tons/year and increases every year. Based on linear regression method, the rice husk production in 2024 estimated at 2,055,762 tons. The results showed that 1 kg of rice husk is able to generate 1.3 kWh of electrical energy. For South Sulawesi, rice husk can generate 305 MW electrical power in 2024.","PeriodicalId":30772,"journal":{"name":"International Journal on Smart Material and Mechatronics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-03-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42514381","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}
AbstractQuadcopter is one of the best types of Unmanned Aerial Vehicle (UAV), which is currently growing rapidly in the mechatronics research area. Take-off and hover are a very important fly phase that has to be owned by quadcopter. So, the quadcopter can be utilized optimally, where altitude and angle are fixed. In addition, quadcopter is a complex system that is unstable and can be difficult to fly without any control system, so it is needed the right method to keep the stability in phase of take-off and hover. This paper investigates the comparison method between a proportional-integralderivative (PID), backstepping and combining backstepping PD PI methods as its control. Non-linier model was used to simulate the quadcopter with physical modeling. The results show that the methods are able to set the height and angle of quadcopter with a very small height errors 0.0804, 0.0156 and 0.0132 m, while the angle is always zero as desired.
{"title":"Comparison of PID control, Backstepping, Backstepping PDPI on Take-off and Hover Quadcopter Position","authors":"Jumiyatun Jumiyatun","doi":"10.20342/IJSMM.4.1.147","DOIUrl":"https://doi.org/10.20342/IJSMM.4.1.147","url":null,"abstract":"AbstractQuadcopter is one of the best types of Unmanned Aerial Vehicle (UAV), which is currently growing rapidly in the mechatronics research area. Take-off and hover are a very important fly phase that has to be owned by quadcopter. So, the quadcopter can be utilized optimally, where altitude and angle are fixed. In addition, quadcopter is a complex system that is unstable and can be difficult to fly without any control system, so it is needed the right method to keep the stability in phase of take-off and hover. This paper investigates the comparison method between a proportional-integralderivative (PID), backstepping and combining backstepping PD PI methods as its control. Non-linier model was used to simulate the quadcopter with physical modeling. The results show that the methods are able to set the height and angle of quadcopter with a very small height errors 0.0804, 0.0156 and 0.0132 m, while the angle is always zero as desired.","PeriodicalId":30772,"journal":{"name":"International Journal on Smart Material and Mechatronics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-03-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43636880","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}
- Tensile and fatigue properties of titanium based bulk metal glass (Ti-BMG) were studied experimentally on the basis of one of the authors task [Okayasu et al., Fatigue and tensile properties of titanium based bulk glassy alloys, Int. J. Marter. Eng. Tech., 5(2011)77]. To understand clearly the mechanical properties of Ti-BMG, commercial crystalline titanium alloy was employed. The ultimate tensile strength of Ti-BMG was about 20% higher than that for the Ti alloy, and that was more than twice high compared to the carbon steel and Al alloy ones. In contrast, different mechanical properties were obtained in the result of fatigue test, where the rapid reduction of the fatigue strength occurred especially in the later fatigue stage, namely the low endurance limit, which was lower than that for the crystalline Ti alloy.
{"title":"Mechanical properties of crystalline and amorphous Ti alloys","authors":"Tomoki Shigeoka","doi":"10.20342/IJSMM.4.1.257","DOIUrl":"https://doi.org/10.20342/IJSMM.4.1.257","url":null,"abstract":"- Tensile and fatigue properties of titanium based bulk metal glass (Ti-BMG) were studied experimentally on the basis of one of the authors task [Okayasu et al., Fatigue and tensile properties of titanium based bulk glassy alloys, Int. J. Marter. Eng. Tech., 5(2011)77]. To understand clearly the mechanical properties of Ti-BMG, commercial crystalline titanium alloy was employed. The ultimate tensile strength of Ti-BMG was about 20% higher than that for the Ti alloy, and that was more than twice high compared to the carbon steel and Al alloy ones. In contrast, different mechanical properties were obtained in the result of fatigue test, where the rapid reduction of the fatigue strength occurred especially in the later fatigue stage, namely the low endurance limit, which was lower than that for the crystalline Ti alloy.","PeriodicalId":30772,"journal":{"name":"International Journal on Smart Material and Mechatronics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-03-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48673699","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}
R. Syam, Abdullah Mappaita, Rahmat Hidayat, Amiruddin
-- The aims of this research are to determine how to create a simple hexacopter, the flying robot using six propellers. By using dynamic analysis it will be obtained the lifting force. To generate the lifting of each motor each UAV the doing simple maneuver of robot. Because each motor and propeller have the same type, it is enough to test one motor alone to determine the thrust and torque generated. Experiment of Hexacopter will then be done to fly through the path that has been made. Deviations will be measured to determine the amount of error generated. From the result of design, hexacopter successfully made from aluminum plate material and successfully tested fly.
{"title":"Simple Design of VTOL Hexacopter for Simple Navigation","authors":"R. Syam, Abdullah Mappaita, Rahmat Hidayat, Amiruddin","doi":"10.20342/IJSMM.4.1.237","DOIUrl":"https://doi.org/10.20342/IJSMM.4.1.237","url":null,"abstract":"-- The aims of this research are to determine how to create a simple hexacopter, the flying robot using six propellers. By using dynamic analysis it will be obtained the lifting force. To generate the lifting of each motor each UAV the doing simple maneuver of robot. Because each motor and propeller have the same type, it is enough to test one motor alone to determine the thrust and torque generated. Experiment of Hexacopter will then be done to fly through the path that has been made. Deviations will be measured to determine the amount of error generated. From the result of design, hexacopter successfully made from aluminum plate material and successfully tested fly.","PeriodicalId":30772,"journal":{"name":"International Journal on Smart Material and Mechatronics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-03-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48387496","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}
Robots can be expected to make our work efficient by covering transportation tasks in factories and warehouses. However, it is not easy to transport a long object in a narrow space. In our previous research, an omnidirectional cooperative transportation system was developed to transport a long-sized object with two lift-up robots. Then, an obstacle avoidance method was implemented with a virtual spring method when passing through a narrow space, so as to realize transportation even though some uncertainties are included in the prior map and localization. However, the model of the repulsion acted between the robot and the obstacle is not considered the shape of the carrying object. If the shape of the transported object is can be represented by a simple mathematical formula, such as a point or a circle, the robot can easily calculate the distance of the transported object and obstacles. However, the long rectangular object can’t be easily modeled. In this research, the shape of the transported object is modeled by the hyperellipsoidal approximation. Then, obstacle avoidances in the narrow space are realized by using repulsion with hyper-elliptic potential. The path to be followed is totally generated by the hyperelliptic potential and the virtual spring potential to obtain an efficient and shorter path. Finally, the usefulness of the proposed method is confirmed through some simulations by omnidirectional cooperative transportations of the long rectangular object in the narrow space.
{"title":"Obstacle Avoidance by a Hyperelliptic Potential and a Virtual Spring Method for Omnidirectional Cooperative Transportations","authors":"Ryoji Osaki","doi":"10.20342/IJSMM.4.1.265","DOIUrl":"https://doi.org/10.20342/IJSMM.4.1.265","url":null,"abstract":"Robots can be expected to make our work efficient by covering transportation tasks in factories and warehouses. However, it is not easy to transport a long object in a narrow space. In our previous research, an omnidirectional cooperative transportation system was developed to transport a long-sized object with two lift-up robots. Then, an obstacle avoidance method was implemented with a virtual spring method when passing through a narrow space, so as to realize transportation even though some uncertainties are included in the prior map and localization. However, the model of the repulsion acted between the robot and the obstacle is not considered the shape of the carrying object. If the shape of the transported object is can be represented by a simple mathematical formula, such as a point or a circle, the robot can easily calculate the distance of the transported object and obstacles. However, the long rectangular object can’t be easily modeled. In this research, the shape of the transported object is modeled by the hyperellipsoidal approximation. Then, obstacle avoidances in the narrow space are realized by using repulsion with hyper-elliptic potential. The path to be followed is totally generated by the hyperelliptic potential and the virtual spring potential to obtain an efficient and shorter path. Finally, the usefulness of the proposed method is confirmed through some simulations by omnidirectional cooperative transportations of the long rectangular object in the narrow space.","PeriodicalId":30772,"journal":{"name":"International Journal on Smart Material and Mechatronics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-03-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45423166","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}
{"title":"An Intelligent Parking System for Vehicles Using an Image-based Fuzzy Controller","authors":"Y. Aye","doi":"10.20342/IJSMM.4.1.252","DOIUrl":"https://doi.org/10.20342/IJSMM.4.1.252","url":null,"abstract":"","PeriodicalId":30772,"journal":{"name":"International Journal on Smart Material and Mechatronics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-03-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48953553","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}
This research aimed to analyze the differences in mechanical properties, such as tensile strength and hardness of the materials of SA.106 Gr B. experiencing SMAW and GTAW welding with preheat treatment. The research activities were conducted in the Laboratory of Materials Science of the Department of Mechanical Engineering, Faculty of Engineering, Indonesia Christian University of Paulus, Makassar. The material Preheating was done in the workshop of PT. Energi Sengkang. The method used was to create a specimen of the SA.106 Gr.B material experiencing the SMAW and GTAW welding with the preheat condition of 0°C, 110°C and 125°C. In order to determine the strength of the material, the mechanical test, i.e. the tensile test (ASTM E 8M), Hardness test (Brinneil), and microstructure observation were done. The research results indicated that preheat process had an influence on the mechanical properties of the material before welding. In the process of SMAW and GTAW welding, the increase of preheat temperature had an impact on the increase of the value of the tensile test of preheat temperature of 125°C. In the GTAW welding, it was found that σu = 54.51 kgf/mm, while in SMAW welding, it was found that σu = 53.26 kgf/mm 2 . In hardness test, it was found that the increase of the preheat temperature had an effect on the hardness in the welding area was 43.22 HB while in the GTAW welding it was 43.32 HB.
本研究旨在分析SA.106 Gr . b经过预热处理的SMAW和GTAW焊接后材料的抗拉强度和硬度等力学性能的差异。研究活动是在望加锡印度尼西亚基督教保卢斯大学工程学院机械工程系材料科学实验室进行的。材料预热在圣康能源PT. Energi车间进行。采用的方法是在0°C、110°C和125°C的预热条件下制备SA.106 Gr.B材料的SMAW和GTAW焊接试样。为了确定材料的强度，进行了力学试验，即拉伸试验(ASTM E 8M)、硬度试验(Brinneil)和显微组织观察。研究结果表明，焊前预热对材料的力学性能有一定的影响。在SMAW和GTAW焊接过程中，预热温度的升高对预热温度为125℃的拉伸试验值的升高有影响。在GTAW焊接中，σu = 54.51 kgf/mm，而在SMAW焊接中，σu = 53.26 kgf/mm 2。在硬度测试中，发现预热温度的升高对焊接区硬度的影响为43.22 HB，而GTAW焊接区硬度的影响为43.32 HB。
{"title":"The Effect of Welding Pre Heating of SMAW and GTAW on Mechanical Properties of SA .106 Gr. B Pipe of Energi Sengkang Co.Ltd","authors":"Johannes Leonard, Harfan","doi":"10.20342/IJSMM.4.1.273","DOIUrl":"https://doi.org/10.20342/IJSMM.4.1.273","url":null,"abstract":"This research aimed to analyze the differences in mechanical properties, such as tensile strength and hardness of the materials of SA.106 Gr B. experiencing SMAW and GTAW welding with preheat treatment. The research activities were conducted in the Laboratory of Materials Science of the Department of Mechanical Engineering, Faculty of Engineering, Indonesia Christian University of Paulus, Makassar. The material Preheating was done in the workshop of PT. Energi Sengkang. The method used was to create a specimen of the SA.106 Gr.B material experiencing the SMAW and GTAW welding with the preheat condition of 0°C, 110°C and 125°C. In order to determine the strength of the material, the mechanical test, i.e. the tensile test (ASTM E 8M), Hardness test (Brinneil), and microstructure observation were done. The research results indicated that preheat process had an influence on the mechanical properties of the material before welding. In the process of SMAW and GTAW welding, the increase of preheat temperature had an impact on the increase of the value of the tensile test of preheat temperature of 125°C. In the GTAW welding, it was found that σu = 54.51 kgf/mm, while in SMAW welding, it was found that σu = 53.26 kgf/mm 2 . In hardness test, it was found that the increase of the preheat temperature had an effect on the hardness in the welding area was 43.22 HB while in the GTAW welding it was 43.32 HB.","PeriodicalId":30772,"journal":{"name":"International Journal on Smart Material and Mechatronics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-03-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43252972","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}
— Understanding of consumer behaviors contributes a store for improving the profitability. It is important to analyze and understand consumer trajectories in a store building for the purpose. Therefore analyses of purchasing history and consumer's movement are performed in the process. Purchasing histories is regularly obtained via a POS system. For acquiring the movement path, a measurement device using an optical sensor and a gyro sensor was proposed in our preview research. However, the device has a problem of poor measurement accuracy because of the accumulated error in the sensors. In this study, we propose a method for improving the measurement accuracy by using a particle filter and an environmental map. In various environments, we inspect the usefulness of this method. We describe the outline of the device and the path estimated by the method, using the measured data with a map .
{"title":"Correcting Path of a Shopping Cart Using a Particle Filter and an Environment Map","authors":"Daiki Sasakura","doi":"10.20342/IJSMM.4.1.261","DOIUrl":"https://doi.org/10.20342/IJSMM.4.1.261","url":null,"abstract":"— Understanding of consumer behaviors contributes a store for improving the profitability. It is important to analyze and understand consumer trajectories in a store building for the purpose. Therefore analyses of purchasing history and consumer's movement are performed in the process. Purchasing histories is regularly obtained via a POS system. For acquiring the movement path, a measurement device using an optical sensor and a gyro sensor was proposed in our preview research. However, the device has a problem of poor measurement accuracy because of the accumulated error in the sensors. In this study, we propose a method for improving the measurement accuracy by using a particle filter and an environmental map. In various environments, we inspect the usefulness of this method. We describe the outline of the device and the path estimated by the method, using the measured data with a map .","PeriodicalId":30772,"journal":{"name":"International Journal on Smart Material and Mechatronics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-03-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44274417","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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