Pub Date : 2024-07-17DOI: 10.15406/iratj.2024.10.00286
Afonin Sm
A multi-layer electro elastic drive of robotics is used in adaptive optics of compound telescope, scanning microscopy, interferometry and nanotechnology. For micro and nano robotics a multi-layer electro elastic drive is applied. The parametric model of a multi-layer electro elastic drive is determined. Its functions and matrix deformations are founded. The parameters of the multi-layer longitudinal PZT drive are determined.
{"title":"A multi-layer electro elastic drive for micro and nano robotics","authors":"Afonin Sm","doi":"10.15406/iratj.2024.10.00286","DOIUrl":"https://doi.org/10.15406/iratj.2024.10.00286","url":null,"abstract":"A multi-layer electro elastic drive of robotics is used in adaptive optics of compound telescope, scanning microscopy, interferometry and nanotechnology. For micro and nano robotics a multi-layer electro elastic drive is applied. The parametric model of a multi-layer electro elastic drive is determined. Its functions and matrix deformations are founded. The parameters of the multi-layer longitudinal PZT drive are determined.","PeriodicalId":346234,"journal":{"name":"International Robotics & Automation Journal","volume":" 11","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-07-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141828425","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 : 2023-07-17DOI: 10.15406/iratj.2023.09.00270
A. Abougarair, Mosab JA Abujarir, Hana Tarek Tilamon
The aim of this paper is to develop an artificial pancreas that can automate the process of monitoring blood glucose levels and administering insulin to diabetic patients. The device incorporates a fuzzy controller that is optimized through a genetic algorithm and designed using MATLAB. The system comprises three key components: a continuous glucose monitoring (CGM) system, an insulin pump, and the fuzzy controller. The CGM measures blood glucose levels in real-time, and the insulin pump administers insulin doses to maintain blood glucose levels within a specific range. The fuzzy controller adjusts the insulin delivery rate based on the patient's blood glucose levels and their target range. To enhance the system's performance, a genetic algorithm is used to fine-tune the parameters of the fuzzy controller, seeking the optimal set of parameters that minimize the difference between the patient's blood glucose levels and the desired target range. The system is implemented in MATLAB, and simulation results indicate its effectiveness in maintaining blood glucose levels within the desired target range, reducing the risk of hypoglycemia and hyperglycemia. In summary, the proposed artificial pancreas system provides an effective automated solution for monitoring blood glucose levels and administering insulin to diabetic patients, with the fuzzy controller and genetic algorithm optimization enhancing the system's performance.
{"title":"Artificial pancreas control using optimized fuzzy logic based genetic algorithm","authors":"A. Abougarair, Mosab JA Abujarir, Hana Tarek Tilamon","doi":"10.15406/iratj.2023.09.00270","DOIUrl":"https://doi.org/10.15406/iratj.2023.09.00270","url":null,"abstract":"The aim of this paper is to develop an artificial pancreas that can automate the process of monitoring blood glucose levels and administering insulin to diabetic patients. The device incorporates a fuzzy controller that is optimized through a genetic algorithm and designed using MATLAB. The system comprises three key components: a continuous glucose monitoring (CGM) system, an insulin pump, and the fuzzy controller. The CGM measures blood glucose levels in real-time, and the insulin pump administers insulin doses to maintain blood glucose levels within a specific range. The fuzzy controller adjusts the insulin delivery rate based on the patient's blood glucose levels and their target range. To enhance the system's performance, a genetic algorithm is used to fine-tune the parameters of the fuzzy controller, seeking the optimal set of parameters that minimize the difference between the patient's blood glucose levels and the desired target range. The system is implemented in MATLAB, and simulation results indicate its effectiveness in maintaining blood glucose levels within the desired target range, reducing the risk of hypoglycemia and hyperglycemia. In summary, the proposed artificial pancreas system provides an effective automated solution for monitoring blood glucose levels and administering insulin to diabetic patients, with the fuzzy controller and genetic algorithm optimization enhancing the system's performance.","PeriodicalId":346234,"journal":{"name":"International Robotics & Automation Journal","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128995900","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 : 2023-05-26DOI: 10.15406/iratj.2023.09.00268
M. Monteiro, Adriel Monti De Nardi
TinyML technology emerges from the intersection of Machine Learning, Embedded Systems, and Internet of Things (IoT), and presents itself as a solution for various IoT fields. For this technology to be successfully applied to embedded devices, it is essential that these devices have adequate energy efficiency. To demonstrate the viability of TinyML technology on embedded devices, field re- search and real experiments were conducted. An embedded system was installed in a turnstile of a Federal Institute, in which a TinyML computer vision model for people detection was implemented. The device counts the number of people, analyzes the battery level, and sends data in real-time to the cloud. The prototype showed promising results, and studies were conducted with a lithium battery and three in series. In these experiments, voltage consumption was analyzed every hour, and the results were presented through graphs. The camera sensor prototype had a consumption of 1.25 volts/hour, while the prototype without the camera sensor showed a longer-lasting consumption of 0.93 volts/hour. This field research will contribute to the advancement of applications and studies related to TinyML in conjunction with IoT and computer vision.
{"title":"Evaluation of the energy viability of smart IoT sensors using TinyML for computer vision applications: A case study","authors":"M. Monteiro, Adriel Monti De Nardi","doi":"10.15406/iratj.2023.09.00268","DOIUrl":"https://doi.org/10.15406/iratj.2023.09.00268","url":null,"abstract":"TinyML technology emerges from the intersection of Machine Learning, Embedded Systems, and Internet of Things (IoT), and presents itself as a solution for various IoT fields. For this technology to be successfully applied to embedded devices, it is essential that these devices have adequate energy efficiency. To demonstrate the viability of TinyML technology on embedded devices, field re- search and real experiments were conducted. An embedded system was installed in a turnstile of a Federal Institute, in which a TinyML computer vision model for people detection was implemented. The device counts the number of people, analyzes the battery level, and sends data in real-time to the cloud. The prototype showed promising results, and studies were conducted with a lithium battery and three in series. In these experiments, voltage consumption was analyzed every hour, and the results were presented through graphs. The camera sensor prototype had a consumption of 1.25 volts/hour, while the prototype without the camera sensor showed a longer-lasting consumption of 0.93 volts/hour. This field research will contribute to the advancement of applications and studies related to TinyML in conjunction with IoT and computer vision.","PeriodicalId":346234,"journal":{"name":"International Robotics & Automation Journal","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117081571","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}
Large thermoelectric generation systems based on the Rankine cycle require monitoring of the thinning of the pipe wall caused by steam flow due to aging processes such as erosion and accelerated corrosion processes. Inspection difficulties are related to hostile environments (50 oC and 100% relative humidity) and spaces with complicated geometry, such as pipeline curves and their support structures. This work presents a monitoring program that integrates wall thickness inspections performed with a robotic system and Industry 4.0 technology to process the collected data and disseminate information throughout the organization. The robotic system is developed using “Digital Twin” technology, a very realistic virtual modeling scheme that allows interaction with the real world environment. They include equipment and all the steps to carry out the inspection process. The tube wall thickness monitoring system will be used at the Angra 1 nuclear power plant (Brazil).
{"title":"Nuclear engineering for monitoring the thinning of the pipe wall of the Angra 1 power plant","authors":"Adas Pereira Vitalli Rogério, Moreira Joao Manoel Losada","doi":"10.15406/iratj.2023.09.00267","DOIUrl":"https://doi.org/10.15406/iratj.2023.09.00267","url":null,"abstract":"Large thermoelectric generation systems based on the Rankine cycle require monitoring of the thinning of the pipe wall caused by steam flow due to aging processes such as erosion and accelerated corrosion processes. Inspection difficulties are related to hostile environments (50 oC and 100% relative humidity) and spaces with complicated geometry, such as pipeline curves and their support structures. This work presents a monitoring program that integrates wall thickness inspections performed with a robotic system and Industry 4.0 technology to process the collected data and disseminate information throughout the organization. The robotic system is developed using “Digital Twin” technology, a very realistic virtual modeling scheme that allows interaction with the real world environment. They include equipment and all the steps to carry out the inspection process. The tube wall thickness monitoring system will be used at the Angra 1 nuclear power plant (Brazil).","PeriodicalId":346234,"journal":{"name":"International Robotics & Automation Journal","volume":"259 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115880499","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 : 2023-05-16DOI: 10.15406/iratj.2023.09.00266
T. Ichiko
For a long period of time, stretching back to the beginning of experimental broad band backbone networks, research members have conducted studies to explore and develop cooperative aspects of learning in distance education. So far, many kinds of R&D results from typical case studies have been published and demonstrated in domestic or international public areas. As compared with the other educational environments (e.g. electronic media-based, satellite-based systems, up to metaverse-based, chat-AI based systems etc.), interactive communications in a true sense should have been noted here for individually better educational situations and more agile business modeling under the information environments on a high speed and widespread network with intelligent electronic media.
{"title":"A short review on cooperative aspects of learning in distance education","authors":"T. Ichiko","doi":"10.15406/iratj.2023.09.00266","DOIUrl":"https://doi.org/10.15406/iratj.2023.09.00266","url":null,"abstract":"For a long period of time, stretching back to the beginning of experimental broad band backbone networks, research members have conducted studies to explore and develop cooperative aspects of learning in distance education. So far, many kinds of R&D results from typical case studies have been published and demonstrated in domestic or international public areas. As compared with the other educational environments (e.g. electronic media-based, satellite-based systems, up to metaverse-based, chat-AI based systems etc.), interactive communications in a true sense should have been noted here for individually better educational situations and more agile business modeling under the information environments on a high speed and widespread network with intelligent electronic media.","PeriodicalId":346234,"journal":{"name":"International Robotics & Automation Journal","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121418803","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 : 2023-05-16DOI: 10.15406/iratj.2023.09.00265
Boris Crnokic, Ivan Peko, M. Grubišić
Mobile robot navigation is primarily a task that occurs in a real environment. However, simulating obstacles and robot movements in a virtual environment can provide significant advantages and yield good results, as demonstrated in this paper. By employing artificial neural networks (ANNs), it is possible to develop a trained system in a virtual environment that can detect obstacles using data collected from various sensors. In this study, infrared (IR) sensors and a camera were utilized to gather information from the virtual environment. The MatLab Simulink software package was used as a tool to train the artificial neural networks. Detection and avoidance of obstacles were simulated in the RobotinoSIM virtual environment.
{"title":"Artificial neural networks-based simulation of obstacle detection with a mobile robot in a virtual environment","authors":"Boris Crnokic, Ivan Peko, M. Grubišić","doi":"10.15406/iratj.2023.09.00265","DOIUrl":"https://doi.org/10.15406/iratj.2023.09.00265","url":null,"abstract":"Mobile robot navigation is primarily a task that occurs in a real environment. However, simulating obstacles and robot movements in a virtual environment can provide significant advantages and yield good results, as demonstrated in this paper. By employing artificial neural networks (ANNs), it is possible to develop a trained system in a virtual environment that can detect obstacles using data collected from various sensors. In this study, infrared (IR) sensors and a camera were utilized to gather information from the virtual environment. The MatLab Simulink software package was used as a tool to train the artificial neural networks. Detection and avoidance of obstacles were simulated in the RobotinoSIM virtual environment.","PeriodicalId":346234,"journal":{"name":"International Robotics & Automation Journal","volume":"105 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129258131","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 : 2023-05-08DOI: 10.15406/iratj.2023.09.00264
A. Abougarair, M. Tabet
Computer Numerical Control (CNC) technology's precision and complexity in design are two of its greatest strengths. CNC machines can make consistent and accurate cuts, drills, and shapes because they are controlled by computer programs. This precision is especially useful in sectors where producing complex components is mission-critical, such as the aerospace, medical, and automotive industries. The capacity to automate mundane processes is another benefit of CNC technology. CNC machines, once programmed, can mass-produce parts with little to no human intervention, greatly boosting efficiency and lowering production costs. By eliminating the potential for human error, this automation also increases the reliability and consistency of the final output. In addition, CNC machinery can facilitate quicker production runs and shorter setup times, both of which boost productivity. Enhanced productivity has the potential to boost a company's bottom line. Overall, CNC technology has the potential to revolutionize manufacturing by facilitating the rapid, precise, and cost-effective fabrication of intricate parts and components. Since this is a hotspot for innovation, new uses and capabilities appear frequently.
{"title":"Practical work for exploring the capabilities and benefits of CNC technology","authors":"A. Abougarair, M. Tabet","doi":"10.15406/iratj.2023.09.00264","DOIUrl":"https://doi.org/10.15406/iratj.2023.09.00264","url":null,"abstract":"Computer Numerical Control (CNC) technology's precision and complexity in design are two of its greatest strengths. CNC machines can make consistent and accurate cuts, drills, and shapes because they are controlled by computer programs. This precision is especially useful in sectors where producing complex components is mission-critical, such as the aerospace, medical, and automotive industries. The capacity to automate mundane processes is another benefit of CNC technology. CNC machines, once programmed, can mass-produce parts with little to no human intervention, greatly boosting efficiency and lowering production costs. By eliminating the potential for human error, this automation also increases the reliability and consistency of the final output. In addition, CNC machinery can facilitate quicker production runs and shorter setup times, both of which boost productivity. Enhanced productivity has the potential to boost a company's bottom line. Overall, CNC technology has the potential to revolutionize manufacturing by facilitating the rapid, precise, and cost-effective fabrication of intricate parts and components. Since this is a hotspot for innovation, new uses and capabilities appear frequently.","PeriodicalId":346234,"journal":{"name":"International Robotics & Automation Journal","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116177327","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 : 2023-04-04DOI: 10.15406/iratj.2023.09.00263
Valibayov Ilkin Mehman
{"title":"Regularity of the depth distribution of earthquakes on the sharur-ordubad fault","authors":"Valibayov Ilkin Mehman","doi":"10.15406/iratj.2023.09.00263","DOIUrl":"https://doi.org/10.15406/iratj.2023.09.00263","url":null,"abstract":"","PeriodicalId":346234,"journal":{"name":"International Robotics & Automation Journal","volume":"150 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124612836","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 : 2023-03-31DOI: 10.15406/iratj.2023.09.00262
Paryati Yati, Shankar Rao Munjam, Prasoon Chauhan
Technological problems and transmit data can be given a solution using Bluetooth technology. Bluetooth technology is used to transmit data over a distance of about 15 m. This data transmission analysis aims to apply and implement damping on the glass wall using a bluetooth device, in sending data files to replace the function of the data cable. So with this problem, a room that is partitioned using glass walls is designed and built. The hypotheses made: The material barrier factor between the master and slave greatly affects the attenuation of the received signal. In addition to the above factors, attenuation is also influenced by the distance between the master and slave. With two glass skate partitions and the distance between the master and slave will affect the data transfer speed. This study is to determine the attenuation of the double glass wall between the user and the server on the LAN network, using 15 PCs that are placed in a glass-insulated room on the same floor. The Bluetooth used is class 2 with a power of 2.5 m watts with a range of 15 m. The result of this research trial is that attenuation in a room with a glass wall in the room produces power losses, only experienced by the signal between the master and slave, the farther the distance the signal attenuation is, the greater the power losses, which results in more the amount of reduction in transfer rate from master to slave. Communication between computers through the use of USB. Bluetooth is only a simulation signal propagation. One room is used the floor is insulated by glass wall with size of 3m x 3m to measure the master room, 5 x 5m for the slave room. The distance between the server room and the slave room 3m.
{"title":"Optimization computer network and bluetooth technology for parallel analysis of data transmission in programming","authors":"Paryati Yati, Shankar Rao Munjam, Prasoon Chauhan","doi":"10.15406/iratj.2023.09.00262","DOIUrl":"https://doi.org/10.15406/iratj.2023.09.00262","url":null,"abstract":"Technological problems and transmit data can be given a solution using Bluetooth technology. Bluetooth technology is used to transmit data over a distance of about 15 m. This data transmission analysis aims to apply and implement damping on the glass wall using a bluetooth device, in sending data files to replace the function of the data cable. So with this problem, a room that is partitioned using glass walls is designed and built. The hypotheses made: The material barrier factor between the master and slave greatly affects the attenuation of the received signal. In addition to the above factors, attenuation is also influenced by the distance between the master and slave. With two glass skate partitions and the distance between the master and slave will affect the data transfer speed. This study is to determine the attenuation of the double glass wall between the user and the server on the LAN network, using 15 PCs that are placed in a glass-insulated room on the same floor. The Bluetooth used is class 2 with a power of 2.5 m watts with a range of 15 m. The result of this research trial is that attenuation in a room with a glass wall in the room produces power losses, only experienced by the signal between the master and slave, the farther the distance the signal attenuation is, the greater the power losses, which results in more the amount of reduction in transfer rate from master to slave. Communication between computers through the use of USB. Bluetooth is only a simulation signal propagation. One room is used the floor is insulated by glass wall with size of 3m x 3m to measure the master room, 5 x 5m for the slave room. The distance between the server room and the slave room 3m.","PeriodicalId":346234,"journal":{"name":"International Robotics & Automation Journal","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130357673","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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