In this paper, we address the stability analysis of swarm robots with heterogeneous abilities for velocity and acceleration. Each robot also has a unique sensing region with a limited angle of field of view. We previously proposed a decentralized navigation method for such swarm robots. With the method, connectivity maintenance is achieved while satisfying physical limitations which are unique to each robot. Here, we focus on the shape of the whole swarm and mathematically prove that the shape and orientations of all robots eventually converge to the equilibrium state. Furthermore, we show experimental results to confirm the convergence.
{"title":"Stability Analysis for Heterogeneous Swarm Robots with Limited Field of View","authors":"T. Endo, Ryuma Maeda, F. Matsuno","doi":"10.1109/DeSE.2019.00015","DOIUrl":"https://doi.org/10.1109/DeSE.2019.00015","url":null,"abstract":"In this paper, we address the stability analysis of swarm robots with heterogeneous abilities for velocity and acceleration. Each robot also has a unique sensing region with a limited angle of field of view. We previously proposed a decentralized navigation method for such swarm robots. With the method, connectivity maintenance is achieved while satisfying physical limitations which are unique to each robot. Here, we focus on the shape of the whole swarm and mathematically prove that the shape and orientations of all robots eventually converge to the equilibrium state. Furthermore, we show experimental results to confirm the convergence.","PeriodicalId":6632,"journal":{"name":"2019 12th International Conference on Developments in eSystems Engineering (DeSE)","volume":"39 1","pages":"27-32"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84099320","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}
Ahmed N. Al-jamal, Qunoot M. Hadi, Farah J. Hamood, K. Abass
The Films of PVA-PEG-Sn were prepared with various particle size of Sn element (0, 10, 75 and 150 ìm) by casting method technique with thickness of 800 nm. The effect of Sn additive on structural (FT-IR, optical microscope) and optical properties of polymeric blend has been studied. Optical microscope images indicated the uniform distribution of the Sn particles in the structure of PVA-PEG-Sn films. The optical properties of PVAPEG- Sn films were calculated from recording the absorbance spectra by using spectrophotometer (UV/1800/ Shimadzu) in the wavelength range (190-1100) nm. The optical constants that calculated in this study were found out that all these constants increases with the increase of the particle size of (Sn). The optical band gap (Eg) decreased from 4.5 eV for PVA-PEG film to 4.25 eV as the 150 ìm Sn particle size in the PVA-PEG-Sn film.
{"title":"Particle Size Effect of Sn on Structure and Optical Properties of PVA-PEG Blend","authors":"Ahmed N. Al-jamal, Qunoot M. Hadi, Farah J. Hamood, K. Abass","doi":"10.1109/DeSE.2019.00137","DOIUrl":"https://doi.org/10.1109/DeSE.2019.00137","url":null,"abstract":"The Films of PVA-PEG-Sn were prepared with various particle size of Sn element (0, 10, 75 and 150 ìm) by casting method technique with thickness of 800 nm. The effect of Sn additive on structural (FT-IR, optical microscope) and optical properties of polymeric blend has been studied. Optical microscope images indicated the uniform distribution of the Sn particles in the structure of PVA-PEG-Sn films. The optical properties of PVAPEG- Sn films were calculated from recording the absorbance spectra by using spectrophotometer (UV/1800/ Shimadzu) in the wavelength range (190-1100) nm. The optical constants that calculated in this study were found out that all these constants increases with the increase of the particle size of (Sn). The optical band gap (Eg) decreased from 4.5 eV for PVA-PEG film to 4.25 eV as the 150 ìm Sn particle size in the PVA-PEG-Sn film.","PeriodicalId":6632,"journal":{"name":"2019 12th International Conference on Developments in eSystems Engineering (DeSE)","volume":"25 1","pages":"736-740"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81781247","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}
In this paper, a new technique to transfer the sketching style from one free-hand sketch to another is presented. Those sketches can be from different artists who used different brush styles while sketching. Given a unique brush-style from a sketch, our method transfers that style into another input sketch. Our brush-style transfer starts with an automatically constructed brush dictionary which proposes which sparse set of brushes are used at each part of the input sketch. After that, a oneto- one mapping is learned, between the unique brush sketch elements and the input sketch elements, by sparsely encoding input sketch with the brush dictionary. The quality of our brushstyle transfer is evaluated qualitatively by applying our technique on transferring multiple brush styles into input sketches. This is an addition to a quantitative evaluation through extensive subject case study were participants with 86% accuracy match a transferred sketch to the sketch they believe was used in the transfer.
{"title":"Brush-Style Transfer through Constrained Convolutional Sparse Coding","authors":"Sara Shaheen","doi":"10.1109/DeSE.2019.00176","DOIUrl":"https://doi.org/10.1109/DeSE.2019.00176","url":null,"abstract":"In this paper, a new technique to transfer the sketching style from one free-hand sketch to another is presented. Those sketches can be from different artists who used different brush styles while sketching. Given a unique brush-style from a sketch, our method transfers that style into another input sketch. Our brush-style transfer starts with an automatically constructed brush dictionary which proposes which sparse set of brushes are used at each part of the input sketch. After that, a oneto- one mapping is learned, between the unique brush sketch elements and the input sketch elements, by sparsely encoding input sketch with the brush dictionary. The quality of our brushstyle transfer is evaluated qualitatively by applying our technique on transferring multiple brush styles into input sketches. This is an addition to a quantitative evaluation through extensive subject case study were participants with 86% accuracy match a transferred sketch to the sketch they believe was used in the transfer.","PeriodicalId":6632,"journal":{"name":"2019 12th International Conference on Developments in eSystems Engineering (DeSE)","volume":"9 1","pages":"950-955"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88814028","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}
Christina G. Antipova, Yulia Parunova, M. Vishnevskaya, T. Grigor'ev, K. Lukanina, S. Krasheninnikov, D. Gazizova, P. Gotovtsev
Flexible electroconductive hydrogel shown as a promising material for enzyme and bacterial bioelectrochemical systems. For hydrogel synthesis biocompatible polymers PEDOT PSS, carrageenan and polyvinyl alcohol were used. It is shown the mechanical properties of hydrogel and provided an electronic microscopy investigation. The oxidation processes on the electrode with enzymes and bacterial cells are demonstrated. Chosen materials and methods of synthesis did not provide any nonbiocompatible substances in hydrogels. Thus, presented materials can be promising for flexible electrodes design for biocompatible applications.
{"title":"Flexible Electroconductive Hydrogel for Biosensors and Biofuel Cells Application","authors":"Christina G. Antipova, Yulia Parunova, M. Vishnevskaya, T. Grigor'ev, K. Lukanina, S. Krasheninnikov, D. Gazizova, P. Gotovtsev","doi":"10.1109/DeSE.2019.00099","DOIUrl":"https://doi.org/10.1109/DeSE.2019.00099","url":null,"abstract":"Flexible electroconductive hydrogel shown as a promising material for enzyme and bacterial bioelectrochemical systems. For hydrogel synthesis biocompatible polymers PEDOT PSS, carrageenan and polyvinyl alcohol were used. It is shown the mechanical properties of hydrogel and provided an electronic microscopy investigation. The oxidation processes on the electrode with enzymes and bacterial cells are demonstrated. Chosen materials and methods of synthesis did not provide any nonbiocompatible substances in hydrogels. Thus, presented materials can be promising for flexible electrodes design for biocompatible applications.","PeriodicalId":6632,"journal":{"name":"2019 12th International Conference on Developments in eSystems Engineering (DeSE)","volume":"26 1","pages":"513-517"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89567576","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 objective of this investigation is to product a Modified Reactive Powder Concrete (MRPC) by utilization of local wastes result from structural applications like waste crushed bricks which were used in this works by replacing silica sand (with maximum particle size of 600 ìm) by waste crushed bricks with maximum size of 10 mm. Also this work include investigation about effect of waste crushed bricks (WCB) on mechanical properties of MRPC like compressive, flexural, and splitting tensile strengths. For Reactive Powder Concrete (RPC) used fine sand (without coarse aggregate substitutions) and considered as reference mix to examine the effect of WCB on MRPC properties. The test results indicate that the mechanical properties of MRPC improved by replaced silica sand partially with 25% of waste crushed brick and decreased slightly when replacement reached to (50% WCB).
{"title":"Assessment Strength Properties of Modified Reactive Powder Concrete by Adding Waste Bricks","authors":"V. B. Mohammed, S. M. Hama, Khaleel I. Aziz","doi":"10.1109/DeSE.2019.00025","DOIUrl":"https://doi.org/10.1109/DeSE.2019.00025","url":null,"abstract":"The objective of this investigation is to product a Modified Reactive Powder Concrete (MRPC) by utilization of local wastes result from structural applications like waste crushed bricks which were used in this works by replacing silica sand (with maximum particle size of 600 ìm) by waste crushed bricks with maximum size of 10 mm. Also this work include investigation about effect of waste crushed bricks (WCB) on mechanical properties of MRPC like compressive, flexural, and splitting tensile strengths. For Reactive Powder Concrete (RPC) used fine sand (without coarse aggregate substitutions) and considered as reference mix to examine the effect of WCB on MRPC properties. The test results indicate that the mechanical properties of MRPC improved by replaced silica sand partially with 25% of waste crushed brick and decreased slightly when replacement reached to (50% WCB).","PeriodicalId":6632,"journal":{"name":"2019 12th International Conference on Developments in eSystems Engineering (DeSE)","volume":"240 1","pages":"83-87"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79524489","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":"[Title page iii]","authors":"","doi":"10.1109/dese.2019.00002","DOIUrl":"https://doi.org/10.1109/dese.2019.00002","url":null,"abstract":"","PeriodicalId":6632,"journal":{"name":"2019 12th International Conference on Developments in eSystems Engineering (DeSE)","volume":"39 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79876653","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}
Mae Irshaidat, M. Soufian, A. Elkurdi, S. Nefti-Meziani
Dementia and stroke have been considered two major causes of disability in the UK. The field of rehabilitation robotics emerged since early 90’s as a tool to assist therapists with assessing stroke and dementia patients and providing the necessary therapy. The present article aims to offer a review of how current hard robotic devices utilized in upper and lower limb rehabilitation, and how successful they were in increasing the efficiency of the recovery process. Their bottlenecks and short comes are discussed and soft robotics are presented as alternative techniques to resolve them. Novel pneumatic Muscle Actuators (pMA) capable of bending in contrary to traditional pMA are studied here. In particular, we investigate and propose a novel exoskeleton soft robotic arm, which made of several novel pMA for elbow joint rehabilitation. For this purpose, analysis, design, integration and characterization of the proposed arm are presented and geometrical and numerical models are obtained. This study shows that how our proposed exoskeleton soft robotic arm with a lower cost can increase the efficiency of rehabilitation recovery process.
{"title":"Soft and Hard Robotics for Movement Rehabilitation, Analysis and Modelling","authors":"Mae Irshaidat, M. Soufian, A. Elkurdi, S. Nefti-Meziani","doi":"10.1109/DeSE.2019.00179","DOIUrl":"https://doi.org/10.1109/DeSE.2019.00179","url":null,"abstract":"Dementia and stroke have been considered two major causes of disability in the UK. The field of rehabilitation robotics emerged since early 90’s as a tool to assist therapists with assessing stroke and dementia patients and providing the necessary therapy. The present article aims to offer a review of how current hard robotic devices utilized in upper and lower limb rehabilitation, and how successful they were in increasing the efficiency of the recovery process. Their bottlenecks and short comes are discussed and soft robotics are presented as alternative techniques to resolve them. Novel pneumatic Muscle Actuators (pMA) capable of bending in contrary to traditional pMA are studied here. In particular, we investigate and propose a novel exoskeleton soft robotic arm, which made of several novel pMA for elbow joint rehabilitation. For this purpose, analysis, design, integration and characterization of the proposed arm are presented and geometrical and numerical models are obtained. This study shows that how our proposed exoskeleton soft robotic arm with a lower cost can increase the efficiency of rehabilitation recovery process.","PeriodicalId":6632,"journal":{"name":"2019 12th International Conference on Developments in eSystems Engineering (DeSE)","volume":"6 1","pages":"964-969"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75558780","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}
Artur Sagitov, Liliya Gavrilova, T. Tsoy, Hongbing Li
This paper presents a robotic surgical system model that has a robot arm holding an instrument. Designed for performing a minimally invasive surgical procedure, control system for ROS framework is controlling movement of the arm and its instrument. The control system enhances control using joint observers that estimate joint position, velocity and acceleration of executed joint position commands with torque feedback.
{"title":"Design of Simple One-Arm Surgical Robot for Minimally Invasive Surgery","authors":"Artur Sagitov, Liliya Gavrilova, T. Tsoy, Hongbing Li","doi":"10.1109/DeSE.2019.00097","DOIUrl":"https://doi.org/10.1109/DeSE.2019.00097","url":null,"abstract":"This paper presents a robotic surgical system model that has a robot arm holding an instrument. Designed for performing a minimally invasive surgical procedure, control system for ROS framework is controlling movement of the arm and its instrument. The control system enhances control using joint observers that estimate joint position, velocity and acceleration of executed joint position commands with torque feedback.","PeriodicalId":6632,"journal":{"name":"2019 12th International Conference on Developments in eSystems Engineering (DeSE)","volume":"20 1","pages":"500-503"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77597268","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 paper discusses an application of the transfer learning approach concerning human aggressive actions recognition task in video content. Comparative analysis of this approach was performed using various three-dimensional convolutional network architectures (3D CNN): Convolutional 3D Neural Network (C3D), Inception 3D Neural Network (I3D), Residual 3D Neural Network (R3D) based only on RGB frames processing. These 3D CNNs have trained on a composite aggressive action video dataset, that includes benchmark datasets for aggression recognition. The neural networks were evaluated in terms of accuracy, precision, recall, f1-score and loss function values metrics. The aggressive action recognition transfer learning approach using 3D CNNs showed impressive results on the considered metrics. Moreover, learning time in context of this approach was relatively short.
{"title":"Aggressive Action Recognition Using 3D CNN Architectures","authors":"A. Saveliev, M. Uzdiaev, D. Malov","doi":"10.1109/DeSE.2019.00165","DOIUrl":"https://doi.org/10.1109/DeSE.2019.00165","url":null,"abstract":"This paper discusses an application of the transfer learning approach concerning human aggressive actions recognition task in video content. Comparative analysis of this approach was performed using various three-dimensional convolutional network architectures (3D CNN): Convolutional 3D Neural Network (C3D), Inception 3D Neural Network (I3D), Residual 3D Neural Network (R3D) based only on RGB frames processing. These 3D CNNs have trained on a composite aggressive action video dataset, that includes benchmark datasets for aggression recognition. The neural networks were evaluated in terms of accuracy, precision, recall, f1-score and loss function values metrics. The aggressive action recognition transfer learning approach using 3D CNNs showed impressive results on the considered metrics. Moreover, learning time in context of this approach was relatively short.","PeriodicalId":6632,"journal":{"name":"2019 12th International Conference on Developments in eSystems Engineering (DeSE)","volume":"1 1","pages":"890-895"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76333720","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}
Cross-Frames and diaphragms are essential structural elements for stability during construction (and sometimes during the service life) of steel bridge systems. In horizontally curved and skew bridges, these braces can engage adjacent girders to act as a system to resist the potentially large forces and torques caused by the curved or skewed geometry. However, because of their role in laterally transmitting live load forces, they can produce fatigue cracks at their connections to the girders. This paper investigates a method for evaluating the distribution of fatigue stress ranges using finite element analysis (FEA), through user-defined subroutines in conjunction with commercial FEA software. Data from field testing under various load passes of a weighed load vehicle of a skewed steel girders bridge are used to validate the results. A case study of an intermediate cross-frame was adapted in order to show the advantage of using this stress analysis methodology, which locates the stress concentration regions where distortion-induced fatigue cracks may originate. This knowledge can then be applied in later work to assess and optimize the fatigue performance of typical bridges and connection details.
{"title":"Structural Modeling of Cross-Frame Behavior in Steel Girder Bridges","authors":"Y. Almoosi, J. McConnell, N. Oukaili","doi":"10.1109/DeSE.2019.00117","DOIUrl":"https://doi.org/10.1109/DeSE.2019.00117","url":null,"abstract":"Cross-Frames and diaphragms are essential structural elements for stability during construction (and sometimes during the service life) of steel bridge systems. In horizontally curved and skew bridges, these braces can engage adjacent girders to act as a system to resist the potentially large forces and torques caused by the curved or skewed geometry. However, because of their role in laterally transmitting live load forces, they can produce fatigue cracks at their connections to the girders. This paper investigates a method for evaluating the distribution of fatigue stress ranges using finite element analysis (FEA), through user-defined subroutines in conjunction with commercial FEA software. Data from field testing under various load passes of a weighed load vehicle of a skewed steel girders bridge are used to validate the results. A case study of an intermediate cross-frame was adapted in order to show the advantage of using this stress analysis methodology, which locates the stress concentration regions where distortion-induced fatigue cracks may originate. This knowledge can then be applied in later work to assess and optimize the fatigue performance of typical bridges and connection details.","PeriodicalId":6632,"journal":{"name":"2019 12th International Conference on Developments in eSystems Engineering (DeSE)","volume":"25 1","pages":"620-625"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73800541","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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