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Experimental Parameter Identification for Moving Base Nonholonomic Robot Consisting Primary Joints 由主关节组成的运动基座非完整机器人实验参数辨识
Pub Date : 2020-01-01 DOI: 10.35248/0976-4860.20.11.233
A. Ghanbarpour, K. G. Osgouie
Main aim of this paper is to study dynamic modeling and parameter identification of a nonholonomic moving based robot with chain of serial manipulators with primary joints. One of the main scenarios for analyzing mechanical systems including the no holonomic constraints will be carried out by using Lagrangian formulation and its associated “Lagrange multipliers”. Most research on movable manipulators are limited to robots with only rotating joints. The dynamic equations of robots with rotational and prismatic movement is a very important subject with many applications. The combination of this system with a movable base will bring capability of operating in a wider area than a fixed base manipulator. The moving ability added to the agility of the manipulator, is requirement of many application such as; space explores, rescue operations, operation in hazardous locations, agriculture, and so on. Eliminating these variables from the obtained equations is a time-consuming and cumbersome task. To prevent computing the Lagrange multipliers associated with the nonholonomic constraints; Gibbs-Appell formulation shall be implemented. To automatically derive the motion equations and upgrade the computational efficiency, a recursive algorithm has been derived in the simulation of the system. In the concept of this algorithm, all the mathematical scheme is carried out by only 3 × 3 and 3 × 1 matrices. In the last section, computational modeling for a chain of the manipulator with 3 links and primary joints in each arm is performed to show the aptitude of the proposed scheme in implementation of the motion equations and parametric analysis for complex systems at this level. One of the main purposes of this study is to develop rover technologies for interplanetary explorations.
本文的主要目的是研究一类具有主关节的串联机械手链的非完整运动机器人的动力学建模和参数辨识。拉格朗日公式及其相关的“拉格朗日乘子”是分析包括无完整约束在内的机械系统的主要情形之一。大多数关于可移动机械臂的研究都局限于只有旋转关节的机器人。旋转和移动机器人的动力学方程是一门非常重要的学科,有着广泛的应用。该系统与活动基座的结合将带来比固定基座机械手更大范围内的操作能力。移动能力增加了机械手的敏捷性,是许多应用的要求,如;太空探索、救援行动、危险地点行动、农业等等。从得到的方程中消除这些变量是一项耗时且繁琐的任务。为了避免计算与非完整约束相关的拉格朗日乘子;采用吉布斯-阿佩尔公式。为了自动导出运动方程,提高计算效率,在系统仿真中推导了一种递归算法。在该算法的概念中,所有的数学方案仅由3 × 3和3 × 1矩阵来实现。在最后一节中,对具有3个连杆和每个手臂上的主关节的机械臂链进行了计算建模,以显示所提出的方案在实现该级别复杂系统的运动方程和参数分析方面的能力。这项研究的主要目的之一是开发行星际探测的漫游者技术。
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引用次数: 0
Editorial note :International Journal of Advancements in Technology 编者按:《国际技术进步杂志》
Pub Date : 2020-01-01 DOI: 10.35248/0976-4860.20.11.234
Anitha Chennamaneni
Imaging methods have been used for decades for cell/tissue imaging in diagnostics. However the results of conventional imaging techniques were less distinctive and transparent because of the use of unstable organic dyes as contrast agents. These dyes offered low photo stability and quantum yield resulting in poor quality images. However with the advent of nanotechnology, field of medical imaging has revolutionized immensely. Application of different nanomaterials such as silica nanoparticles, quantum dots, gold nanoparticles, etc. have overwhelmed many of the restrictions of conventional contrast agents employed in imaging and thus enhances the performance potential of the existing diagnostic tools.
成像方法在诊断中的细胞/组织成像已经使用了几十年。然而,由于使用不稳定的有机染料作为造影剂,传统成像技术的结果不太明显和透明。这些染料具有较低的光稳定性和量子产率,导致图像质量差。然而,随着纳米技术的出现,医学成像领域发生了巨大的变革。不同纳米材料的应用,如二氧化硅纳米颗粒、量子点、金纳米颗粒等,克服了成像中使用的传统造影剂的许多限制,从而增强了现有诊断工具的性能潜力。
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引用次数: 0
Bone substitute biomaterials 骨替代生物材料
Pub Date : 2019-09-10 DOI: 10.1016/c2013-0-16287-3
Marwa Ouerghemmi
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引用次数: 14
Optimization of Cutting Parameters for Milling TC4 Materials with Spiral Corn Milling Cutter 螺旋玉米铣刀铣削TC4材料切削参数的优化
Pub Date : 2019-01-01 DOI: 10.24105/0976-4860.10.231
S. Xiao, X. Lou, R. Yan
To solve the problem of spiral corn milling cutting TC4 material force inequality and low efficiency, single blade model and cutting force model of spiral corn milling cutter were both analyzed in this paper. By using AdvantEdge FEM software to set the related corn mill cutter blade structure parameters, blade parameters, and network partition, etc. we got the in-process cutting force and temperature simulation figure of spiral corn milling cutter while processing, and on the basis of these simulation parameters, process verification is conducted. The result shows that the analysis of the milling force of spiral corn milling cutter may optimize the cutting parameters, improve the efficiency of difficult-to-machine materials and reduce the tool wear of the cutters while processing TC4 materials.
为解决螺旋玉米铣刀切削TC4物料力不均匀和效率低的问题,对螺旋玉米铣刀的单刀片模型和切削力模型进行了分析。利用AdvantEdge FEM软件设置相关玉米铣刀刀片结构参数、刀片参数、网络划分等,得到螺旋玉米铣刀加工过程中的切削力和温度仿真图,并根据这些仿真参数进行工艺验证。结果表明,对螺旋玉米铣刀的铣削力进行分析,可以优化切削参数,提高难加工材料的加工效率,减少刀具在加工TC4材料时的刀具磨损。
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引用次数: 0
An Analysis of Topology Based System Control Clustering Algorithm in Wireless Sensor Networks 无线传感器网络中基于拓扑的系统控制聚类算法分析
Pub Date : 2019-01-01 DOI: 10.35248/0976-4860.19.10.220
R. Viji, A. Indiradevi
Topology control is a basic issue in wireless sensor networks. It has great significance to establish the hierarchy clustering topology for improving the network performance. Characteristics of the immune system, such as memory learning, feedback regulation and distributed autonomous without a center, provide a novel approach to the issues that exist in the clustering topology control in wireless sensor networks. Mechanism of immune system based topology control clustering algorithm is presented for wireless sensor networks in this paper. It mainly contains the definition of the immune problem, the algorithm’s design and implementation, simulation test. Through the simulation on the performance of clustering optimization, the algorithm shows good clustering performance based on the mechanism of the immune system.
拓扑控制是无线传感器网络中的一个基本问题。建立层次聚类拓扑对于提高网络性能具有重要意义。免疫系统的记忆学习、反馈调节和无中心分布式自治等特性为无线传感器网络中存在的聚类拓扑控制问题提供了一种新的方法。提出了一种基于免疫系统的无线传感器网络拓扑控制聚类算法。主要包括免疫问题的定义、算法的设计与实现、仿真测试。通过对聚类优化性能的仿真,该算法基于免疫系统的机制表现出良好的聚类性能。
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引用次数: 0
Micro-Forging and Peening Aging Produced by Ultra-High-Temperature and Pressure Cavitation 超高温压力空化微锻和喷丸时效
Pub Date : 2019-01-01 DOI: 10.4172/0976-4860.1000227
T. Yoshimura, Masataka Ijiri, Daichi Shimonishi, Kumiko Tanaka
From microstructural examination of specimen surfaces or sides and from the mechanical properties resulting from compressive residual stress using Cr-Mo steel (SCM435), Ni-Cr-Mo steel (SNCM630), Ti-6aAl-4V, and Inconel (UNSN06601) processed by WJC and UTPC (micro-forging), the microstructure of the WJC-processed specimen revealed that voids and cracks tended to occur in the depth region of 0.5-1 mm from the topmost surface. The microstructure of the UTPC-processed specimen showed the spheroidization of cementite observed in the depth region of 0.5-1 mm from the topmost surface. In addition, voids and cracks were not observed in the specimen bulk. The Charpy impact energy of UTPC had the highest value of 101 J because ductile layers were formed by UTPC processing. Stress relaxation behavior of various processed materials at a temperature of 500°C was investigated. Compressive residual stress of more than 100 MPa was retained after annealing both the WJC- and UTPC-processed specimens for 5 hours. After stress relaxation testing, cracks owing to thermal stress do not occur at the grain boundary in the UTPC material having a tenacious tough layer inside. Micro-forging (UTPC) is promising for high-temperature oxidation of low-alloy steel, Ti alloy, and Inconel. Moreover, low-temperature and low-pressure cavitation (LTPC) is applied to age hardening of aluminum alloy Al-Mg-Si (AC4CH).
采用WJC和UTPC(微锻)加工的Cr-Mo钢(SCM435)、Ni-Cr-Mo钢(SNCM630)、Ti-6aAl-4V和Inconel (UNSN06601),通过对试样表面或侧面的显微组织检查和压缩残余应力产生的力学性能分析发现,WJC加工的试样在离表面0.5-1 mm深度区域出现空洞和裂纹。经utpc处理后的试样显微组织显示,在距最表面0.5-1 mm深度区域,渗碳体出现球化。此外,在试样体中未观察到空洞和裂纹。UTPC的夏比冲击能最高,为101 J,这是由于UTPC加工形成了韧性层。研究了不同加工材料在500℃温度下的应力松弛行为。WJC和utpc处理的试样退火5小时后,残余压应力均大于100 MPa。经应力松弛试验,具有坚韧韧性层的UTPC材料在晶界处不会出现热应力引起的裂纹。微锻造技术在低合金钢、钛合金和铬镍铁合金的高温氧化加工中具有广阔的应用前景。并将低温低压空化(LTPC)技术应用于Al-Mg-Si (AC4CH)铝合金的时效硬化。
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引用次数: 8
Performance Evaluation of Fiber and Silica fume on Pervious Concrete Pavements Containing Waste Recycled Concrete Aggregate 含废再生混凝土骨料透水混凝土路面纤维硅灰性能评价
Pub Date : 2019-01-01 DOI: 10.24105/0976-4860.10.230
H. Ibrahim, M. Mahdi, B. Abbas
Pervious concrete as a paving material rehabilitate on a new interest due to its efficiency to permit water to drainage over itself to flow groundwater and reducing storm water runoff. The employment of Recycled Coarse Aggregates (RCA) from site of construction and destruction wastes to product green concrete as a sustainable solve with varied environmental interests. Three different series (A, B, and C) of pervious concrete were used in this work, every series consisting of four mixtures, The (series A) mixtures with RCA replacement were 25%, 50%, 75% and 100% by weight of Natural Coarse Aggregate (NA), and (series B) mixtures using the same replacement ratios of RCA in addition of (silica fume SF) of 2.5%, 5%, 10%, and 12% by weight of cement to strengthen the cement past of pervious concrete. Finally, the (series C) mixtures were included the similar ratios of RCA and SF in addition to glass fibers of volume fraction 0.05%, 0.1%, 0.15%, and 0.2%. The properties of RCA pervious concrete investigated from density, hydraulic conductivity coefficient, porosity, and strength indices were compressive, flexural, and splitting tensile strengths. The test results shows that the use of RCA slightly affect hydraulic conductivity and nugatory effect on compressive, tensile, and flexural strengths where the use of silica fume and glass fibres more strong effect on the hydraulic conductivity and positive effect on pervious concrete flexural, splitting tensile strengths.
透水混凝土作为一种铺路材料,由于它的效率,允许水从自身排出,流向地下水,减少雨水径流,从而重新引起人们的兴趣。利用再生粗骨料(RCA)从建筑和破坏废料现场生产绿色混凝土,作为一种可持续的解决方案,具有多种环境利益。在这项工作中使用了三种不同的透水混凝土系列(A, B和C),每个系列由四种混合物组成,(A系列)替代RCA的混合物按天然粗骨料(NA)的重量分别为25%,50%,75%和100%,(B系列)混合物使用相同的替代比例的RCA和(硅粉SF),按水泥重量分别为2.5%,5%,10%和12%,以加强透水混凝土的水泥层。最后,在体积分数分别为0.05%、0.1%、0.15%和0.2%的玻璃纤维的基础上,加入相似比例的RCA和SF (C系列)混合物。研究了RCA透水混凝土的密度、导水系数、孔隙率以及抗压、抗折和劈裂抗拉强度等强度指标。试验结果表明,RCA的使用对透水混凝土的导水性影响较小,对抗压、抗拉和抗弯强度有微弱影响,其中硅灰和玻璃纤维的使用对透水混凝土的导水性影响较强,对透水混凝土的抗弯、劈裂抗拉强度有积极影响。
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引用次数: 3
Multi-Agent-Based Performance Analysis of Classifiers for Breast Tumours 基于多agent的乳腺肿瘤分类器性能分析
Pub Date : 2019-01-01 DOI: 10.35248/0976-4860.19.10.224
Malgwi Ym, Wajiga Gm, Garba Ej
The challenging effect of selecting the best classifier among many classifier algorithms has been a big problem in data mining. Machine learning is widely used in bioinformatics and particularly in breast cancer diagnosis. This study is based on developing and evaluating different classifier algorithm (k-NN, J48, Decision table, Decision stump, and NaA¯ve Bayes) in order to find the best among them using multi-agent platform and MYSQL for the diagnosis of breast tumors based on associated symptoms and risk factors of cancer diseases. Java Agent Development Environment (JADE) was used for the modeling and simulation. The results and the accuracy score were tested with a breast tumor clinical datasets which were gotten and formed from FMC Yola and FMC Gombe in Nigeria using 10- fold Cross-validation method. The results of the analysis reveal that k-NN classifier has a greater performance capability over other classification algorithms; hence, it is selected to be the best among the tested classifiers with higher accuracy score and lower false positive rate value.
在众多分类器算法中选择最佳分类器的难题一直是数据挖掘中的一大难题。机器学习广泛应用于生物信息学,尤其是乳腺癌诊断。本研究基于对不同分类器算法(k-NN、J48、Decision table、Decision stump、NaA¯ve Bayes)的开发和评价,利用多智能体平台和MYSQL,根据肿瘤疾病的相关症状和危险因素对乳腺肿瘤进行诊断,从中寻找最佳算法。采用Java Agent Development Environment (JADE)进行建模和仿真。采用10倍交叉验证法,对从尼日利亚约拉FMC和贡贝FMC获得的乳腺肿瘤临床数据集进行检测。分析结果表明,k-NN分类器比其他分类算法具有更高的性能;因此,在被测试的分类器中,它被选为准确率得分较高、假阳性率值较低的最佳分类器。
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引用次数: 0
Introductory Guide to Collaborative Robots 协作机器人入门指南
Pub Date : 2019-01-01 DOI: 10.35248/0976-4860.19.10.232
K. Jang, Jaeil Park
Collaborative robots are recently recreated based on industrial robots in order to work safely alongside human workers. Cobot implementation can be simpler and faster than the robots used commonly in industries, which means less time taken for robot training and integration, and a quick return on investment. This paper introduces a guide for how cobots are more easily incorporated into the work area in production while assisting workers’ activities and a cobot service ecosystem that has been developed to helps small-and-medium-sized manufacturing companies.
协作机器人最近在工业机器人的基础上被重新创造出来,以便与人类工人一起安全工作。Cobot的实现比工业中常用的机器人更简单、更快,这意味着机器人培训和集成所需的时间更少,投资回报更快。本文介绍了协作机器人如何在协助工人活动的同时更容易地融入生产工作区域的指南,以及为帮助中小型制造公司而开发的协作机器人服务生态系统。
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引用次数: 0
Analysis of QoS in Different Application by using Opnet Workbench 基于Opnet Workbench的不同应用的QoS分析
Pub Date : 2019-01-01 DOI: 10.35248/0976-4860.19.10.221
A. Amjad
Quality of service gauges the overall performance of different services within the network in many applications like voice telephony, video conferencing, audio conferencing etc. This paper involves the analysis of quality of service among different application by using Opnet workbench. With the help of Opnet which includes many built-in parameters thus by using some parameters of QoS within an Opnet, the effect of QoS has been detected. The central idea is to mainly determine the role of QoS on some applications. This paper includes a simple network which does not include quality of service and a complete network with some applications in which authentic parameters regarding the quality of service, are applied. Thus, it has been concluded there is a great impact of QoS in a network. A network without quality is considered to be a poor network so this paper majorly emphasizes the importance of QoS.
服务质量衡量网络中不同服务的整体性能,如语音电话、视频会议、音频会议等。本文利用Opnet workbench对不同应用程序之间的服务质量进行了分析。利用Opnet自带的许多参数,通过在一个Opnet中使用QoS的一些参数来检测QoS的效果。中心思想主要是确定QoS在某些应用程序中的作用。本文包括一个不包含服务质量的简单网络和一个包含服务质量可靠参数的完整网络。由此可见,QoS对网络的影响很大。没有质量的网络被认为是一个差的网络,因此本文主要强调QoS的重要性。
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引用次数: 0
期刊
International journal of advancements in computing technology
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