85 research outputs found

    Type Synthesis and Performance Optimization of Parallel Manipulators

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    Parallel robots have been widely employed in industrial applications. There are still some challenging topics in the fundamental research, e.g., the primary problem mobility analysis has not been solved for about 150 years. A universal mobility equation for all kinds of parallel architectures has not been found. Another issue lies on the performance measurements for parallel manipulators. There are plenty of kinematic and dynamic performance indices. However, the various ranges and scales of these indicators make the optimal design considering multiple indices complicated. It is essential to search for a unified approach to normalize performance indicators. More dynamic performance measurement indicators should be raised to explore the dynamic features and complete the theory for parallel mechanisms. In this research, an improved mobility equation is designed to reveal the degrees of freedom for a special class of parallel robots. A novel methodology called the kinematic joint matrix is proposed. It possesses the mapping relations with parallel manipulators. A series of 2-6 degrees of freedom parallel architectures is denoted by the kinematic joint matrix. The theory of screw is employed to check the feasibility from several kinds of parallel structures. A special block diagram is introduced to distinguish various kinematic joint matrices. Since this family of parallel robots contains various motion characteristics, four parallel robots with distinct features are selected. Based on the kinematic models, three categories of singularities are explored. The operational and reachable workspaces of the pure-translational parallel robots are searched and the parametric analyses are reported. The linkage’s impacts for the reachable workspace of the mixed-motion parallel architectures are investigated. The novel performance level index is designed to unify the positive performance index and demonstrated the performance rank for any pose (position and orientation). The dexterity index is utilized as an example to verify the characteristics of the level index. The distributions and parametric analyses of two novel mass-related performances are studied. The dimension synthesis of a selected planar parallel robot is presented based on the non-dominated genetic algorithm II. The experiment results testify the correctness of the mobility and kinematic mathematical models of this mechanism

    Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021

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    This Open Access proceedings presents a good overview of the current research landscape of assembly, handling and industrial robotics. The objective of MHI Colloquium is the successful networking at both academic and management level. Thereby, the colloquium focuses an academic exchange at a high level in order to distribute the obtained research results, to determine synergy effects and trends, to connect the actors in person and in conclusion, to strengthen the research field as well as the MHI community. In addition, there is the possibility to become acquatined with the organizing institute. Primary audience is formed by members of the scientific society for assembly, handling and industrial robotics (WGMHI)

    Applications of Mathematical Models in Engineering

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    The most influential research topic in the twenty-first century seems to be mathematics, as it generates innovation in a wide range of research fields. It supports all engineering fields, but also areas such as medicine, healthcare, business, etc. Therefore, the intention of this Special Issue is to deal with mathematical works related to engineering and multidisciplinary problems. Modern developments in theoretical and applied science have widely depended our knowledge of the derivatives and integrals of the fractional order appearing in engineering practices. Therefore, one goal of this Special Issue is to focus on recent achievements and future challenges in the theory and applications of fractional calculus in engineering sciences. The special issue included some original research articles that address significant issues and contribute towards the development of new concepts, methodologies, applications, trends and knowledge in mathematics. Potential topics include, but are not limited to, the following: Fractional mathematical models; Computational methods for the fractional PDEs in engineering; New mathematical approaches, innovations and challenges in biotechnologies and biomedicine; Applied mathematics; Engineering research based on advanced mathematical tools

    Collected Papers (on various scientific topics), Volume XIII

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    This thirteenth volume of Collected Papers is an eclectic tome of 88 papers in various fields of sciences, such as astronomy, biology, calculus, economics, education and administration, game theory, geometry, graph theory, information fusion, decision making, instantaneous physics, quantum physics, neutrosophic logic and set, non-Euclidean geometry, number theory, paradoxes, philosophy of science, scientific research methods, statistics, and others, structured in 17 chapters (Neutrosophic Theory and Applications; Neutrosophic Algebra; Fuzzy Soft Sets; Neutrosophic Sets; Hypersoft Sets; Neutrosophic Semigroups; Neutrosophic Graphs; Superhypergraphs; Plithogeny; Information Fusion; Statistics; Decision Making; Extenics; Instantaneous Physics; Paradoxism; Mathematica; Miscellanea), comprising 965 pages, published between 2005-2022 in different scientific journals, by the author alone or in collaboration with the following 110 co-authors (alphabetically ordered) from 26 countries: Abduallah Gamal, Sania Afzal, Firoz Ahmad, Muhammad Akram, Sheriful Alam, Ali Hamza, Ali H. M. Al-Obaidi, Madeleine Al-Tahan, Assia Bakali, Atiqe Ur Rahman, Sukanto Bhattacharya, Bilal Hadjadji, Robert N. Boyd, Willem K.M. Brauers, Umit Cali, Youcef Chibani, Victor Christianto, Chunxin Bo, Shyamal Dalapati, Mario DalcĂ­n, Arup Kumar Das, Elham Davneshvar, Bijan Davvaz, Irfan Deli, Muhammet Deveci, Mamouni Dhar, R. Dhavaseelan, Balasubramanian Elavarasan, Sara Farooq, Haipeng Wang, Ugur Halden, Le Hoang Son, Hongnian Yu, Qays Hatem Imran, Mayas Ismail, Saeid Jafari, Jun Ye, Ilanthenral Kandasamy, W.B. Vasantha Kandasamy, Darjan KarabaĆĄević, Abdullah Kargın, Vasilios N. Katsikis, Nour Eldeen M. Khalifa, Madad Khan, M. Khoshnevisan, Tapan Kumar Roy, Pinaki Majumdar, Sreepurna Malakar, Masoud Ghods, Minghao Hu, Mingming Chen, Mohamed Abdel-Basset, Mohamed Talea, Mohammad Hamidi, Mohamed Loey, Mihnea Alexandru Moisescu, Muhammad Ihsan, Muhammad Saeed, Muhammad Shabir, Mumtaz Ali, Muzzamal Sitara, Nassim Abbas, Munazza Naz, Giorgio Nordo, Mani Parimala, Ion Pătrașcu, Gabrijela Popović, K. Porselvi, Surapati Pramanik, D. Preethi, Qiang Guo, Riad K. Al-Hamido, Zahra Rostami, Said Broumi, Saima Anis, Muzafer Saračević, Ganeshsree Selvachandran, Selvaraj Ganesan, Shammya Shananda Saha, Marayanagaraj Shanmugapriya, Songtao Shao, Sori Tjandrah Simbolon, Florentin Smarandache, Predrag S. Stanimirović, DragiĆĄa Stanujkić, Raman Sundareswaran, Mehmet Șahin, Ovidiu-Ilie Șandru, Abdulkadir ȘengĂŒr, Mohamed Talea, Ferhat Taș, Selçuk Topal, Alptekin Ulutaș, Ramalingam Udhayakumar, Yunita Umniyati, J. Vimala, Luige Vlădăreanu, ƞtefan VlăduĆŁescu, Yaman Akbulut, Yanhui Guo, Yong Deng, You He, Young Bae Jun, Wangtao Yuan, Rong Xia, Xiaohong Zhang, Edmundas Kazimieras Zavadskas, Zayen Azzouz Omar, Xiaohong Zhang, Zhirou Ma.‬‬‬‬‬‬‬

    Evolutionary Algorithms in Engineering Design Optimization

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    Evolutionary algorithms (EAs) are population-based global optimizers, which, due to their characteristics, have allowed us to solve, in a straightforward way, many real world optimization problems in the last three decades, particularly in engineering fields. Their main advantages are the following: they do not require any requisite to the objective/fitness evaluation function (continuity, derivability, convexity, etc.); they are not limited by the appearance of discrete and/or mixed variables or by the requirement of uncertainty quantification in the search. Moreover, they can deal with more than one objective function simultaneously through the use of evolutionary multi-objective optimization algorithms. This set of advantages, and the continuously increased computing capability of modern computers, has enhanced their application in research and industry. From the application point of view, in this Special Issue, all engineering fields are welcomed, such as aerospace and aeronautical, biomedical, civil, chemical and materials science, electronic and telecommunications, energy and electrical, manufacturing, logistics and transportation, mechanical, naval architecture, reliability, robotics, structural, etc. Within the EA field, the integration of innovative and improvement aspects in the algorithms for solving real world engineering design problems, in the abovementioned application fields, are welcomed and encouraged, such as the following: parallel EAs, surrogate modelling, hybridization with other optimization techniques, multi-objective and many-objective optimization, etc

    Télé-opération Corps Complet de Robots Humanoïdes

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    This thesis aims to investigate systems and tools for teleoperating a humanoid robot. Robotteleoperation is crucial to send and control robots in environments that are dangerous or inaccessiblefor humans (e.g., disaster response scenarios, contaminated environments, or extraterrestrialsites). The term teleoperation most commonly refers to direct and continuous control of a robot.In this case, the human operator guides the motion of the robot with her/his own physical motionor through some physical input device. One of the main challenges is to control the robot in a waythat guarantees its dynamical balance while trying to follow the human references. In addition,the human operator needs some feedback about the state of the robot and its work site through remotesensors in order to comprehend the situation or feel physically present at the site, producingeffective robot behaviors. Complications arise when the communication network is non-ideal. Inthis case the commands from human to robot together with the feedback from robot to human canbe delayed. These delays can be very disturbing for the human operator, who cannot teleoperatetheir robot avatar in an effective way.Another crucial point to consider when setting up a teleoperation system is the large numberof parameters that have to be tuned to effectively control the teleoperated robots. Machinelearning approaches and stochastic optimizers can be used to automate the learning of some of theparameters.In this thesis, we proposed a teleoperation system that has been tested on the humanoid robotiCub. We used an inertial-technology-based motion capture suit as input device to control thehumanoid and a virtual reality headset connected to the robot cameras to get some visual feedback.We first translated the human movements into equivalent robot ones by developping a motionretargeting approach that achieves human-likeness while trying to ensure the feasibility of thetransferred motion. We then implemented a whole-body controller to enable the robot to trackthe retargeted human motion. The controller has been later optimized in simulation to achieve agood tracking of the whole-body reference movements, by recurring to a multi-objective stochasticoptimizer, which allowed us to find robust solutions working on the real robot in few trials.To teleoperate walking motions, we implemented a higher-level teleoperation mode in whichthe user can use a joystick to send reference commands to the robot. We integrated this setting inthe teleoperation system, which allows the user to switch between the two different modes.A major problem preventing the deployment of such systems in real applications is the presenceof communication delays between the human input and the feedback from the robot: evena few hundred milliseconds of delay can irremediably disturb the operator, let alone a few seconds.To overcome these delays, we introduced a system in which a humanoid robot executescommands before it actually receives them, so that the visual feedback appears to be synchronizedto the operator, whereas the robot executed the commands in the past. To do so, the robot continuouslypredicts future commands by querying a machine learning model that is trained on pasttrajectories and conditioned on the last received commands.Cette thĂšse vise Ă  Ă©tudier des systĂšmes et des outils pour la tĂ©lĂ©-opĂ©ration d’un robot humanoĂŻde.La tĂ©lĂ©opĂ©ration de robots est cruciale pour envoyer et contrĂŽler les robots dans des environnementsdangereux ou inaccessibles pour les humains (par exemple, des scĂ©narios d’interventionen cas de catastrophe, des environnements contaminĂ©s ou des sites extraterrestres). Le terme tĂ©lĂ©opĂ©rationdĂ©signe le plus souvent le contrĂŽle direct et continu d’un robot. Dans ce cas, l’opĂ©rateurhumain guide le mouvement du robot avec son propre mouvement physique ou via un dispositifde contrĂŽle. L’un des principaux dĂ©fis est de contrĂŽler le robot de maniĂšre Ă  garantir son Ă©quilibredynamique tout en essayant de suivre les rĂ©fĂ©rences humaines. De plus, l’opĂ©rateur humain abesoin d’un retour d’information sur l’état du robot et de son site via des capteurs Ă  distance afind’apprĂ©hender la situation ou de se sentir physiquement prĂ©sent sur le site, produisant des comportementsde robot efficaces. Des complications surviennent lorsque le rĂ©seau de communicationn’est pas idĂ©al. Dans ce cas, les commandes de l’homme au robot ainsi que la rĂ©troaction du robotĂ  l’homme peuvent ĂȘtre retardĂ©es. Ces dĂ©lais peuvent ĂȘtre trĂšs gĂȘnants pour l’opĂ©rateur humain,qui ne peut pas tĂ©lĂ©-opĂ©rer efficacement son avatar robotique.Un autre point crucial Ă  considĂ©rer lors de la mise en place d’un systĂšme de tĂ©lĂ©-opĂ©rationest le grand nombre de paramĂštres qui doivent ĂȘtre rĂ©glĂ©s pour contrĂŽler efficacement les robotstĂ©lĂ©-opĂ©rĂ©s. Des approches d’apprentissage automatique et des optimiseurs stochastiques peuventĂȘtre utilisĂ©s pour automatiser l’apprentissage de certains paramĂštres.Dans cette thĂšse, nous avons proposĂ© un systĂšme de tĂ©lĂ©-opĂ©ration qui a Ă©tĂ© testĂ© sur le robothumanoĂŻde iCub. Nous avons utilisĂ© une combinaison de capture de mouvement basĂ©e sur latechnologie inertielle comme pĂ©riphĂ©rique de contrĂŽle pour l’humanoĂŻde et un casque de rĂ©alitĂ©virtuelle connectĂ© aux camĂ©ras du robot pour obtenir un retour visuel. Nous avons d’abord traduitles mouvements humains en mouvements robotiques Ă©quivalents en dĂ©veloppant une approchede retargeting de mouvement qui atteint la ressemblance humaine tout en essayant d’assurer lafaisabilitĂ© du mouvement transfĂ©rĂ©. Nous avons ensuite implĂ©mentĂ© un contrĂŽleur du corps entierpour permettre au robot de suivre le mouvement humain reciblĂ©. Le contrĂŽleur a ensuite Ă©tĂ©optimisĂ© en simulation pour obtenir un bon suivi des mouvements de rĂ©fĂ©rence du corps entier,en recourant Ă  un optimiseur stochastique multi-objectifs, ce qui nous a permis de trouver dessolutions robustes fonctionnant sur le robot rĂ©el en quelques essais.Pour tĂ©lĂ©-opĂ©rer les mouvements de marche, nous avons implĂ©mentĂ© un mode de tĂ©lĂ©-opĂ©rationde niveau supĂ©rieur dans lequel l’utilisateur peut utiliser un joystick pour envoyer des commandesde rĂ©fĂ©rence au robot. Nous avons intĂ©grĂ© ce paramĂštre dans le systĂšme de tĂ©lĂ©-opĂ©ration, ce quipermet Ă  l’utilisateur de basculer entre les deux modes diffĂ©rents.Un problĂšme majeur empĂȘchant le dĂ©ploiement de tels systĂšmes dans des applications rĂ©ellesest la prĂ©sence de retards de communication entre l’entrĂ©e humaine et le retour du robot: mĂȘmequelques centaines de millisecondes de retard peuvent irrĂ©mĂ©diablement perturber l’opĂ©rateur,encore plus quelques secondes. Pour surmonter ces retards, nous avons introduit un systĂšme danslequel un robot humanoĂŻde exĂ©cute des commandes avant de les recevoir, de sorte que le retourvisuel semble ĂȘtre synchronisĂ© avec l’opĂ©rateur, alors que le robot exĂ©cutait les commandes dansle passĂ©. Pour ce faire, le robot prĂ©dit en permanence les commandes futures en interrogeant unmodĂšle d’apprentissage automatique formĂ© sur les trajectoires passĂ©es et conditionnĂ© aux derniĂšrescommandes reçues

    Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021

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    This Open Access proceedings presents a good overview of the current research landscape of assembly, handling and industrial robotics. The objective of MHI Colloquium is the successful networking at both academic and management level. Thereby, the colloquium focuses an academic exchange at a high level in order to distribute the obtained research results, to determine synergy effects and trends, to connect the actors in person and in conclusion, to strengthen the research field as well as the MHI community. In addition, there is the possibility to become acquatined with the organizing institute. Primary audience is formed by members of the scientific society for assembly, handling and industrial robotics (WGMHI)

    Collected Papers (on Neutrosophic Theory and Applications), Volume VI

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    This sixth volume of Collected Papers includes 74 papers comprising 974 pages on (theoretic and applied) neutrosophics, written between 2015-2021 by the author alone or in collaboration with the following 121 co-authors from 19 countries: Mohamed Abdel-Basset, Abdel Nasser H. Zaied, Abduallah Gamal, Amir Abdullah, Firoz Ahmad, Nadeem Ahmad, Ahmad Yusuf Adhami, Ahmed Aboelfetouh, Ahmed Mostafa Khalil, Shariful Alam, W. Alharbi, Ali Hassan, Mumtaz Ali, Amira S. Ashour, Asmaa Atef, Assia Bakali, Ayoub Bahnasse, A. A. Azzam, Willem K.M. Brauers, Bui Cong Cuong, Fausto Cavallaro, Ahmet Çevik, Robby I. Chandra, Kalaivani Chandran, Victor Chang, Chang Su Kim, Jyotir Moy Chatterjee, Victor Christianto, Chunxin Bo, Mihaela Colhon, Shyamal Dalapati, Arindam Dey, Dunqian Cao, Fahad Alsharari, Faruk Karaaslan, Aleksandra Fedajev, Daniela GĂźfu, Hina Gulzar, Haitham A. El-Ghareeb, Masooma Raza Hashmi, Hewayda El-Ghawalby, Hoang Viet Long, Le Hoang Son, F. Nirmala Irudayam, Branislav Ivanov, S. Jafari, Jeong Gon Lee, Milena Jevtić, Sudan Jha, Junhui Kim, Ilanthenral Kandasamy, W.B. Vasantha Kandasamy, Darjan KarabaĆĄević, SongĂŒl Karabatak, Abdullah Kargın, M. Karthika, Ieva Meidute-Kavaliauskiene, Madad Khan, Majid Khan, Manju Khari, Kifayat Ullah, K. Kishore, Kul Hur, Santanu Kumar Patro, Prem Kumar Singh, Raghvendra Kumar, Tapan Kumar Roy, Malayalan Lathamaheswari, Luu Quoc Dat, T. Madhumathi, Tahir Mahmood, Mladjan Maksimovic, Gunasekaran Manogaran, Nivetha Martin, M. Kasi Mayan, Mai Mohamed, Mohamed Talea, Muhammad Akram, Muhammad Gulistan, Raja Muhammad Hashim, Muhammad Riaz, Muhammad Saeed, Rana Muhammad Zulqarnain, Nada A. Nabeeh, Deivanayagampillai Nagarajan, Xenia Negrea, Nguyen Xuan Thao, Jagan M. Obbineni, Angelo de Oliveira, M. Parimala, Gabrijela Popovic, Ishaani Priyadarshini, Yaser Saber, Mehmet Șahin, Said Broumi, A. A. Salama, M. Saleh, Ganeshsree Selvachandran, DönĂŒÈ™ ȘengĂŒr, Shio Gai Quek, Songtao Shao, DragiĆĄa Stanujkić, Surapati Pramanik, Swathi Sundari Sundaramoorthy, Mirela Teodorescu, Selçuk Topal, Muhammed Turhan, Alptekin Ulutaș, Luige Vlădăreanu, Victor Vlădăreanu, ƞtefan VlăduĆŁescu, Dan Valeriu Voinea, Volkan Duran, Navneet Yadav, Yanhui Guo, Naveed Yaqoob, Yongquan Zhou, Young Bae Jun, Xiaohong Zhang, Xiao Long Xin, Edmundas Kazimieras Zavadskas
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