Overview of some Command Modes for Human-Robot Interaction Systems

Interaction and command modes as well as their combination are essential features of modern and futuristic robotic systems interacting with human beings in various dynamical environments. This paper presents a synthetic overview concerning the most command modes used in Human-Robot Interaction Systems (HRIS). It includes the first historical command modes which are namely tele-manipulation, off-line robot programming, and traditional elementary teaching by demonstration. It then introduces the most recent command modes which have been fostered later on by the use of artificial intelligence techniques implemented on more powerful computers. In this context, we will consider specifically the following modes: interactive programming based on the graphical-user-interfaces, voice-based, pointing-on-image-based, gesture-based, and finally brain-based commands.info:eu-repo/semantics/publishedVersio

AN ANALYTICAL APPROACH TO AM2 MODEL FOR BATCH ANAEROBIC BIOREACTORS

The well-known AM2 model is commonly used for simulation of biotechnological processes of two-phases anaerobic digestions. Nevertheless, numerical simulation and graphical results usually obtained by solving the non-linear system of differential equations characterizing this model do not always enable an easy analysis of the processes as well their sensitivity to the variations of the different parameters and the initial conditions. In this paper, as an alternative to simulation, an analytical approach is proposed for batch reactors. It consists of adopting some approximations to reduce the mathematical complexity of the coupled differential equations of the AM2 model. The aim is to derive approximate analytical expressions concerning the dynamical evolution of the substrates and bacterias involved in reactions. The obtained expressions, therefore, permit a relatively easy analysis of the evolution of the main processes and their sensitivity to the different parameters and initial conditions. Moreover, it provides an explicit mathematical expression that enables to estimate the cummulative production of methane. The comparison of the obtained results by this proposed analytical approach to the numerical simulation of the AM2 model shows a satisfying qualitative convergence of the proposed approach to the AM2 model

Dynamic Modeling of a Spatial Cable-Driven Continuum Robot Using Euler-Lagrange Method

Continuum robots are kinematically redundant and their dynamic models are highly nonlinear. This study aims to overcome this difficulty by presenting a more practical dynamic model of a certain class of continuum robots called cable-driven continuum robot (CDCR). Firstly, the structural design of a CDCR with two rotational degrees of freedom (DOF) is introduced. Then, the kinematic models are derived according to the constant curvature assumption. Considering the complexity of the kinetic energy expression, it has been approximated by the well-known Taylor expansions.  This case corresponds to weak bending angles within the specified bending angle range of the robot. On the other hand, due to the low weight of the CDCR components, the gravitational energy effects can be neglected compared to those stemmed from the elastic energy. Thereafter, the corresponding dynamic model is established using Euler-Lagrange method. Static and dynamic models have been illustrated by examples. This analysis and dynamic model development have been compared with the existing scientific literature. The obtained results shown that the consistency and the efficiency of accuracy for real-time have been carried out. However, the dynamic modeling of CDCR with more than 2-DOF leads to a more complex mathematical expression, and cannot be simplified by adopting the similar assumptions and methodology used in the case of 2-DOF

Effect of Environmental Conditions and Training Algorithms on the Efficiency of a NARX Based Approach to Predict PV Panel Power Output

Photovoltaic energy is volatile in nature since it depends on weather conditions. It is important to have an idea about the reliability and the economic feasibility of any new project to decide whether it is right to proceed with the installation of such a project. Hence, it is becoming fundamental to know renewable energy state and production that can be combined with other less variable and more predictable sources to justify the choice of regions for the new photovoltaic projects installation. The current research investigates the forecasting abilities of a NARX based approach. The influence of the meteorological data, such as irradiance, ambient temperature, and wind speed, and the impact of training algorithms on the performance of the NARX-based forecaster is studied. For this purpose, four models are discussed, each model is trained based on three training algorithms. The NARX model using a Bayesian Regularization algorithm, trained by the three meteorological data as inputs and the converted power output as output, outperforms the other models. It consists of a simple architecture with one input layer, a hidden layer containing 1O neurons, and an output layer, with a mean square error of 0.0085 W2 for the training phase and 0.0043 W2 testing phase, and the overall regression of 95.48%. This simplified architecture and low values of the mean square error and the regression coefficient suggest that they are promising photovoltaic output prediction tools, particularly in locations where few meteorological parameters are monitored

OPTIMIZING THE USE OF GREEN ENERGIES, AN APPLICATION TO CROP IRRIGATION

This paper assesses the optimal farmland that can be irrigated by a predetermined renewable energy system. The optimal irrigated surface from an agriculture area, cultivated by potatoes and tomatoes and powered by a PV system is studied. Two scenarios are discussed: the constraints applied to the first scenario is the limited surface of the agricultural area. While in the second scenario, the surface cultivated with tomatoes must be at least ¼ the surface cultivated with potatoes. Linear programming based on the Simplex algorithm is used to solve the optimization problem. The obtained results show that for the specified cultivating area, and for 10 panels at hand, an optimal surface of about 5.6 ha and 4.7 ha for the first scenario and the second scenario, respectively can be satisfied

KINEMATICS ANALYSIS OF A PARALLEL ROBOT WITH A PASSIVE SEGMENT ANÁLISIS DE LA CINEMÁTICA DE UN ROBOT PARALELO CON UN SEGMENTO PASIVO

This paper presents a geometrical model of a constrained robot of three degrees of freedom (d.o.f) added to a PPP passive central segment. This structure provides a pure translation motion. We will also determine the relations between generalized and articular velocities by using the inverse Jacobian matrix. Further, we determine the reciprocal relations between cartesian and angular velocities of the end-effector via articular velocities by simple derivation of the direct geometrical model expressions. A determination of the workspace based on the geometrical model analysis is derived followed by a numerical calculation of all the atteignables points enabling a graphical visualisation of such a workspace. Moreover, the analysis of the Jacobian matrix has permitted to ensure that there are no singularities of type 1 and 2 in such a structure. A prototype of a parallel robot has been built up in our laboratory in order to validate the proposed models.<br>Este trabajo presenta el modelo geométrico de un robot paralelo con tres grados de libertad (d.o.f) agregados a un segmento central pasivo del PPP. Esta estructura proporciona un movimiento de translación pura. También determinaremos las relaciones entre las velocidades generalizadas y articulares usando la matriz Jacobiana inversa. Además, determinamos las relaciones recíprocas entre las velocidades cartesianas y angulares del end-effector vía velocidades articulares por la derivación simple de las expresiones del modelo geométrico directo. Una determinación del espacio de trabajo basado en el análisis del modelo geométrico es derivado seguido por un cálculo numérico de todos los puntos que deben alcanzarse permitiendo una visualización gráfica de tal espacio de trabajo. Por otra parte, el análisis de los coeficientes de la matriz Jacobiana permite asegurar que no haya singularidades del tipo 1 y 2 en tal estructura. Se ha realizado un prototipo de robot paralelo en nuestro laboratorio para validar los modelos propuestos

KINEMATICS ANALYSIS OF A PARALLEL ROBOT WITH A PASSIVE SEGMENT

This paper presents a geometrical model of a constrained robot of three degrees of freedom (d.o.f) added to a PPP passive central segment. This structure provides a pure translation motion. We will also determine the relations between generalized and articular velocities by using the inverse Jacobian matrix. Further, we determine the reciprocal relations betwee

Investigation of the use of a central unique renewable energy system versus distributed units for crop irrigation

International audienceThis paper discusses a comparison study of the use of 100% renewable energy systems for desert and remote areas, investigating both a central unique unit and distributed units. An initial HRES consisting of a photovoltaic (PV) array and wind generator is used to power an agricultural area of 4 ha once with a central unit and then with four distributed units. The selection of the optimal size is accomplished through linear programming based on the simplex algorithm to minimize the total life cycle cost. The results show for the first time that the use of a distributed renewable energy system containing a full PV array is cost-effective compared to a central unit