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Title: Autonomous Robots for Agricultural Tasks and Farm Assignment and Future Trends in Agro Robots
Author(s): Sajjad Yaghoubi, Negar Ali Akbarzadeh, Shadi Sadeghi Bazargani, Sama Sadeghi Bazargani, Marjan Bamizan, Maryam Irani Asl
Pages: 1-6 Paper ID: 134301-1303-8989-IJMME-IJENS Published: June, 2013
Abstract: This article provides an overview of worldwide development and current status of precision-agriculture technologies based on literatures generated mainly during the past years. The topics include natural-resource variability; variability management; management zone; impact of precision-agriculture technologies on farm profitability and environment; engineering innovations; information management; worldwide application and adoption trend of precision-agriculture technologies; and potentials of the technologies in modernizing the agriculture in the world. A brief review of research in agricultural vehicle guidance technologies is presented. Application of new popular robotic technologies will augment the realization of agricultural vehicle in future. Agricultural Robotics is the logical proliferation of automation technology into bio systems such as agriculture, forestry, green house, horticulture etc. Presently a number of researches are being done to increase their applications. Some of the scientist contributions are mobile robot, flying robot, forester robot, Demeter which are exclusively used for agriculture. A brief discussion is being done about the types of robots which increase the accuracy and precision of the agriculture.
Keywords: Robotics, technologies, Agriculture, engineering innovation, worldwide trends.
Full Text (.pdf)  International Journals Of Engineering and Sciences | 448 KB
Title: The Impact of Competitive Flow in Coronary Arteries
Author(s): Taewon Seo, Kee-Sik Kim, Oh-Choon Kwon
Pages: 7-13 Paper ID: 133703-9292-IJMME-IJENS Published: June, 2013
Abstract: The purposes of this study are to investigate the effects of the competitive flow on hemodynamic characteristics such as flow patterns and WSS and to examine the Non-Newtonian effects considering the idealized end-to-side anastomsis models. The physiological flow has been applied to examine the competitive flows issued stenosed artery and the graft. The parameters examined in this study are both the direction of graft such as either antegrade or retrograde graft flow, and the angle of the graft relative to native coronary artery. Velocity profiles and wall shear stress were calculated in the coronary artery bypass graft models using CFD (Computational Fluid Dynamics). In the bifurcation region, an asymmetric velocity profile is formed due to the jet flow severely affecting downstream flow field with the dependence of graft angles. There is a large difference in the mean flow volume between antegrade and retrograde grafts. As the constriction of the cross-sectional area in the blood vessel increases, Non-Newtonian effect of blood can be no longer neglected. In the study the competitive flow can be modeled after the coronary artery bypass graft and our results provide useful hemodynamics to better understand the mechanism of graft failure.
Keywords: Coronary artery; Competitive flow; Hemodynamics; Wall shear stress; Non-Newtonian fluid.
Full Text (.pdf)  International Journals Of Engineering and Sciences | 446 KB
Title: An Algorithm of Receding Horizon Control for Two-Person Linear Quadratic Differential Games Using LMI Method
Author(s): Tang Xinpeng
Pages: 14-18 Paper ID: 134803-7575-IJMME-IJENS Published: June, 2013
Abstract: In this paper a linear quadratic differential games-based receding horizon control (RHC) algorithm is presented using linear matrix inequality (LMI) method, for which nominal closed-loop stability is guaranteed. The two-person control inputs are obtained by minimizing a quadratic performance index (cost function) over a finite horizon plus a time-varying terminal cost penalty, subject to input, state and output constraints. Under certain conditions, the weighting matrix in the terminal cost penalty enables one to specify an invariant ellipsoid in which the input, state and output constraints are satisfied. The main contribution of this paper is to apply LMI method to two-person differential games and to incorporate the calculation of that into the on-line optimization problem of the controller. The main advantage of this approach is that a natural and automatic trade-off between feasibility and optimality is obtained. The simulation results demonstrate that the approach can be useful for practical applications.
Keywords: Differential Game, Receding Horizon Control, Linear Matrix Inequality, Algorithm, 4WS.
Full Text (.pdf)  International Journals Of Engineering and Sciences | 654 KB
Title: Accurate and Effective Method to Smoothen Grasping Force Signal of GloveMAP using Gaussian Filter
Author(s): Nazrul H. ADNAN, Khairunizam WAN, Zuradzman M. Razlan, Juliana A. Abu Bakar, Azri A. AZIZ, M. Hazwan Ali
Pages: 19-23 Paper ID: 136203-9494-IJMME-IJENS Published: June, 2013
Abstract: This paper presents the use of Gaussian filtering method to smoothen the grasping force signals by using computational Gaussian Algorithm. The finger grasping force signals are measured using a low cost DataGlove called “GloveMAP” which is based on fingers adapted force grasping movement. Gaussian filter computational algorithm is designed to reduce / eliminate the overshoot signal and suitable to be used for filtering grasping force input signals while minimizing the rise and fall time of the grasping object. In grasping force identification, we are provided with a collection of grasping force data using several objects whereas three main fingers involve in this study. The experimental results showed that the distinguishing between thumb, index and middle fingers grasping force signals and represent the force for an appropriate manipulation of the grasping object.
Keywords: Finger grasping; Gaussian Filtering; Gaussian Algorithm; grasping force identification; grasping object.
Full Text (.pdf)  International Journals Of Engineering and Sciences | 650 KB
Title: Analysis of Finger Movement by Using Motion Information from GloveMAP and Motion Capture System
Author(s): M.Hazwan Ali, Khairunizam WAN, Nazrul H. ADNAN, Y. C Seah, Juliana A. Abu Bakar, Zuradzman M. Razlan
Pages: 24-31 Paper ID: 136803-5757-IJMME-IJENS Published: June, 2013
Abstract: Nowadays, through the advancement of science and technology, possibility of human finger provide information into computer is no longer question. Fingers movement and hand motion continuously being center of research in human computer interaction (HCI) and robotic controls. Using self-develop DataGlove, an experiment was conducted by using motion capture System (MOCAP) equipped with five motion capture cameras to capture human finger movements. The purpose of this paper is to analyze voltage output from DataGlove and angle obtains from motion capture system while constructing relationship concerning both outcomes. Polynomial equation is considered toward the construction of fitting curve line in scatter data. Through the end of project, differences between finger graphs slopes will be clarify. Preliminary result of experiment exposed the newly develop DataGlove output might closely relate into angle of finger bending movement.
Keywords: DataGlove, Finger movements, Human Computer Interaction, Motion Capture Software (MOCAP), Polynomial Regression.
Full Text (.pdf)  International Journals Of Engineering and Sciences | 1,007 KB
Title: Numerical Investigation of Laminar Flow over a Rotating Circular Cylinder
Author(s): Ressan Faris Al-Maliky
Pages: 32-44 Paper ID: 139403-7575-IJMME-IJENS Published: June, 2013
Abstract: This is the work deals with a numerical study of laminar flow of two - dimensional, incompressible, and steady state over rotating circular cylinder. The solution of the flow is presented for dimensionless rotation rate varying from (1 – 6) (in the steps of 1) at each value of Reynolds number based on diameter of cylinder is (200, 400, 800, and 1000). Navier – Stokes and continuity equations were solved numerically by using finite volume technique is conducted with FLUENT version (6.2) package program was used in present work. Stream lines or function and vorticity contours and pressure, lift, and skin friction coefficients results are presented along curve length of cylinder at each value of rotation rate and Reynolds number. The results of lift coefficient and stream lines and vorticity contours were compared with other previously published research that presented support the validity of results. Results have shown approximately increase values of pressure, and skin friction coefficients with increasing of rotation rate at known Reynolds number.
Keywords: Rotating cylinder, laminar flow, skin friction pressure lift coefficients.
Full Text (.pdf)  International Journals Of Engineering and Sciences | 1,359 KB