Analyses of robot systems using fault and event trees: case studies

Safety in the use of robotics outside factories or processing plants has become a matter of great international concern. Domestic robots and those intended to assist nurses and surgeons in hospitals are examples of cases where safety and reliability are considered critical. The safe performance of robot systems depends on many factors, including the integrity of the robot's hardware and software, the way it communicates with sensory and other production equipment, the reliable function of the safety features present and the way the robot interacts with its environment. The use of systematic techniques such as Fault and Event Tree analysis to examine the safety and reliability of a given robotic system is presented. Considerable knowledge is needed before the application of such analysis techniques can be translated into safety specifications or indeed ‘fail-safe’ design features of robotic systems. The skill and understanding required for the formulation of such specifications is demonstrated here based on a number of case studies.     

Poly(acrylic acid)/gum arabic/ZnO semi-IPN hydrogels: synthesis,characterization and their optimizations by response surface methodology

Iranian Polymer Journal - Synthesis of novel semi-interpenetrating poly(acrylic acid) (PAA)/gum arabic (AG)/ZnO hydrogels by in situ free radical polymerization was optimized using response surface...     

Modeling the hollow cylindrical piezo-ceramics with axial polarization using equivalent electro-mechanical admittance matrix

Modeling a piezo-ceramics as an electro-mechanical element is usually done using the laws of electricity. Due to complexity of the derived circuits, this kind of modeling usually results in some simplifications. In this paper using the force–velocity boundary conditions and equalizing the mechanical elements to the electrical ones, the governing equations of a hollow cylindrical piezo-ceramics with axial polarization are solved. Then the equivalent electro-mechanical impedance is represented via matrix notation. Using the matrix algebra the resonance and anti-resonance frequencies are calculated and then compared to the experimental results. The proposed method does not need to any simplification in circuit analysis, and provides the capability of modeling the various layers of piezo-ceramics and metals together in electro-acoustical transducers.     

Zinc oxide nanoparticles: solvent-free synthesis,characterization and application as heterogeneous nanocatalyst for photodegradation of dye from aqueous phase

In present study, for the first time, ZnO nanoparticles have been synthesized via a simple, novel, solvent and template free solid-state thermal decomposition of the mixed Zn(NO₃)·6H₂O and cochineal powders as a novel starting reagent at 600?°C for 3 h. The as-prepared product was analyzed by XRD, EDS, SEM, TEM, FT-IR and DRS. Besides, the effect of cochineal powder on the morphology and particle size of ZnO nanoparticles was investigated. The results exhibited that cochineal powder prevents the sintering of nanoparticles and leads to formation of uniform particles. Moreover, the efficiency of ZnO nanoparticles as a photocatalyst for the decolorization of methylene orange (MO) has been evaluated and 90% degradation of MO was obtained after 120 min.     

A statistical analysis on the mechanical properties of nanocomposite modified asphalt mixtures

This study aimed to characterize the rate of change that takes place in the mechanical properties of polymer-nanocomposite asphalt (PNMA) mixtures due to altering asphalt binder grade and styrene-butadiene-styrene (SBS) type. Laboratory testing program included Marshall stability, resilient modulus, and wheel-tracking tests. Test results were compared and analyzed statistically by means of two-way analysis of variance and Tukey test. Variance analysis indicated the significant effect of both binder type and SBS grade on mechanical properties of asphalt mixtures. Interaction between binder type and SBS grade is also meaningful in all the experiments. The results also show that the binder type is the primary affecting factor, followed by the SBS grade.     

Resource discovery approaches in cloudIoT: a systematic review

The Journal of Supercomputing - The cloud of things (CloudIoT) represents a general system of supporting infrastructure for storing and processing information gathered from smart objects and their...     

Nanocrystalline samarium tungstate: facile morphology-controlled preparation,characterization and investigation of optical and photocatalytic properties

In the current study, samarium tungstate Sm₂(WO₄)₃ nanoparticles were synthesized via a new route based on the reaction between samarium nitrate hexahydrate and sodium tungstate dihydrate in an aqueous solution. Besides, three amino acids such as cysteine, alanine, and glycine were introduce as capping agents and their effects on the morphology and particle size of Sm₂(WO₄)₃ were investigated. It was found that size and morphology could be easily realized by changing the type of amino acids. XRD, SEM, EDS, and UV–Vis spectroscopy were employed to characterize structural, morphological, and optical properties of Sm₂(WO₄)₃ nanoparticles. Sm₂(WO₄)₃ nanoparticles indicated a paramagnetic behavior at room temperature, as evidenced by using vibrating sample magnetometer. Furthermore, the photocatalytic properties of as synthesized Sm₂(WO₄)₃ were evaluated by degradation of methyl orange as water contaminant.     

MDP-Based Network Selection Scheme by Genetic Algorithm and Simulated Annealing for Vertical-Handover in Heterogeneous Wireless Networks

The hybrid algorithm for real-time vertical handover using different objective functions has been presented to find the optimal network to connect with a good quality of service in accordance with the user’s preferences. Markov processes are widely used in performance modelling of wireless and mobile communication systems. We address the problem of optimal wireless network selection during vertical handover, based on the received information, by embedding the decision problem in a Markov decision process (MDP) with genetic algorithm (GA), we use GA to find a set of optimal decisions that ensures the best trade-off between QoS based on their priority level. Then, we emerge improved genetic algorithm (IGA) with simulated annealing (SA) as leading methods for search and optimization problems in heterogeneous wireless networks. We formulate the vertical handoff decision problem as a MDP, with the objectives of maximizing the expected total reward and minimizing average number of handoffs. A reward function is constructed to assess the QoS during each connection, and the AHP method are applied in an iterative way, by which we can work out a stationary deterministic handoff decision policy. As it is, the characteristics of the current mobile devices recommend using fast and efficient algorithms to provide solutions near to real-time. These constraints have moved us to develop intelligent algorithm that avoid the slow and massive computations. This paper compares the formulation and results of five recent optimization algorithms: artificial bee colony, GA, differential evolution, particle swarm optimization and hybrid of (GA–SA). Simulation results indicated that choosing the SA rules would minimize the cost function, and also that, the IGA–SA algorithm could decrease the number of unnecessary handovers, and thereby prevent the ‘Ping-Pong’ effect.