Search Results (6)

In this study, we have developed a humanoid nursing care robot with the goal of helping older people realizing achieve various tasks such as assisted mobility, feeding, drinking, defecation, and bathing. This type of robot has the following features: (1) by using an omnidirectional mobility mechanism that does not require space equivalent to the turning radius, there is no risk of the robot itself falling over, and it can be used safely even in the small spaces of the home; (2) by giving the robot two arms with the same structure as a human arm, it is possible to perform a wide variety of nursing care movements; (3) in addition to avoiding bumping into furniture and walls, and to emulate human mobility intelligence, the robot has a high level of intelligence, which is required to understand the needs of the person receiving care and to determine appropriate action. This article presents the concept for the development of a humanoid nursing care robot and the design and basic configuration of the prototype. On the other hand, the care provided by robot is expected not only to eliminate labor shortages, but also improve the quality of care by taking into account the unique characteristics of each person requiring care. Quantitative management of nutritional intake is recognized as a way to improve the quality of care. This article proposes a method to use force sensors to enable a robot to pour water (beverages) quantitatively, and proves its effectiveness through experiments on a humanoid nursing care robot. Full article

This study evaluated the impact of precision feeding and bump feeding strategies during gestation on the reproductive performance of sows monitored over three cycles. Four treatments were compared: two constant-concentration feeding strategies (0.53% standardized ileal digestible lysine content; SID Lys) with the feed supply remaining constant (flat feeding; FF) or variable (bump feeding; BF) and two precision feeding strategies based on the InraPorc model considering performance by parity (precision feeding per parity; PFP) or the weight of each sow at breeding (precision feeding by individual; PFI). Sows were followed over three gestation and lactation cycles. In the first cycle (n = 502), the birth-to-weaning piglet mortality for PFP (8.7%) and PFI (10.3%) was lower than for BF (13.8%), with FF (11.3%) being intermediate (p = 0.001). No differences were observed in litter performance during the second cycle (n = 340). During the third cycle (n = 274), the stillborn rate was lower for PFP (6.2%) than for BF (9.1%) and FF (10.4%), with PFI (7.0%) being intermediate (p = 0.01). The BF strategy did not significantly improve sow or litter performance during lactation. Meanwhile, precision feeding could reduce nitrogen (10–13%) and total phosphorus intake (6–9%) with PFP and PFI strategies. Also, the results showed that it could even reduce piglet mortality during lactation. Full article

The late gestation period is crucial for fetal growth and development, impacting swine enterprises’ profitability. Various nutritional strategies have been explored to enhance reproductive performance in sows, but findings regarding birth weight and litter size have been inconsistent. This study investigated the effects of increased feeding allowance during the late gestation period on the reproductive performance and farrowing behavior of primiparous and multiparous sows. A total of 28 sows (Landrace × Yorkshire) were used in this experiment, and fed 2.50 kg/d or 3.50 kg/d from 84 days of gestation until farrowing. Farrowing behavior was monitored using a DeepEyes^TM M3SEN camera. The data were analyzed using the 2 × 2 factorial within Statistical Analysis System (SAS, 2011, Version 9.3) software. The results indicated that regardless of the parity number, sows fed a high diet exhibited a numerical increase in the total number of born piglets and a significant increase in milk yield (p = 0.014) and piglet birthweight (p = 0.023). Backfat thickness loss was significantly higher in sows with a 2.50 kg feeding allowance (p = 0.022), and the total number of piglets born, live births, and litter size were numerically higher in sows fed 3.50 kg per day. Moreover, stillborn piglets, mortality rate, and re-estrus days were numerically lower in sows with a high feeding allowance. The diet and parity did not individually affect the average duration of farrowing and farrowing intervals. However, the duration of postural changes in sows after farrowing was significantly reduced (p = 0.012). The principal component analysis revealed 81.40% and 80.70% differences upon partial least-squares discriminant analysis. Therefore, increasing feeding allowance during the late gestation period, regardless of parity, could positively influence sows’ reproductive performance and piglets’ growth performance during the lactation phase. Full article

Studying roughness parameters and the topography of stiffening ribs in composite sandwich structures is important for understanding these materials’ surface quality and mechanical properties. The roughness parameters describe the micro-geometry of the surface, including the average height deviation, roughness depth, and waviness. The topography of the surface refers to the spatial arrangement and distribution of features such as bumps, ridges, and valleys. The study investigated the roughness parameters under three scenarios based on two SPIF process parameters: tool rotational speed(N) and feed rate (f). The vertical step was held constant at 0.4 mm across all scenarios. In scenario A, the process parameters were set at f = 300 mm/min and n = 300 rpm; in scenario B, f = 1500 mm/min and n = 3000 rpm; and in scenario C, f = 1500 mm/min and n = 300 rpm. The experimental research topography analyses revealed that the surface roughness of the stiffened ribs was highly dependent on the SPIF process parameters. The highest feed rate and tool rotational speed produced the smoothest surface texture with the lowest maximum height (Sz) value. In contrast, the lowest feed rate and tool rotational speed resulted in a rougher surface texture with a higher maximum height (Sz) value. Furthermore, the contour plots generated from the topography analyses provided a good visual representation of the surface texture and roughness, allowing for a more comprehensive analysis of the SPIF process parameters. This study emphasizes optimizing the SPIF process parameters to achieve the desired surface quality and texture of stiffened ribs formed in Litecor^® panel sheets. Full article

This paper presents a formulation of a preview optimal control strategy for a half-car model equipped with active aerodynamic surfaces. The designed control strategy consists of two parts: a feed-forward controller to deal with the future road disturbances and a feedback controller to deal with tracking error. An anti-jerk functionality is employed in the design of preview control strategy that can reliably reduce the jerk of control inputs to improve the performance of active aerodynamic surfaces and reduce vehicle body jerk to enhance the ride comfort without degrading road holding capability. The proposed control scheme determines proactive control action against oncoming potential road disturbances to mitigate the effect of deterministically known road disturbances. The performance of proposed anti-jerk optimal control strategy is compared with that of optimal control without considering jerk. Simulation results considering frequency and time domain characteristics are carried out using MATLAB to demonstrate the effectiveness of the proposed scheme. The frequency domain characteristics are discussed only for the roll inputs, while time domain characteristics are discussed for the corresponding ground velocity inputs of bump and asphalt road, respectively. The results show that using anti-jerk optimal preview control strategy improves the performance of vehicle dynamics by reducing jerk of aerodynamic surfaces and vehicle body jerk simultaneously. Full article

With the growth of the internet of things (IoT), many challenges like information security and privacy, interoperability/standard, and regulatory and legal issues are arising. This work focused on the information security issue, which is one of the primary challenges faced by connected systems that needs to be resolved without impairing system behaviour. Information, which is made available on the Internet by the things, varies from insensitive information (e.g., readings from outdoor temperature sensors) to extremely sensitive information (e.g., video stream from a camera) and needs to be secured over the Internet. Things which utilise cameras as a source of information pertain to a subclass of the IoT called IoVT (internet of video things). This paper presents secured and unsecured video latency measurement results over the Internet for a marine ROV (remotely operated vehicle). A LabVIEW field programmable gate arrays (FPGAs)-based bump-in-the-wire (BITW) secure core is used to provide an AES (advanced encryption standard)-enabled security feature on the video stream of an IoVT node (ROV equipped with a live-feed camera). The designed LabVIEW-based software architecture provides an option to enable/disable the AES encryption for the video transmission. The latency effects of embedding encryption on the stream with real-time constraints are measured and presented. It is found that the encryption mechanism used does not greatly influence the video feedback performance of the observed IoVT node, which is critical for real-time secure video communication for ROV remote control and piloting. The video latency measurement results are taken using 128, 256 and 512 bytes block lengths of AES for both H.264 and MJPEG encoding schemes transmitted over both TCP and UDP transmission protocols. The latency measurement is performed in two scenarios (i.e., with matching equipment and different equipment on either end of the transmission). Full article