Service Robots: Trends and Technology Gonzalez-Aguirre, Juan Angel; Osorio-Oliveros, Ricardo; Rodríguez-Hernández, Karen L. ...
Applied sciences,
11/2021, Letnik:
11, Številka:
22
Journal Article
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The 2021 sales volume in the market of service robots is attractive. Expert reports from the International Federation of Robotics confirm 27 billion USD in total market share. Moreover, the number of ...new startups with the denomination of service robots nowadays constitutes 29% of the total amount of robotic companies recorded in the United States. Those data, among other similar figures, remark the need for formal development in the service robots area, including knowledge transfer and literature reviews. Furthermore, the COVID-19 spread accelerated business units and some research groups to invest time and effort into the field of service robotics. Therefore, this research work intends to contribute to the formalization of service robots as an area of robotics, presenting a systematic review of scientific literature. First, a definition of service robots according to fundamental ontology is provided, followed by a detailed review covering technological applications; state-of-the-art, commercial technology; and application cases indexed on the consulted databases.
Sensors for Sustainable Smart Cities: A Review Ramírez-Moreno, Mauricio A.; Keshtkar, Sajjad; Padilla-Reyes, Diego A. ...
Applied sciences,
09/2021, Letnik:
11, Številka:
17
Journal Article
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Experts confirm that 85% of the world’s population is expected to live in cities by 2050. Therefore, cities should be prepared to satisfy the needs of their citizens and provide the best services. ...The idea of a city of the future is commonly represented by the smart city, which is a more efficient system that optimizes its resources and services, through the use of monitoring and communication technology. Thus, one of the steps towards sustainability for cities around the world is to make a transition into smart cities. Here, sensors play an important role in the system, as they gather relevant information from the city, citizens, and the corresponding communication networks that transfer the information in real-time. Although the use of these sensors is diverse, their application can be categorized in six different groups: energy, health, mobility, security, water, and waste management. Based on these groups, this review presents an analysis of different sensors that are typically used in efforts toward creating smart cities. Insights about different applications and communication systems are provided, as well as the main opportunities and challenges faced when making a transition to a smart city. Ultimately, this process is not only about smart urban infrastructure, but more importantly about how these new sensing capabilities and digitization developments improve quality of life. Smarter communities are those that socialize, adapt, and invest through transparent and inclusive community engagement in these technologies based on local and regional societal needs and values. Cyber security disruptions and privacy remain chief vulnerabilities.
Nowadays in modern industrial applications, where the power supply efficiency is more important than the output noise performance, DC-DC converters are widely used in order to fulfill the ...requirements. Yet, component selection and precise estimation of parameters can improve the converter’s performance, leading to smaller and more efficient designs. Hence, metaheuristic optimization algorithms can be applied using the mathematical model of DC-DC converters, in order to optimize their performance through an optimal inductance selection. Therefore, this work presents a novel design methodology for DC-DC converters, where the inductance selection is optimized, in order to achieve an optimal relation between the inductance size and the required energy. Moreover, a multi-objective metaheuristic optimization is presented through the Earthquake Algorithm, for parameter estimation and component selection, using the inductance of a buck DC-DC converter as a case study. The experimental results validate the design methodology, showing ripple improvement and operating power range extension, which are key features to have an efficient performance in DC-DC converters. Results also confirm the Small-Signal Model of the circuit, as a correct objective function for the parameter optimization, achieving more than 90% of accuracy on the presented behavior.
Within the field of Humanities, there is a recognized need for educational innovation, as there are currently no reported tools available that enable individuals to interact with their environment to ...create an enhanced learning experience in the humanities (e.g., immersive spaces). This project proposes a solution to address this gap by integrating technology and promoting the development of teaching methodologies in the humanities, specifically by incorporating emotional monitoring during the learning process of humanistic context inside an immersive space. In order to achieve this goal, a real-time emotion recognition EEG-based system was developed to interpret and classify specific emotions. These emotions aligned with the early proposal by Descartes (Passions), including admiration, love, hate, desire, joy, and sadness. This system aims to integrate emotional data into the Neurohumanities Lab interactive platform, creating a comprehensive and immersive learning environment. This work developed a ML, real-time emotion recognition model that provided Valence, Arousal, and Dominance (VAD) estimations every 5 seconds. Using PCA, PSD, RF, and Extra-Trees, the best 8 channels and their respective best band powers were extracted; furthermore, multiple models were evaluated using shift-based data division and cross-validations. After assessing their performance, Extra-Trees achieved a general accuracy of 94%, higher than the reported in the literature (88% accuracy). The proposed model provided real-time predictions of VAD variables and was adapted to classify Descartes' six main passions. However, with the VAD values obtained, more than 15 emotions can be classified (reported in the VAD emotion mapping) and extend the range of this application.
Cities demand urgent transformations in order to become more affordable, livable, sustainable, walkable and comfortable spaces. Hence, important changes have to be made in the way cities are ...understood, diagnosed and planned. The current paper puts urban accessibility into the centre of the public policy and planning agenda, as a transferable approach to transform cities into better living environments. To do so, a practical example of the City of Monterrey, Mexico, is presented at two planning scales: the metropolitan and local level. Both scales of analysis measure accessibility to main destinations using walking and cycling as the main transport modes. The results demonstrate that the levels of accessibility at the metropolitan level are divergent, depending on the desired destination, as well as on the planning processes (both formal and informal) from different areas of the city. At the local level, the Distrito Tec Area is diagnosed in terms of accessibility to assess to what extent it can be considered a part of a 15 minutes city. The results show that Distrito Tec lacks the desired parameters of accessibility to all destinations for being a 15 minutes city. Nevertheless, there is a considerable increase in accessibility levels when cycling is used as the main travelling mode. The current research project serves as an initial approach to understand the accessibility challenges of the city at different planning levels, by proving useful and disaggregated data. Finally, it concludes providing general recommendations to be considered in planning processes aimed to improve accessibility and sustainability.
Urban planning has a crucial role in helping cities meet the United Nations’ Sustainable Development Goals and robust datasets to assess mobility accessibility are central to smart urban planning. ...These datasets provide the information necessary to perform detailed analyses that help develop targeted urban interventions that increase accessibility in cities as related to the emerging vision of the 15 Minute City. This study discusses the need for such data by performing a comparative urban accessibility analysis of two university campuses and their surrounding urban areas, here defined as the Stanford District, located in the San Francisco Bay Area in the United States, and Distrito Tec in Monterrey, Mexico. The open-source tool Urban Mobility Accessibility Computer (UrMoAC) is used to assess accessibility measures in each district using available data. UrMoAC calculates distances and average travel times from block groups to major destinations using different transport modes considering the morphology of the city, which makes this study transferable and scalable. The results show that both areas have medium levels of accessibility if cycling is used as the primary mode of transportation. Hence, improving the safety and quality of cycling in both cities emerges as one of the main recommendations from the research. Finally, the results obtained can be used to generate public policies that address the specific needs of each community’s urban region based on their accessibility performance.
The relevance of the interaction between Humanities-enhanced learning using immersive environments and simultaneous physiological signal analysis contributes to the development of Neurohumanities and ...advancements in applications of Digital Humanities. The present dataset consists of recordings from 24 participants divided in two groups (12 participants in each group) engaging in simulated learning scenarios, traditional learning, and partially immersive learning experiences. Data recordings from each participant contain recordings of physiological signals and psychometric data collected from applied questionnaires. Physiological signals include electroencephalography, real-time engagement and emotion recognition calculation by a Python EEG acquisition code, head acceleration, electrodermal activity, blood volume pressure, inter-beat interval, and temperature. Before the acquisition of physiological signals, participants were asked to fill out the General Health Questionnaire and Trait Meta-Mood Scale. In between recording sessions, participants were asked to fill out Likert-scale questionnaires regarding their experience and a Self-Assessment Manikin. At the end of the recording session, participants filled out the ITC Sense of Presence Inventory questionnaire for user experience. The dataset can be used to explore differences in physiological patterns observed between different learning modalities in the Humanities.
Reliable and innovative methods for estimating forces are critical aspects of biomechanical sports research. Using them, athletes can improve their performance and technique and reduce the ...possibility of fractures and other injuries. For this purpose, throughout this project, we proceeded to research the use of video in biomechanics. To refine this method, we propose an RNN trained on a biomechanical dataset of regular runners that measures both kinematics and kinetics. The model will allow analyzing, extracting, and drawing conclusions about continuous variable predictions through the body. It marks different anatomical and reflective points (96 in total, 32 per dimension) that will allow the prediction of forces (N) in three dimensions (Fx, Fy, Fz), measured on a treadmill with a force plate at different velocities (2.5 m/s, 3.5 m/s, 4.5 m/s). In order to obtain the best model, a grid search of different parameters that combined various types of layers (Simple, GRU, LSTM), loss functions (MAE, MSE, MSLE), and sampling techniques (down-sampling, up-sampling) helped obtain the best performing model (LSTM, MSE, down-sampling) achieved an average coefficient of determination of 0.68, although when excluding Fz it reached 0.92.
Control of an Automotive Semi-Active Suspension Lozoya-Santos, Jorge de Jesus; Morales-Menendez, Ruben; Ramirez Mendoza, Ricardo A
Mathematical Problems in Engineering,
01/2012, Letnik:
2012, Številka:
1
Journal Article
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Two controllers for an automotive suspensions with Magneto-Rheological (MR) dampers are proposed. One is a model-based using the Linear Parameter Varying (LPV) approach, and the other is a model-free ...controller with a Frequency Estimation Based (FEB) principle. The LPV controller includes an experimental nonlinear model of an MR damper using only one scheduling parameter. A comparison with a several semiactive controllers for comfort and road holding is discussed. The FEB controller is the best option based on frequency and time response analysis for comfort (10–20%), suspension deflection (30–50%), and road holding (1–5%).
The actual semi-active suspension control systems with a balance between comfort and road holding goals are not optimal because in these solutions one goal or the other always dominates in the ...suspension performance. This paper is centered in a new proposal to control an automotive semi-active suspension to achieve the comfort and maintain the road holding.The output in the control strategy is the electric current. A nonlinear quarter of vehicle model simulation compares and validates the proposal versus different controllers. The controller is designed with the H∞ criteria and the Linear Varying Parameter (LPV) considering the saturation and sigmoid shape of the F-V characteristic diagram. Unlike the solutions in literature, which use at least two scheduling parameters, the proposed LPV controller scheme for a semi-active suspension uses only one scheduling parameter.
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