Proceedings of the 3rd Annual International Conference on Material, Machines and Methods for Sustainable Development (MMMS2022)

Numerical simulation in the sheet metal forming field helps engineers effectively solve various problems in the manufacturing of industrial products. In the forming, necking and fracture can occur on the products. These phenomena are caused by many reasons like the original mold design, technological parameters, and especially the limited forming of the sheet material. In order to accurately simulate the fracture phenomenon during forming, a forming limit curve (FLC) of the material is the most important input data. In this research, to determine the FLC of SECC sheet material by experiment method, a set of molds is first designed and manufactured according to the Nakazima model. Eight samples with various dimensions are then formed and measured major and minor strain points which are near fracture locations. This FLC data is verified through simulation of the forming process of the cup-shaped part. The simulated result of fracture height is compared with the experimental one and shows good agreement.

The development of simulation technology has made it possible to create digital copies that are identical to a real system from geometry to dynamics. With reference to this, digital twin technology can help us determine the minimum collision-free distance between a robot and an obstacle on the virtual system, thereby planning the corresponding better path for the real system. In addition, the A-star algorithm was invented and many improvements were made to boost the efficiency of the original A* path planning algorithm. The advanced method shows the first breakthrough about the local path planning between a goal node and a current node, which has been already planned for the following search in the region of a current node. The local path will be adopted directly if it is safe and collisionless. This method also shows the second breakthrough about the application of the post-processing stage for path planning optimization by aligning the local path to lower a number of local paths along with path length. In this study, a combination of digital twin and an improved A-star algorithm was used for planning the robotic path in a light bulb assembly production line. The influence of obstacle size was also evaluated in terms of the efficiency of either method (i.e. A-star algorithm and digital twin) to further enhance robotic path planning when applied in practice to a system with obstacles of different sizes.

Transformable robot nowadays plays an important role in our society as its convenience and application. In this research, a new transformable robot that inspired from the origami pattern is transformable and portable: Waterbomb robot. Waterbomb is a traditional pattern in origami and is applied broadly in technology. This pattern is multiple degree of freedom, however, with symmetrical pattern, it reduces to one. This robot can change shapes between a box shape into 2D configuration by one action. Hence, only one motor is enough to transforming the different shapes of robot, then the robot satisfies the requirement of lightweight and portability. This paper solves the kinematic and dynamic problem of waterbomb linkages and robot’s motion is illustrated by MATLAB.

This study provides an analysis of the structural characteristics of an SUV vehicle in the context of a frontal impact. The results of the analysis provide an indication of the deformation magnitude and the capacity of the SUV vehicle structure to absorb the energy of the collision. This paper examines the structural characteristics of an SUV vehicle in the context of a frontal impact. Through simulations of the SUV vehicle structure model colliding with an object at various speed levels, the analysis seeks to identify the frame structures that can absorb the most impact energy and minimize deformation, thus safeguarding the occupants of the vehicle. The results of this study indicate that the A-Pillars and the longitudinal need to be improved to ensure the safety of the passengers.

Laser interferometers are widely used for sub-micrometer accuracy of measurements. However, conventional interferometers (homodyne and heterodyne interferometers) can be used to measure the displacement only. Therefore, the measurement signal must be continuous during the measurement process. This is difficult for a long measurement range with the presence of vibrations, misalignment of the optics, and tolerance of sliders. In this paper, a method of retrieving the absolute distance of the measured object by determining the modulation depth was proposed and demonstrated. This was the unique feature of the frequency-modulated interferometer. The modulation index is a function of the modulation excursion, modulation frequency, and the unbalanced length between the two arms of the interferometer. On the other hand, the modulation index can be determined through the Bessel function. Therefore, the absolute position of the target at special values of the modulation depth can be determined. These positions were utilized as markers on the scale to divide a large measuring range into small measuring ranges while ensuring the continuity of the system. Therefore, the proposed method can extend the measuring range of the interferometer even under the influence of vibrations or misalignment systems.

This paper presents the application of Solidworks Flow Simulation software to support aerodynamic simulation for unmanned aerial vehicles, helping to improve flight conditions during operation under the influence of external aircraft forces. In recent years, many countries have focused on and strongly developed unmanned aerial vehicles (UAV) research and development, especially for agriculture, hydrometeorology, and the military, to improve and enhance the quality of life. Therefore, it is essential to research and calculate to stabilize the ability to fly in the actual conditions of unmanned aerial vehicles. Through the survey, an unmanned aerial vehicle’s control includes many factors related to the fields such as mechanics, electricity, electronics, and automation. In building the size parameters of the dynamic model for pesticide spraying drones for agriculture, the authors built the initial size parameters using SolidWorks software to perform the simulation. Aerodynamics acts on the aircraft’s rudder to optimize the size parameters suitable for flight conditions when operating by experimenting with the wing flight model by adjusting the parameters and determining the appropriate size parameters for flight conditions with boundary conditions in the flight area for pesticide spraying. It is necessary to have a set of aerodynamic coefficients to determine the aerodynamic forces acting on the aircraft’s wing during flight. After setting the basic size parameters, to ensure flight conditions, the set of aerodynamic coefficients is determined by the experimental method and adjusted in actual situations with different boundary conditions. For adjusting the wing size parameters of the flat-wing aircraft, the authors use aerodynamic simulation software with SolidWorks flow simulation modules with the boundary conditions set. Solidwork Flow Simulation using computational fluid dynamics analysis allows us to simulate fluid flow and heat transfer quickly and efficiently through obstruction surfaces. With such requirements, Solidwork software with the Flow Simulation module can effectively support analysis and calculation for designing and manufacturing wing aircraft for agriculture.

The research on improving the manufacturing quality of spiral bevel gear transmissions has been widely considered by many researchers worldwide. This study presents a survey of research works published in the past 15 years on the manufacturing technology of spiral bevel gears, including cutting methods, cutting machines, cutting tools, manufacturing error, and measurement. The survey results show that spiral bevel gear manufacturing technology has made many advances in recent years, and the manufacturing quality has been increasingly improved. Many advanced research methods have been applied, such as finite element simulation and loaded and unloaded teeth contact analysis to optimize tooth surfaces. Computer numerical control (CNC) machining machines, coordinate measuring machines, and surface coating cutting tools have improved productivity and machining accuracy. The review results provide a better understanding of the spiral bevel gear manufacturing technology.

The current trend of automation and data sharing in manufacturing technologies and daily living is the 4th Industrial Revolution. Computer vision technology has permeated our daily lives as a result of advancements in artificial intelligence and processing capacity. We propose using the ArcFace model, which blends deep neural networks with multi-tasking convolutional neural networks (MTCNN). The coding procedure of the agglomeration neural network facilitates the dimension-appropriate encoding of images. Techniques aimed at enhancing face recognition’s most distinctive characteristics. For the face recognition model to operate at peak efficiency, the facial recognition feature must integrate with finger gestures to control smart home activities, communicate with data, and link effortlessly to smart devices via IoT technology. We construct a facial recognition model utilizing an embedded Jetson Nano computer, a fingerprint scanning module, and a Raspberry Pi camera. The IoT smart home utilizes an embedded Raspberry Pi 3B + computer. The results indicate an approximate precision of 96% and a processing speed of 16 FPS. The interface of an Internet of Things (IoT) smart house illustrates the successful execution of real-time functionalities.

This article focuses on a novel configuration of flow-mode magneto-rheological fluid (MRF) based damper (MRD). The proposed MRD replaces the conventional annular MRF duct with a tooth-shaped one to lengthen the effective MRF segments, thereby improving the overall damping performance. Following an introductive part, the new MRD configuration is described. A design optimization procedure is then conducted to minimize the off-state force with constraints of desired maximum damping force and damper size. The optimal solutions are presented with discussions and compared with those of conventional MRDs. The advantages of the new MRD are subsequently addressed and its quasi-static behavior is predicted for various input excitations.

Computer vision is an artificial intelligence (AI) subfield that enables computers and systems to extract information from digital photos, movies, and other visual inputs. Detection systems are an important use in industrial production lines. In this paper, an automatic small abnormal object system is designed. First, the author obtains an image devoid of anomalous objects, which is then processed using the Candy filter to produce the standard form. Second, define the primary pattern, sub pattern 1, sub pattern 2, and the deviation between the new image and the original image. Then, we use template matching and background subtraction to identify questionable locations. Finally, live picture features will be compared to original image features. With Candy filter, the precision will be enhanced. The findings of image processing will be transmitted to operate the automatic abnormal removal equipment. The result indicates an accuracy of ~ 90%. The processing time is < 5 s, which has no effect on the production line cycle time.

Currently, Unmanned Aerial Vehicles (UAV) are widely popular and valuable in almost areas such as cinema, rescue, fire fighting. And warehouse management is no exception. From the needs of society, it can be seen that the calculation and design of effective Drone systems are necessary. The Drone is a type of flight device with four engines mounted on the “X” frame that can be flown by the lifting force of the four blades and operated on aerodynamic effects. From the parameters obtained through mechanical calculations to the implementation of 3D simulation with Solidworks software, the authors used Ansys Workbench software to analyze stress and strain in a static state and dynamic state to test the durability and load capacity of Drone. In addition, airflow analysis of the propeller was also performed for thrust calculation and kinematic analysis. On that basis, the model meets the durability condition besides the small displacement value does not affect the frame structure. Thereby, creating a Drone with a small payload will assist in moving goods in the warehouse quickly and flexibly, save time, decrease labor costs and increase competitiveness.

This research is to develop a wrist-type suspension control system, which uses a capacitive micromachined ultrasonic transducer (CMUT) to achieve the effect of suspension and non-touch control. The use of polymer-based ultrasonic transducers has the advantages of non-touch, flexibility, transparency, and thinness. It can be made into a wrist device and use an ultrasonic signal to transmit and receive to achieve non-touch control effects. It can be applied to smartwatches. Since the existing touch screen is limited by the size of the finger, the surface cannot be viewed during use, resulting in accidental touch. This suspension control method can be operated without touching the surface. The non-touch method is more convenient. In this study, a 4 × 3 array of numeric keyboards was made by using different frequencies of ultrasonic signals to represent commonly used numbers and symbols, to avoid interference caused by reflective surfaces during operation.

Automatic handwriting detection is becoming a serious difficulty in image processing. In addition, this may be considered a crucial function in the era of technology 4.0. This study describes a technique for detecting handwriting using computer vision and deep learning. During image processing, the original picture is offered to undergo noise reduction and filtering. The input photos will then be divided into two calibrated groups: RGB images and binary images for the model of the enhanced ALEXNET Neuron Network. In addition, a graphical user interface for combining several NN models is created. The test results reveal that the proposed technique is 96.95% effective under varied lighting conditions. In addition, the training model is compared to other NN models to evaluate the effectiveness of the suggested method.

This study proposed a method to solve the Kinematics of an exoskeleton system based sitting/lying-type lower limb rehabilitation robot. Based on the modularization design, the movable seat can be separated from and grouped into the lower limb rehabilitation robot, which is convenient for patients to sit down. The goal of this research is to help the robot mimic human gait over time accurately, an angular trajectory planning method is proposed based on the polynomial interpolation method of the measured human gait. The parameters measured by sensor of the angular trajectory of the human gait include angle, angular velocity and angular acceleration. The efficiency and accuracy of the proposed method are compared with each other to see if which is the most appropriate to refine the error by angle, angular velocity or angular acceleration.

Motion planning and inverse kinematics (IK) are two important parts of controlling the robot exoskeleton. To make the wearer feel comfortable, the joints variable values need to be similar to the values measured in the actual activities of the human arm. Dynamic movement primitives (DMPs) are a useful solution to this problem. In this study, we proposed to apply DMPs to generate the robot’s end-effector position and orientation trajectory as well as the robot’s joint variable values trajectory from the actual measured joints values of the robot exoskeleton during Activity of Daily Living exercise such as reaching a cup of water. Then, with the same ADL, when changing position of end-effector, the proposed algorithm could generate the end-effector trajectory and joints’ values as well. The results showed that the end-effector position and orientation trajectory and the joints variable had the same form as the sample one. This proved that we can absolutely apply DMP to solve the Inverse Kinematics and Motion planning for robots without solving complicated inverse kinematics problems.

This study aimed to construct a finite element model of a small motorcycle with full deformability for simulating frontal crashes, and to provide a comprehensive guide for the entire development process. The Honda Wave 110 cc, a Vietnamese national motorcycle, was selected as the physical motorcycle, and the model was analyzed in the LS-DYNA environment. This paper presents a tutorial on advanced 3D modeling to generate a high-quality 3D geometry and replication model of a motorcycle chassis, and then to set up a model dummy sitting on the motorcycle. This motorcycle FE model can be utilized for crashworthiness analysis and other studies. The motorcycle model was constructed from different materials such as steel and aluminum to make the motorcycle chassis model. The frame of the motorcycle was created by combining the individual parts of the saddle, handlebar, and wheel. The entire model of the motorcycle was then meshed and assigned materials, and its stability was assessed by conducting a crash simulation with a vehicle model. The dummy part was also added to the motorcycle model so that it could be employed to assess the injury of motorcyclists when a collision with other types of traffic occurs.

Air springs have been widely used in commercial vehicles as automobiles owing to many advantages. The stiffness characteristic of the air spring is used to evaluate the quality of the suspension system of the vehicle. Almost research related to the stiffness of air spring in the past were carried out through experiments. For this reason, applying numerical software in the analysis to investigate the stiffness of the air spring in the passenger vehicle is supposed to bring many positive effects. In this study, the stiffness of the air spring in a passenger vehicle subjected to undergoing static load over different pressures was studied. The findings can be used to improve the design and enhance the productivity of suspension systems in the future. The axisymmetric model of an air spring is used to simulate based on the Finite Element Method in the numerical software ABAQUS. The nonlinear material defined by the vulcanization of rubber and cord was used for simulation. The stiffness characteristics of the bellow-type of air spring based on different pressures also were obtained. The findings showed the relationship between the pressure factor and the stiffness of an air spring in a vehicle.

Nowadays, robots used in industries and laboratories show their usefulness to life, especially the development of humanoid robots. This paper studies the motion simulation of Darwin Op robot by Ros. Here, 3D robot model is built on Gazebo software. A map has been built in Ros to make the environment for the robot to work. The transformation of the robot has been done successfully. In addition, the value coupling is built in the symbol during the movement of the robot.

Mass shifter mechanism (MSM) and internal rolling mass (IRM) are the most essential element in one autonomous underwater vehicle (AUV). Its function is to reorient the centre of mass of the AUV in order to change advancing direction or to produce reverse torque to prevent the hull from rolling which usually caused by the torque of the main thrust motor. In this particular article, we will present the analysis and the design of a mass shifter mechanism for a specific case of a AUV with torpedo profile of 2.5 m length and the hull diameter of 0.25 m. The mass shifter mechanism contains a partial translation mechanism traveling along the hull length which produce a change in the pitch angle of the vehicle. Additionally, two internal rolling mass (IRM) are placed respectively in the front and the rear of the vehicle to generate reverse torque eliminating undesirable torque of the thrust motor and to enhance roll control.

SMART JOYBOT is a programmable smart robot that helps children stimulate their creative curiosity and become interested in learning programming, AI and Robots. AI and Robot are the trend of the world and receive a lot of attention from scientists. Sharing this interest, the we have conducted research and manufacturing SMART JOYBOT. Make a Smart Robot for STEAM Education and Home Entertainment. The product was born to help solve social problems such as: Busy life makes family members have less time to interact with each other, young children spend too much time on smartphones, affecting on children's psychosocial development. And moreover, students lack modern equipment to study, research, stimulate thinking. SMART JOYBOT includes intelligent features: recognizing people, avoiding obstacles, packing things, arranging small objects and learning with your baby. We have studied practically the models of robots available in the world, referenced, applied control theory and programed robots. From there, it is applied to calculate, design, simulate, evaluate system quality and overcome limitations. The process of researching and manufacturing intelligent robot products to meet the learning needs of students, students and family entertainment. The obtained results show the potential as well as the necessary demand in building intelligent robots with AI features and low cost.

An investigation of some design parameters in hollow extrusion die by Comsol LiveLink Inventor is presented in this paper. Three-dimensional extrusion die of a rectangle profile is designed by Autodesk Inventor. This model is then linked to Comsol for simulating extrusion process to obtain temperature, velocity, stress etc. Some design parameters will be automatically changed to consider their effects on the extrusion process. Results provide useful information for designer during the constructing extrusion die which can improve product quality.

Mobile robots have attracted the attention of researchers because of their potential use in industry and daily life. Traditional navigation methods based on the predefined path or known map have been successfully applied to robots working in various scenes. When a robot is operating in an unknown environment, it must learn how to navigate through obstacles, identify risks, and design new trajectories in order to achieve its target. This paper presents the application of the reinforcement learning (RL) method in which the RL algorithm is based on the Q-table for robot navigation. A simulation model is designed on the Gazebo platform for the initial training of RL policies. The simulation and experimental results have proven the proposed method is efficient and the robot works well in an unknown environment involving different obstacles.

Aluminium is used a used material in houseware (e.g. cookwares, kettles, sinks, etc.). Often rusted, tarnished after a period of use; especially in hot, humid environments. It will lose the beauty and clean of the product. For that reasons, polishing aluminium to a required roughness surface is necessary before using. An experimental study showed that roughness surface is correlated with factors: Velocity, friction force, time, polishing material, workpiece material. Experimental also shows that to decrease the surface roughness quickly if the velocity and friction force are increased but will happen oscillator, lots of power loss; If the friction force and time are increased, it will generate heat, burn marks in the polishing material, the surface will turn orange, not productive. So, to achieve the optimal surface roughness, it is necessary to optimize the above coefficients. This paper presents optimization of coefficient of friction force and time, (F, t) pair with fixed velocity v = 22 m/s for minimization of surface roughness.

Pedestrian head safety test is one of requirements in the safety inspection of new models of car. Therefore, pedestrian head protection is considered for all new model of car in process of research and development. There are two solutions to analyze the protection of car for pedestrian head in collisions that are using full pedestrian model or pedestrian headform impactor. Previous research has analyzed and shown that the two solutions give different evaluation results, but there is no analysis of the cause of the difference or indicating which method is more reliable. Pedestrian head injuries were assessed by the HIC value which is determined through the resultant acceleration of the pedestrian head center of gravity during collisions. Thus, the kinematic characteristics of the pedestrian head will affect the HIC value or the results of assessing the pedestrian safety. This study will analyze the pedestrian head kinematics during impacting process using a full deformable pedestrian model. The obtained results will be compared with the kinematic characteristics of the head impactor to find out the cause of the difference in the evaluation results. This research is very useful to develop the more reliable method of pedestrian head safety tests.

AMR (Autonomous Mobile Robots) are used popular increasingly, especially in industry to solve logistical problems in factories. The navigation algorithm affects not only the motion characteristics, but also the specifications of AMR. The simpler the algorithm, the smaller the computational volume, the less demanding the hardware, and the lower the cost of AMR. The smoother the movement, the less energy is consumed and the larger the cargo capacity. By simulation, this study will analyze the characteristics of some algorithms currently being used for AMR such as Pure pursuit or Follow the Carrot Algorithms. The advantages and disadvantages of each algorithm will be analyzed to proposing a new algorithm that can overcome the disadvantages of the algorithms being used for AMR navigation. The algorithm was developed in this research has been tested on Phenikaa-X AMR, sensory evaluation gives better results.

This study presented the design of a sitting type robot to support the lower limb rehabilitation for patients after stroke during the early stages. The robot was designed based on the exoskeleton structure, with hip, knee, and ankle joints, and at the calf and thigh wraps. The segments’ length can be adjusted to fit each patient object. The article presented the structure and operating principle of the joints. Kinetics and dynamics analysis were used to calculate and choose the power source for the device. Numerical and computational tests were used to check the safety of the structure. In addition, this paper uses a numerical simulation method to derive the motion trajectory of an ordinary person, which is the input data used in the device control process.

In this paper, the inverse kinematics of a 7-DOF redundant manipulator with offsets at shoulder and wrist is presented based on the Jacobian matrix. Three Euler angles of roll-pitch-yaw are used for parameterization of the orientation of the end-effector. Then the linear relationship between joint velocities and Cartesian velocity is given for the inverse kinematic problem at velocity level. The null space of the Jacobian matrix is also used to exploit the advantages of the redundancy of the manipulator. The effectiveness of the proposed approach is verified by some numerical simulations.

Slamming phenomenon unavoidably occurs on marine structures while in service. The extreme slamming events induced repeated impact pressures can cause damage to the structures and possible crew and compartment casualties. This paper presents investigations of accumulated damages of steel plates subjected to such repeated loadings. The numerical analysis model was developed, in which the load input was as the impulse-triangular profile simplified from the test slamming pressure time history data. The developed analysis model was validated by a comparison with test data. Subsequently, a parametric study on steel plates with actual scantlings used in marine applications was performed. Key parameters in estimating the permanent set of marine plates due to repeated impact pressures were then identified. Accumulation of the plate’s permanent deflection under repeated slamming loads was evaluated accordingly.

This paper analyzes the influence of blank holder force (FBH) and limiting drawing ratio (Mt) when drawing cylindrical parts from electrolytic zinc-coated steel blank (SECC) with a thickness of 0.6 mm. Firstly, initial survey experiments were performed to determine the study limits of the input parameters. Then the influence of the FBH and the Mt on the fracture height (H) is evaluated. When the Mt is fixed and FBH increases from 8 to 12 kN, the H decreases. Meanwhile, if the Mt is fixed and the FBH is increased from 1.94 to 2.09, the H increases, but when continuing to increase the Mt to 2.24, the H decreases. Finally, study the simultaneous influence of the FBH and Mt on the H, and the optimal set of technological parameters to achieve the maximum forming height are FBH = 8 kN and Mt = 2.09.

In this study, an abnormal detection model of a fan through sound is developed using a deep learning technique. The fan sound datasets include two classes, OK and NG. First, the sound signals are framed to a consistent duration; then, the log-mel spectrogram features are extracted. A deep learning model is proposed to classify fan sound signals based on the extracted features. The results show the high performance and accuracy of the proposed model and can be used to develop a computer application for the abnormal detection of radiator fans through sound signals.

This study presents the steps of calculation and selection of interference fits. According to Lamé’s formula, we can determine the stress and strain values generated when assembling the joint. We also show the modeling and simulation of interference fit for evaluating these same values. Then, we compare the calculated values with Lamé’s formula and simulation results, which is the basis of further interference assembly experiments to find the load capacity for different pairs of assembly materials.

This paper presents the analysis and optimisation of damper featuring magnetorheological fluid (MRF), shortly called MR dampers, numerically using finite element method. In other words, this work documents the analysis and optimisation of MR dampers using finite element method and design optimisation function provided by ANSYS Workbench software package. Firstly, the performance of a MR damper is analysed using ANSYS Parameter Design Language (APDL). The APDL program used to analyse the behaviour of the MRF damper is then implemented into the ANSYS Workbench Design Optimisation Tool to perform design optimisation. Different single objective optimisation methods were implemented to minimise the objective function derived for the MR damper at different configurations. The optimisation analysis will be extended to prototype MR dampers and evaluate their performances.

Logistics activities with automatic guided vehicles (AGV) are essential in the warehouse in Industry 4.0. With the help of AGV, transporting goods in the warehouse will become more accessible and convenient. AGV navigation operating in friendly environments is currently being researched and developed because the AGV must maneuver in an area with moving obstacles. An RGB-D camera is used for automatic navigation to scan the working environment and recognize barriers in front of the AGV. A cylinder is mounted on AGV to perform lifting tasks. The mapping method used in this paper is Rao-Blackwellized. This method is implemented with the support of ROS. The motion navigation is performed by the A* algorithm. In the process of moving, if the AGV detects a person in front of it, it will re-plan the trajectory with its current position by the AMCL method. These proposed methods were tested and applied successfully in a narrow environment.

Topology optimization is performed to reduce material and get the optimum shape of a component that sustains the load transmitted to it. This paper presents the generation and analysis of the optimized design of a bar in the large-sized link mechanism that is used in the radar antenna lifting system. First, the load acting on the bar during antenna lifting is investigated. Next, the most crucial load is applied to the bar under the topology optimization procedure using the SW Ansys Workbench 2021. Based on the finite element analysis using ANSYS, the optimized link mechanism shape is finally modified to achieve the stiffness and strength of the origin requirement. The reduction in initial shape weight achieved is 18.3%. The final link shape is possible to produce using conventional technologies. The article gives the recommendations for further large-sized planer linkages.

This study uses the Taguchi method to estimate the influence of cutting factors: cutting speed, depth of cut and feed rate (V, t, S) on chip shrinkage coefficient (K) and surface roughness (Ra) when high-speed milling (HSM) of A7075 aluminum alloy. The results show that the t greatly influences the Ra is 51.16%, the second level of influence on the feed rate is 29.77%, then the cutting speed is 19.06%. With the chip shrinkage coefficient, the t, S, and V affecting K are 64.9%, 21.8%, and 13.4%, respectively. Research using Gray multi-objective optimization to invent the applicable set of cutting factors for K and Ra with the corresponding minimum criteria as follows: V = 1695 (m/min), t = 1.0 (mm), and S = 600 (mm/min) respectively.

The increasing rate of accidents is alarming and any vehicle without an effective braking system is prone to accidents with human and property consequences. This is due to human error when driving, which involves delays in reaction time and distraction. Intelligent Braking System (IBS) is an active safety system equipped on modern cars to minimize the possibility of collisions while participating in traffic. The IBS system helps alert the driver to an impending collision while helping the driver brake with a maximum force or automatically brake the car in an emergency. This study analyzed the working principles of IBS braking systems, 3D model design, and the fabrication of a practical model of an intelligent braking system (IBS).

This paper presents an investigation of transverse shrinkage in single V and bevel-groove butt joints using Gas Metal Arc Welding (GMAW) process. Comsol software is applied to set up a thermal model and simulate welding temperature as well as transverse shrinkage of two welded joint types with changing the groove angle and root opening. Results indicate that the transverse shrinkage increases with increasing the groove angle and root opening for both single V and bevel-groove butt joints. In addition, simulated transverse shrinkages are compared to experimental finding of previous publication. A good agreement of simulated and experimental transverse shrinkages is observed for both welded joints. It can be seen that the simulated model, initial conditions, boundary conditions, and setting heat sources on the simulation software is similar to the actual experimental conditions. The simulation method can be used to quickly predict not only the shrinkage of the butt weld, but also stress and distortion of other welds types using other welding processes.

This paper presents an automatic object localization system, which is used to pick the random and on-demand objects in the workspace. The system includes a robotic arm system integrated with a RealSense camera. Firstly, the target object is estimated from the speech recognition algorithm. Secondly, the Yolo-V3 algorithm is applied to detect and classify the target from the color image. Then, individual feature point clusters were extracted using segmented 2-D features and depth maps. To determine the position and orientation of the target, each cluster is matched to the CAD model using the ICP algorithm. Finally, collision avoidance techniques are applied to select objects for the picking task. The feasibility and effectiveness of the developed system have been verified experimentally. The test ended again showing that the system was able to successfully locate and pick up 3-D target objects via voice commands.

Reducing end-effector weight is significant for industrial robots, especially for transport robots. This article will present an approach to solving the above problem through the finite element method and topology optimization. The result is a general process for the lightweight design of the robot’s end-effector. This process applied to the grip structure of the auxiliary robot, which plays the role of material transport in the automatic machining system of the car rim. Although this method requires more time and cost than the conventional design process, it effectively solves the problem of overloading for low-load robots, while still ensuring manufacturability by traditional machining methods to be suitable for industrial applications.

Utilizing automated sorting system with industrial robots in industrial production lines has numerous economic and productivity advantages. In the case of sensory-based product classification, industrial robots managed by machine vision proven to be clever and superior. This paper describes the procedure for calculating, designing, and testing a product sorting system utilizing a basic ABB IRB120 industrial robot and machine vision. Deep learning techniques are combined with a pure image processing engine to extract information from the image. Specifically, the communication between system components is addressed, with the employed protocol and tools explained in detail.

The present research aims to analyze the performance of a liquid cooling plate for an array radar’s transmit-receive module by using computational fluid dynamics (CFD) and measurement experiments. Firstly, a model of the purchased cold plate was built in SolidWorks. Simulation parameters of the heat dissipation of the liquid cooling system were considered, which provide the basis for high-accuracy numerical simulation. In particular, the temperature measurement experiment was carried out in order to verify the results of the simulation. The comparison results have proved that a thickness of 0.7 mm of thermally conductive glue between high-power electronic equipment and the cold plate’s surface in the model is usable. The results in this article can be used as a reference for designing heat dissipation systems in high-power electronic equipment.

Measuring 3D shapes by structured light is currently being widely studied and applied. The accuracy of this measurement method is highly dependent on calibration and point cloud processing. Currently determining the accuracy of a non-contact 3D measuring system also needs to be evaluated. In this paper, a method to evaluate the accuracy of the measurement system by using phase shift combined with Graycode method (PSGC) is proposed. With the construction of algorithms to evaluate accuracy through the criteria of size and spatial accuracy, a measurement system was evaluated. The test results on the experimental measurement system by the phase shift combined Graycode compared with the measurement results by the Graycode method showed that the measurement system has higher accuracy. In addition, the method of determining the spatial accuracy according to the position and orientation of the reference plane is also evaluated.

As people’s needs in life increase more and more, automobile has become the means of transport that is being popularly used in their daily activities. In addition to cost and form, ride and handling is among the important criteria for modern automobiles; and the vibration level of a vehicle directly affects its smoothness level. Nowadays, digital simulation is being widely used in studying the mechanical system of an automobile, more than that, the simulation process has proven its preeminence as it can depict the nonlinear system when simulating the vibration level of an automobile. Basing on mentioned requirements, the research team has simulated the oscillation system of an automobile while taking nonlinear factors into consideration by setting reasonable structural parameters with a view to ensure smooth ride and handling for coaches. In this article, they will clarify the impact of structure on the smoothness of coaches and how to select a suitable structure for each type of coach.

In this study, AVL-Boost software is used to simulate the impacts of using RON 92 gasoline in combination with E5, E10, E20, E85 biofuel. Specifically, the article studies the engine emissions when mixing biofuel with RON 92 gasoline at certain ratios. When testing on Toyota engine—5A, all structural parameters of the engine are kept original. Research results show that when using biofuel in combination with RON 92 gasoline, the engine’s emissions tend to be as follows: the emissions of CO and HC decrease, the concentration of NOx increases. From the above simulation study, recommendations for manufacturers as well as users can be made to change the ratio of biofuel in RON 92 gasoline when used.

These days, low-cost commercial drones are rapidly used in variety of fields, ranging from manufacturing and logistics to STEM education. This paper addresses a fully-actuated Tello Drone’s control under random positions and in an indoor environment. For this purpose, we designed a closed-loop controller based on computer vision techniques for face recognition and a gesticulation rule for navigable motion. To be more detailed, Local Binary Pattern Histogram combined with SQLite 3 is initially applied to detect the right target. After that, the built-in controller determines the hand gesture on the human target to transmit the commands to Tello Drone. Additionally, the user interface is also developed to summary and display the drone info during operation process. The experimental results revealed the effectiveness of the suggested strategy and the reliability of the drone under different scenarios.

Flat metal sheets with many holes are widely used in industries for example, box shells, plates, or PCB boards. The selection of the tool path becomes extremely difficult as the number of holes increases. Longer paths reduce machining productivity. Among those routes, each route is a different total length. If the route is chosen for the tool path too long, the total machining time will increase, and productivity will be reduced. This paper presents a simple method for optimizing tool paths when drilling multiple holes in large steel plates. The tool path includes two styles of cutting and un-cutting tool paths and other parameters. We investigated the un-cutting tool path for the proposed method. The presented method was applied to a drilling problem to find an optimal tool path with the shortest total length. The proposed method can be applied to three-axis CNC machines with interpolated movements to predict the shortest total distance of tool paths.

There are many methods to solve the kinetic analysis problem in the world, and each method has its advantages. This paper proposes a new method to solve the kinetic analysis problem for aspatial structure. By setting up some linking equations and simulating the spatial structure’s motion, the kinetic analysis could be solved simply and easily. Besides that, this study used orthographic projection to analyze the movement of a specific spatial structure. The calculation was also validated by using CATIA software.

An isosceles of the tetrahedron, also called disphenoid, is a tetrahedron where all four faces are congruent acute-angled triangles and every two edges that are opposite each other have the same length (Desphenoid—Wikipedia, the Free Encyclopedia, p. 1, https://en.wikipedia.org/wiki/Disphenoid , 1). If the four faces of the disphenoid are equilateral triangles, it is a regular tetrahedron. So, the regular tetrahedron is a special case of the disphenoid. A disphenoid has some characterizations and properties. They are widely used in the design of steel structures. This paper aims to solve some spatial geometry problems of a disphenoid to apply to the process of calculating, designing, and making technical drawings of it quickly and accurately.

This paper presents a study and experimental evaluations of monitoring industrial robots based on a digital twin system, with the focus on motion monitoring and condition monitoring. Motion monitoring aims to detect, monitor, and control motion and speed, especially evaluation of the working area and determination of the motion trajectory of a robot. Condition monitoring aims to evaluate the health state during operation, to determine the condition of in-service equipment or systems, in order to predicts the health and safety for predictive maintenance, and to estimate the remaining useful life of in-service equipment or systems. The conceptual digital twin system is deployed on the Game Engine Unity3D which has an intuitive user interface, with the emerging 3D graphics technologies, and the capability of providing the bidirectional connection between the virtual robot and the real robot. The proof-of-concept prototype for the proposed conceptual digital twin system was successfully developed for the basic tests and investigations, as the foundation for further development of the cost-effective digital twin models and systems which can be used for higher educations or research, with potentials for industrial applications.

Many people nowadays suffer physical limits because of spinal cord injury, stroke, or an accident. Lower limb difficulties are a major source of disruption in these people’s everyday lives. Many assistance devices for lower limb movement have been developed to help people with their daily duties. This study introduced a novel exoskeleton design based on a pneumatic cylinder for a lower limb rehabilitation robot. The pneumatic cylinder system was used as the actuators to implement the robot movement and to ensure operational safety, rapid point-to-point movement, and cleanliness for rehabilitation. The results showed that the lower limb gait training robot was developed with parallelogram mechanism and a suggested control system can be utilized to satisfy the gait training robot requirements.

Road toll collection is an indispensable activity of a country, contributing to offset construction costs as well as having more capital to improve road construction. Therefore, the construction of toll stations is mandatory. In order to achieve the highest satisfaction of traffic participants and transport businesses, reduce traffic congestion at toll stations, minimize environmental pollution, we develop a real-time automatic toll collection systems based on deep learning. Our system consists some of advanced technology methods includes: (i) The development of YOLOv5 to detect the car license plate; (ii) The implementation of PaddleOCR to recognize the number license plate; (iii) The development of Web Server to manage the system; (iv) the development of lab-scale express highway used Vietnam Electrical Toll Collection (VETC) to ensure transparency in the toll collection.

Computer vision is an area of artificial intelligence that enables computers and systems to extract meaningful information from digital photos, videos, visual inputs and conduct actions or make suggestions based on that information. Robotics with applied computer vision method spans a wide range of fields. In the manufacturing, systems in production lines are continuously being upgraded to increase work efficiency. An ABB IRB1200 5–0.9 robot was chosen for product selection. With the task of controlling the actuator to carry out the task of picking the products in the tray and placing them on the conveyor belt, so as to ensure accuracy, and optimizing time. The article proposes a solution using computer vision algorithm integrated on the robot system, performing object detection, synchronizing camera and robot coordinate systems, and through the Robot Operating System (ROS) platform, controlling the robot to perform the task of picking and dropping objects.

Acquiring new and clean data is a crucial part of building a good machine learning model, especially in industrial fields, where the dataset is usually small and highly imbalance. In this study, we leverage Generative adversarial network (GAN) to extend and enhance our specific dataset by automatically generating and labeling new images. Our pipeline guarantees the success of the synthesis data by turning and stablizing the model’s parameters. Experimental results prove the extraordinary of our dataset in terms of quantitative and qualitative assessment.

Normal trajectory plays a vital role to enhance the quality of robotic- based surface finishing. This paper presents a novel and robust solution for real- time robot (manipulator) pose correction employing a 6-axis force sensor. The proposed scheme enables the robot to automatically correct postures in real-time on the curved surface. This approach does not depend on any prior geometric information of the workpieces, such as a CAD model or a 3D point cloud. The system depends only on the feedback data of a 6-axis force/torque sensor, positioned between the robot flange and a tool. The pose adjustment algorithm determines the normal relationship between the contact tool and the workpiece’s surface using the feedback information from the sensor. The experimental results show that the proposed study has great potential to automate surface finishing operations such as robotic-based polishing, particularly on challenging curved surfaces.

Smart agriculture is understood as agriculture applying high technology, production technology, product safety protection, management technology, product identification in series associated with artificial intelligence system. Key technologies used in smart agriculture applications such as: IoT technology with sensors that collect accurate data on climate, growing conditions, and health of crops/animals; intelligent automation technology with robots and unmanned aerial vehicles gradually replacing humans in farming activities; image processing, artificial intelligence (AI). This paper proposes an improved YOLOv4 algorithm to real-time detect tomato for harvesting agriculture robot in Robot Operating System (ROS). The advantage of this model is the use of the combination of data tomato detection and real experiment system to increase the accuracy. To verify the effectiveness of this method, an actual applications, tomato with different ripeness of tomato in the same area can be detected with the accuracy of 89%.

Driving simulation systems with 6-degree-of-freedom motion platforms based on parallel robots that support motion perception are used in driver training and human sensory research. The article focuses on calculating and building a scaled model of the 6-dof motion platform for both researching motion cueing algorithms in recreating the motion sensation and adjusting the their parameters accordingly. Then, the motion platform model is integrated with other devices including the motion control system, the virtual 3D environment to construct a scaled simulation driving system. The simulation results and testing of basic movements of the simulation platform show the accuracy of the position and angle of inclination, in addition, the motion platform responds has quick respond that is suitable for the study of movements during driving tasks.

In this article we have presented a method of object-oriented programming for Siemens S7-1200 PLC to control a multi-floor elevator, using Function Block (FB). The Function Blocks are built based on the behavior of the same functional objects, in which output signals are changed corresponding to input signals in priority. The control method has been implemented with priority control rule for the 4-floor elevator model. Note that, the elevator runs with high stability and ensure all defined functions.

This paper proposes a method of combining pill image processing with a convolution neural network modified VGG16 based on Adam optimization that ensures the high accuracy of defect detection and classification. The novelty lies in: (i) the development of real-time deep learning-based automatic pill defect detection; (ii) the proposed training structure: modified VGG16 structure and Adam optimization algorithms to find the optimal solution and (ii) the design and implementation of a model construction and training based on VGG16. For the training stage, qualified pill images in the real manufacturing system are collected as samples. In the prediction stage, the proposed method is implemented to validate pills and categorize them into three different categories (contamination, good, crack). The results validate the effectiveness of the real-time. It provided a high accuracy on real-time systems. High accuracy and fast processing time make the proposed method highly potential to apply to industrial systems.

Proportional—Integral—Derivative (PID) controllers are the most widely used controllers in the industry. Despite having been existent for almost a century, the PID controller still demonstrates its efficiency in various systems. Choosing suitable parameters for the PID controller is a crucial problem that needs a huge bunch of time tuning and testing. There are many methods proposed for the tuning of the PID controller. In this paper, a self-tuning PID controller is obtained using fuzzy logic controllers. The method used here is using fuzzy logic to force the PID controller to follow a preselected position track by changing the parameters of PID controllers as the rules set in advance. This Fuzzy PID is designed, optimized, and implemented on the one-axis bar model in this paper, which is a simple case of a quadcopter. The mathematical model of it is considered and simulated with MATLAB toolboxes Then, the controller is validated on a real model by implementing it in a microcontroller programmed on Arduino IDE. The results have shown that the Fuzzy PID controller performs much better than the classical one, which is evident as a more adaptive, faster response, smaller rise, and settling time.