FeCo alloys play an important role in soft magnetic materials with a wide range of technological applications due to their high saturation magnetization and Curie temperature. However, these alloys have low ductility at room temperature. The ductility can be improved by the ternary addition of elements such as V. A density functional theory supercell approach was used to generate B2 Fe50Co50-xVx (0 < x < 50) structures and the properties were evaluated at different atomic percentage compositions to determine the ductility at room temperature. The structures were fully optimized to obtain better equilibrium ground-state properties such as lattice parameters and thermodynamic properties for both binary and ternary systems. The stability of Fe50Co50-xVx was evaluated from the heats of formation, elastic properties, and phonon dispersion curves. Furthermore, magnetic strength was evaluated from magnetic moments. It was found that all structures are thermodynamically stable due to the negative heats of formation. The calculated Pugh's ratio and Poisson's ratio confirm that alloying with V effectively improved the ductility. It was also found that Fe50Co50-xVx showed a positive shear modulus for the entire concentration range investigated, in agreement with phonon dispersion curves. The ternary addition of V to the FeCo system resulted in reduced magnetic strength due to a decrease in magnetic moments. These findings reveal that B2 FeCo-V alloys can be used as components and actuators for the automotive industry.

ABSTRACT This work presents a strategy to improve the control of robot manipulators actuated by servomotors controlled in position. The improvement consisted on using artificial vision in order to implement a second control loop that guarantees the joint position tracking of the desired values. The visual feedback algorithm is robust upon rotations and translations of the camera, which is its main advantage against other similar approaches reported in the literature. The proposed technique was tested on a 3 DOF robot with position actuators, to which different desired joint positions were commanded and regulated through a PID controller. The experiments were performed with different rotation angles of the camera, obtaining successful results by reducing the joint position errors with respect to the position regulation without visual feedback.

RESUMEN Este trabajo presenta una estrategia para mejorar el control de robots manipuladores actuados por servomotores controlados en posición. La mejora consiste en utilizar visión artificial para implementar una segunda malla de control y así garantizar que las articulaciones alcancen los valores deseados. El algoritmo de realimentación visual es robusto ante rotaciones y traslaciones de la cámara, lo cual es su principal ventaja contra otras técnicas similares reportadas en la literatura. La técnica propuesta se probó en un robot de 3 GDL con actuadores de posición, al cual se le comandaron diferentes posiciones deseadas de las articulaciones, mismas que se regularon con un controlador PID. Los experimentos se realizaron con la cámara rotada en diferentes ángulos, obteniendo resultados satisfactorios al reducir los errores de las posiciones articulares con respecto a la regulación de posición sin realimentación visual.

ABSTRACT The magnetic torquer rod, also called a magnetorquer, is the most popular actuator for attitude control of satellites in low Earth orbit. In the case of nano and picosatellites, the available inner space is quite limited, as is the maximum power value. An optimal design solution is highly desirable to produce adequate torque while minimizing energy consumption and mass. Based on the axiomatic design theory, a solution was developed by establishing the requirements – wire diameter, magnetic dipole moment, voltage, and solenoid length – and the physical domain variables – number of turns, current, resistance, and wire length. As a result of the modelling, the design system is decoupled. The choice of core material can also contribute to the actuator’s improvement. Two options are proposed in this work: the FINEMET, a nanocrystal composed of various metals and other elements, and the FeNi50 alloy, for comparative performance. In terms of design parameters, four prototypes were developed to evaluate different wiring configurations and two core materials. The test results of the design options reveal a contrasting performance concerning core material: while the utilization of nanocrystalline material yields superior hysteresis characteristics or linearity behavior, the FeNi50 alloy exhibits enhanced magnetization magnitude. rod magnetorquer orbit picosatellites limited value mass theory diameter moment voltage turns current resistance modelling decoupled actuators s improvement work FINEMET elements FeNi FeNi5 parameters materials behavior magnitude

Abstract The Internet of Things (IoT) has experienced rapid development in area-specific applications, including smart transportation systems, healthcare, industries, and smart agriculture, to enhance socio-economic development over the past few years. This IoT system includes different actuators, interconnected sensors, and network-enabled devices that exchange various data through private networks and the Internet infrastructure. The intrusion detection system (IDS) is deployed with preventive security mechanisms, namely access control and authentication. The usual behaviors of the mechanism distinguish malicious and normal activities based on specific patterns or rules of IDSs. Therefore, this article focuses on developing IDS using Double Adaptive Weighting Arithmetic Optimization Algorithm with Deep Learning (DAWAOA-DL) approach in the IoT environment. The DAWAOA-DL methodology's objective is to recognise and classify intrusions in the IoT platform accurately. To execute this, the presented DAWAOA-DL approach involves the design of the DAWAOA technique for the feature selection procedure. Next, the convolutional neural network-gated recurrent unit (CNN-GRU) technique is used for the intrusion detection task. Finally, the Adam optimizer is exploited as a hyperparameter optimizer of the CNN-GRU methodology. A series of simulations were performed on the BoT-IoT dataset to exhibit the effectual detection performance of the DAWAOA-DL method. A widespread experimental validation demonstrated the betterment of the DAWAOA-DL method over other recent models under several metrics. (IoT areaspecific area applications systems healthcare industries agriculture socioeconomic socio economic years actuators sensors networkenabled network enabled infrastructure (IDS mechanisms authentication IDSs Therefore DAWAOADL DL (DAWAOA-DL environment methodologys methodology s accurately procedure Next networkgated gated CNNGRU CNN GRU (CNN-GRU task Finally BoTIoT BoT metrics

Thumb loss can diminish one's hand's functionality by up to 40% and the loss of one's entire hand can severely impact a person's ability to perform simple day-to-day tasks. Therefore, there exists a need to focus on the development of a thumb mechanism which supports dexterous grasping activities in anthropomorphic robotic hands. This paper documents the design process of a novel robotic hand, and shows experimental results validating its overall performance. A large focus was placed on developing a novel thumb mechanism which could replicate the thumb's characteristic movement types, namely flexion-extension, abduction-adduction, and opposition-reposition. Additional focus was placed on developing a mechanism for flexion-extension movement of the fingers which did not incorporate passive components and on producing a fully self-contained prototype - with the electronics and actuators contained inside the palm, and the power supply inset against the back of the palm. The hand successfully followed motion commands from a sensor glove, and was able to replicate 14 grasp configurations which demonstrated its dexterous grasping abilities.

Resumen: El desarrollo de dispositivos robóticos como los exoesqueletos implica el uso de varios componentes como actuadores y sensores. Estos componentes intercambian información con el dispositivo principal o entre ellos mediante un sistema de comunicación, esto permite la transferencia de datos durante el funcionamiento del dispositivo. Además, un sistema de comunicación con buen desempeño es la base para el correcto funcionamiento del sistema de control. En este contexto, es necesario seleccionar una metodología apropiada para cumplir con las especificaciones de diseño durante el desarrollo del software. Esta investigación presenta el desarrollo del software ALLEX (Autonomous Lower Limb Exoskeleton) CAN (Controller Area Network) software, llamado así porque forma parte del sistema de comunicación del prototipo ALLEX-2 (ALLEX versión 2) y usa el protocolo CAN. El sistema fue creado usando la librería SocketCAN por la gran cantidad de herramientas. C++ fue el lenguaje de programación elegido para el desarrollo de esta solución debido a su bajo tiempo de ejecución. El desempeño de este software se lo compara con las funciones proporcionadas por el fabricante Maxon Motor. Las pruebas experimentales muestran el rendimiento superior del software desarrollado frente al proporcionado por el fabricante.

Abstract: The development of robotic devices like exoskeletons involves using several components, such as actuators and sensors. These components exchange information with the main device or between them using a communication system; this allows data transfer during the device's operation. In addition, a communication system with good performance is the basis for the correct operation of the control system. In this context, selecting an appropriate methodology to meet design specifications during software development is necessary. This research presents the development of ALLEX CAN software, so named because it is part of the communication system of the ALLEX-2 (ALLEX version 2) prototype and uses the Controller Area Network (CAN) protocol. The system was created using the SocketCAN library as a base, which provides a range of tools to work with CAN interfaces. C++ was the programming language selected to develop this solution for its lower execution time. The performance of this software is compared with the ready-to-use functions provided by the manufacturer Maxon Motor. Experimental tests show the superior performance of our developed software.

Ionic polymer-metal composites (IPMC) are typical electromechanical transducing materials suitable for use as soft actuators, bioinspired artificial muscles and sensors. However, IPMC produced with platinum films has the great disadvantage of the large number of cracks and wrinkles, which reduce the performance of the electrode. Polyaniline (PANI) is a promising conductive polymer that can address this issue, especially when it is electropolymerized on the platinum surface. An IPMC/PANI actuator was developed by potentiostatic electropolymerization of PANI at 0.9 V in 0.1 M and 0.3 M aniline solution. The characterization revealed that PANI is preferentially electropolymerized in the platinum film cracks and improve the electronic conduction mechanisms, which is not reported so far. The maximum tip displacement of the IPMC/PANI under 5 V was 8.3 mm, while for the IPMC was equal 5.2 mm. These results provide a simple and effective method to repair IPMCs and enhance their electromechanical performances. polymermetal metal (IPMC actuators sensors However wrinkles electrode (PANI issue surface IPMCPANI 09 0 9 0. 01 1 03 3 solution mechanisms far 83 8 8. mm 52 2 5. performances

Shape memory alloys (SMA) are now widely studied in academia and have increasing usage in industry, as they allow efficient performance compared to mechanic actuators with reduced dimensions and the possibility of sensing temperature through the material itself. A subclass of the SMAs are the alloys with magnetic shape memory, still little explored as intelligent materials in Brazil. They combine the best properties of SMAs and common magnetostrictive materials. The magnetic shape memory alloys (MSMA) can be activated not only by the presence of a thermal stimulus, but also by the presence of an applied magnetic field. In this research, the polycrystalline magnetic shape memory alloys Ni51.3Mn24Ga24.7 and Ni54Mn21Ga25 were manufactured and characterized. Differential scanning calorimetry, X-Ray diffraction, energy dispersive X-ray spectrometry and scanning electron microscopy analyzes were performed to thermoanalytically and crystallographically characterize the alloys. Magnetic characterizations were also performed using Magnetic force microscopy. The results of the characterizations showed that the production process and the heat treatment were satisfactory for the fabrication of the ferromagnetic polycrystalline alloys. Besides that, the compositions Ni51.3Mn24Ga24.7 and Ni54Mn21Ga25, presented austenitic and martensitic 5M structures, respectively, at room temperature and it was possible to observe the alignment of the magnetic domains after magnetization. SMA (SMA industry itself Brazil MSMA (MSMA stimulus field research Ni513Mn24Ga247 NiMnGa Ni51 3Mn24Ga24 7 Ni Mn Ga Ni51.3Mn24Ga24. Ni54Mn21Ga2 characterized calorimetry XRay X Ray diffraction Xray ray M structures respectively magnetization Ni513Mn24Ga24 Ni5 MnGa 3Mn24Ga2 Ni51.3Mn24Ga24 Ni54Mn21Ga Ni513Mn24Ga2 3Mn24Ga Ni51.3Mn24Ga2 Ni513Mn24Ga Ni51.3Mn24Ga

Abstract: In the subsequent study a Computational Fluid Dynamics (CFD) analysis technique to simulate a plasma actuator over an airfoil Re = O ( 20 5 ) is presented. The technique uses a two-dimensional Reynolds-Averaged Navier-Stokes Method coupled to the Kloker plasma-fluid model to study the effects of a Single Dielectric-Barrier Discharge (SDBD) as a Plasma Actuator. The CFD technique have been implemented in OpenFOAM platform for two setups, when: i) the actuator was located at x/c = 0.03 and ii) x/c = 0.1 of the chord length of the airfoil. The magnitude of the body force is equivalent to the results obtained by Hofkens and the actuator operates for both cases in the continuous and in the burst mode. To perform the numerical technique for a stable solution in OpenFOAM, various numerical procedures were tested, including a mixed solver between PISO and SIMPLE algorithm better known as pimpleFoam with nCorrector. The cases were solved in parallel on distributed processors using OpenMPI implementation and the accuracy of the results are strongly depends on the choice of grid size, y-plus, wall function and discretization scheme. The results indicate a high potential, suitability and great capabilities of this numerical technique implemented in OpenFOAM platform for free instability flow simulation.

Abstract This article describes the design, construction and preliminary results of a device to automate the measurement of physiological signals to assist in the diagnosis and monitoring of COVID-19. The device usesa system to controlling linear actuators to turn on/offcertified biomedical instruments, in addition to algorithmsfor image recognition of displays with measurements of temperature, oxygen saturation, pressure and heart rate. The system also includes a mobile application, which receives data in real time and createsa database for medical evaluation. Results obtained with the device have demonstrated to provide a high percentage of efficiency in the data acquisition. Afterseveral trials with users, SUS and PSSUQ tests wereapplied to allow verifying the users’ feedback regardingthe satisfaction and usability of the prototype,with high score, showing the good acceptance of thedevice from the users.

Resumen En el presente artículo se describe el diseño, construcción y resultados preliminares de un dispositivo para automatizar la medición de señales fisiológicas para asistir el diagnóstico y seguimiento de la COVID-19.El dispositivo utiliza un sistema para controlar actuadores lineales para encender/apagar instrumentos biomédicos certificados, además de algoritmos para el reconocimiento de imágenes de las pantallas de los instrumentos con mediciones de temperatura, saturación de oxígeno, presión arterial y frecuencia cardiaca. El sistema incluye también una aplicación móvil que recibe los datos de las mediciones a tiempo real y crea una base de datos para realizar una evaluación médica. Los resultados obtenidos demuestran un alto porcentaje de eficiencia en la adquisición de las mediciones. Después de hacer varias pruebas con usuarios, las evaluaciones SUS y PSSUQ permitieron verificar resultados satisfactorios respecto a la satisfacción y usabilidad del prototipo, demostrando la aceptación del dispositivo.

ABSTRACT The teaching - learning paradigm has been constantly evolving thanks to the Tics, digital tools developed from the vertiginous technological change that humanity has experienced in recent decades, such as electronic simulators that allow the student to be located in a context analogous to reality, using virtual trainers that allow evaluating knowledge through a practical way, the present research allows conceptualizing electronic simulators and analyzing the operation of the most important ones such as: Proteus, LogicCiruit, Orcad, displacement sensors and actuators that provide haptic feedback, subsequently the perceptions of students about their experiences using basic electronic simulators and haptic simulators are investigated which will improve the teaching learning process by facilitating the management of syllabi such as electronics, automation containing practical activities to improve their academic results.

RESUMEN El paradigma enseñanza - aprendizaje ha estado evolucionando constantemente gracias a las Tics, herramientas digitales desarrolladas a partir del cambio tecnológico vertiginoso que ha experimentado la humanidad las últimas décadas, como son los simuladores electrónicos que permite al estudiante ubicarse en un contexto análogo a la realidad, utilizando entrenadores virtuales que permita evaluar el conocimiento mediante una forma práctica, la presente investigación permite conceptualizar los simuladores electrónicos y analizar el funcionamiento de los más importantes como: Proteus, LogicCiruit, Orcad, sensores de desplazamiento y actuadores que proporcionen feedback háptico, posteriormente se investiga las percepciones de los estudiantes sobre sus experiencias utilizando simuladores electrónicos básicos y simuladores hápticos los cuales mejorarán el proceso enseñanza aprendizaje facilitando el manejo de sílabos como electrónica, automatización que contienen actividades prácticas para mejorar sus resultados académicos.

This work aimed to analyze the application of artificial lighting on crispy lettuce cultivars, through the use of LEDs, applied to a new planting methodology known as Vertical Farms. For this purpose, a prototype vertical planting model was built, consisting of 21 isolated production units, equipped with sensors to collect environmental data and actuators for controlling RGB intermittent lighting and hydroponic irrigation. With the built model, two experimental tests were carried out: evaluation of the application of different light treatments (red, blue, purple, white) and application of different white light intensities (36 LEDs, 54 LEDs and 72 LEDs). In both experiments, lasting 30 days, the analyzes of the total fresh mass weight, dry mass weight, leaf area and number of leaves were carried out. of the white spectrum (combination between red, blue and green), presented the best results in all analyzed variables, followed by the purple spectrum (combination between red and blue), in contrast, the red treatment presented the worst results, considering that the referring samples at the same they perished after 15 DAT. In the second experiment, after a linear regression analysis, it was observed that the light intensity had an influence on all the morphological parameters analyzed, with the exception of the number of leaves (indiscriminate length).

Este trabalho teve como objetivo a análise da aplicação de iluminação artificial sobre cultivares de alface crespa, através do uso de LEDs, aplicados a uma nova metodologia de plantio conhecida como Fazendas Verticais. Para este fim foi realizada a construção de um modelo de plantio vertical protótipo, composto por 21 unidades de produção isoladas, dotadas de sensores para recolhimento de dados ambientais e atuadores para controle de iluminação intermitente RGB e irrigação hidropônica. Com o modelo construído, foram realizados dois ensaios experimentais: avaliação da aplicação de diferentes tratamentos de luz (vermelho, azul, roxo, branco) e aplicação de diferentes intensidades de luz branca (36 LEDs, 54 LEDs e 72 LEDs). Em ambos os experimentos, de duração de 30 dias, foram feitas as análises do peso total da massa fresca, peso da massa seca, área foliar e número de folhas. No primeiro experimento, realizado durante o verão e com uso de climatização, a aplicação do espectro branco (combinação entre vermelho, azul e verde), apresentou os melhores resultados em todas as variáveis analisadas, seguida pelo espectro roxo (combinação entre vermelho e azul), em contrapartida o tratamento vermelho apresentou os piores resultados, considerando que as amostras referentes ao mesmo pereceram após 15 DAT (dias após transporte). No segundo experimento, após uma análise de regressão linear, observou-se que a intensidade de luz apresentou influência em todos os parâmetros morfológicos analisados, com exceção do número de folhas (comprimento indiscriminado).

Abstract Quinoa (Chenopodium quinoa) is one of the main grains of a domesticated species native to the high Andean plains and valleys. Because its harvests do not always have a homogeneous color, some companies have been using sorting machines for quinoa that are adapted from other cereals, whose operation does not guarantee the desired efficiency. The purpose of the study was to design and build a prototype machine that classifies quinoa grains according to the desired color. The main parts of the machine include the design of the mechanical structure comprising three zones: feeding, transport and processing and storage. The parts were built with steel materials and some parts with PLA filament manufactured with 3D printer; electronic control system, using a microcontroller for adapting the IR sensor signal and controlling the electro actuators for the selection of homogeneous quinoa according to the allowed color parameters; and mechanical operation control, using two motors, one for the dosing of quinoa grains and the other for the movement of the conveyor belt. To achieve the best performance, adjustments were made regarding the speed and quantity of quinoa, establishing 24 rows with an elevation of 22 degrees with respect to the horizontal axis, having achieved the goal of 5 kg per hour and obtained the homogeneity of quinoa grains with high efficiency and better quality for marketing.

Resumen La quinua (Chenopodium quinoa) es uno de los principales granos de especie domesticada oriunda de los Andes altiplánicos y valles altoandinos. Debido a que sus cosechas no siempre presentan un color homogéneo, en algunas empresas vienen utilizando máquinas clasificadoras para quinua que son adaptadas de otros cereales, cuyo funcionamiento no garantiza la eficiencia deseada. El propósito del estudio fue diseñar y construir un prototipo de máquina que clasifique los granos de quinua según el color deseado. Las partes principales de la máquina incluyen el diseño de la estructura mecánica que comprende tres zonas: alimentación, transporte y proceso y almacenamiento. Las piezas fueron construidas con materiales de acero y algunas piezas con filamento PLA fabricadas con impresora 3D; sistema de control electrónico, utilizando un microcontrolador para la adaptación de la señal de sensor IR y controlar los electroactuadores para la selección de quinuas homogéneas según los parámetros de colores permitidos; y control de funcionamiento mecánico, utilizando dos motores, una para la dosificación de los granos de quinua y otra para el movimiento de la faja transportadora. Para conseguir el mejor rendimiento se realizaron ajustes respecto a la velocidad y cantidad de quinuas, estableciendo a 24 hileras con una elevación de 22 grados respecto al eje horizontal, habiéndose conseguido la meta de 5 kg por hora y obtenido la homogeneidad de los granos de quinua con alta eficiencia y de mejor calidad para su comercialización.

The purpose of this study was the development and experimental validation of a novel portable tactile braille reading device. This design aimed to address the lack of quality braille reading material in South African schools dedicated to the blind and visually impaired. The design was divided into four subsystems: the actuation of the refreshable braille display, the mechanical design of the hand mounted device, the Optical Character Recognition (OCR) software and the electronic control system. The objectives of the study included the design of the electrical, mechanical and software subsystems of the device with emphasis on miniaturisation and a low-cost design, as well as the experimental validation of the haptic feedback and OCR subsystems. The system validation focussed on the experimental analysis of the OCR software design and the Dielectric Elastomer Actuators (DEAs) utilised in the refreshable display. The performance of low-cost elastomer and electrode materials were experimentally assessed during the design of the miniature DEAs. The ideal material combination for the proposed application was identified as a VHB4910 acrylic film lined with MG Chemicals 846 carbon grease. The largest vertical deflections of the diaphragm-type DEA were attained with a stipple-based electrode application, with the elastomer prestrained to 300 % initial area. The OCR program analysis indicated that multiple character recognition was more efficient and less prone to inaccuracies than the initially proposed single character recognition method. The integration of OCR software with miniature DEAs served as a novel approach to text-to-braille transcription.

Abstract Nowadays, laser scanners play an important role in technology and research, when it comes to measure 3D coordinates physically and in real time of any object under observation. Laser scanners have to measure the 3D coordinates of these objects in shortest time and with the smallest measuring error. A novel laser scanner called Technical Vision System (TVS), which uses Dynamic Triangulation and DC motors, was developed and proven to represent a fast and reliable scanning system. Previous research used the step response of the TVS mechanical actuators (DC motors), which can overshoot if certain controller parameters of the closed-loop control are selected. If the overshoot is undesirable, a trade-off must be made between speed and overshoot of the step response. Thereby, present paper describes a new approach to control the actual angular position of the TVS DC motors using a trapezoidal profile for the DC Motor velocity. The DC motors step response is replaced by a trajectory response, which allows the reduction of the relative angular error of the DC motors shaft to a value less than or equal to 0.1 percent. Also, the design of the control system, to implement the trapezoidal trajectory profile for the DC motor velocity in practice, is described in detail.