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In this study, an analytical concept is explored in the simulation environment, and an unbalanced load detection technique is examined to determine its applicability. To continue the development process, a mathematical model for a horizontal washer is developed to comprehend the characteristics of an unbalanced load with respect to various sizes of balanced loads. The mathematical model is then divided into a regressor vector and an estimator vector. Finally, estimates of the unbalanced load, the unbalance location, and the rotational moment of inertia are compared to their references in the simulation environment.

This paper presents a mathematical modeling and simulation of a nonholonomic mobile robot for the low-level control regarding the parameter change using model-based design. The model-based design methodology has been a promising technique in automotive and home appliance industries to address and validate the algorithm development, code generation and its deployment on platform. To investigate the electrical and mechanical behavior of the mobile robot, nonlinear mathematical model is constructed and is added to the control loop with the estimator to identify the parameter change. The recursive least square algorithm is used to identify the inertia and the payload of the robot to adapt the dynamic behavior before applying control law. The performance of the model-based approach is investigated on the simulation environment considering the different payloads with DC motor's constraints to track the reference trajectory using PI controller.

The main objective of the current investigation is to provide a simple procedure to select the controller gains for an aircraft with a largely wide complex flight envelope with different source of nonlinearities. The stability and control gains are optimally devised using genetic algorithm. Thus, the gains are tuned based on the information of a single designed mission. This mission is assigned to cover a wide range of the aircraft’s flight envelope. For more validation, the resultant controller gains were tested for many off-designed missions and different operating conditions such as mass and aerodynamic variations. The results show the capability of the proposed procedure to design a semiglobal robust stability and control augmentation system for a highly maneuverable aircraft such as F-16. Unlike the gain scheduling and other control design methodologies, the proposed technique provides a semi-global single set of gains for both aircraft stability and control augmentation systems. This reduces the implementation efforts. The proposed methodology is superior to the classical control method which rigorously requires the linearization of the nonlinear aircraft model of the investigated highly maneuverable aircraft and eliminating the sources of nonlinearities mentioned above.

This paper presents the refinement and optimization of three-dimensional (3D) dental implants with the complex root shapes of natural teeth. These root shapes are too complex to be drilled manually like current commercial implants and so are designed to be conducive to robotic drilling utilizing milling algorithms. Due to the existence of sharp curvatures and undercuts, anatomically correct models must be refined for 3D robotic milling and these refined shapes must be shown to be optimized for load bearing. Refinement of the anatomically-correct natural tooth-shaped models for robotic milling was accomplished using Computer-Aided-Design (CAD) tools for smoothing the sharp curvatures and undercuts. The load bearing optimization algorithm is based on the Soft-Kill Option (SKO) method, and the geometries are represented using non-uniform rational B-spline (NURBS) curves and surfaces. Based on these methods, we present optimized single and double root-shaped dental implants for use with robotic site p...

One of the most important factors affecting the outcome of dental implantation is the accurate insertion of the implant into the patient’s jaw bone, which requires a high degree of anatomical accuracy. With the accuracy and stability of robots, image-guided robotics is expected to provide more reliable and successful outcomes for dental implantation. Here, we proposed the use of a robot for drilling the implant site in preparation for the insertion of the implant. An image-guided robotic system for automated dental implantation is described in this paper. Patient-specific 3D models are reconstructed from preoperative Cone-beam CT images, and implantation planning is performed with these virtual models. A two-step registration procedure is applied to transform the preoperative plan of the implant insertion into intra-operative operations of the robot with the help of a Coordinate Measurement Machine (CMM). Experiments are carried out with a phantom that is generated from the patient-specific 3D model. Fiducial Registration Error (FRE) and Target Registration Error (TRE) values are calculated to evaluate the accuracy of the registration procedure. FRE values are less than 0.30 mm. Final TRE values after the two-step registration are 1.42 ± 0.70 mm (N = 5). The registration results of an automated dental implantation system using image-guided robotics are reported in this paper. Phantom experiments show that the practice of robot in the dental implantation is feasible and the system accuracy is comparable to other similar systems for dental implantation.

There are two approaches to reflecting a customer's point of view in new product development (NPD). One is a customer-following approach that utilizes expressed consumer needs. The other is a custo...

Dental implantation is now recognized as a standard of care for replacing missing teeth. Pre-operative planning with patient-specific images provides the basis for precise surgery, but such accuracy is hampered to some degree because of the manual drilling procedures performed by the surgeon. In this paper, a robotic system for automated site preparation for dental implants is presented in order to provide high accuracy drilling. The results of some experiments are given to validate the system. Additionally, results are shown for jaw surgery that utilize natural-root-formed implants which can contain multiple roots. This more complex type of implant is impossible to drill manually but can provide better long-term stability and success. With this robotic system, controlled and accurate drilling was achieved, which made more advanced implant designs possible.

This paper describes an integrated system for dental implantation including both preoperative planning utilizing computer-aided technology and automatic robot operation during the intra-operative stage. A novel two-step registration procedure was applied for transforming the preoperative plan to the operation of the robot, with the help of a Coordinate Measurement Machine (CMM). Experiments with a patient-specific phantom were carried out to evaluate the registration error for both position and orientation. After adopting several improvements, registration accuracy of the system was significantly improved. Sub-millimeter accuracy with the Target Registration Errors (TREs) of 0.38±0.16 mm (N=5) was achieved. The target orientation errors after registration and after phantom drilling were 0.92±0.16 ° (N=5) and 1.99±1.27 ° (N=14), respectively. These results permit the ultimate goal of an automated robotic system for dental implantation.

Many companies have recently been choosing information technology (IT) out-sourcing in response to complicated information systems and various internal requirements. In order to monitor and maintain a high quality of IT outsourcing vendors’ services, it is necessary to develop a system to evaluate IT outsourcing customer satisfaction. The system can be used as a tool for choosing IT outsourcing providers. Through the literature reviews and experts’ interviews, we propose the evaluation system of IT outsourcing customer satisfaction. Using AHP (analytic hierarchy process) technique, attributes associated with customer satisfaction in IT outsourcing environments are then rated in terms of their importance. The customer satisfaction evaluation system is applied to IT outsourcing service receivers in Korea to demonstrate its practical implications.