Prototype Simulation Research Articles

The Impact of Virtual Reality Integration in Robotics: Enhancing Efficiency, Safety, and Human-Robot Interaction

In this paper, a review of the implementation of Virtual Reality (VR) with robotics and how it has changed various areas is explored. In general, VR improves efficiency and safety in operational work—especially in the energy sector, where it optimizes substation operations (e.g., increasing accuracy by up to 25% due to a higher level of automation). For mechatronics, VR allows advanced digital design, such as virtual prototyping and collaborative simulation, which significantly increase system efficiency. In education, VR technology has increased student engagement and learning outcomes by up to 40%, improving participation in subjects such as natural sciences. VR integration into robotics also enables the testing of various movements and trajectories for safety, resulting in minimal damages incurred during the design phase and increased productivity. VR also enhances human-robot interaction by enabling intuitive control based on better gesture recognition and a 35% increase in precision. In future applications, the remote operation of robots in dangerous environments will greatly improve emergency rescue efficiency and speed. Using VR for substation operations has translated to 25% better accuracy and a similar gain in terms of operational efficiency. By providing a more connected, efficient future in multiple spheres and delivering about 40% fewer accidents during simulations, the fusion of VR with robotics is an overall successful venture.

Design and implementation a novel single switch high gain DC-DC converter based on coupled inductor with low-ripple input current

A novel high-gain and high-efficiency direct current to direct current (DC-DC) converter is introduced in this paper. The presented converter is suitable for low-voltage renewable energy resources such as photovoltaic (PV) and fuel cell (FC). The existence of series inductance with the input source ensures continuous and low-ramp input current, which is important for extracting maximum power from resources. Using coupled inductor technology and an intermediate capacitor in the suggested converter leads to a high gain voltage. In the presented topology for recovering energy from the leakage inductor, reducing voltage stress on the power switch, and so decreasing overall converter losses, a passive clamp circuit is used. The suitable operation range of duty cycle in the converter, besides the leakage inductor, decreases the problem of reverse recovery in diodes. The low value of the leakage inductor and the low volume and cost of the proposed converter are due to the low turn ratio of the coupled inductor. Details of the operation principles of the proposed converter have been discussed in this paper. The presented simulation and laboratory prototype results verify the theoretical analysis and performance of the suggested topology.

Implementation of Port Knocking with Telegram Notifications to Protect Against Scanner Vulnerabilities

The opening of the service port on the Mikrotik router provides an opening for hackers to enter the Mikrotik service to access the router illegally. This research aimed to close certain ports that are gaps for hackers and uses port knocking and telegram bots. The Telegram bot was used as a message notification to managers in real-time to provide information that occurs when the vulnerability scanning process is carried out to find and map weaknesses in the network system. Searching for weaknesses also includes looking for open router service ports such as ports 22, 23, 80, and 8291. This research used the Network Development Life Cycle method, which started from analysis design and prototype simulation to implementation. The research results after testing were able to secure local network service ports against vulnerability scanners on routers using the port knocking method, and testing attack schemes carried out from each scheme could run well on the router’s local network and obtain notifications via telegram bots in real time to administrators. This research contributes to administrators’ ability to secure networks so irresponsible people do not easily infiltrate them.

Real-time risk assessment of aircraft landing based on finite element-virtual prototype-machine learning co-simulation on wet runways

The safety of aircraft landing on wet runways is of great importance in runway risk management. In order to ensure landing safety on wet runways, real-time risk warning is required. This paper proposes a method to assess aircraft landing risk in real-time based on finite element-virtual prototype-machine learning co-simulation. Firstly, a tire-water film-runway finite element model was constructed, a virtual prototype model was built based on the Airbus A320 model, and the results of the tire-water film-runway local finite element dynamic analysis were transferred to the system simulation of the virtual prototype for co-simulation. Secondly, considering the influence of wet state parameters on the runway, a database of aircraft anti-skid failure risk was constructed, and three machine learning models were trained to predict aircraft landing risk. The results show that the Support Vector Machine (SVM) model has better generalization capability and should be used to predict the risk level of aircraft landing. The efficacy of the comprehensive taxiing model was validated using an empirical formula for determining the aircraft's landing distance on a wet runway. When an aircraft lands on a runway with an average water film thickness of 8 mm, the braking time is approximately 1.6 times longer than on a dry runway, and the braking distance is roughly 5.3 times greater than on a dry runway. Finally, a risk assessment example was provided: the entire process from landing information input to risk level output for the aircraft model took only 80 ms, which could provide an efficient and real-time aircraft landing risk assessment.

‘Sensing’ Learners through Presence: Learning Relational Pedagogies for Infants Using Virtual Reality

Abstract Virtual Reality (vr) is widely purported as an effective strategy for learning practical skills across disciplines such as medicine and sport, but it has yet to be fully exploited in relation to education. Learning how to engage pedagogically with students calls for sophisticated and nuanced relational skills, but opportunities to practice these with ‘real’ learners are often hard to access. This is especially so for students who are learning how to enact relational pedagogies with infants in early childhood education settings (ece) through sensing encounters. To address this lacuna, the authors co-designed and trialled a prototype for a vr game scenario that simulated ‘real-life’ presence with a virtual infant to explore its potential for learning relational pedagogies based on observable features of presence. The authors videoed the vr screen as cohorts of ece students and teachers interact with the prototype simulation and/or observed their peers. The authors found that learners quickly became sensorially engaged once they had mastered the technology. Their application and attitudes towards important features of relational pedagogies were keenly evident through these engagements – on and off the screen – with opportunities for future development identified.

Design and modeling of hexapod robot using telescopic legs connected to pivot joints at the hips

Hexapod robots are widely used in applications such as search and rescue, exploration, and surveillance due to their improved mobility and stability on uneven terrain. However, conventional hexapod robots typically suffer from issues such as heavy weight and complex design, which limits their effectiveness in certain scenarios. In this paper, we propose a new hexapod robot that addresses the issues of weight and complexity often associated with conventional hexapod robots. Our proposed design uses telescopic legs connected to pivot joints at the hips, resulting in a two-DOFs-leg configuration. The robot’s six legs are aligned with a parallelepiped body, with each leg configured with a revolute joint and a prismatic joint. With a total of twelve degrees of freedom (DOFs), the proposed robot can move in a straight line or turn. Our solution for stabilizing the robot’s horizontally oriented body on uneven terrain, using analytical kinematics, inverse kinematics, and geometric analysis, is a valuable contribution. Additionally, we present simulation of path generation and gait design for various inclined planes and stairs using a virtual prototype modeled in MATLAB/Simulink Simscape Multibody. The results of our simulated and physical prototype experiments demonstrate that the proposed design and body control algorithm effectively maintain the orientation of the robot’s body usually stable while it moves on different types of surfaces. Overall, our proposed hexapod robot using telescopic legs offers a promising solution for achieving improved mobility and stability on uneven terrain, with reduced weight and complexity compared to conventional hexapod robots.

An Approach to Improve Harmonic Attenuation and Stability Performance in Multi-Parallel Inverter System

In a multi-parallel inverter system, the grid-tied inverters incorporate the PCC voltage feedforward technique to suppress the effect of low-order grid voltage harmonics on the inverter output current. However, this method is prone to instability issues resulting from inverter-grid interactions, especially under inductive grid conditions along with a power-factor correction capacitor connected at the PCC. A simple solution to overcome the above problem is to provide phase compensation through the voltage feedforward path. This technique can eliminate the negative damping region created by the feedforward loop in the inverter output admittance. But, here instability is addressed at the cost of deteriorating the harmonic attenuation capability offered by the voltage feedforward loop. Therefore, a systematic way of compensating the output admittance to overcome instability and at the same time preserving harmonic attenuation capability for low-order grid voltage harmonics is presented in this paper. Output admittance of the inverter is properly shaped by understanding the phasor movement of quantities in the inverter admittance. Finally, it will be shown that a trade-off exists in addressing harmonic instability and harmonic attenuation. As a result, both these problems should be addressed simultaneously. The above findings are validated through hardware prototype and MATLAB simulation results.

Single-Phase Bridgeless Converter for On-Board EV Charger With Flexible Charging Capabilities

This article puts forward the analysis and design of single-phase bridgeless Cuk-derived DC-DC converter for a novel vehicle-to-vehicle (V2V) charge transfer technique. V2V charging adds flexibility in EV charging process and aids in mitigating range anxiety. Proposed V2V charge transfer technique has only one power conversion stage and only one onboard charger is used to charge the battery. The charger is capable of both grid-to-vehicle (G2V) and V2V charging. The converter design is in discontinuous conduction mode (DCM) which reduces the control complexity. The converter has lower component count rendering the charger lightweight, power dense, and cost effective. The overall converter efficiency is high owing to low switching losses. This work has been compared to several state-of-the art V2V topologies and configuration. The complete steady state analysis and converter design operating in DC charging mode have been presented. Moreover, to validate the analysis, design, and applicability of the converter for DC V2V charge transfer, PSIM simulation and laboratory-based hardware prototype have been built and the experimental results are provided.

Wireless Network Bandwidth Quality Measurement Using Qos Standard Tiphon

As technology develops, computer networks have a very important role because they have many advantages, such as ease and efficiency. In designing research on bandwidth quality on wireless LAN networks at the Baidhaul Ahkam Islamic Education Foundation, the method used is the Network Development Life Cycle (NDLC) and has several stages, namely Analysis, Design, Simulation Prototyping, implementation, Monitoring, and Management. This research will analyze the quality of bandwidth on wireless LAN networks at the Baidhaul Ahkam Islamic Education Foundation using the QoS (Quality of Service) method of tiphon standards. The results of the measurements obtained will then be processed and analyzed to provide value information, Throughput, Packet Loss, Delay, and Jitter used to describe or evaluate the quality of the wireless LAN network that has been provided. The quality of bandwidth traffic at the Baidhaul Ahkam Islamic Education Foundation can be seen from each throughput value of 938k, Packet Loss of 0%, delay of 2.784333 ms, and jitter of 2.76 These values are included in the excellent category. From these results, it can be concluded that the bandwidth available today still meets the needs of internet use at the Baidhaul Ahkam Islamic Foundation

CPG-MPC controller for wheel-fin-flipper integrated amphibious robot

PurposeThe purpose of this paper is to introduce a motion control method for WFF-AmphiRobot, which can effectively realize the flexible motion of the robot on land, underwater and in the transition zone between land and water.Design/methodology/approachBased on the dynamics model, the authors selected the appropriate state variables to construct the state space model of the robot and estimated the feedback state of the robot through the maximum a posteriori probability estimation. The nonlinear predictive model controller of the robot is constructed by local linearization of the model to perform closed-loop control on the overall motion of the robot. For the control problem of the terminal trajectory, using the neural rhythmic movement theory in bionics to construct a robot central pattern generator (CPG) for real-time generation of terminal trajectory.FindingsIn this paper, the motion state of WFF-AmphiRobot is estimated, and a model-based overall motion controller for the robot and an end-effector controller based on neural rhythm control are constructed. The effectiveness of the controller and motion control algorithm is verified by simulation and physical prototype motion experiments on land and underwater, and the robot can ideally complete the desired behavior.Originality/valueThe paper designed a controller for WFF-AmphiRobot. First, when constructing the robot state estimator in this paper, the robot dynamics model is introduced as the a priori estimation model, and the error compensation of the a priori model is performed by the method of maximum a posteriori probability estimation, which improves the accuracy of the state estimator. Second, for the underwater oscillation motion characteristics of the flipper, the Hopf oscillator is used as the basis, and the flipper fluctuation equation is modified and improved by the CPG signal is adapted to the flipper oscillation demand. The controller effectively controls the position error and heading angle error within the desired range during the movement of the WFF-AmphiRobot.

ENERGYSIM: techniques for advancing building energy education through immersive virtual reality (VR) simulation

An important practice for reducing the effects of global warming is the design and construction of energy-efficient buildings. In design education, the full comprehension of thermal behavior in buildings based on their geometry and material composition is required. The complexity of energy simulation principles, vis-a-vis the number of elements that impact the energy loads, their linkages, and their relationships to one another all combine to make this a challenging subject to absorb. Virtual Reality (VR) provides an immersive way to learn the concepts of building energy responses; however, the development of VR applications for education is difficult due to the knowledge, skill, and performance resource-related gaps. Unoptimized VR applications can adversely impact learning if user experiences are broken due to performance lags. This research, therefore, explores VR as a teaching tool for building energy education while showcasing the development process toward a visually accurate simulation and performant application. We developed EnergySIM; a multi-user VR building energy simulation prototype of the famous Farnsworth House. Using this prototype, we document rigorously tested development workflows for improved VR game performance, high visual fidelity, and user interaction, the three key factors which positively contribute to user knowledge retention. The study combines menu-driven interaction, virtual exploration, and miniature model manipulation approaches with the aim of testing user understanding and knowledge retention. Highlighted results provide reduced barriers of entry for educators towards developing higher quality educational VR applications. EnergySIM showcases pre-simulated building exterior surface heatmaps response from four seasons (winter, summer, fall, and spring) alongside an all-year-round sun-hour scenario. Four different material pre-simulated scenarios (single glazing, double glazing, concrete, and wood) for interior atmospheric temperature mapping are also explored. Preferred interaction methods are documented by allowing users’ visual appraisal of alternative building materials based on insulation capacity or resistance to heat flow (R-value). The significance of this work lies in its potential to revolutionize how students, designers, and instructors approach building energy education in today’s world. EnergySIM provides a hands-on and visually engaging learning experience towards the enhancement of knowledge retention and understanding. It pushes the boundaries of development for visual fidelity using geometry/mesh modeling input from various software into game engines and optimizing game performance using the HTC Vive Pro Eye and Meta Quest Pro headsets.

PENERAPAN REDUNDANCY FIREWALL PFSENSE MENGGUNAKAN METODE CARP DENGAN PFSYNC DAN XMLRPC SYNC

The use of information technology (IT) has grown rapidly in various sectors, such as business, industry, education, healthcare, and government. With the increasing dependence on IT, it is important for organizations to ensure high availability of the firewall system. When the firewall experiences problems or is unavailable, computer networks can be vulnerable to cyber attacks such as DoS (Denial of Service), Port Scanning, and others, resulting in financial loss, reputation damage, and loss of customer trust. On the other hand, high availability of the firewall system can help organizations meet regulatory requirements, maintain customer trust, and improve operational efficiency. The method used in this research is the Network Development Life Cycle (NDLC), which consists of six stages: Analysis, Design, Simulation Prototyping, Implementation, Monitoring, and Management. From the test results, it can be concluded that after testing 10 times with the CARP method, sending 30 packets and then the master node dies, this method has an average of 27.2 packets received, downtime of around 2.8 seconds, and packet loss of around 9.2%. These results make the CARP method have high availability against system or network failures.

Towards Dual-Use Training Simulator in Interventional Neuroradiology

Abstract Cerebral aneurysms are common lesions in the general population and are increasingly treated by endovascular procedures. Training of these methods not only improves the learning period of physicians but also increases patient safety. However, the use of traditional medical training methods such as training in living animal models is decreasing due to high costs and ethical issues, so computer simulations and 3D-printed phantoms are being used instead. A more realistic simulation requires pulsatile blood flow that can be customized and has body temperature. Current simulators that use 3D-printed phantoms are mainly used under X-Ray in an angiography intervention room, therefore a dual-use simulator that is easy to transport and can be used also without X-Ray is desirable. Either it could be used traditionally in an angiography intervention room or externally in any regular room with an image simulation according to rotational angiography. In this work, a prototype for blood flow simulation is presented as a first step towards such simulator and its application is demonstrated through different investigations. The fluid system is capable of simulating a given blood flow profile and the heating system can generate an accurate body temperature. The case can be easily integrated into a modular phantom system and is convenient to transport, although the weight could be further reduced.

Optimization Design Method of Distributed Perception Network for Hydraulic Gate Hoisting Operation

Building a highly reliable and low latency distributed perception network for dynamic operation scenarios of hydraulic gate hoists is an important foundation for achieving intelligent operation and maintenance of gate hoists. The study aims to address the issues of poor network signal coverage, high electromagnetic interference, and obstruction of mountains and concrete structures in the hydraulic gate opening and closing operation scenario. Thus, a transmission characteristic function of a single hop network in the hydraulic gate opening and closing operation scenario is constructed based on the Kriging method. A distributed perception network optimization problem model is established with network transmission reliability and deployment cost as optimization objectives, and an improved ant colony algorithm is used to solve it. A set of distributed perception network optimization design methods for hydraulic gate opening and closing operations is proposed. The prototype simulation experiment of a certain hydropower station gate hoist shows that the method proposed in this paper has good feasibility.

F-Type Single Phase Five Level Inverter

In modern industrial and power electronics applications, high-voltage and high-current integrated modular power transistors (IGBTs) are increasingly being utilized. The F-type inverter, which is a modified version of the T-type inverter, has emerged as a promising option. This configuration separates the common point of the bidirectional power switch, reducing voltage stress and resulting in lower inverter costs and losses. The F-type inverter has a simplified design and lower conduction losses, making it a viable choice for medium-voltage applications compared to the clamp diode NPC inverter configuration. Detailed analysis of losses and efficiency has been conducted, and a simulation and experimental prototype have been built to validate the theoretical basis. In addition, the voltage rating of the power switches in the T-type three-level inverter is a limiting factor, as it is only 50% of the input DC voltage for each inverter phase leg.

A Compact Three-Dimensional Two-Layer Flexible Hinge

The paper proposes a new three-dimensional flexible hinge formed of several serially linked straight- and circular-axis segments that are disposed of in two layers. The novel hinge configuration is capable of large displacements and can be implemented in precision-compliant mechanisms that need to cover large spatial workspaces. Based on simplified geometry, an analytical compliance model is formulated that connects the loads to the displacements at one end of the hinge. Finite element simulation and experimental prototype testing of actual-geometry hinge configurations confirm the analytical model predictions. A related compliance-based analytical model evaluates the maximum loads that can be applied to the hinge and the resulting displacements. The two small-deformation analytical models are subsequently utilized to investigate the relationship between geometric parameters and the hinge performance qualifiers.

Simulation of Lead-Free Heterojunction CsGeI2Br/CsGeI3-Based Perovskite Solar Cell Using SCAPS-1D

This paper presents the simulation of the novel prototype of a heterojunction perovskite solar cell (PSC) based on CSGeI2Br/CSGeI3. The device consists of two absorber layers (CSGeI2Br, CSGeI3), an electron transport layer (ETL) chosen as TiO2 and a hole transport layer (HTL) given as poly(3-hexylthiophene) (P3HT). Within the simulation, the effects of thickness, doping and defect density in each absorber layer and different back contact metal electrodes on electrical parameters (efficiency, short circuit current, open circuit voltage, and fill factor) are evaluated. In addition, the contribution of the HTL (doping density and thickness), temperature, shunt and series resistance were also checked on the same electrical parameters. The simulations are conducted in standard test conditions with the irradiation normalized as 0.1 W/cm2 using the SCAPS-1D platform. The maximum efficiency obtained within the simulation of this device was about 31.86%. For this device, the thickness of the CSGeI3 layer should be around 900 nm, while that of the CsGeI2Br should be around 100 nm to facilitate optimal absorption of the incident photons. The doping density in the absorber layer is such that in CsGeI3 should be around 1018 cm−3 and around 1016 cm−3 in the CsGeI2Brlayer. The defects densities in both layers of the perovskite materials should be around 1014 cm−3. Concerning the HTL, the thickness and the doping density of the P3HT should be around 50 nm and 1018 cm−3, respectively. In terms of the back contact electrode, the work function of the metal should be at least equal to 5 eV, corresponding to gold (Au) metal. The series resistance due to the connection of the cell to the external load should be very small, while the shunt resistance due to the leakage current in the solar cell should be high. Furthermore, the operating temperature of the new PSC should be maintained at an ambient level of around 25 °C in order to deliver high efficiency.

Android-based Marketplace Application for Surakarta Local Products

During the Covid-19 pandemic, many companies suffered losses, leading to a reduction in employees and adversely affecting the community's economy. A significant portion of the local economy depends on the sale of locally produced goods. Moreover, the rapid advancement of information technology has intensified business competition, further impacting the development of local products. Unfortunately, the potential of information technology, particularly Marketplace platforms, to boost the economy and facilitate transactions between customers and sellers has been overlooked. To address these issues, this research aims to develop a Marketplace application to assist the community in selling and promoting their locally made products. The research involves several stages, including analysis, design, simulation prototyping, implementation, monitoring, and management. The result of this study is an Android-based Marketplace application designed to support the sale of local products.

Flexible simulation of traffic with microservices, agents & REST

Hypermedia Multi-Agent System (MAS) Simulation is a novel approach to building agent-based simulations in which the environment is modelled as a set of linked hypermedia resources that are implemented using microservices. This paper discusses the implementation of an prototypical simulation system based on this concept and the lessons learnt in the process.

Superconducting Synchronous Motor Development for Airplane Applications - Mechanical and Electrical Design of a Prototype 100 kW Motor

A 100 kW, 4500 RPM synchronous superconducting motor is being built at the Paihau-Robinson Research Institute, Victoria University of Wellington, New Zealand. The motor has superconducting excitation field coils on the rotor and a conventional stator winding. To minimize mass the motor is an air-core type, meaning no ferromagnetic materials are employed inside the motor. Some of the salient features of this motor include: 1) field winding coils employing REBCO CORC conductor; 2) field coils powered with a contactless superconducting dynamo exciter; 3) an EM shield on the rotor for protecting the field coils from high frequency magnetic fields due to stator harmonics and the switching of the drive electronics; 4) a unique single-layer winding design for the stator winding, where the stator coils are made with copper Litz wire and are liquid-cooled. This paper describes the electrical design and 3D simulation of the motor including the superconducting dynamo, and highlights stator and rotor coil developments that will be validated in the prototype. Sensitivity to critical design parameters has been assessed in simulation and initial sub-system prototypes manufactured for testing. Preliminary design is projecting this motor diameter and axial length as 360 mm and 550 mm respectively, with an efficiency of 96.4 % at the rated load. These numbers may be comparable with permanent magnet motors of similar rating, but this motor is being built to serve as a test-bed for evaluating different technologies for rotor and stator components. The ultimate goal for this program is a 3.0 MW machine with superconducting armature and field windings. In comparison with the permanent magnet motor in 2.5 - 3.0 MW range, the superconducting motors are expected to be 4 to 5 times smaller in size and mass with efficiency exceeding 99 %.