The availability of public transport is one of the solutions to traffic congestion in Jakarta. Focusing on angkot, one of the public transport types in Jakarta, this study discusses a model and simulations to investigate several factors that affect its lateral stability. Those factors include rear tire inflation pressure, passenger configuration, velocity, and downhill inclination angle. The results show that the stability of an angkot is proportional to the rear tires cornering stiffness. It also has an indirect relationship with the passenger configuration within the angkot. Moreover, the stability of an angkot decreases as its velocity and the angle of the inclined road increase. In general, this study is expected to have a contribution to the development of public transport in Jakarta, especially angkot.
The Covid-19 pandemic has caused many issues, especially in the medical field. One of the groups that are affected by the pandemic the worst is the health workers. The surge of demand for health services, especially for Covid-19 patients, overwhelms health workers, forcing them to work extra hard and eventually experience exhaustion. Due to this condition, the health workers may face difficulties in doing heavy-duty work. This paper proposes a design of a mortuary trolley as a device to ease the health workers in handling the dead bodies of Covid-19 victims. Considering the need for a corpse mobility aid that is contact-free, the design utilizes a combination of a scissor lift structure, a power screw mechanism to elevate and lower the table, and a conveyor system to load and unload the table. To ensure that the device can operate without experiencing unwanted failure, strength analyses are done on the most critical components, such as the scissor arm, pin joint, power screw, and scissor arm connector, to determine the safety factor at maximum load in static and fatigue loading condition. Analysis results show that all those components have a safety factor greater than 1 for both static and fatigue loading conditions, indicating the device will not yield and is predicted to have infinite life. The design and analyses of this device can be a reference for manufacturers of medical devices to design a mortuary trolley to ease the work of health workers.
Robot that uses bipedal locomotion such as humanoid robot has a unique appeal in which the robot can perform many duties/works that cannot be done by wheeled robots due to spatial and environmental constraints. Related literature were about biped robots and robot arm that uses the concept of central pattern generator (CPG). Biped robots that use CPG (technically a neural oscillators) do not need any mathematical model of the robot itself. The controller “exploits” the dynamics of the robot to achieve an efficient way to drive the robot’s joints. The driving frequency from this type of controller is thus heavily influenced by the dynamics of the robot it controls. One disadvantage of this method is that we cannot adjust the walking/movement parameter easily. Inspired by the idea of central pattern generator where one central “brain” controls the movement of the joints of the robot and the fact that the system uses neural oscillators reach some kind of “consensus”, we are interested to study the feasibility of the implementation of leader – follower formation control based on consensus algorithm to bipedal locomotion system. The method studied in this report is to force the dynamic model of the double pendulum to match the kinematic model of the double integrator agent that uses consensus algorithm in forming formation. The walking/movement parameters of the robot using the proposed method are defined by one central “brain”, and then the joints are working in consensus way to achieve the target joints’ trajectories specified by the “brain”. The study also concludes the notion of stability of the system driven by this controller which strongly related to the consensus ability in the context of Multi – Agent System.
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