Abstract: A novel low-cost impedance control structure is
proposed for monitoring the contact force between end-effector and
environment without installing an expensive force/torque sensor.
Theoretically, the end-effector contact force can be estimated from the
superposition of each joint control torque. There have a nonlinear
matrix mapping function between each joint motor control input and
end-effector actuating force/torques vector. This new force control
structure can be implemented based on this estimated mapping matrix.
First, the robot end-effector is manipulated to specified positions, then
the force controller is actuated based on the hall sensor current
feedback of each joint motor. The model-free fuzzy sliding mode
control (FSMC) strategy is employed to design the position and force
controllers, respectively. All the hardware circuits and software
control programs are designed on an Altera Nios II embedded
development kit to constitute an embedded system structure for a
retrofitted Mitsubishi 5 DOF robot. Experimental results show that PI
and FSMC force control algorithms can achieve reasonable contact
force monitoring objective based on this hardware control structure.
Abstract: Because of the low maintenance and robustness induction motors have many applications in the industries. The speed control of induction motor is more important to achieve maximum torque and efficiency. Various speed control techniques like, Direct Torque Control, Sensorless Vector Control and Field Oriented Control are discussed in this paper. Soft computing technique – Fuzzy logic is applied in this paper for the speed control of induction motor to achieve maximum torque with minimum loss. The fuzzy logic controller is implemented using the Field Oriented Control technique as it provides better control of motor torque with high dynamic performance. The motor model is designed and membership functions are chosen according to the parameters of the motor model. The simulated design is tested using various tool boxes in MATLAB. The result concludes that the efficiency and reliability of the proposed speed controller is good.
Abstract: Bleeding in the digestive duct is an important diagnostic parameter for patients. Blood in the endoscopic image can be determined by investigating the color tone of blood due to the degree of oxygenation, under- or over- illumination, food debris and secretions, etc. However, we found that how to pre-process raw images obtained from the capsule detectors was very important. We applied various image process methods suitable for the capsule endoscopic image in order to remove noises and unbalanced sensitivities for the image pixels. The results showed that much improvement was achieved by additional pre-processing techniques on the algorithm of determining bleeding areas.
Abstract: Safer driver behavior promoting is the main goal of this paper. It is a fact that drivers behavior is relatively safer when being monitored. Thus, in this paper, we propose a monitoring system to report specific driving event as well as the potentially aggressive events for estimation of the driving performance. Our driving monitoring system is composed of two parts. The first part is the in-vehicle embedded system which is composed of a GPS receiver, a two-axis accelerometer, radar sensor, OBD interface, and GPRS modem. The design considerations that led to this architecture is described in this paper. The second part is a web server where an adaptive hierarchical fuzzy system is proposed to classify the driving performance based on the data that is sent by the in-vehicle embedded system and the data that is provided by the geographical information system (GIS). Our system is robust, inexpensive and small enough to fit inside a vehicle without distracting the driver.
Abstract: Although lots of research work has been done for
human pose recognition, the view-point of cameras is still critical
problem of overall recognition system. In this paper, view-point
insensitive human pose recognition is proposed. The aims of the
proposed system are view-point insensitivity and real-time processing.
Recognition system consists of feature extraction module, neural
network and real-time feed forward calculation. First, histogram-based
method is used to extract feature from silhouette image and it is
suitable for represent the shape of human pose. To reduce the
dimension of feature vector, Principle Component Analysis(PCA) is
used. Second, real-time processing is implemented by using Compute
Unified Device Architecture(CUDA) and this architecture improves
the speed of feed-forward calculation of neural network. We
demonstrate the effectiveness of our approach with experiments on
real environment.
Abstract: A stiffened laminated composite panel (1 m length ×
0.5m width) was optimized for minimum weight and deflection under
several constraints using genetic algorithm. Here, a significant study
on the performance of a penalty function with two kinds of static and
dynamic penalty factors was conducted. The results have shown that
linear dynamic penalty factors are more effective than the static ones.
Also, a specially combined linear-exponential function has shown to
perform more effective than the previously mentioned penalty
functions. This was then resulted in the less sensitivity of the GA to
the amount of penalty factor.
Abstract: The aim of study was to evaluate pressure distribution characteristics of the elastic textile bandages using two instrumental techniques: a prototype Instrument and a load Transference. The prototype instrument which simulates shape of real leg has pressure sensors which measure bandage pressure. Using this instrument, the results show that elastic textile bandages presents different pressure distribution characteristics and none produces a uniform distribution around lower limb.
The load transference test procedure is used to determine whether a relationship exists between elastic textile bandage structure and pressure distribution characteristics. The test procedure assesses degree of load, directly transferred through a textile when loads series are applied to bandaging surface. A range of weave fabrics was produced using needle weaving machine and a sewing technique. A textile bandage was developed with optimal characteristics far superior pressure distribution than other bandages. From results, we find that theoretical pressure is not consistent exactly with practical pressure. It is important in this study to make a practical application for specialized nurses in order to verify the results and draw useful conclusions for predicting the use of this type of elastic band.
Abstract: This work proposes an optical fiber system (OF) for
sensing various volatile organic compounds (VOCs) in human breath
for the diagnosis of some metabolic disorders as a non-invasive
methodology. The analyzed VOCs are alkanes (i.e., ethane, pentane,
heptane, octane, and decane), and aromatic compounds (i.e., benzene,
toluene, and styrene). The OF displays high analytical performance
since it provides near real-time responses, rapid analysis, and low
instrumentation costs, as well as it exhibits useful linear range and
detection limits; the developed OF sensor is also comparable to a
reference methodology (gas chromatography-mass spectrometry) for
the eight tested VOCs.
Abstract: This paper presents an experimental case using sensory thermography to describe temperatures behavior on median nerve once an activity of repetitive motion was done. Thermography is a noninvasive technique without biological hazard and not harm at all times and has been applied in many experiments to seek for temperature patterns that help to understand diseases like cancer and cumulative trauma disorders (CTD’s). An infrared sensory thermography technology was developed to execute this study. Three women in good shape were selected for the repetitive motion tests for 4 days, two right-handed women and 1 left handed woman, two sensory thermographers were put on both median nerve wrists to get measures. The evaluation time was of 3 hours 30 minutes in a controlled temperature, 20 minutes of stabilization time at the beginning and end of the operation. Temperatures distributions are statistically evaluated and showed similar temperature patterns behavior.
Abstract: In many sensor network applications, sensor nodes are deployed in open environments, and hence are vulnerable to physical attacks, potentially compromising the node's cryptographic keys. False sensing report can be injected through compromised nodes, which can lead to not only false alarms but also the depletion of limited energy resource in battery powered networks. Ye et al. proposed a statistical en-route filtering scheme (SEF) to detect such false reports during the forwarding process. In this scheme, the choice of a security threshold value is important since it trades off detection power and overhead. In this paper, we propose a fuzzy logic for determining a security threshold value in the SEF based sensor networks. The fuzzy logic determines a security threshold by considering the number of partitions in a global key pool, the number of compromised partitions, and the energy level of nodes. The fuzzy based threshold value can conserve energy, while it provides sufficient detection power.
Abstract: A wideband 2-1-1 cascaded ΣΔ modulator with a
single-bit quantizer in the two first stages and a 4-bit quantizer in the
final stage is developed. To reduce sensitivity of digital-to-analog
converter (DAC) nonlinearities in the feedback of the last stage,
dynamic element matching (DEM) is introduced. This paper presents
two modelling approaches: The first is MATLAB description and the
second is VHDL-AMS modelling of the proposed architecture and
exposes some high-level-simulation results allowing a behavioural
study. The detail of both ideal and non-ideal behaviour modelling are
presented. Then, the study of the effect of building blocks
nonidealities is presented; especially the influences of nonlinearity,
finite operational amplifier gain, amplifier slew rate limitation and
capacitor mismatch. A VHDL-AMS description presents a good
solution to predict system-s performances and can provide sensitivity
curves giving the impact of nonidealities on the system performance.
Abstract: One of the most importance of intelligence in-car and
roadside systems is the cooperative vehicle-infrastructure system. In
Thailand, ITS technologies are rapidly growing and real-time vehicle
information is considerably needed for ITS applications; for example,
vehicle fleet tracking and control and road traffic monitoring
systems. This paper defines the communication protocols and
software design for middleware components of B-VIS (Burapha
Vehicle-Infrastructure System). The proposed B-VIS middleware architecture serves the needs of a distributed RFID sensor network and simplifies some intricate details of several communication standards.
Abstract: Linear and weakly nonlinear analysis of shallow wake
flows is presented in the present paper. The evolution of the most
unstable linear mode is described by the complex Ginzburg-Landau
equation (CGLE). The coefficients of the CGLE are calculated
numerically from the solution of the corresponding linear stability
problem for a one-parametric family of shallow wake flows. It is
shown that the coefficients of the CGLE are not so sensitive to the
variation of the base flow profile.
Abstract: The aim of this study is to describe the associations
between the temperamental traits and the narrative emotional
expression. The Temperament Questionnaire was used: The FCB-TI
of Zawadzki & Strelau. A sample of 85 persons described three
emotional situations: love. hate, and anxiety. This study analyzes the
verbal form of expression by means of a written account of
emotions. The relationship between the narratives of love, hate and
anxiety and temperament characteristics were studied. Results
indicate that vigorousness (VI), perseverance (PE), sensory
sensitivity (SS), emotional reactivity (ER), endurance (EN) and
activeness (AC) have a significant impact on the emotional
expression in narratives. The temperamental traits are linked to the
form of emotional language. It means that temperament has an
impact on cognitive representations of emotions.
Abstract: Class cohesion is an important object-oriented
software quality attribute. It indicates how much the members in a
class are related. Assessing the class cohesion and improving the
class quality accordingly during the object-oriented design phase
allows for cheaper management of the later phases. In this paper, the
notion of distance between pairs of methods and pairs of attribute
types in a class is introduced and used as a basis for introducing a
novel class cohesion metric. The metric considers the methodmethod,
attribute-attribute, and attribute-method direct interactions.
It is shown that the metric gives more sensitive values than other
well-known design-based class cohesion metrics.
Abstract: This paper describes the two stage control using a disturbance observer and a Kalman filter. The system feedback uses the estimated state when it controls the speed. After the change-over point, its feedback uses the controlled plant output when it controls the position. To change the system continually, a change-over point has to be determined pertinently, and the controlled plant input has to be adjusted by the addition of the appropriate value. The proposed method has noise-reduction effect. It changes the system continually, even if the controlled plant identification has the error. Although the conventional method needs a speed sensor, the proposed method does not need it. The proposed method has a superior robustness compared with the conventional two stage control.
Abstract: The special constraints of sensor networks impose a
number of technical challenges for employing them. In this review,
we study the issues and existing protocols in three areas: coverage
and routing. We present two types of coverage problems: to
determine the minimum number of sensor nodes that need to perform
active sensing in order to monitor a certain area; and to decide the
quality of service that can be provided by a given sensor network.
While most routing protocols in sensor networks are data-centric,
there are other types of routing protocols as well, such as
hierarchical, location-based, and QoS-aware. We describe and
compare several protocols in each group. We present several multipath
routing protocols and single-path with local repair routing
protocols, which are proposed for recovering from sensor node
crashes. We also discuss some transport layer schemes for reliable
data transmission in lossy wireless channels.
Abstract: Anaerobic Digestion has become a promising
technology for biological transformation of organic fraction of the
municipal solid wastes (MSW). In order to represent the kinetic
behavior of such biological process and thereby to design a reactor
system, development of a mathematical model is essential.
Addressing this issue, a simplistic mathematical model has been
developed for anaerobic digestion of MSW in a continuous flow
reactor unit under homogeneous steady state condition. Upon
simulated hydrolysis, the kinetics of biomass growth and substrate
utilization rate are assumed to follow first order reaction kinetics.
Simulation of this model has been conducted by studying sensitivity
of various process variables. The model was simulated using typical
kinetic data of anaerobic digestion MSW and typical MSW
characteristics of Kolkata. The hydraulic retention time (HRT) and
solid retention time (SRT) time were mainly estimated by varying
different model parameters like efficiency of reactor, influent
substrate concentration and biomass concentration. Consequently,
design table and charts have also been prepared for ready use in the
actual plant operation.
Abstract: We present a dextran modified silicon microring
resonator sensor for high density antibody immobilization. An array
of sensors consisting of three sensor rings and a reference ring was
fabricated and its surface sensitivity and the limit of detection were
obtained using polyelectrolyte multilayers. The mass sensitivity and
the limit of detection of the fabricated sensor ring are 0.35 nm/ng
mm-2 and 42.8 pg/mm2 in air, respectively. Dextran modified sensor
surface was successfully prepared by covalent grafting of oxidized
dextran on 3-aminopropyltriethoxysilane (APTES) modified silicon
sensor surface. The antibody immobilization on hydrogel dextran
matrix improves 40% compared to traditional antibody
immobilization method via APTES and glutaraldehyde linkage.
Abstract: This paper presents the identification of the impact
force acting on a simply supported beam. The force identification is
an inverse problem in which the measured response of the structure is
used to determine the applied force. The identification problem is
formulated as an optimization problem and the genetic algorithm is
utilized to solve the optimization problem. The objective function is
calculated on the difference between analytical and measured
responses and the decision variables are the location and magnitude
of the applied force. The results from simulation show the
effectiveness of the approach and its robustness vs. the measurement
noise and sensor location.