Abstract: Spatial and mobile computing evolves. This paper
describes a smart modeling platform called “GeoSEMA". This
approach tends to model multidimensional GeoSpatial Evolutionary
and Mobile Agents. Instead of 3D and location-based issues, there
are some other dimensions that may characterize spatial agents, e.g.
discrete-continuous time, agent behaviors. GeoSEMA is seen as a
devoted design pattern motivating temporal geographic-based
applications; it is a firm foundation for multipurpose and
multidimensional special-based applications. It deals with
multipurpose smart objects (buildings, shapes, missiles, etc.) by
stimulating geospatial agents.
Formally, GeoSEMA refers to geospatial, spatio-evolutive and
mobile space constituents where a conceptual geospatial space model
is given in this paper. In addition to modeling and categorizing
geospatial agents, the model incorporates the concept of inter-agents
event-based protocols. Finally, a rapid software-architecture
prototyping GeoSEMA platform is also given. It will be
implemented/ validated in the next phase of our work.
Abstract: In this paper, the bio-mechanical analysis of human joints is carried out and the study is extended to the robot manipulator. This study will first focus on the kinematics of human arm which include the movement of each joint in shoulder, wrist, elbow and finger complexes. Those analyses are then extended to the design of a human robot manipulator. A simulator is built for Direct Kinematics and Inverse Kinematics of human arm. In the simulation of Direct Kinematics, the human joint angles can be inserted, while the position and orientation of each finger tips (end-effector) are shown. Inverse Kinematics does the reverse of the Direct Kinematics. Based on previous materials obtained from kinematics analysis, the human manipulator joints can be designed to follow prescribed position trajectories.
Abstract: The communication networks development and
advancement during two last decades has been toward a single goal
and that is gradual change from circuit-switched networks to packed
switched ones. Today a lot of networks operates are trying to
transform the public telephone networks to multipurpose packed
switch. This new achievement is generally called "next generation
networks". In fact, the next generation networks enable the operators
to transfer every kind of services (sound, data and video) on a
network. First, in this report the definition, characteristics and next
generation networks services and then ad-hoc networks role in the
next generation networks are studied.
Abstract: This paper is focused on issues of nonlinear dynamic process modeling and model-based predictive control of a fed-batch sugar crystallization process applying the concept of artificial neural networks as computational tools. The control objective is to force the operation into following optimal supersaturation trajectory. It is achieved by manipulating the feed flow rate of sugar liquor/syrup, considered as the control input. A feed forward neural network (FFNN) model of the process is first built as part of the controller structure to predict the process response over a specified (prediction) horizon. The predictions are supplied to an optimization procedure to determine the values of the control action over a specified (control) horizon that minimizes a predefined performance index. The control task is rather challenging due to the strong nonlinearity of the process dynamics and variations in the crystallization kinetics. However, the simulation results demonstrated smooth behavior of the control actions and satisfactory reference tracking.
Abstract: The main aim of this study was to examine whether
people understand indicative conditionals on the basis of syntactic
factors or on the basis of subjective conditional probability. The
second aim was to investigate whether the conditional probability of
q given p depends on the antecedent and consequent sizes or derives
from inductive processes leading to establish a link of plausible cooccurrence
between events semantically or experientially associated.
These competing hypotheses have been tested through a 3 x 2 x 2 x 2
mixed design involving the manipulation of four variables: type of
instructions (“Consider the following statement to be true", “Read the
following statement" and condition with no conditional statement);
antecedent size (high/low); consequent size (high/low); statement
probability (high/low). The first variable was between-subjects, the
others were within-subjects. The inferences investigated were Modus
Ponens and Modus Tollens. Ninety undergraduates of the Second
University of Naples, without any prior knowledge of logic or
conditional reasoning, participated in this study.
Results suggest that people understand conditionals in a syntactic
way rather than in a probabilistic way, even though the perception of
the conditional probability of q given p is at least partially involved in
the conditionals- comprehension. They also showed that, in presence
of a conditional syllogism, inferences are not affected by the
antecedent or consequent sizes. From a theoretical point of view these
findings suggest that it would be inappropriate to abandon the idea
that conditionals are naturally understood in a syntactic way for the
idea that they are understood in a probabilistic way.
Abstract: The experimental and theoretical results of a ZVS
(Zero Voltage Switching) isolated flyback DC-DC converter using
multilayered coreless PCB step down 2:1 transformer are presented.
The performance characteristics of the transformer are shown which
are useful for the parameters extraction. The measured energy
efficiency of the transformer is found to be more than 94% with the
sinusoidal input voltage excitation. The designed flyback converter
has been tested successfully upto the output power level of 10W,
with a switching frequency in the range of 2.7MHz-4.3MHz. The
input voltage of the converter is varied from 25V-40V DC.
Frequency modulation technique is employed by maintaining
constant off time to regulate the output voltage of the converter. The
energy efficiency of the isolated flyback converter circuit under ZVS
condition in the MHz frequency region is found to be approximately
in the range of 72-84%. This paper gives the comparative results in
terms of the energy efficiency of the hard switched and soft switched
flyback converter in the MHz frequency region.
Abstract: One problem in evaluating recent computational models of human category learning is that there is no standardized method for systematically comparing the models' assumptions or hypotheses. In the present study, a flexible general model (called GECLE) is introduced that can be used as a framework to systematically manipulate and compare the effects and descriptive validities of a limited number of assumptions at a time. Two example simulation studies are presented to show how the GECLE framework can be useful in the field of human high-order cognition research.
Abstract: Both the minimum energy consumption and
smoothness, which is quantified as a function of jerk, are generally
needed in many dynamic systems such as the automobile and the
pick-and-place robot manipulator that handles fragile equipments.
Nevertheless, many researchers come up with either solely
concerning on the minimum energy consumption or minimum jerk
trajectory. This research paper considers the indirect minimum Jerk
method for higher order differential equation in dynamics
optimization proposes a simple yet very interesting indirect jerks
approaches in designing the time-dependent system yielding an
alternative optimal solution. Extremal solutions for the cost functions
of indirect jerks are found using the dynamic optimization methods
together with the numerical approximation. This case considers the
linear equation of a simple system, for instance, mass, spring and
damping. The simple system uses two mass connected together by
springs. The boundary initial is defined the fix end time and end
point. The higher differential order is solved by Galerkin-s methods
weight residual. As the result, the 6th higher differential order shows
the faster solving time.
Abstract: With the proliferation of the mobile device
technologies, mobile learning can be used to complement and
improve traditional learning problems. Both students and teachers
need a proper and handy system to monitor and keep track the
performance of the students. This paper presents an implementation
of M-learning for primary school in Malaysia by using an open
source technology. It focuses on learning mathematics using
handheld devices for primary schools- students aged 11 and 12 years
old. Main users for this system include students, teachers and the
administrator. This application suggests a new mobile learning
environment with mobile graph for tracking the students- progress
and performance. The purpose of this system is not to replace
traditional classroom but to complement the learning process. In a
testing conducted, students who used this system performed better in
their examination.
Abstract: In this paper an algorithm based on the adaptive
neuro-fuzzy controller is provided to enhance the tipover stability of
mobile manipulators when they are subjected to predefined
trajectories for the end-effector and the vehicle. The controller
creates proper configurations for the manipulator to prevent the robot
from being overturned. The optimal configuration and thus the most
favorable control are obtained through soft computing approaches
including a combination of genetic algorithm, neural networks, and
fuzzy logic. The proposed algorithm, in this paper, is that a look-up
table is designed by employing the obtained values from the genetic
algorithm in order to minimize the performance index and by using
this data base, rule bases are designed for the ANFIS controller and
will be exerted on the actuators to enhance the tipover stability of the
mobile manipulator. A numerical example is presented to
demonstrate the effectiveness of the proposed algorithm.
Abstract: Binary Decision Diagrams (BDDs) are useful data
structures for symbolic Boolean manipulations. BDDs are used in
many tasks in VLSI/CAD, such as equivalence checking, property
checking, logic synthesis, and false paths. In this paper we describe a
new approach for the realization of a BDD package. To perform
manipulations of Boolean functions, the proposed approach does not
depend on the recursive synthesis operation of the IF-Then-Else
(ITE). Instead of using the ITE operation, the basic synthesis
algorithm is done using Boolean NOR operation.
Abstract: In this paper, a solution is presented for a robotic
manipulation problem in industrial settings. The problem is sensing
objects on a conveyor belt, identifying the target, planning and
tracking an interception trajectory between end effector and the
target. Such a problem could be formulated as combining object
recognition, tracking and interception. For this purpose, we integrated
a vision system to the manipulation system and employed tracking
algorithms. The control approach is implemented on a real industrial
manipulation setting, which consists of a conveyor belt, objects
moving on it, a robotic manipulator, and a visual sensor above the
conveyor. The trjectory for robotic interception at a rendezvous point
on the conveyor belt is analytically calculated. Test results show that
tracking the raget along this trajectory results in interception and
grabbing of the target object.
Abstract: A model-free robust control (MFRC) approach is proposed for position control of robot manipulators in the state space. The control approach is verified analytically to be robust subject to uncertainties including external disturbances, unmodeled dynamics, and parametric uncertainties. There is a high flexibility to work on different systems including actuators by the use of the proposed control approach. The proposed control approach can guarantee the robustness of control system. A PUMA 560 robot driven by geared permanent magnet dc motors is simulated. The simulation results show a satisfactory performance for control system under technical specifications. KeywordsModel-free, robust control, position control, PUMA 560.
Abstract: This paper presents the development of a software
application for Off-line robot task programming and simulation. Such
application is designed to assist in robot task planning and to direct
manipulator motion on sensor based programmed motion. The
concept of the designed programming application is to use the power
of the knowledge base for task accumulation. In support of the
programming means, an interactive graphical simulation for
manipulator kinematics was also developed and integrated into the
application as the complimentary factor to the robot programming
media. The simulation provides the designer with useful,
inexpensive, off-line tools for retain and testing robotics work cells
and automated assembly lines for various industrial applications.
Abstract: The IFS is a scheme for describing and manipulating complex fractal attractors using simple mathematical models. More precisely, the most popular “fractal –based" algorithms for both representation and compression of computer images have involved some implementation of the method of Iterated Function Systems (IFS) on complete metric spaces. In this paper a new generalized space called Multi-Fuzzy Fractal Space was constructed. On these spases a distance function is defined, and its completeness is proved. The completeness property of this space ensures the existence of a fixed-point theorem for the family of continuous mappings. This theorem is the fundamental result on which the IFS methods are based and the fractals are built. The defined mappings are proved to satisfy some generalizations of the contraction condition.
Abstract: The kinematics of manipulators is a central problem in the automatic control of robot manipulators. Theoretical background for the analysis of the 5 Dof Lynx-6 educational Robot Arm kinematics is presented in this paper. The kinematics problem is defined as the transformation from the Cartesian space to the joint space and vice versa. The Denavit-Harbenterg (D-H) model of representation is used to model robot links and joints in this study. Both forward and inverse kinematics solutions for this educational manipulator are presented, An effective method is suggested to decrease multiple solutions in inverse kinematics. A visual software package, named MSG, is also developed for testing Motional Characteristics of the Lynx-6 Robot arm. The kinematics solutions of the software package were found to be identical with the robot arm-s physical motional behaviors.
Abstract: The problem of controlling a two link robotic manipulator, consisting of a rotating and a prismatic links, is addressed. The actuations of both links are assumed to have unknown dead zone nonlinearities and friction torques modeled by LuGre friction model. Because of the existence of the unknown dead zone and friction torque at the actuations, unknown parameters and unmeasured states would appear to be part of the overall system dynamics that need for estimation. Unmeasured states observer, unknown parameters estimators, and robust adaptive control laws have been derived such that closed loop global stability is achieved. Simulation results have been performed to show the efficacy of the suggested approach.
Abstract: This paper presents an intelligent speed control
system based on fuzzy logic for a voltage source PWM inverter-fed
indirect vector controlled induction motor drive. Traditional indirect
vector control system of induction motor introduces conventional PI
regulator in outer speed loop; it is proved that the low precision of the
speed regulator debases the performance of the whole system. To
overcome this problem, replacement of PI controller by an intelligent
controller based on fuzzy set theory is proposed. The performance of
the intelligent controller has been investigated through digital
simulation using MATLAB-SIMULINK package for different
operating conditions such as sudden change in reference speed and
load torque. The simulation results demonstrate that the performance
of the proposed controller is better than that of the conventional PI
controller.
Abstract: This paper presents the theoretical background and
the real implementation of an automated computer system to
introduce machine vision in flower, fruit and vegetable processing
for recollection, cutting, packaging, classification, or fumigation
tasks. The considerations and implementation issues presented in this
work can be applied to a wide range of varieties of flowers, fruits and
vegetables, although some of them are especially relevant due to the
great amount of units that are manipulated and processed each year
over the world. The computer vision algorithms developed in this
work are shown in detail, and can be easily extended to other
applications. A special attention is given to the electromagnetic
compatibility in order to avoid noisy images. Furthermore, real
experimentation has been carried out in order to validate the
developed application. In particular, the tests show that the method
has good robustness and high success percentage in the object
characterization.
Abstract: Due to availability of powerful image processing software
and improvement of human computer knowledge, it becomes
easy to tamper images. Manipulation of digital images in different
fields like court of law and medical imaging create a serious problem
nowadays. Copy-move forgery is one of the most common types
of forgery which copies some part of the image and pastes it to
another part of the same image to cover an important scene. In
this paper, a copy-move forgery detection method proposed based
on Fourier transform to detect forgeries. Firstly, image is divided to
same size blocks and Fourier transform is performed on each block.
Similarity in the Fourier transform between different blocks provides
an indication of the copy-move operation. The experimental results
prove that the proposed method works on reasonable time and works
well for gray scale and colour images. Computational complexity
reduced by using Fourier transform in this method.