Abstract: This paper describes the design concepts and
implementation of a 5-Joint mechanical arm for a rescue robot named
CEO Mission II. The multi-joint arm is a five degree of freedom
mechanical arm with a four bar linkage, which can be stretched to
125 cm. long. It is controlled by a teleoperator via the user-friendly
control and monitoring GUI program. With Inverse Kinematics
principle, we developed the method to control the servo angles of all
arm joints to get the desired tip position. By clicking the determined
tip position or dragging the tip of the mechanical arm on the
computer screen to the desired target point, the robot will compute
and move its multi-joint arm to the pose as seen on the GUI screen.
The angles of each joint are calculated and sent to all joint servos
simultaneously in order to move the mechanical arm to the desired
pose at once. The operator can also use a joystick to control the
movement of this mechanical arm and the locomotion of the robot.
Many sensors are installed at the tip of this mechanical arm for
surveillance from the high level and getting the vital signs of victims
easier and faster in the urban search and rescue tasks. It works very
effectively and easy to control. This mechanical arm and its software
were developed as a part of the CEO Mission II Rescue Robot that
won the First Runner Up award and the Best Technique award from
the Thailand Rescue Robot Championship 2006. It is a low cost,
simple, but functioning 5-Jiont mechanical arm which is built from
scratch, and controlled via wireless LAN 802.11b/g. This 5-Jiont
mechanical arm hardware concept and its software can also be used
as the basic mechatronics to many real applications.
Abstract: The “PYRAMIDS" Block Cipher is a symmetric encryption algorithm of a 64, 128, 256-bit length, that accepts a variable key length of 128, 192, 256 bits. The algorithm is an iterated cipher consisting of repeated applications of a simple round transformation with different operations and different sequence in each round. The algorithm was previously software implemented in Cµ code. In this paper, a hardware implementation of the algorithm, using Field Programmable Gate Arrays (FPGA), is presented. In this work, we discuss the algorithm, the implemented micro-architecture, and the simulation and implementation results. Moreover, we present a detailed comparison with other implemented standard algorithms. In addition, we include the floor plan as well as the circuit diagrams of the various micro-architecture modules.
Abstract: Designing and implementing intelligent systems has become a crucial factor for the innovation and development of better products of space technologies. A neural network is a parallel system, capable of resolving paradigms that linear computing cannot. Field programmable gate array (FPGA) is a digital device that owns reprogrammable properties and robust flexibility. For the neural network based instrument prototype in real time application, conventional specific VLSI neural chip design suffers the limitation in time and cost. With low precision artificial neural network design, FPGAs have higher speed and smaller size for real time application than the VLSI and DSP chips. So, many researchers have made great efforts on the realization of neural network (NN) using FPGA technique. In this paper, an introduction of ANN and FPGA technique are briefly shown. Also, Hardware Description Language (VHDL) code has been proposed to implement ANNs as well as to present simulation results with floating point arithmetic. Synthesis results for ANN controller are developed using Precision RTL. Proposed VHDL implementation creates a flexible, fast method and high degree of parallelism for implementing ANN. The implementation of multi-layer NN using lookup table LUT reduces the resource utilization for implementation and time for execution.
Abstract: An approach to develop the FPGA of a flexible key
RSA encryption engine that can be used as a standard device in the
secured communication system is presented. The VHDL modeling of
this RSA encryption engine has the unique characteristics of
supporting multiple key sizes, thus can easily be fit into the systems
that require different levels of security. A simple nested loop addition
and subtraction have been used in order to implement the RSA
operation. This has made the processing time faster and used
comparatively smaller amount of space in the FPGA. The hardware
design is targeted on Altera STRATIX II device and determined that
the flexible key RSA encryption engine can be best suited in the
device named EP2S30F484C3. The RSA encryption implementation
has made use of 13,779 units of logic elements and achieved a clock
frequency of 17.77MHz. It has been verified that this RSA
encryption engine can perform 32-bit, 256-bit and 1024-bit
encryption operation in less than 41.585us, 531.515us and 790.61us
respectively.
Abstract: This paper presents implementation of attitude controller for a small UAV using field programmable gate array (FPGA). Due to the small size constrain a miniature more compact and computationally extensive; autopilot platform is needed for such systems. More over UAV autopilot has to deal with extremely adverse situations in the shortest possible time, while accomplishing its mission. FPGAs in the recent past have rendered themselves as fast, parallel, real time, processing devices in a compact size. This work utilizes this fact and implements different attitude controllers for a small UAV in FPGA, using its parallel processing capabilities. Attitude controller is designed in MATLAB/Simulink environment. The discrete version of this controller is implemented using pipelining followed by retiming, to reduce the critical path and thereby clock period of the controller datapath. Pipelined, retimed, parallel PID controller implementation is done using rapidprototyping and testing efficient development tool of “system generator", which has been developed by Xilinx for FPGA implementation. The improved timing performance enables the controller to react abruptly to any changes made to the attitudes of UAV.
Abstract: In this paper, we propose the low-MAC FEC controller for practical implementation of JPEG2000 image transmission using IEEE 802.15.4. The proposed low-MAC FEC controller has very small HW size and spends little computation to estimate channel state. Because of this advantage, it is acceptable to apply IEEE 802.15.4 which has to operate more than 1 year with battery. For the image transmission, we integrate the low-MAC FEC controller and RCPC coder in sensor node of LR-WPAN. The modified sensor node has increase of 3% hardware size than conventional zigbee sensor node.
Abstract: Full search block matching algorithm is widely used for hardware implementation of motion estimators in video compression algorithms. In this paper we are proposing a new architecture, which consists of a 2D parallel processing unit and a 1D unit both working in parallel. The proposed architecture reduces both data access power and computational power which are the main causes of power consumption in integer motion estimation. It also completes the operations with nearly the same number of clock cycles as compared to a 2D systolic array architecture. In this work sum of absolute difference (SAD)-the most repeated operation in block matching, is calculated in two steps. The first step is to calculate the SAD for alternate rows by a 2D parallel unit. If the SAD calculated by the parallel unit is less than the stored minimum SAD, the SAD of the remaining rows is calculated by the 1D unit. Early termination, which stops avoidable computations has been achieved with the help of alternate rows method proposed in this paper and by finding a low initial SAD value based on motion vector prediction. Data reuse has been applied to the reference blocks in the same search area which significantly reduced the memory access.
Abstract: Data security in u-Health system can be an important
issue because wireless network is vulnerable to hacking. However, it is
not easy to implement a proper security algorithm in an embedded
u-health monitoring because of hardware constraints such as low
performance, power consumption and limited memory size and etc. To
secure data that contain personal and biosignal information, we
implemented several security algorithms such as Blowfish, data
encryption standard (DES), advanced encryption standard (AES) and
Rivest Cipher 4 (RC4) for our u-Health monitoring system and the
results were successful. Under the same experimental conditions, we
compared these algorithms. RC4 had the fastest execution time.
Memory usage was the most efficient for DES. However, considering
performance and safety capability, however, we concluded that AES
was the most appropriate algorithm for a personal u-Health monitoring
system.
Abstract: This paper describes the development, modeling, and
testing of skyhook and MiniMax control strategies of semi-active
suspension. The control performances are investigated using
Matlab/Simulink [1], with a two-degree-of-freedom quarter car semiactive
suspension system model. The comparison and evaluation of
control result are made using software-in-the-loop simulation (SILS)
method. This paper also outlines the development of a hardware-inthe-
loop simulation (HILS) system. The simulation results show that
skyhook strategy can significantly reduce the resonant peak of body
and provide improvement in vehicle ride comfort. Otherwise,
MiniMax strategy can be employed to effectively improve drive
safety of vehicle by influencing wheel load. The two strategies can
be switched to control semi-active suspension system to fulfill
different requirement of vehicle in different stages.
Abstract: This paper analyzed the perception of e-commerce
application services by construction material traders in Malaysia.
Five attributes were tested: usability, reputation, trust, privacy and
familiarity. Study methodology consists of survey questionnaire and
statistical analysis that includes reliability analysis, factor analysis,
ANOVA and regression analysis. The respondents were construction
material traders, including hardware stores in Klang Valley, Kuala
Lumpur.
Findings support that usability and familiarity with e-commerce
services in Malaysia have insignificant influence on the acceptance of
e-commerce application. However, reputation, trust and privacy
attributes have significant influence on the choice of e-commerce
acceptance by construction material traders. E-commerce
applications studied included customer database, e-selling, emarketing,
e-payment, e-buying and online advertising. Assumptions
are made that traders have basic knowledge and exposure to ICT
services. i.e. internet service and computers. Study concludes that
reputation, privacy and trust are the three website attributes that
influence the acceptance of e-commerce by construction material
traders.
Abstract: This paper describes about dynamic reconfiguration to
miniaturize arithmetic circuits in general-purpose processor. Dynamic
reconfiguration is a technique to realize required functions by
changing hardware construction during operation. The proposed
arithmetic circuit performs floating-point arithmetic which is
frequently used in science and technology. The data format is
floating-point based on IEEE754. The proposed circuit is designed
using VHDL, and verified the correct operation by simulations and
experiments.
Abstract: loss of feedwater accident is one of the frequently sever accidents in steam boiler facilities. It threatens the system structural integrity and generates serious hazards and economic loses. The safety analysis of the thermal installations, based extensively on the numeric simulation. The simulation analysis using realistic computer codes like Relap5/Mod3.2 will help understand steam boiler thermal-hydraulic behavior during normal and abnormal conditions. In this study, we are interested on the evaluation of the radiant steam boiler assessment and response to loss-of-feedwater accident. Pressure, temperature and flow rate profiles are presented in various steam boiler system components. The obtained results demonstrate the importance and capability of the Relap5/Mod3.2 code in the thermal-hydraulic analysis of the steam boiler facilities.
Abstract: This paper discusses a systematic design of a Σ-Δ fractional-N Phase-Locked Loop based on HDL behavioral modeling. The proposed design consists in describing the mixed behavior of this PLL architecture starting from the specifications of each building block. The HDL models of critical PLL blocks have been described in VHDL-AMS to predict the different specifications of the PLL. The effect of different noise sources has been efficiently introduced to study the PLL system performances. The obtained results are compared with transistor-level simulations to validate the effectiveness of the proposed models for wireless applications in the frequency range around 2.45 GHz.
Abstract: To make use of the limited amounts of water in arid
region, the Iranians developed man-made underground water
channels called qanats (kanats) .In fact, qanats may be considered as
the first long-distance water transfer system. Qanats are an ancient
water transfer system found in arid regions wherein groundwater
from mountainous areas, aquifers and sometimes from rivers, was
brought to points of re-emergence such as an oasis, through one or
more underground tunnels. The tunnels, many of which were
kilometers in length, had designed for slopes to provide gravitational
flow. The tunnels allowed water to drain out to the surface by gravity
to supply water to lower and flatter agricultural land.
Qanats have been an ancient, sustainable system facilitating the
harvesting of water for centuries in Iran, and more than 35 additional
countries of the world such as India, Arabia, Egypt, North Africa,
Spain and even to New world.
There are about 22000 qanats in Iran with 274000 kilometers of
underground conduits all built by manual labor. The amount of
water of the usable qanats of Iran produce is altogether 750 to
1000 cubic meter per second. The longest chain of qanat is
situated in Gonabad region in Khorasan province. It is 70
kilometers long. Qanats are renewable water supply systems that
have sustained agricultural settlement on the Iranian plateau for
millennia. The great advantages of Qanats are no evaporation
during transit, little seepage , no raising of the water- table and no
pollution in the area surrounding the conduits. Qanat systems
have a profound influence on the lives of the water users in Iran, and
conform to Iran-s climate. Qanat allows those living in a desert
environment adjacent to a mountain watershed to create a large oasis
in an otherwise stark environment.
This paper explains qanats structure designs, their history,
objectives causing their creation, construction materials, locations
and their importance in different times, as well as their present
sustainable role in Iran.
Abstract: This paper study the high-level modelling and design
of delta-sigma (ΔΣ) noise shapers for audio Digital-to-Analog
Converter (DAC) so as to eliminate the in-band Signal-to-Noise-
Ratio (SNR) degradation that accompany one channel mismatch in
audio signal. The converter combines a cascaded digital signal
interpolation, a noise-shaping single loop delta-sigma modulator with
a 5-bit quantizer resolution in the final stage. To reduce sensitivity of
Digital-to-Analog Converter (DAC) nonlinearities of the last stage, a
high pass second order Data Weighted Averaging (R2DWA) is
introduced. This paper presents a MATLAB description modelling
approach of the proposed DAC architecture with low distortion and
swing suppression integrator designs. The ΔΣ Modulator design can
be configured as a 3rd-order and allows 24-bit PCM at sampling rate
of 64 kHz for Digital Video Disc (DVD) audio application. The
modeling approach provides 139.38 dB of dynamic range for a 32
kHz signal band at -1.6 dBFS input signal level.
Abstract: In this paper the FPGA implementations for four
stream ciphers are presented. The two stream ciphers, MUGI and
SNOW 2.0 are recently adopted by the International Organization for
Standardization ISO/IEC 18033-4:2005 standard. The other two
stream ciphers, MICKEY 128 and TRIVIUM have been submitted
and are under consideration for the eSTREAM, the ECRYPT
(European Network of Excellence for Cryptology) Stream Cipher
project. All ciphers were coded using VHDL language. For the
hardware implementation, an FPGA device was used. The proposed
implementations achieve throughputs range from 166 Mbps for
MICKEY 128 to 6080 Mbps for MUGI.
Abstract: Signal processing applications which are iterative in
nature are best represented by data flow graphs (DFG). In these
applications, the maximum sampling frequency is dependent on the
topology of the DFG, the cyclic dependencies in particular. The
determination of the iteration bound, which is the reciprocal of the
maximum sampling frequency, is critical in the process of hardware
implementation of signal processing applications. In this paper, a
novel technique to compute the iteration bound is proposed. This
technique is different from all previously proposed techniques, in the
sense that it is based on the natural flow of tokens into the DFG
rather than the topology of the graph. The proposed algorithm has
lower run-time complexity than all known algorithms. The
performance of the proposed algorithm is illustrated through
analytical analysis of the time complexity, as well as through
simulation of some benchmark problems.
Abstract: The groundwater is one of the main sources for
sustainability in the United Arab Emirates (UAE). Intensive
developments in Al-Ain area lead to increase water demand, which
consequently reduced the overall groundwater quantity in major
aquifers. However, in certain residential areas within Al-Ain, it has
been noticed that the groundwater level is rising, for example in
Sha-ab Al Askher area. The reasons for the groundwater rising
phenomenon are yet to be investigated. In this work, twenty four
seismic refraction profiles have been carried out along the study
pilot area; as well as field measurement of the groundwater level in
a number of available water wells in the area. The processed
seismic data indicated the deepest and shallowest groundwater
levels are 15m and 2.3 meters respectively. This result is greatly
consistent with the proper field measurement of the groundwater
level. The minimum detected value may be referred to perched
subsurface water which may be associated to the infiltration from
the surrounding water bodies such as lakes, and elevated farms. The
maximum values indicate the accurate groundwater level within the
study area. The findings of this work may be considered as a
preliminary help to the decision makers.
Abstract: This paper presents a single correlator RAKE receiver for direct sequence code division multiple access (DS-CDMA) systems. In conventional RAKE receivers, multiple correlators are used to despread the multipath signals and then to align and combine those signals in a later stage before making a bit decision. The simplified receiver structure presented here uses a single correlator and single code sequence generator to recover the multipaths. Modified Walsh- Hadamard codes are used here for data spreading that provides better uncorrelation properties for the multipath signals. The main advantage of this receiver structure is that it requires only a single correlator and a code generator in contrary to the conventional RAKE receiver concept with multiple correlators. It is shown in results that the proposed receiver achieves better bit error rates in comparison with the conventional one for more than one multipaths.
Abstract: In this paper, we propose improved versions of DVHop
algorithm as QDV-Hop algorithm and UDV-Hop algorithm for
better localization without the need for additional range measurement
hardware. The proposed algorithm focuses on third step of DV-Hop,
first error terms from estimated distances between unknown node and
anchor nodes is separated and then minimized. In the QDV-Hop
algorithm, quadratic programming is used to minimize the error to
obtain better localization. However, quadratic programming requires
a special optimization tool box that increases computational
complexity. On the other hand, UDV-Hop algorithm achieves
localization accuracy similar to that of QDV-Hop by solving
unconstrained optimization problem that results in solving a system
of linear equations without much increase in computational
complexity. Simulation results show that the performance of our
proposed schemes (QDV-Hop and UDV-Hop) is superior to DV-Hop
and DV-Hop based algorithms in all considered scenarios.