Abstract: In mobile computing environments, there are many
new non existing problems in the distributed system, which is
consisted of stationary hosts because of host mobility, sudden
disconnection by handoff in wireless networks, voluntary
disconnection for efficient power consumption of a mobile host, etc.
To solve the problems, we proposed the architecture of Partial
Connection Manager (PCM) in this paper. PCM creates the limited
number of mobile agents according to priority, sends them in parallel
to servers, and combines the results to process the user request rapidly.
In applying the proposed PCM to the mobile market agent service, we
understand that the mobile agent technique could be suited for the
mobile computing environment and the partial connection problem
management.
Abstract: This paper focuses on the development of bond graph
dynamic model of the mechanical dynamics of an excavating mechanism
previously designed to be used with small tractors, which are
fabricated in the Engineering Workshops of Jomo Kenyatta University
of Agriculture and Technology. To develop a mechanical dynamics
model of the manipulator, forward recursive equations similar to
those applied in iterative Newton-Euler method were used to obtain
kinematic relationships between the time rates of joint variables
and the generalized cartesian velocities for the centroids of the
links. Representing the obtained kinematic relationships in bondgraphic
form, while considering the link weights and momenta as
the elements led to a detailed bond graph model of the manipulator.
The bond graph method was found to reduce significantly the number
of recursive computations performed on a 3 DOF manipulator for a
mechanical dynamic model to result, hence indicating that bond graph
method is more computationally efficient than the Newton-Euler
method in developing dynamic models of 3 DOF planar manipulators.
The model was verified by comparing the joint torque expressions
of a two link planar manipulator to those obtained using Newton-
Euler and Lagrangian methods as analyzed in robotic textbooks. The
expressions were found to agree indicating that the model captures
the aspects of rigid body dynamics of the manipulator. Based on
the model developed, actuator sizing and valve sizing methodologies
were developed and used to obtain the optimal sizes of the pistons
and spool valve ports respectively. It was found that using the pump
with the sized flow rate capacity, the engine of the tractor is able to
power the excavating mechanism in digging a sandy-loom soil.
Abstract: True integration of multimedia services over wired or
wireless networks increase the productivity and effectiveness in
today-s networks. IP Multimedia Subsystems are Next Generation
Network architecture to provide the multimedia services over fixed
or mobile networks. This paper proposes an extended SIP-based QoS
Management architecture for IMS services over underlying IP access
networks. To guarantee the end-to-end QoS for IMS services in
interconnection backbone, SIP based proxy Modules are introduced
to support the QoS provisioning and to reduce the handoff disruption
time over IP access networks. In our approach these SIP Modules
implement the combination of Diffserv and MPLS QoS mechanisms
to assure the guaranteed QoS for real-time multimedia services. To
guarantee QoS over access networks, SIP Modules make QoS
resource reservations in advance to provide best QoS to IMS users
over heterogeneous networks. To obtain more reliable multimedia
services, our approach allows the use of SCTP protocol over SIP
instead of UDP due to its multi-streaming feature. This architecture
enables QoS provisioning for IMS roaming users to differentiate IMS
network from other common IP networks for transmission of realtime
multimedia services. To validate our approach simulation
models are developed on short scale basis. The results show that our
approach yields comparable performance for efficient delivery of
IMS services over heterogeneous IP access networks.
Abstract: A special case of floating point data representation is block
floating point format where a block of operands are forced to have a joint
exponent term. This paper deals with the finite wordlength properties of
this data format. The theoretical errors associated with the error model for
block floating point quantization process is investigated with the help of error
distribution functions. A fast and easy approximation formula for calculating
signal-to-noise ratio in quantization to block floating point format is derived.
This representation is found to be a useful compromise between fixed point
and floating point format due to its acceptable numerical error properties over
a wide dynamic range.
Abstract: This paper presents an iterative algorithm to find a
inverse kinematic solution of 5-DOF robot. The algorithm is to
minimize the iteration number. Since the 5-DOF robot cannot give full
orientation of tool. Only z-direction of tool is satisfied while rotation
of tool is determined by kinematic constraint. This work therefore
described how to specify the tool direction and let the tool rotation free.
The simulation results show that this algorithm effectively worked.
Using the proposed iteration algorithm, error due to inverse kinematics
converged to zero rapidly in 5 iterations. This algorithm was applied in
real welding robot and verified through various practical works.
Abstract: This paper presents design and implements the
T-DOF PI controller design for a speed control of induction motor.
The voltage source inverter type space vector pulse width modulation
technique is used the drive system. This scheme leads to be able to
adjust the speed of the motor by control the frequency and amplitude
of the input voltage. The ratio of input stator voltage to frequency
should be kept constant. The T-DOF PI controller design by root
locus technique is also introduced to the system for regulates and
tracking speed response. The experimental results in testing the 120
watt induction motor from no-load condition to rated condition show
the effectiveness of the proposed control scheme.
Abstract: This study has investigated a vehicle Lumped
Parameter Model (LPM) in frontal crash. There are several ways for
determining spring and damper characteristics and type of problem
shall be considered as system identification. This study use Genetic
Algorithm (GA) procedure, being an effective procedure in case of
optimization issues, for optimizing errors, between target data
(experimental data) and calculated results (being obtained by
analytical solving). In this study analyzed model in 5-DOF then
compared our results with 5-DOF serial model. Finally, the response
of model due to external excitement is investigated.
Abstract: Available Bit Rate Service (ABR) is the lower priority
service and the better service for the transmission of data. On wireline
ATM networks ABR source is always getting the feedback from
switches about increase or decrease of bandwidth according to the
changing network conditions and minimum bandwidth is guaranteed.
In wireless networks guaranteeing the minimum bandwidth is really a
challenging task as the source is always in mobile and traveling from
one cell to another cell. Re establishment of virtual circuits from start
to end every time causes the delay in transmission. In our proposed
solution we proposed the mechanism to provide more available
bandwidth to the ABR source by re-usage of part of old Virtual
Channels and establishing the new ones. We want the ABR source to
transmit the data continuously (non-stop) inorderto avoid the delay.
In worst case scenario at least minimum bandwidth is to be allocated.
In order to keep the data flow continuously, priority is given to the
handoff ABR call against new ABR call.
Abstract: In the present paper, active control system is used in
different heights of the building and the most effective part was
studied where the active control system is applied. The mathematical
model of the building is established in MATLAB and in order to
active control the system FLC method was used. Three different
locations of the building are chosen to apply active control system,
namely at the lowest story, the middle height of the building, and at
the highest point of the building with TMD system. The equation of
motion was written for high rise building and it was solved by statespace
method. Also passive control was used with Tuned Mass
Damper (TMD) at the top floor of the building to show the robustness
of FLC method when compared with passive control system.
Abstract: In this document we studied more in detail the Performances of the vertical handover in the networks WLAN, WiMAX, UMTS before studying of it the Procedure of Handoff Vertical, the whole buckled by simulations putting forward the performances of the handover in the heterogeneous networks. The goal of Vertical Handover is to carry out several accesses in real-time in the heterogeneous networks. This makes it possible a user to use several networks (such as WLAN UMTS andWiMAX) in parallel, and the system to commutate automatically at another basic station, without disconnecting itself, as if there were no cut and with little loss of data as possible.
Abstract: This paper presents the control performance of a high-precision positioning device using the hybrid actuator composed of a piezoelectric (PZT) actuator and a voice-coil motor (VCM). The combined piezo-VCM actuator features two main characteristics: a large operation range due to long stroke of the VCM, and high precision and heavy load positioning ability due to PZT impact force. A one-degree-of-freedom (DOF) experimental setup was configured to examine the fundamental characteristics, and the control performance was effectively demonstrated by using a switching controller. In rough positioning state, an integral variable structure controller (IVSC) was used for the VCM to conduct long range of operation; in precision positioning state, an impact force controller (IFC) for the PZT actuator coupled with presliding states of the sliding table was used to obtain high-precision position control and achieve both forward and backward actuations. The experimental results showed that the sliding table having a mass of 881g and with a preload of 10 N was successfully positioned within the positioning accuracy of 10 nm in both forward and backward position controls.
Abstract: Guard channels improve the probability of successful
handoffs by reserving a number of channels exclusively for handoffs.
This concept has the risk of underutilization of radio spectrum due to
the fact that fewer channels are granted to originating calls even if
these guard channels are not always used, when originating calls are
starving for the want of channels. The penalty is the reduction of
total carried traffic. The optimum number of guard channels can help
reduce this problem. This paper presents fuzzy logic based guard
channel scheme wherein guard channels are reorganized on the basis
of traffic density, so that guard channels are provided on need basis.
This will help in incorporating more originating calls and hence high
throughput of the radio spectrum
Abstract: The aim of the study was to investigate whether there
is the promotion of product ecodesign measures as a result of
adopting ISO 14001 certification in manufacturing companies in the
Republic of Slovenia. Companies gave the most of their product
development attention to waste and energy reduction during
manufacturing process and reduction of material consumption per
unit of product. Regarding the importance of different ecodesign
criteria reduction of material consumption per unit of product was
reported as the most important criterion. Less attention is paid to endof-
life issues considering recycling or packaging. Most
manufacturing enterprises considered ISO 14001 standard as a very
useful tool or at least a useful tool helping them to accelerate and
establish product ecodesign activities. Two most frequently
considered ecodesign drivers are increased competitive advantage
and legal requirements and two most important barriers are high
development costs and insufficient market demand.
Abstract: A semi-active control strategy for suspension
systems of passenger cars is presented employing
Magnetorheological (MR) dampers. The vehicle is modeled with
seven DOFs including the, roll pitch and bounce of car body, and
the vertical motion of the four tires. In order to design an optimal
controller based on the actuator constraints, a Linear-Quadratic
Regulator (LQR) is designed. The design procedure of the LQR
consists of selecting two weighting matrices to minimize the energy
of the control system. This paper presents a hybrid optimization
procedure which is a combination of gradient-based and
evolutionary algorithms to choose the weighting matrices with
regards to the actuator constraint. The optimization algorithm is
defined based on maximum comfort and actuator constraints. It is
noted that utilizing the present control algorithm may significantly
reduce the vibration response of the passenger car, thus, providing
a comfortable ride.
Abstract: Salient points are frequently used to represent local
properties of the image in content-based image retrieval. In this paper,
we present a reduction algorithm that extracts the local most salient
points such that they not only give a satisfying representation of an
image, but also make the image retrieval process efficiently. This
algorithm recursively reduces the continuous point set by their
corresponding saliency values under a top-down approach. The
resulting salient points are evaluated with an image retrieval system
using Hausdoff distance. In this experiment, it shows that our method
is robust and the extracted salient points provide better retrieval
performance comparing with other point detectors.
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: Responses of the dynamical systems are highly affected by the natural frequencies and it has a huge impact on design and operation of high-rise and high-speed elevators. In the present paper, the variational iteration method (VIM) is employed to investigate better understanding the dynamics of elevator cable as a single-degree-of-freedom (SDOF) swing system. Comparisons made among the results of the proposed closed-form analytical solution, the traditional numerical iterative time integration solution, and the linearized governing equations confirm the accuracy and efficiency of the proposed approach. Furthermore, based on the results of the proposed closed-form solution, the linearization errors in calculating the natural frequencies in different cases are discussed.
Abstract: Applicability of tuning the controller gains for Stewart manipulator using genetic algorithm as an efficient search technique is investigated. Kinematics and dynamics models were introduced in detail for simulation purpose. A PD task space control scheme was used. For demonstrating technique feasibility, a Stewart manipulator numerical-model was built. A genetic algorithm was then employed to search for optimal controller gains. The controller was tested onsite a generic circular mission. The simulation results show that the technique is highly convergent with superior performance operating for different payloads.
Abstract: A 2-Degrees of freedom powered prosthetic wrist
actuator has been proposed that can provide the Abduction/Adduction
& Flexion/Extension movements of the human wrist. The basic
structure of the actuator is a Ball and Socket joint and the force is
transmitted from the DC geared servo motors to the joint through the
Bowden cables. The proposed design is capable of providing the
required DOF in both axes i.e. 85° & 90° in flexion extension axis.
The size and weight of the actuator lies within the ranges of an
average human being-s wrist.
Abstract: As the demand for higher capacity in a cellular environment increases, the cell size decreases. This fact makes the role of suitable handoff algorithms to reduce both number of handoffs and handoff delay more important. In this paper we show that applying the grey prediction technique for handoff leads to considerable decrease in handoff delay with using a small number of handoffs, compared with traditional hystersis based handoff algorithms.