Abstract: In this paper, a Smart Home Service Robot, McBot II,
which performs mess-cleanup function etc. in house, is designed much
more optimally than other service robots. It is newly developed in
much more practical system than McBot I which we had developed
two years ago. One characteristic attribute of mobile platforms
equipped with a set of dependent wheels is their omni- directionality
and the ability to realize complex translational and rotational
trajectories for agile navigation in door. An accurate coordination of
steering angle and spinning rate of each wheel is necessary for a
consistent motion. This paper develops trajectory controller of
3-wheels omni-directional mobile robot using fuzzy azimuth estimator.
A specialized anthropomorphic robot manipulator which can be
attached to the housemaid robot McBot II, is developed in this paper.
This built-in type manipulator consists of both arms with 3 DOF
(Degree of Freedom) each and both hands with 3 DOF each. The
robotic arm is optimally designed to satisfy both the minimum
mechanical size and the maximum workspace. Minimum mass and
length are required for the built-in cooperated-arms system. But that
makes the workspace so small. This paper proposes optimal design
method to overcome the problem by using neck joint to move the arms
horizontally forward/backward and waist joint to move them
vertically up/down. The robotic hand, which has two fingers and a
thumb, is also optimally designed in task-based concept. Finally, the
good performance of the developed McBot II is confirmed through
live tests of the mess-cleanup task.
Abstract: IETF RFC 2002 originally introduced the wireless
Mobile-IP protocol to support portable IP addresses for mobile
devices that often change their network access points to the Internet.
The inefficiency of this protocol mainly within the handoff
management produces large end-to-end packet delays, during
registration process, and further degrades the system efficiency due to
packet losses between subnets. The criterion to initiate a simple and
fast full-duplex connection between the home agent and foreign
agent, to reduce the roaming duration, is a very important issue to be
considered by a work in this paper. State-transition Petri-Nets of the
modeling scenario-based CIA: communication inter-agents procedure
as an extension to the basic Mobile-IP registration process was
designed and manipulated. The heuristic of configuration file during
practical Setup session for registration parameters, on Cisco platform
Router-1760 using IOS 12.3 (15)T is created. Finally, stand-alone
performance simulations results from Simulink Matlab, within each
subnet and also between subnets, are illustrated for reporting better
end-to-end packet delays. Results verified the effectiveness of our
Mathcad analytical manipulation and experimental implementation. It
showed lower values of end-to-end packet delay for Mobile-IP using
CIA procedure. Furthermore, it reported packets flow between
subnets to improve packet losses between subnets.
Abstract: This paper presents a wrap-around view system with 4
smart cameras module and remote motion mobile robot control equipped with smart camera module system. The two-level scheme for
remote motion control with smart-pad(IPAD) is introduced on this
paper. In the low-level, the wrap-around view system is controlled or operated to keep the reference points lying around top view image
plane. On the higher level, a robot image based motion controller is utilized to drive the mobile platform to reach the desired position or
track the desired motion planning through image feature feedback. The
design wrap-around view system equipped on presents such advantages as follows: 1) a satisfactory solution for the FOV and affine
problem; 2) free of any complex and constraint with robot pose. The performance of the wrap-around view equipped on mobile robot
remote control is proven by experimental results.
Abstract: Image-based Rendering(IBR) techniques recently
reached in broad fields which leads to a critical challenge to build up
IBR-Driven visualization platform where meets requirement of high
performance, large bounds of distributed visualization resource
aggregation and concentration, multiple operators deploying and
CSCW design employing. This paper presents an unique IBR-based
visualization dataflow model refer to specific characters of IBR
techniques and then discusses prominent feature of IBR-Driven
distributed collaborative visualization (DCV) system before finally
proposing an novel prototype. The prototype provides a well-defined
three level modules especially work as Central Visualization Server,
Local Proxy Server and Visualization Aid Environment, by which
data and control for collaboration move through them followed the
previous dataflow model. With aid of this triple hierarchy architecture
of that, IBR oriented application construction turns to be easy. The
employed augmented collaboration strategy not only achieve
convenient multiple users synchronous control and stable processing
management, but also is extendable and scalable.
Abstract: A multi-board run-time reconfigurable (MRTR)
system for evolvable hardware (EHW) is introduced with the aim to
implement on hardware the bidirectional incremental evolution (BIE)
method. The main features of this digital intrinsic EHW solution rely
on the multi-board approach, the variable chromosome length
management and the partial configuration of the reconfigurable
circuit. These three features provide a high scalability to the solution.
The design has been written in VHDL with the concern of not being
platform dependant in order to keep a flexibility factor as high as
possible. This solution helps tackling the problem of evolving
complex task on digital configurable support.
Abstract: Crime is a major societal problem for most of the
world's nations. Consequently, the police need to develop new
methods to improve their efficiency in dealing with these ever increasing crime rates. Two of the common difficulties that the police
face in crime control are crime investigation and the provision of crime information to the general public to help them protect themselves. Crime control in police operations involves the use of
spatial data, crime data and the related crime data from different organizations (depending on the nature of the analysis to be made).
These types of data are collected from several heterogeneous sources
in different formats and from different platforms, resulting in a lack of standardization. Moreover, there is no standard framework for
crime data collection, integration and dissemination through mobile
devices. An investigation into the current situation in crime control was carried out to identify the needs to resolve these issues. This
paper proposes and investigates the use of service oriented
architecture (SOA) and the mobile spatial information service in crime control. SOA plays an important role in crime control as an
appropriate way to support data exchange and model sharing from
heterogeneous sources. Crime control also needs to facilitate mobile
spatial information services in order to exchange, receive, share and release information based on location to mobile users anytime and
anywhere.
Abstract: Tool Tracker is a client-server based application. It is essentially a catalogue of various network monitoring and management tools that are available online. There is a database maintained on the server side that contains the information about various tools. Several clients can access this information simultaneously and utilize this information. The various categories of tools considered are packet sniffers, port mappers, port scanners, encryption tools, and vulnerability scanners etc for the development of this application. This application provides a front end through which the user can invoke any tool from a central repository for the purpose of packet sniffing, port scanning, network analysis etc. Apart from the tool, its description and the help files associated with it would also be stored in the central repository. This facility will enable the user to view the documentation pertaining to the tool without having to download and install the tool. The application would update the central repository with the latest versions of the tools. The application would inform the user about the availability of a newer version of the tool currently being used and give the choice of installing the newer version to the user. Thus ToolTracker provides any network administrator that much needed abstraction and ease-ofuse with respect to the tools that he can use to efficiently monitor a network.
Abstract: Topics Disaster and Emergency Management are highly debated among experts. Fast communication will help to deal with emergencies. Problem is with the network connection and data exchange. The paper suggests a solution, which allows possibilities and perspectives of new flexible communication platform to the protection of communication systems for crisis management. This platform is used for everyday communication and communication in crisis situations too.
Abstract: With the advent of emerging personal computing paradigms such as ubiquitous and mobile computing, Web contents are becoming accessible from a wide range of mobile devices. Since these devices do not have the same rendering capabilities, Web contents need to be adapted for transparent access from a variety of client agents. Such content adaptation is exploited for either an individual element or a set of consecutive elements in a Web document and results in better rendering and faster delivery to the client device. Nevertheless, Web content adaptation sets new challenges for semantic markup. This paper presents an advanced components platform, called SMC, enabling the development of mobility applications and services according to a channel model based on the principles of Services Oriented Architecture (SOA). It then goes on to describe the potential for integration with the Semantic Web through a novel framework of external semantic annotation that prescribes a scheme for representing semantic markup files and a way of associating Web documents with these external annotations. The role of semantic annotation in this framework is to describe the contents of individual documents themselves, assuring the preservation of the semantics during the process of adapting content rendering. Semantic Web content adaptation is a way of adding value to Web contents and facilitates repurposing of Web contents (enhanced browsing, Web Services location and access, etc).
Abstract: This paper discusses the landscape design that could
increase energy efficiency in a house. By planting trees in a house
compound, the tree shades prevent direct sunlight from heating up
the building, and it enables cooling off the surrounding air. The
requirement for air-conditioning could be minimized and the air
quality could be improved. During the life time of a tree, the saving
cost from the mentioned benefits could be up to US $ 200 for each
tree. The project intends to visually describe the landscape design in
a house compound that could enhance energy efficiency and
consequently lead to energy saving. The house compound model was
developed in three dimensions by using AutoCAD 2005, the
animation was programmed by using LightWave 3D softwares i.e.
Modeler and Layout to display the tree shadings in the wall. The
visualization was executed on a VRML Pad platform and
implemented on a web environment.
Abstract: The topic of surface flattening plays a vital role in the field of computer aided design and manufacture. Surface flattening enables the production of 2D patterns and it can be used in design and manufacturing for developing a 3D surface to a 2D platform, especially in fashion design. This study describes surface flattening based on minimum energy methods according to the property of different fabrics. Firstly, through the geometric feature of a 3D surface, the less transformed area can be flattened on a 2D platform by geodesic. Then, strain energy that has accumulated in mesh can be stably released by an approximate implicit method and revised error function. In some cases, cutting mesh to further release the energy is a common way to fix the situation and enhance the accuracy of the surface flattening, and this makes the obtained 2D pattern naturally generate significant cracks. When this methodology is applied to a 3D mannequin constructed with feature lines, it enhances the level of computer-aided fashion design. Besides, when different fabrics are applied to fashion design, it is necessary to revise the shape of a 2D pattern according to the properties of the fabric. With this model, the outline of 2D patterns can be revised by distributing the strain energy with different results according to different fabric properties. Finally, this research uses some common design cases to illustrate and verify the feasibility of this methodology.
Abstract: Business process model describes process flow of a
business and can be seen as the requirement for developing a
software application. This paper discusses a BPM2CD guideline
which complements the Model Driven Architecture concept by
suggesting how to create a platform-independent software model in
the form of a UML class diagram from a business process model. An
important step is the identification of UML classes from the business
process model. A technique for object-oriented analysis called
domain analysis is borrowed and key concepts in the business
process model will be discovered and proposed as candidate classes
for the class diagram. The paper enhances this step by using ontology
search to help identify important classes for the business domain. As
ontology is a source of knowledge for a particular domain which
itself can link to ontologies of related domains, the search can give a
refined set of candidate classes for the resulting class diagram.
Abstract: The purpose of this study is i) to investigate the driving factors and barriers of the adoption of Information and Communication Technology (ICT) in Halal logistic and ii) to develop an ICT adoption framework for Halal logistic service provider. The Halal LSPs selected for the study currently used ICT service platforms, such as accounting and management system for Halal logistic business. The study categorizes the factors influencing the adoption decision and process by LSPs into four groups: technology related factors, organizational and environmental factors, Halal assurance related factors, and government related factors. The major contribution in this study is the discovery that technology related factors (ICT compatibility with Halal requirement) and Halal assurance related factors are the most crucial factors among the Halal LSPs applying ICT for Halal control in transportation-s operation. Among the government related factors, ICT requirement for monitoring Halal included in Halal Logistic Standard on Transportation (MS2400:2010) are the most influencing factors in the adoption of ICT with the support of the government. In addition, the government related factors are very important in the reducing the main barriers and the creation of the atmosphere of ICT adoption in Halal LSP sector.
Abstract: Speech corpus is one of the major components in a
Speech Processing System where one of the primary requirements
is to recognize an input sample. The quality and details captured
in speech corpus directly affects the precision of recognition. The
current work proposes a platform for speech corpus generation using
an adaptive LMS filter and LPC cepstrum, as a part of an ANN
based Speech Recognition System which is exclusively designed to
recognize isolated numerals of Assamese language- a major language
in the North Eastern part of India. The work focuses on designing an
optimal feature extraction block and a few ANN based cooperative
architectures so that the performance of the Speech Recognition
System can be improved.
Abstract: Sensorized instruments that accurately measure the interaction forces (between biological tissue and instrument endeffector) during surgical procedures offer surgeons a greater sense of immersion during minimally invasive robotic surgery. Although there is ongoing research into force measurement involving surgical graspers little corresponding effort has been carried out on the measurement of forces between scissor blades and tissue. This paper presents the design and development of a force measurement test apparatus, which will serve as a sensor characterization and evaluation platform. The primary aim of the experiments is to ascertain whether the system can differentiate between tissue samples with differing mechanical properties in a reliable, repeatable manner. Force-angular displacement curves highlight trends in the cutting process as well the forces generated along the blade during a cutting procedure. Future applications of the test equipment will involve the assessment of new direct force sensing technologies for telerobotic surgery.
Abstract: Images are important in disease research, education,
and clinical medicine. This paper presents a Web Service Platform
(WSP) for support multiple programming languages to access image
from biomedical databases. The main function WSP is to allow web
users access image from biomedical databases. The WSP will
receive web user-s queries. After that, it will send to Querying
Server (QS) and the QS will search and retrieve data from
biomedical databases. Finally, the information will display to the
web users. Simple application is developed and tested for
experiment purpose. Result from experiment indicated WSP can be
used in biomedical environment.
Abstract: In modern distributed software systems, the issue of communication among composing parts represents a critical point, but the idea of extending conventional programming languages with general purpose communication constructs seems difficult to realize. As a consequence, there is a (growing) gap between the abstraction level required by distributed applications and the concepts provided by platforms that enable communication. This work intends to discuss how the Model Driven Software Development approach can be considered as a mature technology to generate in automatic way the schematic part of applications related to communication, by providing at the same time high level specialized languages useful in all the phases of software production. To achieve the goal, a stack of languages (meta-meta¬models) has been introduced in order to describe – at different levels of abstraction – the collaborative behavior of generic entities in terms of communication actions related to a taxonomy of messages. Finally, the generation of platforms for communication is viewed as a form of specification of language semantics, that provides executable models of applications together with model-checking supports and effective runtime environments.
Abstract: The oil and gas industry has moved towards Load and
Resistance Factor Design through API RP2A - LRFD and the
recently published international standard, ISO-19902, for design of
fixed steel offshore structures. The ISO 19902 is intended to provide
a harmonized design practice that offers a balanced structural fitness
for the purpose, economy and safety. As part of an ongoing work, the
reliability analysis of tubular joints of the jacket structure has been
carried out to calibrate the load and resistance factors for the design
of offshore platforms in Malaysia, as proposed in the ISO.
Probabilistic models have been established for the load effects (wave,
wind and current) and the tubular joints strengths. In this study the
First Order Reliability Method (FORM), coded in MATLAB
Software has been employed to evaluate the reliability index of the
typical joints, designed using API RP2A - WSD and ISO 19902.
Abstract: Integration of system process information obtained
through an image processing system with an evolving knowledge
database to improve the accuracy and predictability of wear particle
analysis is the main focus of the paper. The objective is to automate
intelligently the analysis process of wear particle using classification
via self organizing maps. This is achieved using relationship
measurements among corresponding attributes of various
measurements for wear particle. Finally, visualization technique is
proposed that helps the viewer in understanding and utilizing these
relationships that enable accurate diagnostics.