Abstract: A robot simulator was developed to measure and
investigate the performance of a robot navigation system based on
the relative position of the robot with respect to random obstacles in
any two dimensional environment. The presented simulator focuses
on investigating the ability of a fuzzy-neural system for object
avoidance. A navigation algorithm is proposed and used to allow
random navigation of a robot among obstacles when the robot faces
an obstacle in the environment. The main features of this simulator
can be used for evaluating the performance of any system that can
provide the position of the robot with respect to obstacles in the
environment. This allows a robot developer to investigate and
analyze the performance of a robot without implementing the
physical robot.
Abstract: An electric power system includes a generating, a
transmission, a distribution, and consumers subsystems. An electrical
power network in Tanzania keeps growing larger by the day and
become more complex so that, most utilities have long wished for
real-time monitoring and remote control of electrical power system
elements such as substations, intelligent devices, power lines,
capacitor banks, feeder switches, fault analyzers and other physical
facilities. In this paper, the concept of automation of management of
power systems from generation level to end user levels was
determined by using Power System Simulator for Engineering
(PSS/E) version 30.3.2.
Abstract: Ad hoc networks are characterized by multihop wireless connectivity, frequently changing network topology and the need for efficient dynamic routing protocols. We compare the performance of three routing protocols for mobile ad hoc networks: Dynamic Source Routing (DSR), Ad Hoc On-Demand Distance Vector Routing (AODV), location-aided routing (LAR1).Our evaluation is based on energy consumption in mobile ad hoc networks. The performance differentials are analyzed using varying network load, mobility, and network size. We simulate protocols with GLOMOSIM simulator. Based on the observations, we make recommendations about when the performance of either protocol can be best.
Abstract: This paper discusses the causal explanation capability
of QRIOM, a tool aimed at supporting learning of organic chemistry
reactions. The development of the tool is based on the hybrid use of
Qualitative Reasoning (QR) technique and Qualitative Process
Theory (QPT) ontology. Our simulation combines symbolic,
qualitative description of relations with quantity analysis to generate
causal graphs. The pedagogy embedded in the simulator is to both
simulate and explain organic reactions. Qualitative reasoning through
a causal chain will be presented to explain the overall changes made
on the substrate; from initial substrate until the production of final
outputs. Several uses of the QPT modeling constructs in supporting
behavioral and causal explanation during run-time will also be
demonstrated. Explaining organic reactions through causal graph
trace can help improve the reasoning ability of learners in that their
conceptual understanding of the subject is nurtured.
Abstract: In this paper we propose a new traffic simulation
package, TDMSim, which supports both macroscopic and
microscopic simulation on free-flowing and regulated traffic systems.
Both simulators are based on travel demands, which specify the
numbers of vehicles departing from origins to arrive at different
destinations. The microscopic simulator implements the carfollowing
model given the pre-defined routes of the vehicles but also
supports the rerouting of vehicles. We also propose a macroscopic
simulator which is built in integration with the microscopic simulator
to allow the simulation to be scaled for larger networks without
sacrificing the precision achievable through the microscopic
simulator. The macroscopic simulator also enables the reuse of
previous simulation results when simulating traffic on the same
networks at later time. Validations have been conducted to show the
correctness of both simulators.
Abstract: This article presents the evolution and technological changes implemented on the full scale simulators developed by the Simulation Department of the Instituto de Investigaciones Eléctricas1 (Mexican Electric Research Institute) and located at different training centers around the Mexican territory, and allows US to know the last updates, basically from the input/output view point, of the current simulators at some facilities of the electrical sector as well as the compatible industry of the electrical manufactures and industries such as Comision Federal de Electricidad (CFE*, The utility Mexican company). Tendencies of these developments and impact within the operators- scope are also presented.
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: Simulation is a very powerful method used for highperformance
and high-quality design in distributed system, and now
maybe the only one, considering the heterogeneity, complexity and
cost of distributed systems. In Grid environments, foe example, it is
hard and even impossible to perform scheduler performance
evaluation in a repeatable and controllable manner as resources and
users are distributed across multiple organizations with their own
policies. In addition, Grid test-beds are limited and creating an
adequately-sized test-bed is expensive and time consuming.
Scalability, reliability and fault-tolerance become important
requirements for distributed systems in order to support distributed
computation. A distributed system with such characteristics is called
dependable. Large environments, like Cloud, offer unique
advantages, such as low cost, dependability and satisfy QoS for all
users. Resource management in large environments address
performant scheduling algorithm guided by QoS constrains. This
paper presents the performance evaluation of scheduling heuristics
guided by different optimization criteria. The algorithms for
distributed scheduling are analyzed in order to satisfy users
constrains considering in the same time independent capabilities of
resources. This analysis acts like a profiling step for algorithm
calibration. The performance evaluation is based on simulation. The
simulator is MONARC, a powerful tool for large scale distributed
systems simulation. The novelty of this paper consists in synthetic
analysis results that offer guidelines for scheduler service
configuration and sustain the empirical-based decision. The results
could be used in decisions regarding optimizations to existing Grid
DAG Scheduling and for selecting the proper algorithm for DAG
scheduling in various actual situations.
Abstract: In this paper, the steady-state temperature of a sample 500 KW two rotor one stator Non-slotted axial flux permanent magnet motor is calculated using the finite element simulator software package. Due to the high temperature in various parts of the machine, especially at stator winding, a cooling system is designed for the motor and the temperature is recalculated. The results show that the temperature obtained for the parts is within the permissible range.
Abstract: The purpose of this study is to suggest energy efficient
routing for ad hoc networks which are composed of nodes with limited
energy. There are diverse problems including limitation of energy
supply of node, and the node energy management problem has been
presented. And a number of protocols have been proposed for energy
conservation and energy efficiency. In this study, the critical point of
the EA-MPDSR, that is the type of energy efficient routing using only
two paths, is improved and developed. The proposed TP-MESR uses
multi-path routing technique and traffic prediction function to increase
number of path more than 2. It also verifies its efficiency compared to
EA-MPDSR using network simulator (NS-2). Also, To give a
academic value and explain protocol systematically, research
guidelines which the Hevner(2004) suggests are applied. This
proposed TP-MESR solved the existing multi-path routing problem
related to overhead, radio interference, packet reassembly and it
confirmed its contribution to effective use of energy in ad hoc
networks.
Abstract: In the micro and nano-technology industry, the
«clean-rooms» dedicated to manufacturing chip, are equipped with
the most sophisticated equipment-tools. There use a large number of
resources in according to strict specifications for an optimum
working and result. The distribution of «utilities» to the production is
assured by teams who use a supervision tool.
The studies show the interest to control the various parameters of
production or/and distribution, in real time, through a reliable and
effective supervision tool. This document looks at a large part of the
functions that the supervisor must assure, with complementary
functionalities to help the diagnosis and simulation that prove very
useful in our case where the supervised installations are complexed
and in constant evolution.
Abstract: Key management is a vital component in any modern security protocol. Due to scalability and practical implementation considerations automatic key management seems a natural choice in significantly large virtual private networks (VPNs). In this context IETF Internet Key Exchange (IKE) is the most promising protocol under permanent review. We have made a humble effort to pinpoint IKEv2 net gain over IKEv1 due to recent modifications in its original structure, along with a brief overview of salient improvements between the two versions. We have used US National Institute of Technology NIIST VPN simulator to get some comparisons of important performance metrics.
Abstract: The purpose of this article is to study the effects of
plants cover on overland flow and, therefore, its influences on the
amount of eroded and transported soil. In this investigation, all the
experiments were conducted in the LEGHYD laboratory using a
rainfall simulator and a soil tray. The experiments were conducted
using an experimental plot (soil tray) which is 2m long, 0.5 m wide
and 0.15 m deep. The soil used is an agricultural sandy soil (62,08%
coarse sand, 19,14% fine sand, 11,57% silt and 7,21% clay). Plastic
rods (4 mm in diameter) were used to simulate the plants at different
densities: 0 stem/m2 (bared soil), 126 stems/m², 203 stems/m², 461
stems/m² and 2500 stems/m²). The used rainfall intensity is 73mm/h
and the soil tray slope is fixed to 3°. The results have shown that the
overland flow velocities decreased with increasing stems density, and
the density cover has a great effect on sediment concentration.
Darcy–Weisbach and Manning friction coefficients of overland flow
increased when the stems density increased. Froude and Reynolds
numbers decreased with increasing stems density and, consequently,
the flow regime of all treatments was laminar and subcritical. From
these findings, we conclude that increasing the plants cover can
efficiently reduce soil loss and avoid denuding the roots plants.
Abstract: Interactive web-based computer simulations are
needed by the medical community to replicate the experience of
surgical procedures as closely and realistically as possible without
the need to practice on corpses, animals and/or plastic models. In this
paper, we offer a review on current state of the research on
simulations of surgical threads, identify future needs and present our
proposed plans to meet them. Our goal is to create a physics-based
simulator, which will predict the behavior of surgical thread when
subjected to conditions commonly encountered during surgery. To
that end, we will i) develop three dimensional finite element models
based on the Cosserat theory of elasticity ii) test and feedback results
with the medical community and iii) develop a web-based user
interface to run/command our simulator and visualize the results. The
impacts of our research are that i) it will contribute to the
development of a new generation of training for medical school
students and ii) the simulator will be useful to expert surgeons in
developing new, better and less risky procedures.
Abstract: WiMAX and Wi-Fi are considered as the promising
broadband access solutions for wireless MAN’s and LANs,
respectively. In the recent works WiMAX is considered suitable as a
backhaul service to connect multiple dispersed Wi-Fi ‘hotspots’.
Hence a new integrated WiMAX/Wi-Fi architecture has been
proposed in literatures. In this paper the performance of an integrated
WiMAX/Wi-Fi network has been investigated by streaming a video
conference application. The difference in performance between the
two protocols is compared with respect to video conferencing. The
Heterogeneous network was simulated in the OPNET simulator.
Abstract: The aim of this study was to develop a dynamic cardiac phantom for quality control in myocardial scintigraphy. The dynamic heart phantom constructed only contained the left ventricle, made of elastic material (latex), comprising two cavities: one internal and one external. The data showed a non-significant variation in the values of left ventricular ejection fraction (LVEF) obtained by varying the heart rate. It was also possible to evaluate the ejection fraction (LVEF) through different arrays of image acquisition and to perform an intercomparison of LVEF by two different scintillation cameras. The results of the quality control tests were satisfactory, showing that they can be used as parameters in future assessments. The new dynamic heart phantom was demonstrated to be effective for use in LVEF measurements. Therefore, the new heart simulator is useful for the quality control of scintigraphic cameras.
Abstract: Embedded hardware simulator is a valuable computeraided
tool for embedded application development. This paper focuses
on the ARM926EJ-S MMU, builds state transition models and
formally verifies critical properties for the models. The state transition
models include loading instruction model, reading data model, and
writing data model. The properties of the models are described by
CTL specification language, and they are verified in VIS. The results
obtained in VIS demonstrate that the critical properties of MMU are
satisfied in the state transition models. The correct models can be
used to implement the MMU component in our simulator. In the
end of this paper, the experimental results show that the MMU can
successfully accomplish memory access requests from CPU.
Abstract: Mobile Ad Hoc Networks (MANETs) are multi-hop
wireless networks in which all nodes cooperatively maintain network
connectivity. In such a multi-hop wireless network, every node may
be required to perform routing in order to achieve end-to-end
communication among nodes. These networks are energy constrained
as most ad hoc mobile nodes today operate with limited battery
power. Hence, it is important to minimize the energy consumption of
the entire network in order to maximize the lifetime of ad hoc
networks. In this paper, a mechanism involving the integration of
load balancing approach and transmission power control approach is
introduced to maximize the life-span of MANETs. The mechanism is
applied on Ad hoc On-demand Vector (AODV) protocol to make it
as energy aware AODV (EA_AODV). The simulation is carried out
using GloMoSim2.03 simulator. The results show that the proposed
mechanism reduces the average required transmission energy per
packet compared to the standard AODV.
Abstract: In this work a visual and reactive contour following
behaviour is learned by reinforcement. With artificial vision the
environment is perceived in 3D, and it is possible to avoid obstacles
that are invisible to other sensors that are more common in mobile
robotics. Reinforcement learning reduces the need for intervention in
behaviour design, and simplifies its adjustment to the environment,
the robot and the task. In order to facilitate its generalisation to other
behaviours and to reduce the role of the designer, we propose a
regular image-based codification of states. Even though this is much
more difficult, our implementation converges and is robust. Results
are presented with a Pioneer 2 AT on a Gazebo 3D simulator.
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.