Abstract: Robotic arm manipulators are widely used to accomplish many kinds of tasks. SCORBOT-ER 4u is a 5-degree of freedom (DOF) vertical articulated educational robotic arm, and all joints are revolute. It is specifically designed to perform pick and place task with its gripper. The pick and place task consists of consideration of the end effector coordinate of the robotic arm and the desired position coordinate in its workspace. This paper describes about forward kinematics modeling and analysis of the robotic end effector motion through joint space. The kinematics problems are defined by the transformation from the Cartesian space to the joint space. Denavit-Hartenberg (D-H) model is used in order to model the robotic links and joints with 4x4 homogeneous matrix. The forward kinematics model is also developed and simulated in MATLAB. The mathematical model is validated by using robotic toolbox in MATLAB. By using this method, it may be applicable to get the end effector coordinate of this robotic arm and other similar types to this arm. The software development of SCORBOT-ER 4u is also described here. PC-and EtherCAT based control technology from BECKHOFF is used to control the arm to express the pick and place task.
Abstract: Vertical Handover(VHO) among different
communication technologies ensuring uninterruption and service
continuity is one of the most important performance parameter in
Heterogenous networks environment. In an integrated Universal
Mobile Telecommunicatin System(UMTS) and Wireless Local
Area Network(WLAN), WLAN is given an inherent priority over
UMTS because of its high data rates with low cost. Therefore
mobile users want to be associated with WLAN maximum of the
time while roaming, to enjoy best possible services with low cost.
That encourages reduction of number of VHO. In this work the
reduction of number of VHO with respect to varying number of
WLAN Access Points(APs) in an integrated UMTS and WLAN
network is investigated through simulation to provide best possible
cost effective service to the users. The simulation has been carried
out for an area (7800 × 9006)m2 where COST-231 Hata model
and 3GPP (TR 101 112 V 3.1.0) specified models are used for
WLAN and UMTS path loss models respectively. The handover
decision is triggered based on the received signal level as compared
to the fade margin. Fade margin gives a probabilistic measure of
the reliability of the communication link. A relationship between
number of WLAN APs and the number of VHO is also established
in this work.
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.
Abstract: Next Generation Wireless Network (NGWN) is
expected to be a heterogeneous network which integrates all different
Radio Access Technologies (RATs) through a common platform. A
major challenge is how to allocate users to the most suitable RAT for
them. An optimized solution can lead to maximize the efficient use
of radio resources, achieve better performance for service providers
and provide Quality of Service (QoS) with low costs to users.
Currently, Radio Resource Management (RRM) is implemented
efficiently for the RAT that it was developed. However, it is not
suitable for a heterogeneous network. Common RRM (CRRM) was
proposed to manage radio resource utilization in the heterogeneous
network. This paper presents a user level Markov model for a three
co-located RAT networks. The load-balancing based and service
based CRRM algorithms have been studied using the presented
Markov model. A comparison for the performance of load-balancing
based and service based CRRM algorithms is studied in terms of
traffic distribution, new call blocking probability, vertical handover
(VHO) call dropping probability and throughput.