Abstract: Automation technologies for agriculture field are needed to promote labor-saving. One of the most relevant problems in automated agriculture is represented by controlling the robot along a predetermined path in presence of rough terrain or incline ground. Unfortunately, disturbances originating from interaction with the ground, such as slipping, make it quite difficult to achieve the required accuracy. In general, it is required to move within 5-10 cm accuracy with respect to the predetermined path. Moreover, lateral velocity caused by gravity on the incline field also affects slipping. In this paper, a path-tracking controller for tracked mobile robots moving on rough terrains of incline field such as vineyard is presented. The controller is composed of a disturbance observer and an adaptive controller based on the kinematic model of the robot. The disturbance observer measures the difference between the measured and the reference yaw rate and linear velocity in order to estimate slip. Then, the adaptive controller adapts “virtual” parameter of the kinematics model: Instantaneous Centers of Rotation (ICRs). Finally, target angular velocity reference is computed according to the adapted parameter. This solution allows estimating the effects of slip without making the model too complex. Finally, the effectiveness of the proposed solution is tested in a simulation environment.
Abstract: The development of guidance, navigation and control algorithms and avionic procedures requires the disposability of suitable analysis and verification tools, such as simulation environments, which support the design process and allow detecting potential problems prior to the flight test, in order to make new technologies available at reduced cost, time and risk. This paper presents a simulation environment for avionic software development and qualification, especially aimed at equipment for general aviation aircrafts and unmanned aerial systems. The simulation environment includes models for short and medium-range radio-navigation aids, flight assistance systems, and ground control stations. All the software modules are able to simulate the modeled systems both in fast-time and real-time tests, and were implemented following component oriented modeling techniques and requirement based approach. The paper describes the specific models features, the architectures of the implemented software systems and its validation process. Performed validation tests highlighted the capability of the simulation environment to guarantee in real-time the required functionalities and performance of the simulated avionics systems, as well as to reproduce the interaction between these systems, thus permitting a realistic and reliable simulation of a complete mission scenario.
Abstract: In this paper, a simulation model of the glucose-insulin system for a patient undergoing diabetes Type 1 is developed by using a causal modeling approach under system dynamics. The OpenModelica simulation environment has been employed to build the so called causal model, while the glucose-insulin model parameters were adjusted to fit recorded mean data of a diabetic patient database. Model results under different conditions of a three-meal glucose and exogenous insulin ingestion patterns have been obtained. This simulation model can be useful to evaluate glucose-insulin performance in several circumstances, including insulin infusion algorithms in open-loop and decision support systems in closed-loop.
Abstract: Object-oriented modeling is spreading in current
simulation of physiological systems through the use of the individual
components of the model and its interconnections to define the
underlying dynamic equations. In this paper we describe the use of
both the SIMSCAPE and MODELICA simulation environments in
the object-oriented modeling of the closed loop cardiovascular
system. The performance of the controlled system was analyzed by
simulation in light of the existing hypothesis and validation tests
previously performed with physiological data. The described
approach represents a valuable tool in the teaching of physiology for
graduate medical students.
Abstract: In this study, data loss tolerance of Support Vector Machines (SVM) based activity recognition model and multi activity classification performance when data are received over a lossy wireless sensor network is examined. Initially, the classification algorithm we use is evaluated in terms of resilience to random data loss with 3D acceleration sensor data for sitting, lying, walking and standing actions. The results show that the proposed classification method can recognize these activities successfully despite high data loss. Secondly, the effect of differentiated quality of service performance on activity recognition success is measured with activity data acquired from a multi hop wireless sensor network, which introduces high data loss. The effect of number of nodes on the reliability and multi activity classification success is demonstrated in simulation environment. To the best of our knowledge, the effect of data loss in a wireless sensor network on activity detection success rate of an SVM based classification algorithm has not been studied before.
Abstract: Various fairness models and criteria proposed by academia and industries for wired networks can be applied for ad hoc wireless network. The end-to-end fairness in an ad hoc wireless network is a challenging task compared to wired networks, which has not been addressed effectively. Most of the traffic in an ad hoc network are transport layer flows and thus the fairness of transport layer flows has attracted the interest of the researchers. The factors such as MAC protocol, routing protocol, the length of a route, buffer size, active queue management algorithm and the congestion control algorithms affects the fairness of transport layer flows. In this paper, we have considered the rate of data transmission, the queue management and packet scheduling technique. The ad hoc network is dynamic in nature due to various parameters such as transmission of control packets, multihop nature of forwarding packets, changes in source and destination nodes, changes in the routing path influences determining throughput and fairness among the concurrent flows. In addition, the effect of interaction between the protocol in the data link and transport layers has also plays a role in determining the rate of the data transmission. We maintain queue for each flow and the delay information of each flow is maintained accordingly. The pre-processing of flow is done up to the network layer only. The source and destination address information is used for separating the flow and the transport layer information is not used. This minimizes the delay in the network. Each flow is attached to a timer and is updated dynamically. Finite State Machine (FSM) is proposed for queue and transmission control mechanism. The performance of the proposed approach is evaluated in ns-2 simulation environment. The throughput and fairness based on mobility for different flows used as performance metrics. We have compared the performance of the proposed approach with ATP and the transport layer information is used. This minimizes the delay in the network. Each flow is attached to a timer and is updated dynamically. Finite State Machine (FSM) is proposed for queue and transmission control mechanism. The performance of the proposed approach is evaluated in ns-2 simulation environment. The throughput and fairness based on not mobility for different flows used as performance metrics. We have compared the performance of the proposed approach with ATP and MC-MLAS and the performance of the proposed approach is encouraging.
Abstract: Many advanced Routing protocols for wireless sensor networks have been implemented for the effective routing of data. Energy awareness is an essential design issue and almost all of these routing protocols are considered as energy efficient and its ultimate objective is to maximize the whole network lifetime. However, the introductions of video and imaging sensors have posed additional challenges. Transmission of video and imaging data requires both energy and QoS aware routing in order to ensure efficient usage of the sensors and effective access to the gathered measurements. In this paper, the performance of the energy-aware QoS routing Protocol are analyzed in different performance metrics like average lifetime of a node, average delay per packet and network throughput. The parameters considered in this study are end-to-end delay, real time data generation/capture rates, packet drop probability and buffer size. The network throughput for realtime and non-realtime data was also has been analyzed. The simulation has been done in NS2 simulation environment and the simulation results were analyzed with respect to different metrics.
Abstract: A key element of many distribution systems is the
routing and scheduling of vehicles servicing a set of customers. A
wide variety of exact and approximate algorithms have been
proposed for solving the vehicle routing problems (VRP). Exact
algorithms can only solve relatively small problems of VRP, which is
classified as NP-Hard. Several approximate algorithms have proven
successful in finding a feasible solution not necessarily optimum.
Although different parts of the problem are stochastic in nature; yet,
limited work relevant to the application of discrete event system
simulation has addressed the problem. Presented here is optimization
using simulation of VRP; where, a simplified problem has been
developed in the ExtendSimTM simulation environment; where,
ExtendSimTM evolutionary optimizer is used to minimize the total
transportation cost of the problem. Results obtained from the model
are very satisfactory. Further complexities of the problem are
proposed for consideration in the future.
Abstract: For a spatiotemporal database management system,
I/O cost of queries and other operations is an important performance
criterion. In order to optimize this cost, an intense research on
designing robust index structures has been done in the past decade.
With these major considerations, there are still other design issues
that deserve addressing due to their direct impact on the I/O cost.
Having said this, an efficient buffer management strategy plays a key
role on reducing redundant disk access. In this paper, we proposed an
efficient buffer strategy for a spatiotemporal database index
structure, specifically indexing objects moving over a network of
roads. The proposed strategy, namely MONPAR, is based on the data
type (i.e. spatiotemporal data) and the structure of the index
structure. For the purpose of an experimental evaluation, we set up a
simulation environment that counts the number of disk accesses
while executing a number of spatiotemporal range-queries over the
index. We reiterated simulations with query sets with different
distributions, such as uniform query distribution and skewed query
distribution. Based on the comparison of our strategy with wellknown
page-replacement techniques, like LRU-based and Prioritybased
buffers, we conclude that MONPAR behaves better than its
competitors for small and medium size buffers under all used query-distributions.
Abstract: This paper presents a procedure for modeling and tuning the parameters of Thyristor Controlled Series Compensation (TCSC) controller in a multi-machine power system to improve transient stability. First a simple transfer function model of TCSC controller for stability improvement is developed and the parameters of the proposed controller are optimally tuned. Genetic algorithm (GA) is employed for the optimization of the parameter-constrained nonlinear optimization problem implemented in a simulation environment. By minimizing an objective function in which the oscillatory rotor angle deviations of the generators are involved, transient stability performance of the system is improved. The proposed TCSC controller is tested on a multi-machine system and the simulation results are presented. The nonlinear simulation results validate the effectiveness of proposed approach for transient stability improvement in a multimachine power system installed with a TCSC. The simulation results also show that the proposed TCSC controller is also effective in damping low frequency oscillations.
Abstract: When a small H/W IP is designed, we can develop an
appropriate verification environment by observing the simulated
signal waves, or using the serial test vectors for the fixed output. In the
case of design and verification of a massive parallel processor with
multiple IPs, it-s difficult to make a verification system with existing
common verification environment, and to verify each partial IP. A
TestDrive verification environment can build easy and reliable
verification system that can produce highly intuitive results by
applying Modelsim and SystemVerilog-s DPI. It shows many
advantages, for example a high-level design of a GPGPU processor
design can be migrate to FPGA board immediately.
Abstract: The process of wafer fabrication is arguably the most
technologically complex and capital intensive stage in semiconductor
manufacturing. This large-scale discrete-event process is highly reentrant,
and involves hundreds of machines, restrictions, and
processing steps. Therefore, production control of wafer fabrication
facilities (fab), specifically scheduling, is one of the most challenging
problems that this industry faces. Dispatching rules have been
extensively applied to the scheduling problems in semiconductor
manufacturing. Moreover, lot release policies are commonly used in
this manufacturing setting to further improve the performance of such
systems and reduce its inherent variability. In this work, simulation is
used in the scheduling of re-entrant flow shop manufacturing systems
with an application in semiconductor wafer fabrication; where, a
simulation model has been developed for the Intel Five-Machine Six
Step Mini-Fab using the ExtendTM simulation environment. The
Mini-Fab has been selected as it captures the challenges involved in
scheduling the highly re-entrant semiconductor manufacturing lines.
A number of scenarios have been developed and have been used to
evaluate the effect of different dispatching rules and lot release
policies on the selected performance measures. Results of simulation
showed that the performance of the Mini-Fab can be drastically
improved using a combination of dispatching rules and lot release
policy.
Abstract: RoboCup Rescue simulation as a large-scale Multi
agent system (MAS) is one of the challenging environments for
keeping coordination between agents to achieve the objectives
despite sensing and communication limitations. The dynamicity of
the environment and intensive dependency between actions of
different kinds of agents make the problem more complex. This point
encouraged us to use learning-based methods to adapt our decision
making to different situations. Our approach is utilizing
reinforcement leaning. Using learning in rescue simulation is one of
the current ways which has been the subject of several researches in
recent years. In this paper we present an innovative learning method
implemented for Police Force (PF) Agent. This method can cope
with the main difficulties that exist in other learning approaches.
Different methods used in the literature have been examined. Their
drawbacks and possible improvements have led us to the method
proposed in this paper which is fast and accurate. The Brain
Emotional Learning Based Intelligent Controller (BELBIC) is our
solution for learning in this environment. BELBIC is a
physiologically motivated approach based on a computational model
of amygdale and limbic system. The paper presents the results
obtained by the proposed approach, showing the power of BELBIC
as a decision making tool in complex and dynamic situation.
Abstract: Reference point effects of top managers exerts an influence on managerial decision-making behaviors. We introduces the main idea of developing the decision behavior testing system designed for top manager in team task circumstance. According to the theory of the reference point effect, study of testing experiments in the reference point effect is carried out. Under managerial decision-making simulation environment, a platform is designed for testing reference point effect. The system uses the outcome of the value of the reference point to report the characteristics of the decision behavior of top managers.
Abstract: Every day human life experiences new equipments
more automatic and with more abilities. So the need for faster
processors doesn-t seem to finish. Despite new architectures and
higher frequencies, a single processor is not adequate for many
applications. Parallel processing and networks are previous solutions
for this problem. The new solution to put a network of resources on a
chip is called NOC (network on a chip). The more usual topology for
NOC is mesh topology. There are several routing algorithms suitable
for this topology such as XY, fully adaptive, etc. In this paper we
have suggested a new algorithm named Intermittent X, Y (IX/Y). We
have developed the new algorithm in simulation environment to
compare delay and power consumption with elders' algorithms.
Abstract: This paper discusses the development of a qualitative
simulator (abbreviated QRiOM) for predicting the behaviour of
organic chemical reactions. The simulation technique is based on the
qualitative process theory (QPT) ontology. The modelling constructs
of QPT embody notions of causality which can be used to explain the
behaviour of a chemical system. The major theme of this work is
that, in a qualitative simulation environment, students are able to
articulate his/her knowledge through the inspection of explanations
generated by software. The implementation languages are Java and
Prolog. The software produces explanation in various forms that
stresses on the causal theories in the chemical system which can be
effectively used to support learning.
Abstract: This paper describes the development of a control
system model using a graphical software tool. This control system is
part of an operator training simulator developed for the National
Training Center for Operators of Ixtapantongo (CNCAOI, acronym
according to its name in Spanish language) of the Mexico-s Federal
Commission of Electricity, CFE). The Department of Simulation of
the Electrical Research Institute (IIE) developed this simulator using
as reference the Unit I of the Combined Cycle Power Plant El Sauz,
located at the centre of Mexico. The first step in the project was the
developing of the Gas Turbine System and its control system
simulator. The Turbo Gas simulator was finished and delivered to
CNCAOI in March 2007 for commercial operation. This simulator is
a high-fidelity real time dynamic simulator built and tested for
accurate operation over the entire load range. The simulator was used
primarily for operator training although it has been used for
procedure development and evaluation of plant transients.