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: In this paper, first we introduce the stable distribution, stable process and theirs characteristics. The a -stable distribution family has received great interest in the last decade due to its success in modeling data, which are too impulsive to be accommodated by the Gaussian distribution. In the second part, we propose major applications of alpha stable distribution in telecommunication, computer science such as network delays and signal processing and financial markets. At the end, we focus on using stable distribution to estimate measure of risk in stock markets and show simulated data with statistical softwares.
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: This paper deals with a design method of a discrete
modified Internal Model Control (IMC) for a plant with an integrator
and dead time. If there is a load disturbance in the input or output side
of the plant, the proposed control system can eliminate the steady-state
error caused by it. The disturbance compensator in this method is
simple and its order is low regardless of that of a plant. The simulation
studies show that the proposed method has superior performance for a
load disturbance rejection and robustness.
Abstract: This study describes a micro device integrated with
multi-chamber for polymerase chain reaction (PCR) with different
annealing temperatures. The device consists of the reaction
polydimethylsiloxane (PDMS) chip, a cover glass chip, and is
equipped with cartridge heaters, fans, and thermocouples for
temperature control. In this prototype, commercial software is utilized
to determine the geometric and operational parameters those are
responsible for creating the denaturation, annealing, and extension
temperatures within the chip. Two cartridge heaters are placed at two
sides of the chip and maintained at two different temperatures to
achieve a thermal gradient on the chip during the annealing step. The
temperatures on the chip surface are measured via an infrared imager.
Some thermocouples inserted into the reaction chambers are used to
obtain the transient temperature profiles of the reaction chambers
during several thermal cycles. The experimental temperatures
compared to the simulated results show a similar trend. This work
should be interesting to persons involved in the high-temperature
based reactions and genomics or cell analysis.
Abstract: One astonishing capability of humans is to recognize thousands of different objects visually, and to learn the semantic association between those objects and words referring to them. This work is an attempt to build a computational model of such capacity,simulating the process by which infants learn how to recognize objects and words through exposure to visual stimuli and vocal sounds.One of the main fact shaping the brain of a newborn is that lights and colors come from entities of the world. Gradually the visual system learn which light sensations belong to same entities, despite large changes in appearance. This experience is common between humans and several other mammals, like non-human primates. But humans only can recognize a huge variety of objects, most manufactured by himself, and make use of sounds to identify and categorize them. The aim of this model is to reproduce these processes in a biologically plausible way, by reconstructing the essential hierarchy of cortical circuits on the visual and auditory neural paths.
Abstract: This paper presents two prototypes of low power low voltage current mode 9 bit pipelined a/d converters. The first and the second converters are configured of 1.5 bit and 2.5 bit stages, respectively. The a/d converter structures are composed of current mode building blocks and final comparator block which converts the analog current signal into digital voltage signal. All building blocks have been designed in CMOS AMS 0.35μm technology, then simulated to verify proposed concept. The performances of both converters are compared to performances of known current mode and voltage mode switched capacitance converter structures. Low power consumption and small chip area are advantages of the proposed converters.
Abstract: This paper presents a Reliability-Based Topology
Optimization (RBTO) based on Evolutionary Structural Optimization
(ESO). An actual design involves uncertain conditions such as
material property, operational load and dimensional variation.
Deterministic Topology Optimization (DTO) is obtained without
considering of the uncertainties related to the uncertainty parameters.
However, RBTO involves evaluation of probabilistic constraints,
which can be done in two different ways, the reliability index
approach (RIA) and the performance measure approach (PMA). Limit
state function is approximated using Monte Carlo Simulation and
Central Composite Design for reliability analysis. ESO, one of the
topology optimization techniques, is adopted for topology
optimization. Numerical examples are presented to compare the DTO
with RBTO.
Abstract: LSP routing is among the prominent issues in MPLS
networks traffic engineering. The objective of this routing is to
increase number of the accepted requests while guaranteeing the
quality of service (QoS). Requested bandwidth is the most important
QoS criterion that is considered in literatures, and a various number
of heuristic algorithms have been presented with that regards. Many
of these algorithms prevent flows through bottlenecks of the network
in order to perform load balancing, which impedes optimum
operation of the network. Here, a modern routing algorithm is
proposed as MIRAD: having a little information of the network
topology, links residual bandwidth, and any knowledge of the
prospective requests it provides every request with a maximum
bandwidth as well as minimum end-to-end delay via uniform load
distribution across the network. Simulation results of the proposed
algorithm show a better efficiency in comparison with similar
algorithms.
Abstract: For several high speed networks, providing resilience against failures is an essential requirement. The main feature for designing next generation optical networks is protecting and restoring high capacity WDM networks from the failures. Quick detection, identification and restoration make networks more strong and consistent even though the failures cannot be avoided. Hence, it is necessary to develop fast, efficient and dependable fault localization or detection mechanisms. In this paper we propose a new fault localization algorithm for WDM networks which can identify the location of a failure on a failed lightpath. Our algorithm detects the failed connection and then attempts to reroute data stream through an alternate path. In addition to this, we develop an algorithm to analyze the information of the alarms generated by the components of an optical network, in the presence of a fault. It uses the alarm correlation in order to reduce the list of suspected components shown to the network operators. By our simulation results, we show that our proposed algorithms achieve less blocking probability and delay while getting higher throughput.
Abstract: Computer modeling has played a unique role in
understanding electrocardiography. Modeling and simulating cardiac
action potential propagation is suitable for studying normal and
pathological cardiac activation. This paper presents a 2-D Cellular
Automata model for simulating action potential propagation in
cardiac tissue. We demonstrate a novel algorithm in order to use
minimum neighbors. This algorithm uses the summation of the
excitability attributes of excited neighboring cells. We try to
eliminate flat edges in the result patterns by inserting probability to
the model. We also preserve the real shape of action potential by
using linear curve fitting of one well known electrophysiological
model.
Abstract: An intuitive user interface for the teleoperation of mobile rescue robots is one key feature for a successful exploration of inaccessible and no-go areas. Therefore, we have developed a novel framework to embed a flexible and modular user interface into a complete 3-D virtual reality simulation system. Our approach is based on a client-server architecture to allow for a collaborative control of the rescue robot together with multiple clients on demand. Further, it is important that the user interface is not restricted to any specific type of mobile robot. Therefore, our flexible approach allows for the operation of different robot types with a consistent concept and user interface. In laboratory tests, we have evaluated the validity and effectiveness of our approach with the help of two different robot platforms and several input devices. As a result, an untrained person can intuitively teleoperate both robots without needing a familiarization time when changing the operating robot.
Abstract: In this paper, we have compared the performance of a Turbo and Trellis coded optical code division multiple access (OCDMA) system. The comparison of the two codes has been accomplished by employing optical orthogonal codes (OOCs). The Bit Error Rate (BER) performances have been compared by varying the code weights of address codes employed by the system. We have considered the effects of optical multiple access interference (OMAI), thermal noise and avalanche photodiode (APD) detector noise. Analysis has been carried out for the system with and without double optical hard limiter (DHL). From the simulation results it is observed that a better and distinct comparison can be drawn between the performance of Trellis and Turbo coded systems, at lower code weights of optical orthogonal codes for a fixed number of users. The BER performance of the Turbo coded system is found to be better than the Trellis coded system for all code weights that have been considered for the simulation. Nevertheless, the Trellis coded OCDMA system is found to be better than the uncoded OCDMA system. Trellis coded OCDMA can be used in systems where decoding time has to be kept low, bandwidth is limited and high reliability is not a crucial factor as in local area networks. Also the system hardware is less complex in comparison to the Turbo coded system. Trellis coded OCDMA system can be used without significant modification of the existing chipsets. Turbo-coded OCDMA can however be employed in systems where high reliability is needed and bandwidth is not a limiting factor.
Abstract: In this paper, a simulated annealing algorithm has been developed to optimize machining parameters in turning operation on cylindrical workpieces. The turning operation usually includes several passes of rough machining and a final pass of finishing. Seven different constraints are considered in a non-linear model where the goal is to achieve minimum total cost. The weighted total cost consists of machining cost, tool cost and tool replacement cost. The computational results clearly show that the proposed optimization procedure has considerably improved total operation cost by optimally determining machining parameters.
Abstract: The asymmetric trafc between uplink and downlink
over recent mobile communication systems has been conspicuous because
of providing new communication services. This paper proposes
an asymmetric trafc accommodation scheme adopting a multihop
cooperative transmission technique for CDMA/FDD cellular networks.
The proposed scheme employs the cooperative transmission
technique in the already proposed downlink multihop transmissions
for the accommodation of the asymmetric trafc, which utilizes
the vacant uplink band for the downlink relay transmissions. The
proposed scheme reduces the transmission power at the downlink
relay transmissions and then suppresses the interference to the uplink
communications, and thus, improves the uplink performance. The
proposed scheme is evaluated by computer simulation and the results
show that it can achieve better throughput performance.
Abstract: The intelligent fuzzy input estimator is used to estimate
the input force of the rigid bar structural system in this study. The
fuzzy Kalman filter without the input term and the fuzzy weighting
recursive least square estimator are two main portions of this method.
The practicability and accuracy of the proposed method were verified
with numerical simulations from which the input forces of a rigid bar
structural system were estimated from the output responses. In order to
examine the accuracy of the proposed method, a rigid bar structural
system is subjected to periodic sinusoidal dynamic loading. The
excellent performance of this estimator is demonstrated by comparing
it with the use of difference weighting function and improper the
initial process noise covariance. The estimated results have a good
agreement with the true values in all cases tested.
Abstract: This paper presents dynamic voltage collapse prediction on an actual power system using support vector machines.
Dynamic voltage collapse prediction is first determined based on the PTSI calculated from information in dynamic simulation output. Simulations were carried out on a practical 87 bus test system by considering load increase as the contingency. The data collected from the time domain simulation is then used as input to the SVM in which support vector regression is used as a predictor to determine the
dynamic voltage collapse indices of the power system. To reduce training time and improve accuracy of the SVM, the Kernel function type and Kernel parameter are considered. To verify the
effectiveness of the proposed SVM method, its performance is compared with the multi layer perceptron neural network (MLPNN). Studies show that the SVM gives faster and more accurate results for dynamic voltage collapse prediction compared with the MLPNN.
Abstract: In this paper, Optimum adaptive loading algorithms
are applied to multicarrier system with Space-Time Block Coding
(STBC) scheme associated with space-time processing based on
singular-value decomposition (SVD) of the channel matrix over
Rayleigh fading channels. SVD method has been employed in
MIMO-OFDM system in order to overcome subchannel interference.
Chaw-s and Compello-s algorithms have been implemented to obtain
a bit and power allocation for each subcarrier assuming instantaneous
channel knowledge. The adaptive loaded SVD-STBC scheme is
capable of providing both full-rate and full-diversity for any number
of transmit antennas. The effectiveness of these techniques has
demonstrated through the simulation of an Adaptive loaded SVDSTBC
system, and the comparison shown that the proposed
algorithms ensure better performance in the case of MIMO.
Abstract: In this paper; we are interested principally in dynamic modelling of quadrotor while taking into account the high-order nonholonomic constraints in order to develop a new control scheme as well as the various physical phenomena, which can influence the dynamics of a flying structure. These permit us to introduce a new state-space representation. After, the use of Backstepping approach for the synthesis of tracking errors and Lyapunov functions, a sliding mode controller is developed in order to ensure Lyapunov stability, the handling of all system nonlinearities and desired tracking trajectories. Finally simulation results are also provided in order to illustrate the performances of the proposed controller.
Abstract: An important step in three-dimensional reconstruction
and computer vision is camera calibration, whose objective is to
estimate the intrinsic and extrinsic parameters of each camera. In this
paper, two linear methods based on the different planes are given. In
both methods, the general plane is used to replace the calibration
object with very good precision. In the first method, after controlling
the camera to undergo five times- translation movements and taking
pictures of the orthogonal planes, a set of linear constraints of the
camera intrinsic parameters is then derived by means of homography
matrix. The second method is to get all camera parameters by taking
only one picture of a given radius circle. experiments on simulated
data and real images,indicate that our method is reasonable and is a
good supplement to camera calibration.