Abstract: For high-speed control of robots, a good knowledge of system modelling is necessary to obtain the desired bandwidth. In this paper, we present a cartesian robot with a pan/tilt unit in end-effector (5 dof). This robot is implemented with powerful direct drive AC induction machines. The dynamic model, parameter identification and model validation of the robot are studied (including actuators). This work considers the cartesian robot coupled and non linear (contrary to normal considerations for this type of robots). The mechanical and control architecture proposed in this paper is efficient for industrial and research application in which high speed, well known model and very high accuracy are required.
Abstract: Wheeled Mobile Robots (WMRs) are built with their
Wheels- drive machine, Motors. Depend on their desire design of
WMR, Technicians made used of DC Motors for motion control. In
this paper, the author would like to analyze how to choose DC motor
to be balance with their applications of especially for WMR.
Specification of DC Motor that can be used with desire WMR is to
be determined by using MATLAB Simulink model. Therefore, this
paper is mainly focus on software application of MATLAB and
Control Technology. As the driving system of DC motor, a
Peripheral Interface Controller (PIC) based control system is
designed including the assembly software technology and H-bridge
control circuit. This Driving system is used to drive two DC gear
motors which are used to control the motion of WMR. In this
analyzing process, the author mainly focus the drive system on
driving two DC gear motors that will control with Differential Drive
technique to the Wheeled Mobile Robot . For the design analysis of
Motor Driving System, PIC16F84A is used and five inputs of sensors
detected data are tested with five ON/OFF switches. The outputs of
PIC are the commands to drive two DC gear motors, inputs of Hbridge
circuit .In this paper, Control techniques of PIC
microcontroller and H-bridge circuit, Mechanism assignments of
WMR are combined and analyzed by mainly focusing with the
“Modeling and Simulink of DC Motor using MATLAB".
Abstract: Fast forecasting of stock market prices is very important for
strategic planning. In this paper, a new approach for fast forecasting of
stock market prices is presented. Such algorithm uses new high speed
time delay neural networks (HSTDNNs). The operation of these
networks relies on performing cross correlation in the frequency
domain between the input data and the input weights of neural
networks. It is proved mathematically and practically that the number
of computation steps required for the presented HSTDNNs is less
than that needed by traditional time delay neural networks
(TTDNNs). Simulation results using MATLAB confirm the
theoretical computations.
Abstract: In recent years, the research in wireless sensor
network has increased steadily, and many studies were focusing on
reducing energy consumption of sensor nodes to extend their lifetimes.
In this paper, the issue of energy consumption is investigated and two
adaptive mechanisms are proposed to extend the network lifetime.
This study uses high-energy-first scheme to determine cluster heads
for data transmission. Thus, energy consumption in each cluster is
balanced and network lifetime can be extended. In addition, this study
uses cluster merging and dynamic routing mechanisms to further
reduce energy consumption during data transmission. The simulation
results show that the proposed method can effectively extend the
lifetime of wireless sensor network, and it is suitable for different base
station locations.
Abstract: We consider optimal channel equalization for MIMO
(multi-input/multi-output) time-varying channels in the sense of
MMSE (minimum mean-squared-error), where the observation noise
can be non-stationary. We show that all ZF (zero-forcing) receivers
can be parameterized in an affine form which eliminates completely
the ISI (inter-symbol-interference), and optimal channel equalizers
can be designed through minimization of the MSE (mean-squarederror)
between the detected signals and the transmitted signals,
among all ZF receivers. We demonstrate that the optimal channel
equalizer is a modified Kalman filter, and show that under the AWGN
(additive white Gaussian noise) assumption, the proposed optimal
channel equalizer minimizes the BER (bit error rate) among all
possible ZF receivers. Our results are applicable to optimal channel
equalization for DWMT (discrete wavelet multitone), multirate transmultiplexers,
OFDM (orthogonal frequency division multiplexing),
and DS (direct sequence) CDMA (code division multiple access)
wireless data communication systems. A design algorithm for optimal
channel equalization is developed, and several simulation examples
are worked out to illustrate the proposed design algorithm.
Abstract: This paper describes studies carried out to investigate
the viability of using wireless cameras as a tool in monitoring
changes in air quality. A camera is used to monitor the change in
colour of a chemically responsive polymer within view of the camera
as it is exposed to varying chemical species concentration levels. The
camera captures this image and the colour change is analyzed by
averaging the RGB values present. This novel chemical sensing
approach is compared with an established chemical sensing method
using the same chemically responsive polymer coated onto LEDs. In
this way, the concentration levels of acetic acid in the air can be
tracked using both approaches. These approaches to chemical plume
tracking have many applications for air quality monitoring.
Abstract: ZnO heteronanostructured nanowires arrays have
been fabricated by low temperature solution method. Various
heterostructures were synthesized including CdS/ZnO,
CdSe/CdS/ZnO nanowires and Co3O4/ZnO, ZnO/SiC
nanowires. These multifunctional heterostructure nanowires
showed important applications in photocatalysts, sensors,
wettability control and solar energy conversion.
Abstract: In this paper, a method for deriving a group priority vector in the Fuzzy Analytic Network Process (FANP) is proposed. By introducing importance weights of multiple decision makers (DMs) based on their experiences, the Fuzzy Preferences Programming Method (FPP) is extended to a fuzzy group prioritization problem in the FANP. Additionally, fuzzy pair-wise comparison judgments are presented rather than exact numerical assessments in order to model the uncertainty and imprecision in the DMs- judgments and then transform the fuzzy group prioritization problem into a fuzzy non-linear programming optimization problem which maximize the group satisfaction. Unlike the known fuzzy prioritization techniques, the new method proposed in this paper can easily derive crisp weights from incomplete and inconsistency fuzzy set of comparison judgments and does not require additional aggregation producers. Detailed numerical examples are used to illustrate the implement of our approach and compare with the latest fuzzy prioritization method.
Abstract: Encryption and decryption in RSA are done by modular exponentiation which is achieved by repeated modular multiplication. Hence efficiency of modular multiplication directly determines the efficiency of RSA cryptosystem. This paper designs a Modified Montgomery Modular Multiplication in which addition of operands is computed by 4:2 compressor. The basic logic operations in addition are partitioned over two iterations such that parallel computations are performed. This reduces the critical path delay of proposed Montgomery design. The proposed design and RSA are implemented on Virtex 2 and Virtex 5 FPGAs. The two factors partitioning and parallelism have improved the frequency and throughput of proposed design.
Abstract: The objective of this paper is to study the analysis and testing for determining the torsional stiffness of the student formula-s space frame. From past study, the space frame for Chulalongkorn University Student Formula team used in 2011 TSAE Auto Challenge Student Formula in Thailand was designed by considering required mass and torsional stiffness based on the numerical method and experimental method. The numerical result was compared with the experimental results to verify the torsional stiffness of the space frame. It can be seen from the large error of torsional stiffness of 2011 frame that the experimental result can not verify by the numerical analysis due to the different between the numerical model and experimental setting. In this paper, the numerical analysis and experiment of the same 2011 frame model is performed by improving the model setting. The improvement of both numerical analysis and experiment are discussed to confirm that the models from both methods are same. After the frame was analyzed and tested, the results are compared to verify the torsional stiffness of the frame. It can be concluded that the improved analysis and experiments can used to verify the torsional stiffness of the space frame.
Abstract: Since the actuator capacity is limited, in the real
application of active control systems under sever earthquakes it is
conceivable that the actuators saturate, hence the actuator saturation
should be considered as a constraint in design of optimal controllers.
In this paper optimal design of active controllers for nonlinear
structures by considering actuator saturation, has been studied. The
proposed method for designing optimal controllers is based on
defining an optimization problem which the objective has been to
minimize the maximum displacement of structure when a limited
capacity for actuator has been used. To this end a single degree of
freedom (SDF) structure with a bilinear hysteretic behavior has been
simulated under a white noise ground acceleration of different
amplitudes. Active tendon control mechanism, comprised of prestressed
tendons and an actuator, and extended nonlinear Newmark
method based instantaneous optimal control algorithm have been
used. To achieve the best results, the weights corresponding to
displacement, velocity, acceleration and control force in the
performance index have been optimized by the Distributed Genetic
Algorithm (DGA). Results show the effectiveness of the proposed
method in considering actuator saturation. Also based on the
numerical simulations it can be concluded that the actuator capacity
and the average value of required control force are two important
factors in designing nonlinear controllers which consider the actuator
saturation.
Abstract: This paper presents a comparative study on two most
popular control strategies for Permanent Magnet Synchronous Motor
(PMSM) drives: field-oriented control (FOC) and direct torque
control (DTC). The comparison is based on various criteria including
basic control characteristics, dynamic performance, and
implementation complexity. The study is done by simulation using
the Simulink Power System Blockset that allows a complete
representation of the power section (inverter and PMSM) and the
control system. The simulation and evaluation of both control
strategies are performed using actual parameters of Permanent
Magnet Synchronous Motor fed by an IGBT PWM inverter.
Abstract: Variable speed drives are growing and varying. Drives expanse depend on progress in different part of science like power system, microelectronic, control methods, and so on. Artificial intelligent contains hard computation and soft computation. Artificial intelligent has found high application in most nonlinear systems same as motors drive. Because it has intelligence like human but there are no sentimental against human like angriness and.... Artificial intelligent is used for various points like approximation, control, and monitoring. Because artificial intelligent techniques can use as controller for any system without requirement to system mathematical model, it has been used in electrical drive control. With this manner, efficiency and reliability of drives increase and volume, weight and cost of them decrease.
Abstract: In this paper we propose a method for vision systems
to consistently represent functional dependencies between different
visual routines along with relational short- and long-term knowledge
about the world. Here the visual routines are bound to visual properties
of objects stored in the memory of the system. Furthermore,
the functional dependencies between the visual routines are seen
as a graph also belonging to the object-s structure. This graph is
parsed in the course of acquiring a visual property of an object to
automatically resolve the dependencies of the bound visual routines.
Using this representation, the system is able to dynamically rearrange
the processing order while keeping its functionality. Additionally, the
system is able to estimate the overall computational costs of a certain
action. We will also show that the system can efficiently use that
structure to incorporate already acquired knowledge and thus reduce
the computational demand.
Abstract: The main purpose of this research was to analyze Socio-Cultural obstacles of disseminating of nanotechnology in Iran's agricultural section. One hundred twenty eight out of a total of 190 researchers with different levels of expertise in and familiarity with nanotechnology were randomly selected and questionnaires completed by them. Face validity have been done by expert's suggestion and correction, reliability by using Cronbakh-Alpha formula. The results of a factor analysis showed variation for different factors. For cultural factors 19/475 percent, for management 13/139 percent, information factor 11/277 percent, production factor 9/703 percent, social factor 9/267 percent, and for attitude factor it became 8/947 percent. Also results indicated that socio-cultural factors were the most important obstacle for nanotechnology dissemination in agricultural section in Iran.
Abstract: The original idea for a feature film may come from a
writer, director or a producer. Director is the person responsible for
the creative aspects, both interpretive and technical, of a motion
picture production in a film. Director may be shot discussing his
project with his or her cowriters, members of production staff, and
producer, and director may be shown selecting locales or
constructing sets. All these activities provide, of course, ways of
externalizing director-s ideas about the film. A director sometimes
pushes both the film image and techniques of narration to new artistic
limits, but main responsibility of director is take the spectator to an
original opinion in his philosophical approach. Director tries to find
an artistic angle in every scene and change screenplay into an
effective story and sets his film on a spiritual and philosophical base.
Abstract: Brain ArterioVenous Malformation (BAVM) is an abnormal tangle of brain blood vessels where arteries shunt directly into veins with no intervening capillary bed which causes high pressure and hemorrhage risk. The success of treatment by embolization in interventional neuroradiology is highly dependent on the accuracy of the vessels visualization. In this paper the performance of clustering techniques on vessel segmentation from 3- D rotational angiography (3DRA) images is investigated and a new technique of segmentation is proposed. This method consists in: preprocessing step of image enhancement, then K-Means (KM), Fuzzy C-Means (FCM) and Expectation Maximization (EM) clustering are used to separate vessel pixels from background and artery pixels from vein pixels when possible. A post processing step of removing false-alarm components is applied before constructing a three-dimensional volume of the vessels. The proposed method was tested on six datasets along with a medical assessment of an expert. Obtained results showed encouraging segmentations.
Abstract: The objective of this paper is to propose an adaptive multi threshold for image segmentation precisely in object detection. Due to the different types of license plates being used, the requirement of an automatic LPR is rather different for each country. The proposed technique is applied on Malaysian LPR application. It is based on Multi Layer Perceptron trained by back propagation. The proposed adaptive threshold is introduced to find the optimum threshold values. The technique relies on the peak value from the graph of the number object versus specific range of threshold values. The proposed approach has improved the overall performance compared to current optimal threshold techniques. Further improvement on this method is in progress to accommodate real time system specification.
Abstract: The urbanization phenomenon in Yogyakarta Special
Province, Indonesia, encouraged people move to the city for getting
jobs in the informal sectors. They live in some temporary houses in
the three main riverbanks: Gadjahwong, Code, and Winongo.
Triggered by its independent status they use it as the space for
accommodating domestic, social and economy activities because of
the non standardized room size of their houses, where are recognized
as the environmental hazards. This recognition makes the ambivalent
perception when was related to the twelfth point of the philosophy of
community development concept: the empowering individuals and
communities. Its spatial implication have actually described the
territory and the place making phenomena. By analyzing some data
collected the author-s fundamental research funded by The General
Directorate of Higher Education of Indonesia, this paper will discuss
how do the spatial implications of the occupants- behavior and the
numerous perceptions of those phenomena.
Abstract: The purpose of this research is to determine the
knowledge and skills possessed by instructional design (ID)
practitioners in Malaysia. As ID is a relatively new field in the
country and there seems to be an absence of any studies on its
community of practice, the main objective of this research is to
discover the tasks and activities performed by ID practitioners in
educational and corporate organizations as suggested by the
International Board of Standards for Training, Performance and
Instruction. This includes finding out the ID models applied in the
course of their work. This research also attempts to identify the
barriers and issues as to why some ID tasks and activities are rarely
or never conducted. The methodology employed in this descriptive
study was a survey questionnaire sent to 30 instructional designers
nationwide. The results showed that majority of the tasks and
activities are carried out frequently enough but omissions do occur
due to reasons such as it being out of job scope, the decision was
already made at a higher level, and the lack of knowledge and skills.
Further investigations of a qualitative manner should be conducted
to achieve a more in-depth understanding of ID practices in
Malaysia