Abstract: A novel low-cost impedance control structure is
proposed for monitoring the contact force between end-effector and
environment without installing an expensive force/torque sensor.
Theoretically, the end-effector contact force can be estimated from the
superposition of each joint control torque. There have a nonlinear
matrix mapping function between each joint motor control input and
end-effector actuating force/torques vector. This new force control
structure can be implemented based on this estimated mapping matrix.
First, the robot end-effector is manipulated to specified positions, then
the force controller is actuated based on the hall sensor current
feedback of each joint motor. The model-free fuzzy sliding mode
control (FSMC) strategy is employed to design the position and force
controllers, respectively. All the hardware circuits and software
control programs are designed on an Altera Nios II embedded
development kit to constitute an embedded system structure for a
retrofitted Mitsubishi 5 DOF robot. Experimental results show that PI
and FSMC force control algorithms can achieve reasonable contact
force monitoring objective based on this hardware control structure.
Abstract: Scheduling algorithms are used in operating systems
to optimize the usage of processors. One of the most efficient
algorithms for scheduling is Multi-Layer Feedback Queue (MLFQ)
algorithm which uses several queues with different quanta. The most
important weakness of this method is the inability to define the
optimized the number of the queues and quantum of each queue. This
weakness has been improved in IMLFQ scheduling algorithm.
Number of the queues and quantum of each queue affect the response
time directly. In this paper, we review the IMLFQ algorithm for
solving these problems and minimizing the response time. In this
algorithm Recurrent Neural Network has been utilized to find both
the number of queues and the optimized quantum of each queue.
Also in order to prevent any probable faults in processes' response
time computation, a new fault tolerant approach has been presented.
In this approach we use combinational software redundancy to
prevent the any probable faults. The experimental results show that
using the IMLFQ algorithm results in better response time in
comparison with other scheduling algorithms also by using fault
tolerant mechanism we improve IMLFQ performance.
Abstract: A method has been developed for preparing load
models for power flow and stability. The load modeling
(LOADMOD) computer software transforms data on load class mix,
composition, and characteristics into the from required for
commonly–used power flow and transient stability simulation
programs. Typical default data have been developed for load
composition and characteristics. This paper defines LOADMOD
software and describes the dynamic and static load modeling
techniques used in this software and results of initial testing for
BAKHTAR power system.
Abstract: Risk Assessment Tool (RAT) is an expert system that
assesses, monitors, and gives preliminary treatments automatically
based on the project plan. In this paper, a review was taken out for
the current project time management risk assessment tools for SME
software development projects, analyze risk assessment parameters,
conditions, scenarios, and finally propose risk assessment tool (RAT)
model to assess, treat, and monitor risks. An implementation prototype
system is developed to validate the model.
Abstract: This paper presents probabilistic horizontal seismic
hazard assessment of Naghan, Iran. It displays the probabilistic
estimate of Peak Ground Horizontal Acceleration (PGHA) for the
return period of 475, 950 and 2475 years. The output of the
probabilistic seismic hazard analysis is based on peak ground
acceleration (PGA), which is the most common criterion in designing
of buildings. A catalogue of seismic events that includes both
historical and instrumental events was developed and covers the
period from 840 to 2009. The seismic sources that affect the hazard
in Naghan were identified within the radius of 200 km and the
recurrence relationships of these sources were generated by Kijko
and Sellevoll. Finally Peak Ground Horizontal Acceleration (PGHA)
has been prepared to indicate the earthquake hazard of Naghan for
different hazard levels by using SEISRISK III software.
Abstract: One of the most importance of intelligence in-car and
roadside systems is the cooperative vehicle-infrastructure system. In
Thailand, ITS technologies are rapidly growing and real-time vehicle
information is considerably needed for ITS applications; for example,
vehicle fleet tracking and control and road traffic monitoring
systems. This paper defines the communication protocols and
software design for middleware components of B-VIS (Burapha
Vehicle-Infrastructure System). The proposed B-VIS middleware architecture serves the needs of a distributed RFID sensor network and simplifies some intricate details of several communication standards.
Abstract: A CFD software was employed to analyze the
characteristics of the flat round porous aerostatic bearings. The effects
of gap between the bearing and the guide way and the porosity of the
porous material on the load capacity of the bearing were studied. The
adequacy of the simulation model and the approach was verified. From
the parametric study, it is found that the depth of the flow path does not
influence the load capacity of the bearing; the load capacity of the
bearing will decrease if the thickness of the porous material increases
or the porous material protrudes above the bearing housing; the
variation of the chamfer at the edge of the bearing does not affect the
bearing load capacity. For a bearing with an air gap of 5μm and a
porosity of 0.1, the average load capacity and the pressure distribution
of the bearing are nearly unchanged no matter the bearing moves at a
constant or a varying speed.
Abstract: Class cohesion is an important object-oriented
software quality attribute. It indicates how much the members in a
class are related. Assessing the class cohesion and improving the
class quality accordingly during the object-oriented design phase
allows for cheaper management of the later phases. In this paper, the
notion of distance between pairs of methods and pairs of attribute
types in a class is introduced and used as a basis for introducing a
novel class cohesion metric. The metric considers the methodmethod,
attribute-attribute, and attribute-method direct interactions.
It is shown that the metric gives more sensitive values than other
well-known design-based class cohesion metrics.
Abstract: A Ground Control System (GCS), which controls Unmanned Aerial Vehicles (UAVs) and monitors their missionrelated data, is one of the major components of UAVs. In fact, some traditional GCSs were built on an expensive, complicated hardware infrastructure with workstations and PCs. In contrast, a GCS on a portable device – such as an Android phone or tablet – takes advantage of its light-weight hardware and the rich User Interface supported by the Android Operating System. We implemented that kind of GCS and called it Ground System Software (GSS) in this paper. In operation, our GSS communicates with UAVs or other GSS via TCP/IP connection to get mission-related data, visualizes it on the device-s screen, and saves the data in its own database. Our study showed that this kind of system will become a potential instrument in UAV-related systems and this kind of topic will appear in many research studies in the near future.
Abstract: As one of the big government bank, Bank X is paying attention its performance, so that it can compete. One of them is the existence of organizational culture which recognized with term TIPEC (Trust, Integrity, Professionalism, Costumer Focus, and Excellence). In application of organizational culture, it is needed the existence of employee involvement (job involvement). It can be influenced by various factors, such as Locus of Control. Related to above mentioned, the problems are how employee tendency of Locus of Control, how job involvement, how organizational culture applied by employees and how influence of Locus of Control and job involvement to the organizational culture applied by employees. Researchers collected data with questioner spreading, and respondents number of 30 people. After that, the data were analyzed with SPSS software constructively. The influence of Locus of Control and job involvement to the application of organizational culture was strong, i.e. 58.3%.
Abstract: This paper focuses on a critical component of the situational awareness (SA), the control of autonomous vertical flight for an unmanned aerial vehicle (UAV). Autonomous vertical flight is a challenging but important task for tactical UAVs to achieve high level of autonomy under adverse conditions. With the SA strategy, we proposed a two stage flight control procedure using two autonomous control subsystems to address the dynamics variation and performance requirement difference in initial and final stages of flight trajectory for a nontrivial nonlinear trirotor mini-UAV model. This control strategy for chosen mini-UAV model has been verified by simulation of hovering maneuvers using software package Simulink and demonstrated good performance for fast SA in realtime search-and-rescue operations.
Abstract: Clustering techniques have been used by many intelligent software agents to group similar access patterns of the Web users into high level themes which express users intentions and interests. However, such techniques have been mostly focusing on one salient feature of the Web document visited by the user, namely the extracted keywords. The major aim of these techniques is to come up with an optimal threshold for the number of keywords needed to produce more focused themes. In this paper we focus on both keyword and similarity thresholds to generate themes with concentrated themes, and hence build a more sound model of the user behavior. The purpose of this paper is two fold: use distance based clustering methods to recognize overall themes from the Proxy log file, and suggest an efficient cut off levels for the keyword and similarity thresholds which tend to produce more optimal clusters with better focus and efficient size.
Abstract: WLAN Positioning has been presented by many
approaches in literatures using the characteristics of Received Signal
Strength (RSS), Time of Arrival (TOA) or Time Difference of
Arrival (TDOA), Angle of Arrival (AOA) and cell ID. Among these,
RSS approach is the simplest method to implement because there is
no need of modification on both access points and client devices
whereas its accuracy is terrible due to physical environments. For
TOA or TDOA approach, the accuracy is quite acceptable but most
researches have to modify either software or hardware on existing
WLAN infrastructure. The scales of modifications are made on only
access card up to the changes in protocol of WLAN. Hence, it is an
unattractive approach to use TOA or TDOA for positioning system.
In this paper, the new concept of merging both RSS and TOA
positioning techniques is proposed. In addition, the method to
achieve TOA characteristic for positioning WLAN user without any
extra modification necessarily appended in the existing system is
presented. The measurement results confirm that the proposed
technique using both RSS and TOA characteristics provides better
accuracy than using only either RSS or TOA approach.
Abstract: Aspect Oriented Programming promises many
advantages at programming level by incorporating the cross cutting
concerns into separate units, called aspects. Join Points are
distinguishing features of Aspect Oriented Programming as they
define the points where core requirements and crosscutting concerns
are (inter)connected. Currently, there is a problem of multiple
aspects- composition at the same join point, which introduces the
issues like ordering and controlling of these superimposed aspects.
Dynamic strategies are required to handle these issues as early as
possible. State chart is an effective modeling tool to capture dynamic
behavior at high level design. This paper provides methodology to
formulate the strategies for multiple aspect composition at high level,
which helps to better implement these strategies at coding level. It
also highlights the need of designing shared join point at high level,
by providing the solutions of these issues using state chart diagrams
in UML 2.0. High level design representation of shared join points
also helps to implement the designed strategy in systematic way.
Abstract: ERP systems are the largest software applications adopted by universities, along with quite significant investments in their implementation. However, unlike other applications little research has been conducted regarding these systems in a university environment. This paper aims at providing a critical review of previous research in ERP system in higher education with a special focus on higher education in Australia. The research not only forms the basis of an evaluation of previous research and research needs, it also makes inroads in identifying the payoff of ERPs in the sector from different perspectives with particular reference to the user. The paper is divided into two parts, the first part focuses on ERP literature in higher education at large, while the second focuses on ERP literature in higher education in Australia.
Abstract: This research aims at modeling and simulating the effects of nanofluids on cylindrical heat pipes thermal performance using the ANSYS-FLUENT CFD commercial software. The heat pipe outer wall temperature distribution, thermal resistance, liquid pressure and axial velocity in presence of suspended nano-scaled solid particle (i.e. Cu, Al2O3 and TiO2) within the fluid (water) were investigated. The effect of particle concentration and size were explored and it is concluded that the thermal performance of the heat pipe is improved when using nanofluid as the system working fluid. Additionally, it was observed that the thermal resistance of the heat pipe drops as the particle concentration level increases and particle radius decreases.
Abstract: Phase locked loops (PLL) and delay locked loops (DLL) play an important role in establishing coherent references (phase of carrier and symbol timing) in digital communication systems. Fully digital receiver including digital carrier synchronizer and symbol timing synchronizer fulfils the conditions for universal multi-mode communication receiver with option of symbol rate setting over several digit places and long-term stability of requirement parameters. Afterwards it is necessary to realize PLL and DLL in synchronizer in digital form and to approach to these subsystems as a discrete representation of analog template. Analysis of discrete phase locked loop (DPLL) or discrete delay locked loop (DDLL) and technique to determine their characteristics based on analog (continuous-time) template is performed in this posed paper. There are derived transmission response and error function for 1st order discrete locked loop and resulting equations and graphical representations for 2nd order one. It is shown that the spectrum translation due to sampling takes effect at frequency characteristics computing for specific values of loop parameters.
Abstract: Fully customized hardware based technology provides high performance and low power consumption by specializing the tasks in hardware but lacks design flexibility since any kind of changes require re-design and re-fabrication. Software based solutions operate with software instructions due to which a great flexibility is achieved from the easy development and maintenance of the software code. But this execution of instructions introduces a high overhead in performance and area consumption. In past few decades the reconfigurable computing domain has been introduced which overcomes the traditional trades-off between flexibility and performance and is able to achieve high performance while maintaining a good flexibility. The dramatic gains in terms of chip performance and design flexibility achieved through the reconfigurable computing systems are greatly dependent on the design of their computational units being integrated with reconfigurable logic resources. The computational unit of any reconfigurable system plays vital role in defining its strength. In this research paper an RFU based computational unit design has been presented using the tightly coupled, multi-threaded reconfigurable cores. The proposed design has been simulated for VLIW based architectures and a high gain in performance has been observed as compared to the conventional computing systems.
Abstract: Image data holds a large amount of different context
information. However, as of today, these resources remain largely
untouched. It is thus the aim of this paper to present a basic technical
framework which allows for a quick and easy exploitation of context
information from image data especially by non-expert users.
Furthermore, the proposed framework is discussed in detail
concerning important social and ethical issues which demand special
requirements in system design. Finally, a first sensor prototype is
presented which meets the identified requirements. Additionally,
necessary implications for the software and hardware design of the
system are discussed, rendering a sensor system which could be
regarded as a good, acceptable and justifiable technical and thereby
enabling the extraction of context information from image data.
Abstract: Process-oriented software development is a new
software development paradigm in which software design is modeled
by a business process which is in turn translated into a process
execution language for execution. The building blocks of this
paradigm are software units that are composed together to work
according to the flow of the business process. This new paradigm
still exhibits the characteristic of the applications built with the
traditional software component technology. This paper discusses an
approach to apply a traditional technique for software component
fabrication to the design of process-oriented software units, called
process components. These process components result from
decomposing a business process of a particular application domain
into subprocesses, and these process components can be reused to
design the business processes of other application domains. The
decomposition considers five managerial goals, namely cost
effectiveness, ease of assembly, customization, reusability, and
maintainability. The paper presents how to design or decompose
process components from a business process model and measure
some technical features of the design that would affect the
managerial goals. A comparison between the measurement values
from different designs can tell which process component design is
more appropriate for the managerial goals that have been set. The
proposed approach can be applied in Web Services environment
which accommodates process-oriented software development.