A wireless ad hoc network (WANET) is a collection of wireless terminals that communicate with each other without predetermined topology. Since WANET devices are power-limited, network protocols should be designed to p...
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ISBN:
(纸本)9781424451142
A wireless ad hoc network (WANET) is a collection of wireless terminals that communicate with each other without predetermined topology. Since WANET devices are power-limited, network protocols should be designed to prolong the battery lifetime of these devices. In this paper, we propose a cross-layer integration approach for power efficient routing protocol. the proposed cross-layer integration between power control in link layer and routing protocol in network layer aims to maximize the network lifetime. We implement our proposed protocol as an extension to AODV routing protocol. We evaluated the proposed protocol by comprehensively simulating a set of random WANET environments. We simulated six different metrics comparing our proposed protocol with AODV protocol. the results showed that the proposed protocol maximizes the network lifetime, reduces the end-to-end delay, and saves the total energy consumption while achieving the throughput requirement.
As labor shortages and safety regulations become more prominent, the need for human-in-the-loop automation of excavators is increasing. To meet this demand, we have developed a comprehensive modeling method for the ex...
As labor shortages and safety regulations become more prominent, the need for human-in-the-loop automation of excavators is increasing. To meet this demand, we have developed a comprehensive modeling method for the excavator arm using nonlinear optimization approaches, including a simplified model that maps the task space to the joint space, as well as an equivalent model that maps the joint space to the actuator space. these models were then used to build a feedforward-PID joint velocity controller and a joint trajectory controller combined with position feedback, which forms the core of our proposed semi-automatic control system for the excavator arm. Our deployment scheme is simple and efficient, and has been deployed on two excavators of different makes and sizes. Experiments show that our deployment scheme performs well on both excavators, with an average error of 0.05 rad/s for the velocity controller and less than 5 cm for the trajectory controller. Using our semi-automatic system, we have completed demonstration experiments for precise digging and grading operations. A demonstration video can be found at https://***/N6I0WZGSF68.
A transient regime appears in the electrical power supply systems, when the power supply status changes from one state to another. this may occur if an electrical discharge causes the lightning to touch the ground in ...
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ISBN:
(数字)9781728192109
ISBN:
(纸本)9781728192116
A transient regime appears in the electrical power supply systems, when the power supply status changes from one state to another. this may occur if an electrical discharge causes the lightning to touch the ground in the vicinity of a high-voltage transmission line or when the lightning strikes the station directly. Most transient regimes occurring in the electrical power supply systems are the result of a switching action. Network breakers from different nodes of the electrical power supply network are interrupting high currents and create short-circuit currents which are flowing into the faulty parts of the system. the time period in which the voltages and currents transients are produced is in the range of microseconds to milliseconds. this paper proposes a software program that command the current interruption of the circuit breaker in order to occur at zero crossing current in a time interval of microseconds.
Dexterous robot hand fingertips are essential for performing precise, delicate, and complex tasks. these fingertips allow robots to handle fragile and intricate objects safely and efficiently. In this study, we introd...
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ISBN:
(数字)9788993215380
ISBN:
(纸本)9798331517939
Dexterous robot hand fingertips are essential for performing precise, delicate, and complex tasks. these fingertips allow robots to handle fragile and intricate objects safely and efficiently. In this study, we introduce a novel fingertip design integrated with a 6-axis force/torque (F/T) sensor, which enables accurate calculation of contact location. Although our goal is to achieve precise contact location estimation in three-dimensional space (x, y, z), the current experimental validation focused on specific axes within different regions due to deformation observed during manipulation. this approach allowed us to obtain reliable data. Given these limitations, the experimental results showed an average error of less than 1mm, indicating that the designed fingertip can achieve a high level of precision in manipulation tasks. Future work will extend this analysis to full three-dimensional contact location estimation and further refine the fingertip design to reduce deformation effects.
Air pollution is a significant issue because it burdens human health and the environment. Particulate matter with a diameter of 2.5 micrometers or smaller (PM2.5) can penetrate the lungs and enter the bloodstream, ser...
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ISBN:
(数字)9798331518158
ISBN:
(纸本)9798331518165
Air pollution is a significant issue because it burdens human health and the environment. Particulate matter with a diameter of 2.5 micrometers or smaller (PM2.5) can penetrate the lungs and enter the bloodstream, seriously affecting the cardiovascular system, causing strokes, and impacting the respiratory system. Modern individuals spend 70% to 90% of their time indoors, making indoor air quality even more important than outdoor air quality. To estimate and predict indoor air quality, this study utilizes low-cost, self-assembled air boxes based on the Internet of things to collect various air quality data. the collected data is then used in an indoor air quality forecasting system that combines Long Short-Term Memory (LSTM) and K-means clustering methods to compare the overall performance of the algorithms. the experimental results are analyzed and statistically described based on each model method prediction accuracy and clustering results. these methods are integrated to develop an indoor air quality forecasting system to help indoor populations prevent issues in advance or optimize energy usage.
In path planning, potential fields introduce force constraints to ensure curvature continuity of trajectories and thus to facilitate path-tracking design. In previous works, a path planning design by fractional (or ge...
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In path planning, potential fields introduce force constraints to ensure curvature continuity of trajectories and thus to facilitate path-tracking design. In previous works, a path planning design by fractional (or generalized) repulsive potential has been developed to avoid fixed obstacles: danger level of each obstacle was characterized by the fractional order of differentiation, and a fractional road was determined by taking into account danger of each obstacle. If the obstacles are dynamic, the method was extended to obtain trajectories by considering repulsive and attractive potentials taking into account position and velocity of the robot with respect to obstacles. then, a new attractive force based on fractional potential was developed. the advantage of the generalized normalized force is the possibility to control its variation. the curve is continuously varying and depends only on one parameter, the noninteger order of the generalized attractive potential. But, in case of robot parameter variations, these two previous attractive forces do not allow to obtain robust path planning. A new fractional attractive force for robust path planning of mobile robot in dynamic environment was developed. In this paper, the robustness study in dynamic environment is presented. this method allows to obtain robust path planning despite robot mass variations.
Humanoid robot is a dynamic robot which can walk with two legs like a human. Many researchers are interested in this class of robot due to its flexibility in reaching a variety of terrain and also its similarity to hu...
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ISBN:
(纸本)9781509050901
Humanoid robot is a dynamic robot which can walk with two legs like a human. Many researchers are interested in this class of robot due to its flexibility in reaching a variety of terrain and also its similarity to humans. the main problem often faced by developers is the motion control system which is rather nontrivial. Having 25 DOF with only two legs, it is difficult to model the robot movement that achieves static and dynamic balance. To facilitate the developer, there needs to be a model that can be used as a foundation for the development of robot motion system. this model allows us to obtain the information which needed in the formation of the robot posture. Information such as joint position, position of the center of mass, ZMP position, support polygon and load torque of each joint can affect the balance of the formed posture. In addition, withthe establishment of some proper posture, it is possible to determine several sequential postures that generate a walking pattern. the walking pattern enables the humanoid robot to move to another place. However, in reality, this robot movement often has a shifting trajectory from the target location due to various reasons. A Neuro-Fuzzy system has been designed and implemented to compensate error in trajectory tracking. this system processes the trajectory shift by fuzzy logic (linguistic) combined with learning algorithms that allows the system to change its own structures to produce better control output. Smaller shift on trajectory is achieved as the number of learning iteration increases.
作者：
Aji, SaniKumam, PoomSiricharoen, PunnaraiBukar, Ali Maina
126 Pracha-Uthit Road Bang Mod Thrung Khru Bangkok10140 Thailand
126 Pracha-Uthit Road Bang Mod Thrung Khru Bangkok10140 Thailand Department of Mathematics
Faculty of Science Gombe State University Gombe Nigeria
126 Pracha-Uthit Road Bang Mod Thrung Khru Bangkok10140 Thailand Centre for Visual Computing
Faculty of Engineering and Informatics University of Bradford Bradford West Yorkshire United Kingdom
Crater Analysis is a technique used for precautionary and investigative purpose, especially in confirming suspected locations of hostile fire and detecting the presence of enemy ammunition. Specifically, investigators...
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the Travelling thief Problem is a complex logistics planning problem composed of the Travelling Salesman Problem and the Knapsack Problem. the Bi-objective TTP needs to optimize the two goals of the time spent on the ...
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Recently, the number of patients with diabetes mellitus (DM) has been increasing. Because DM causes many complications, it is important for patients with DM to controltheir blood sugar levels. However, there is not a...
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ISBN:
(纸本)9781467327428
Recently, the number of patients with diabetes mellitus (DM) has been increasing. Because DM causes many complications, it is important for patients with DM to controltheir blood sugar levels. However, there is not an effective method for the patients to manage their blood sugar levels at home. therefore, we developed a home support system for the patients by which the patient can accumulate various biological measured data and send the data to a medical institution. At the institution, a physician can check the data and provide instructions via e-mail to the patient at home. the system is composed of a smartphone used by the patient, a server installed at the medical institution and a personal computer (PC) used by the physician. the patient measures data such as weight, blood pressure, blood sugar, etc. at home and send these data to the server using the smartphone. the physician can check the patient data, including a medical and medication history, and provide instructions via e-mail to the patient using the PC. For our purpose, an Android smartphone was selected as a terminal, and the system was created using XML so that the data could be read with a web browser in any environment. We anticipate our developed system will be useful to support patients with DM at home.
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