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Hardware and Software Co-design for Robot Arm Position control Using VHDL and FPGA

Hardware and Software Co-design for Robot Arm Position Contr...

引用

international conference on advances in Recent Technologies in communication and computing, ARTCom

作者： Urmila Meshram Pankaj Bande R.R. Harkare RKNEC Nagpur India LARE Mumbai India E and TC RKNEC Nagpur Maharashtra India

Basically this paper focuses on hardware and software interfacing for robot arm controller application. The purpose of this project is to design and build a control system for position control for robot arm with an FPGA chip. This is closed loop control system. In which controller, Drive circuits and the Sensor circuit plays important role. Plus Width Modulation (PWM) is used to control the speed of DC motor. The hardware functional block is to be design in software module with the help of VHDL coding. This hardware and software co-design is for five axes OWI 535 arm robot model for the movement of robot arm for pick and place application. The interfacing of different hardware blocks with software module for real time application is very challenging and demanding in every field to achieve better command over control through software only without disturbing the hardware. It reduced the manufacture time, performance, accuracy and lifetime of the particular system.

关键词： Hardware Position control Field programmable gate arrays Robot sensing systems Application software control systems Circuits Pulse width modulation Robot control DC motors

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Application QoS for Video: Benchmarking, control Strategies and Business Systems

Application QoS for Video: Benchmarking, Control Strategies ...

引用

international conference on Wireless communications, networking and Mobile computing (WiCom)

作者： Shuai Hao Xiaohong Huang Yan Ma Information and Network Centre Beijing University of Posts & Telecommunications Beijing Beijing CHINA

The quality of service (QoS) is a set of assessments or mechanisms to offer effective and reasonable resource utilization as well as guaranteed and expectable business experience. Traditionally, the concept of QoS was dedicated to the technologies of control and optimization of network. However, from the user perspective, they are not concerned about the state of network. Application QoS describes the requirements of application services, the parameters of which describe the performance and evaluation of specific businesses to be supplied to customer in application layer. In this paper, we will carry out such a video stream benchmarking on an experiment system that is based on network emulator which can measure the end-to-end application QoS. In addition, a refined retransmission algorithm with delay constraint factor is described. Finally, we present some improved ideas of system design of multimedia application.

关键词： control systems Quality of service Streaming media Delay Telecommunication control Resource management communication system control Benchmark testing NIST Degradation

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Design of Adaptive Fuzzy controller for a Robot Gripper

Design of Adaptive Fuzzy Controller for a Robot Gripper

引用

international conference on advances in Recent Technologies in communication and computing, ARTCom

作者： D.V. Pushpalatha K.R. Sudha A. Satya Devi Department of Electrical Engineering Andhra University Visakhapatnam India Department of Mechanical Engineering Andhra University Visakhapatnam India

Robotic grippers are commonly required to grasp and manipulate loads under a wide range of operating conditions, without the load slipping from the end-effector and avoiding damage to the load. The increasing demand on robotic gripper performance leads to the use of advanced control strategies. Literature shows that many fuzzy controllers have peculiar and interesting structures i.e., nonlinear controllers with variable gains. Most fuzzy controllers have been treated and used as black-box controllers in the sense that their analytical structures are unknown. Knowing the explicit structure information will enable one to insightfully understand how a fuzzy control works. In the present paper a novel technique is presented for deriving input-out put relations for the fuzzy controller that uses Zadeh AND operator for symmetrical and unsymmetrical triangular input fuzzy sets. The efficacy of the controller is tested on Robot gripper. It is observed that the symmetrical fuzzy sets are resulting to better response than the unsymmetrical fuzzy sets.

关键词： Programmable control Adaptive control Fuzzy control Robot control Grippers Fuzzy sets Service robots control systems Information analysis Shape control

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Coordinated Multipoint Transmission Systems with the Clustered Super-Cell Structure Configuration

Coordinated Multipoint Transmission Systems with the Cluster...

引用

international conference on Wireless communications, networking and Mobile computing (WiCom)

作者： Shang-hui Xiao Zhong-pei Zhang Department of Physics & Electronic Engineering Yibin University Sichuan China National Key Laboratory of Communication University of Electronic Science and Technology Chengdu China

Coordinated multipoint transmission and reception technologies are considered as good candidates for improving system capacity and cell edge experience to meet the requirements set by LTE-Advanced. This paper explicitly discusses the clustered super-cell multipoint cooperation transmission structures with the optimal precoding design. Some analysis results show that a clustered super-cell is a reasonable choice for clustered coordination with the given transmit power.

关键词： Radiofrequency interference MIMO Receiving antennas Signal processing Frequency Resource management Transmitting antennas Centralized control Physics Electronic mail

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Computational Modeling and Simulation of Biomolecular Motors

Computational Modeling and Simulation of Biomolecular Motors

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international conference on advances in computing, control, & Telecommunication Technologies (ACT)

作者： Shwetha M. Madathil Suchitra Vasavi C.S. Radhagayathri K.U. Krishnan Namboori P.K. Deepa Gopakumar Computational Engineering and Networking Amrita Vishwa Vidyapeetham University Ettimadai Coimbatore

Molecular motors can be considered as biological molecular devices that are indispensable agents or machines for movement in living organisms. The most common motor proteins are Myosin, Kinesin and Dynein which are responsible for nanoscale cellular and molecular movement. In this work, the above mentioned protein molecules have been subjected to structural and sequence analysis, modeling and molecular dynamics simulation to study their properties and control aspects. Structural and sequence studies, interactional analysis and thermodynamic characterization effectively support the possibility for designing of biomolecular systems with these molecular motors as the source of driving force. Most of these protein molecules are found to be thermodynamically stable keeping active sites for interaction with ligands. It was also found that most of the protein molecules from the kinesin family possessed an appreciably high stability even after the temperature evolution of the molecule. This suggests the possibility for designing kinesin-based biomolecular systems.

关键词： Computational modeling Proteins Biological system modeling Organisms Micromotors Nanobioscience Analytical models Thermodynamics Thermal force Stability

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Generalised and Channel Independent SVM Based Robust Decoders for Wireless Applications

Generalised and Channel Independent SVM Based Robust Decoder...

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international conference on advances in Recent Technologies in communication and computing, ARTCom

作者： R. Ramanathan K.P. Soman N. Valliappan S. Pon Mathavan M. Gayathri R. Priya Department of Electronics & Communication Engineering Amrita Viswavidyapeetham University Coimbatore India Center for Excellence in Computational Engineering and Networking (CEN) Amrita Viswavidyapeetham University Coimbatore India

Emerging applications in wireless communications and software defined radio require robust and generalized decoders with a very good efficiency. This paper aims at introducing a novel and powerful method of implementing a decoder using support vector machines (SVM) to exhibit good performance irrespective of the channel model. The method proposed also ensures a generalization in the design of decoder, which can be easily adaptable for any type of coding technique used. In addition, this method overcomes the demerits of the traditional decoders like Viterbi and other decoders using neural networks. The error correction codes like Hamming and convolutional codes are considered for experimentation. Using SVM, which is a class of machine learning algorithm, this process is viewed as a multi-class classification problem and error correction is achieved in a simpler way. An extensive analysis with regard to the effect of channel and modulation techniques is also made and presented. The proposed SVM model is sufficiently cross validated and found to be an effective replacement for the existing counterparts.

关键词： Support vector machines Robustness Decoding Application software Support vector machine classification Wireless communication Software radio Viterbi algorithm Neural networks Error correction codes

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Analysis on Threshold of Half-Rate for GSM Voice Services

Analysis on Threshold of Half-Rate for GSM Voice Services

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international conference on Wireless communications, networking and Mobile computing (WiCom)

作者： Zhipeng Dong Zehua Gao Feng Gao Liu Wen Di Tang Key Laboratory of OCLT Ministry of Education Beijing University of Posts and Telecommunications Beijing China Beijing University of Posts and Telecommunications Beijing Beijing CN

In GSM network, half-rate is a method of carrying traffic and an optimization technology of wireless network which can expand the capacity by reasonably adjusting the rate. This paper puts emphasis on theoretical study of the threshold from the perspective of the capacity, makes improvement on the model of communication. Based on such study and improvement, this paper analyzes the calculation method of the system capacity in different threshold and the setting of the optimal threshold.

关键词： Speech analysis GSM Traffic control Telecommunication traffic Frequency Laboratories Optimization methods Educational technology Wireless networks Time division multiple access

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A Self-organizing Self-healing On-demand Loop-free Path Routing Protocol Using Mobile Process Groups for Mobile Ad-hoc Networks

A Self-organizing Self-healing On-demand Loop-free Path Rout...

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international conference on advances in Recent Technologies in communication and computing, ARTCom

作者： V. Aakanksha Punam Bedi Department of Computer Science University of Delhi New Delhi India

This paper presents MPG (Mobile Process Group) protocol, a self-organizing and self-healing on-demand loop-free path routing protocol for mobile ad-hoc networks. The protocol uses the concept of mobile process groups to coordinate the mobile nodes and make communication amongst them reliable. The route discovery phase tries to discover a path from the source to the destination with the help of its routing tables that stores the group views and the list of overlapping groups. The topology of the network in spite of its dynamicity is self-organized. Every time a node enters the network or leaves the network the topology is re-organized using the concept of views. The advantage of the presented protocol over existing protocols is its low control overhead in maintaining the topology of the network and loop-free routing that are the main causes of routing inefficiencies in ad-hoc networks. Simulation of MPG protocol was done using Glomosim simulator.

关键词： Routing protocols Ad hoc networks Network topology Mobile computing Mobile communication Telecommunication network reliability Centralized control Maintenance communications technology Paper technology

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Daubechies-Lagarias Algorithm -- A Simplified Approach

Daubechies-Lagarias Algorithm -- A Simplified Approach

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international conference on advances in computing, control, & Telecommunication Technologies (ACT)

作者： K.P. Soman Arathi T Mridula Sara Augustine Arunima S.V. Department of Computational Engineering & Networking Amrita Vishwa Vidyapeetham Coimbatore India

Daubechies & Lagarias algorithm gave the first proof regarding the convergence of the iterations producing the scaling and wavelet functions. The proof however uses advance concepts from linear algebra. Incidentally, it also uses a concept called joint spectral radius, which was introduced by Strang in 1960. The concept of joint spectral radius remained dormant for a very long time. It was only Daubechies and Lagarias, who understood the importance of the concept and applied it for solving the key equation in wavelet theory, the refinement equation for the scaling function. The concept was developed in two papers consisting of around 70 pages. The mathematics employed is formidable to a mathematically less sophisticated reader. In this paper, we give a simplified and intuitive explanation for the same, with all the required mathematics in one place, so that the material can be used for classroom teaching. Then it is shown how the algorithm is implemented in Microsoft Excel. Also is presented as to how to generalize the same for the M-band case.

关键词： Computer networks Telecommunication computing Mathematics Filters Convergence Telecommunication control Linear algebra Equations Education Spreadsheet programs

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An Efficient Packet Scheduling Algorithm to Implement Throughput Differentiation for Wi-Fi Multimedia Devices

An Efficient Packet Scheduling Algorithm to Implement Throug...

引用

international conference on Wireless communications, networking and Mobile computing (WiCom)

作者： Wang Yan CEC Beijing Huada Electronic Design Company Limited China

This paper discusses the packet scheduling algorithm for WLAN differentiated services. To support applications with quality of service requirements, such as video, audio, voice over IP and other multimedia applications in wireless networks, WMM adds prioritized QoS capabilities to Wi-Fi networks and optimizes their performance when multiple concurring applications, each with different latency and throughput requirements, compete for network resources. To realize such proportional throughput and latency differentiated services, this paper presents parameter-dependent priority scheduling algorithm, referred as Arbitrary Channel Reservation, for 802.11e networks. Experiments are carried out to illustrate the throughput performances for different access category under real traffic workloads.

关键词： Scheduling algorithm Throughput Quality of service Multimedia systems Traffic control Wireless LAN communication system traffic control Delay Wireless networks Telecommunication traffic

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