This paper presents synthetic checking controller for robot manipulator with flexible joints, dynamics of executive motors and affect of disturbance based on radial basic function (RBF) neural network. A control algor...
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ISBN:
(纸本)9781479973972
This paper presents synthetic checking controller for robot manipulator with flexible joints, dynamics of executive motors and affect of disturbance based on radial basic function (RBF) neural network. A control algorithm is synthesized basing on the combination of backsteppping and RBF neural network in order to approximate the unknown functions. Finally, simulation results of a manipulator robot with single flexible joints based on Matlab-Simulink are presented to demonstrate the effectiveness of the proposed control algorithms
The most common approach for border patrol operations is the use of human personnel and manned ground vehicles, which is expensive, at times inefficient and sometimes even hazardous to people involved. The length of t...
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The most common approach for border patrol operations is the use of human personnel and manned ground vehicles, which is expensive, at times inefficient and sometimes even hazardous to people involved. The length of the US border, mostly covering unpopulated areas, with harsh atmospheric conditions makes it more susceptible to illegal human activities. Automated border surveillance by unattended, fixed, ground sensors forming an electronic fence has proven expensive, inefficient and was prone to unacceptable rate of false alarms. A better approach would be using Unmanned Aerial Vehicles (UAVs) in combination with such ground sensors. This would help improve the overall effectiveness of the surveillance system as a UAV could first scan the alert area before sending in personnel and vehicles, if deemed necessary. In this thesis, we are proposing border surveillance using multiple Unmanned Aerial Vehicles (UAVs) in combination with alert stations consisting of Unattended Ground Sensors (UGSs) along the border line or fence. Upon detecting an event, an alert would be triggered by any UGS. We simulate this process by reading probability data for different timestamps from a text file. And, based on utility values of each stations, two UAVs decide on which alert stations to service.
Ontology gives us a reliable group of concepts and the relations between concepts in an IOT system. It does not only save words of format but also accurately transfers semantic data between human users and the compute...
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Ontology gives us a reliable group of concepts and the relations between concepts in an IOT system. It does not only save words of format but also accurately transfers semantic data between human users and the computers. Hence, the usefulness of resources in IOT system depends on whether the domain ontology can be constructed effectively and correctly. In this paper we propose an automated method to construct the IOT ontology. First, we explain the necessity of introducing ontology automatic construction in IOT system and summarize the major challenges in existing approaches. Secondly, we introduced the existing ontology construction methods and summarize their issues. Thirdly, we give a framework of our ontology construction and research the key algorithms in detail: (1) knowledge-tuple extraction algorithm which contains contextual information;(2) concept semantic similarity algorithm which is based on the structure of tuple;(3) knowledge-tuple extraction model which is based on the structured information. Then we build a prototype and evaluate the ontology. Finally, we make conclusions and suggest directions for future research.
Detection of faulty nodes and network energy saving have become the hottest research topics. Furthermore, current fault detection algorithms always pursue high detection performance but neglect energy consumption. In ...
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Detection of faulty nodes and network energy saving have become the hottest research topics. Furthermore, current fault detection algorithms always pursue high detection performance but neglect energy consumption. In order to obtain good fault detection performance and save the network power, this paper proposes a low energy consumption distributed fault detection algorithm (LEDFD), which takes full advantage of temporally correlated and spatially correlated characteristics of the sensor nodes. LEDFD utilizes the temporally correlated information to examine some faulty nodes and then utilizes the spatially correlated information to examine the nodes that have not been detected as faulty through exchanging information among neighbor nodes to determine those nodes' state. Because LEDFD takes the data produced by nodes themselves to detect certain types of faults, which means nodes need not exchange information with their neighbor nodes during the entire detection process, the energy consumption of networks is efficiently reduced. Experimental results show that the algorithm has good performance and low energy consumption compared with current algorithms.
The area of three-dimensional (3D) underwater wireless sensor networks (UWSNs) has attracted significant attention recently due to its applications in detecting and observing phenomena that cannot be adequately observ...
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The area of three-dimensional (3D) underwater wireless sensor networks (UWSNs) has attracted significant attention recently due to its applications in detecting and observing phenomena that cannot be adequately observed by means of two-dimensional UWSNs. However, designing routing protocols for 3D UWSNs is a challenging task due to stringent constraints imposed by acoustic communications and high energy consumption in acoustic modems. In this paper, we present an ultrasonic frog calling algorithm (UFCA) that aims to achieve energy-efficient routing under harsh underwater conditions of UWSNs. In UFCA, the process of selecting relay nodes to forward the data packet is similar to that of calling behavior of ultrasonic frog for mating. We define the gravity function to represent the attractiveness from one sensor node to another. In order to save energy, different sensor nodes adopt different transmission radius and the values can be tuned dynamically according to their residual energy. Moreover, the sensor nodes that own less energy or locate in worse places choose to enter sleep mode for the purpose of saving energy. Simulation results show the performance improvement in metrics of packet delivery ratio, energy consumption, throughput, and end-to-end delay as compared to existing state-of-the-art routing protocols.
We present a distributed algorithm for creation of geometric spanners in a wireless sensor network. Given any connected network, we show that the algorithm terminates in O(1) time, irrespective of network size. Our al...
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We present a distributed algorithm for creation of geometric spanners in a wireless sensor network. Given any connected network, we show that the algorithm terminates in O(1) time, irrespective of network size. Our algorithm uses an underlying clustering algorithm as a foundation for creating spanners and only relies on the periodic heartbeat messages associated with cluster maintenance for the creation of the spanners. The algorithm is also shown to stabilize locally in the presence of node additions and deletions. The performance of our algorithm is verified using large scale simulations. The average path length ratio for routing along the spanner for large networks is shown to be less than 2.
In recent years, barrier coverage problem in directional sensor networks has been an interesting research issue. Most of the existing solutions to this problem aim to find as many barrier sets as possible to enhance c...
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In recent years, barrier coverage problem in directional sensor networks has been an interesting research issue. Most of the existing solutions to this problem aim to find as many barrier sets as possible to enhance coverage for the target area, which did not consider the power conservation. In this paper, we address the efficient sensor deployment (ESD) problem and energy-efficient barrier coverage (EEBC) problem for directional sensor networks. First, we describe a deployment model for the distribution of sensor locations to analyze whether a target area can be barrier covered. By this model, we examine the relationship between the probability of barrier coverage and network deployment parameters. Moreover, we model the EEBC as an optimization problem. An efficient scheduling algorithm is proposed to prolong the network lifetime when the target area is barrier covered. Simulation results are presented to demonstrate the performance of this algorithm.
This study primarily focuses on the use of radio frequency identification (RFID) as a form of traffic flow detection, which transmits collected information related to traffic flow directly to a control system through ...
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This study primarily focuses on the use of radio frequency identification (RFID) as a form of traffic flow detection, which transmits collected information related to traffic flow directly to a control system through an RS232 interface. At the same time, the sensor analyzes and judges the information using an extension algorithm designed to achieve the objective of controlling the flow of traffic. In addition, the traffic flow situation is also transmitted to a remote monitoring control system through ZigBee wireless network communication technology. The traffic flow control system developed in this study can perform remote transmission and reduce traffic accidents. And it can also effectively control traffic flow while reducing traffic delay time and maintaining the smooth flow of traffic.
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