Search results for: community detection

Authors: Shashank Bhatnagar, W. Wilfred Godfrey

Abstract:

We develop in this paper, an approach to find the trendy topic, which not only considers the user-topic interaction but also considers the community, in which user belongs. This method modifies the previous approach of user-topic interaction to user-community-topic interaction with better speed-up in the range of [1.1-3]. We assume that trend detection in a social network is dependent on two things. The one is, broadcast of messages in social network governed by self-exciting point process, namely called Hawkes process and the second is, Community Rank. The influencer node links to others in the community and decides the community rank based on its PageRank and the number of users links to that community. The community rank decides the influence of one community over the other. Hence, the Hawkes process with the kernel of user-community-topic decides the trendy topic disseminated into the social network.

Keywords: community detection, community rank, Hawkes process, influencer node, pagerank, trend detection

Procedia PDF Downloads 383

Authors: Ehsan Khademi, Mahdi Jalili

Abstract:

Despite the special features of bipartite networks, they are common in many systems. Real-world bipartite networks may show community structure, similar to what one can find in one-mode networks. However, the interpretation of the community structure in bipartite networks is different as compared to one-mode networks. In this manuscript, we compare a number of available methods that are frequently used to discover community structure of bipartite networks. These networks are categorized into two broad classes. One class is the methods that, first, transfer the network into a one-mode network, and then apply community detection algorithms. The other class is the algorithms that have been developed specifically for bipartite networks. These algorithms are applied on a model network with prescribed community structure.

Keywords: community detection, bipartite networks, co-clustering, modularity, network projection, complex networks

Procedia PDF Downloads 625

Authors: Bilal Saoud

Abstract:

In this paper, we propose a new method to find the community structure in networks. Our method is based on bee colony and the maximization of modularity to find the community structure. We use a bee colony algorithm to find the first community structure that has a good value of modularity. To improve the community structure, that was found, we merge communities until we get a community structure that has a high value of modularity. We provide a general framework for implementing our approach. We tested our method on computer-generated and real-world networks with a comparison to very known community detection methods. The obtained results show the effectiveness of our proposition.

Keywords: bee colony, networks, modularity, normalized mutual information

Procedia PDF Downloads 406

Authors: R. Nagarani

Abstract:

An intrinsic property of software in a real-world environment is its need to evolve, which is usually accompanied by the increase of software complexity and deterioration of software quality, making software maintenance a tough problem. Refactoring is regarded as an effective way to address this problem. Many refactoring approaches at the method and class level have been proposed. But the extent of research on software refactoring at the package level is less. This work presents a novel approach to refactor the package structures of object oriented software using genetic algorithm based community detection. It uses software networks to represent classes and their dependencies. It uses a constrained community detection algorithm to obtain the optimized community structures in software networks, which also correspond to the optimized package structures. It finally provides a list of classes as refactoring candidates by comparing the optimized package structures with the real package structures.

Keywords: community detection, complex network, genetic algorithm, package, refactoring

Procedia PDF Downloads 418

Authors: Radhia Toujani, Jalel Akaichi

Abstract:

Social Networks generally present a hierarchy of communities. To determine these communities and the relationship between them, detection algorithms should be applied. Most of the existing algorithms, proposed for hierarchical communities identification, are based on either agglomerative clustering or divisive clustering. In this paper, we present a hybrid hierarchical clustering approach for community detection based on both bottom-up and bottom-down clustering. Obviously, our approach provides more relevant community structure than hierarchical method which considers only divisive or agglomerative clustering to identify communities. Moreover, we performed some comparative experiments to enhance the quality of the clustering results and to show the effectiveness of our algorithm.

Keywords: agglomerative hierarchical clustering, community structure, divisive hierarchical clustering, hybrid hierarchical clustering, opinion mining, social network, social network analysis

Procedia PDF Downloads 365

Authors: Chung-Yuan Huang, Yu-Hsiang Fu, Chuen-Tsai Sun

Abstract:

Community detection represents an important data-mining tool for analyzing and understanding real-world complex network structures and functions. We believe that at least four criteria determine the appropriateness of a community detection algorithm: (a) it produces useable normalized mutual information (NMI) and modularity results for social networks, (b) it overcomes resolution limitation problems associated with synthetic networks, (c) it produces good NMI results and performance efficiency for Lancichinetti-Fortunato-Radicchi (LFR) benchmark networks, and (d) it produces good modularity and performance efficiency for large-scale real-world complex networks. To our knowledge, no existing community detection algorithm meets all four criteria. In this paper, we describe a simple hierarchical arc-merging (HAM) algorithm that uses network topologies and rule-based arc-merging strategies to identify community structures that satisfy the criteria. We used five well-studied social network datasets and eight sets of LFR benchmark networks to validate the ground-truth community correctness of HAM, eight large-scale real-world complex networks to measure its performance efficiency, and two synthetic networks to determine its susceptibility to resolution limitation problems. Our results indicate that the proposed HAM algorithm is capable of providing satisfactory performance efficiency and that HAM-identified communities were close to ground-truth communities in social and LFR benchmark networks while overcoming resolution limitation problems.

Keywords: complex network, social network, community detection, network hierarchy

Procedia PDF Downloads 227

Authors: Jesmin Akter, Chang Hyuk Ahn, Ilho Kim, Jaiyeop Lee

Abstract:

Global pandemic coronavirus disease (COVID-19) caused by Severe acute respiratory syndrome SARS-CoV-2, to control the spread of the COVID-19 pandemic, wastewater surveillance has been used to monitor SARS-CoV2 prevalence in the community. The challenging part is establishing wastewater surveillance; there is a need for a well-equipped laboratory for wastewater sample analysis. According to many previous studies, reverse transcription-polymerase chain reaction (RT-PCR) based molecular tests are the most widely used and popular detection method worldwide. However, the RT-qPCR based approaches for the detection or quantification of SARS-CoV-2 genetic fragments ribonucleic acid (RNA) from wastewater require a specialized laboratory, skilled personnel, expensive instruments, and a workflow that typically requires 6 to 8 hours to provide results for just minimum samples. Rapid and reliable alternative detection methods are needed to enable less-well-qualified practitioners to set up and provide sensitive detection of SARS-CoV-2 within wastewater at less-specialized regional laboratories. Therefore, scientists and researchers are conducting experiments for rapid detection methods of COVID-19; in some cases, the structural and molecular characteristics of SARS-CoV-2 are unknown, and various strategies for the correct diagnosis of COVID-19 have been proposed by research laboratories, which are presented in the present study. The ongoing research and development of these highly sensitive and rapid technologies, namely RT-LAMP, ELISA, Biosensors, GeneXpert, allows a wide range of potential options not only for SARS-CoV-2 detection but also for other viruses as well. The effort of this study is to discuss the above effective and regional rapid detection and quantification methods in community wastewater as an essential step in advancing scientific goals.

Keywords: rapid detection, SARS-CoV-2, sensitive detection, wastewater surveillance

Procedia PDF Downloads 85

Authors: Radhia Toujani, Jalel Akaichi

Abstract:

In recent years, the study of community detection in social networks has received great attention. The hierarchical structure of the network leads to the emergence of the convergence to a locally optimal community structure. In this paper, we aim to avoid this local optimum in the introduced hybrid hierarchical method. To achieve this purpose, we present an objective function where we incorporate the value of structural and semantic similarity based modularity and a metaheuristic namely bees colonies algorithm to optimize our objective function on both hierarchical level divisive and agglomerative. In order to assess the efficiency and the accuracy of the introduced hybrid bee colony model, we perform an extensive experimental evaluation on both synthetic and real networks.

Keywords: social network, community detection, agglomerative hierarchical clustering, divisive hierarchical clustering, similarity, modularity, metaheuristic, bee colony

Procedia PDF Downloads 379

Authors: P. Senthil Kumari

Abstract:

Main concerns in data mining investigation are social controls of data mining for handling ambiguity, noise, or incompleteness on text data. We describe an innovative approach for unplanned text data detection of community networks achieved by classification mechanism. In a tangible domain claim with humble secrecy backgrounds provided by community network for evading annoying content is presented on consumer message partition. To avoid this, mining methodology provides the capability to unswervingly switch the messages and similarly recover the superiority of ordering. Here we designated learning-centered mining approaches with pre-processing technique to complete this effort. Our involvement of work compact with rule-based personalization for automatic text categorization which was appropriate in many dissimilar frameworks and offers tolerance value for permits the background of comments conferring to a variety of conditions associated with the policy or rule arrangements processed by learning algorithm. Remarkably, we find that the choice of classifier has predicted the class labels for control of the inadequate documents on community network with great value of effect.

Keywords: text mining, data classification, community network, learning algorithm

Procedia PDF Downloads 508

Authors: Aman Berhe, Camille Guinaudeau, Claude Barras

Abstract:

In order to facilitate information seeking in large collections of multimedia documents with long and progressive content (such as broadcast news or TV series), one can extract the semantic links that exist between semantically coherent parts of documents, i.e., scenes. The links can then create a coherent collection of scenes from which it is easier to perform content analysis, topic extraction, or information retrieval. In this paper, we focus on TV series structuring and propose two approaches for scene linking at different levels of granularity (episode and season): a fuzzy online clustering technique and a graph-based community detection algorithm. When evaluated on the two first seasons of the TV series Game of Thrones, we found that the fuzzy online clustering approach performed better compared to graph-based community detection at the episode level, while graph-based approaches show better performance at the season level.

Keywords: multimedia collection structuring, progressive content, scene linking, fuzzy clustering, community detection

Procedia PDF Downloads 100

Authors: JooYoung Lee, Rasheed Hussain

Abstract:

Understanding the relationships among communities of users is the key to blueprint the evolution of human society. Majority of people are equipped with GPS devices, such as smart phones and smart cars, which can trace their whereabouts. In this paper, we discover communities of device users based on real locations in a given time frame. We, then, study the associations of discovered communities, referred to as temporal communities, and generate temporal and probabilistic association rules. The rules describe how strong communities are associated. By studying the generated rules, we can automatically extract underlying hierarchies of communities and permanent communities such as work places.

Keywords: association rules, community detection, evolution of communities, spatiotemporal

Procedia PDF Downloads 369

Authors: Madhushi Bandara, Dharshana Kasthurirathna, Danaja Maldeniya, Mahendra Piraveenan

Abstract:

Community detection is an extremely useful technique in understanding the structure and function of a social network. Louvain algorithm, which is based on Newman-Girman modularity optimization technique, is extensively used as a computationally efficient method extract the communities in social networks. It has been suggested that the nodes that are in close geographical proximity have a higher tendency of forming communities. Variants of the Newman-Girman modularity measure such as dist-modularity try to normalize the effect of geographical proximity to extract geographically dispersed communities, at the expense of losing the information about the geographically proximate communities. In this work, we propose a method to extract geographically dispersed communities while preserving the information about the geographically proximate communities, by analyzing the ‘community network’, where the centroids of communities would be considered as network nodes. We suggest that the inter-community link strengths, which are normalized over the community sizes, may be used to identify and extract the ‘overlay communities’. The overlay communities would have relatively higher link strengths, despite being relatively apart in their spatial distribution. We apply this method to the Gowalla online social network, which contains the geographical signatures of its users, and identify the overlay communities within it.

Keywords: social networks, community detection, modularity optimization, geographically dispersed communities

Procedia PDF Downloads 235

Authors: Jae-Jeong Kim, Ki-Ro Kim, Hyoung-Kyu Song

Abstract:

In this paper, we propose an efficient signal detector that switches M parameter of QRD-M detection scheme is proposed for MIMO-OFDM system. The proposed detection scheme calculates the threshold by 1-norm condition number and then switches M parameter of QRD-M detection scheme according to channel information. If channel condition is bad, the parameter M is set to high value to increase the accuracy of detection. If channel condition is good, the parameter M is set to low value to reduce complexity of detection. Therefore, the proposed detection scheme has better trade off between BER performance and complexity than the conventional detection scheme. The simulation result shows that the complexity of proposed detection scheme is lower than QRD-M detection scheme with similar BER performance.

Keywords: MIMO-OFDM, QRD-M, channel condition, BER

Procedia PDF Downloads 370

Authors: Norlizam Md Sukiban, Muhammad Faisal Ashaari, Hidayah bt Rahmalan

Abstract:

The role that a mosque or masjid have applied during the life of the Prophet Muhammad (S.A.W) was magnificent. Masjid managed to gather the community in lots of ways. It was the center of the first Islamic community and nation, with greatest triumphs and tragedies. It was a place to accommodate for the community center, homeless refuge, university and mosque all rolled into one. However, the role of masjid applied today was less than the time of the Prophet Muhammad (S.A.W) was alive. The advanced technology such as the internet has a major impact to the community nowadays. For example, community online has been chosen for lots of people to maintain their relationship and suggest various events among the communities members. This study is to investigate the possibility of the role of e-Masjid in adapting the concept of community online in order to remain the role played as such as role of masjid during the lifetime of the Prophet Muhammad (S.A.W). Definition and the characteristic of the online community were listed, along with the benefits of the online community. Later, discussion on the possibility of the online community to be adapted in e-Masjid.

Keywords: e-masjid, online community, virtual community, e-community

Procedia PDF Downloads 495

Authors: Jae-Hyun Ro, Yong-Jun Kim, Chang-Bin Ha, Hyoung-Kyu Song

Abstract:

In multiple input multiple output-orthogonal frequency division multiplexing (MIMO-OFDM) systems, many detection schemes have been developed to improve the error performance and to reduce the complexity. Maximum likelihood (ML) detection has optimal error performance but it has very high complexity. Thus, this paper proposes reduced complexity of ML detection combined with decision feedback equalizer (DFE). The error performance of the proposed detection scheme is higher than the conventional DFE. But the complexity of the proposed scheme is lower than the conventional ML detection.

Keywords: detection, DFE, MIMO-OFDM, ML

Procedia PDF Downloads 610

Authors: Raphael Tuor, Denis Lalanne

Abstract:

The ATM research community is missing suitable tools to design, test, and validate new UI prototypes. Important stakes underline the implementation of both DSS and XAI methods into current systems. ML-based DSS are gaining in relevance as ATFM becomes increasingly complex. However, these systems only prove useful if a human can understand them, and thus new XAI methods are needed. The human-machine dyad should work as a team and should understand each other. We present xSky, a configurable benchmark tool that allows us to compare different versions of an ATC interface in conflict detection tasks. Our main contributions to the ATC research community are (1) a conflict detection task simulator (xSky) that allows to test the applicability of visual prototypes on scenarios of varying difficulty and outputting relevant operational metrics (2) a theoretical approach to the explanations of AI-driven trajectory predictions. xSky addresses several issues that were identified within available research tools. Researchers can configure the dimensions affecting scenario difficulty with a simple CSV file. Both the content and appearance of the XAI elements can be customized in a few steps. As a proof-of-concept, we implemented an XAI prototype inspired by the maritime field.

Keywords: air traffic control, air traffic simulation, conflict detection, explainable artificial intelligence, explainability, human-automation collaboration, human factors, information visualization, interpretability, trajectory prediction

Procedia PDF Downloads 160

Authors: Wei Li, Tuo Yang

Abstract:

In order to satisfy the real-time and accurate requirements of cigarette smoke detection in complex scenes, a cigarette smoke detection technology based on the combination of deep learning and color features was proposed. Firstly, based on the color features of cigarette smoke, the suspicious cigarette smoke area in the image is extracted. Secondly, combined with the efficiency of cigarette smoke detection and the problem of network overfitting, a network model for cigarette smoke detection was designed according to YOLOV3 algorithm to reduce the false detection rate. The experimental results show that the method is feasible and effective, and the accuracy of cigarette smoke detection is up to 99.13%, which satisfies the requirements of real-time cigarette smoke detection in complex scenes.

Keywords: deep learning, computer vision, cigarette smoke detection, YOLOV3, color feature extraction

Procedia PDF Downloads 87

Authors: H. Benmoussa, A. A. El Kalam, A. Ait Ouahman

Abstract:

The design and implementation of intrusion detection systems (IDS) remain an important area of research in the security of information systems. Despite the importance and reputation of the current intrusion detection systems, their efficiency and effectiveness remain limited as they should include active defense approach to allow anticipating and predicting intrusions before their occurrence. Consequently, they must be readapted. For this purpose we suggest a new generation of distributed intrusion detection system based on preventive detection approach and using intelligent and mobile agents. Our architecture benefits from mobile agent features and addresses some of the issues with centralized and hierarchical models. Also, it presents advantages in terms of increasing scalability and flexibility.

Keywords: Intrusion Detection System (IDS), preventive detection, mobile agents, distributed architecture

Procedia PDF Downloads 583

Authors: Omair Ghori, Anton Stadler, Stefan Wilk, Wolfgang Effelsberg

Abstract:

Fire-related incidents account for extensive loss of life and material damage. Quick and reliable detection of occurring fires has high real world implications. Whereas a major research focus lies on the detection of outdoor fires, indoor camera-based fire detection is still an open issue. Cameras in combination with computer vision helps to detect flames and smoke more quickly than conventional fire detectors. In this work, we present a computer vision-based smoke detection algorithm based on contrast changes and a multi-step classification. This work accelerates computer vision-based fire detection considerably in comparison with classical indoor-fire detection.

Keywords: contrast analysis, early fire detection, video smoke detection, video surveillance

Procedia PDF Downloads 447

Authors: Rashid Mahmood

Abstract:

The network as a service (NaaS) usage has been well-known from the last few years in the many applications, like mission critical applications. In the NaaS, prevention method is not adequate as the security concerned, so the detection method should be added to the security issues in NaaS. The authentication and encryption are considered the first solution of the NaaS problem whereas now these are not sufficient as NaaS use is increasing. In this paper, we are going to present the concept of intrusion detection and then survey some of major intrusion detection techniques in NaaS and aim to compare in some important fields.

Keywords: IDS, cloud, naas, detection

Procedia PDF Downloads 320

Authors: Rafael Iliasov, Alessandro Golkar

Abstract:

Object detection based on event vision has been a dynamically growing field in computer vision for the last 16 years. In this work, we create multiple channels from a single event camera and propose an event fusion method (EFM) to enhance object detection in event-based vision systems. Each channel uses a different accumulation buffer to collect events from the event camera. We implement YOLOv7 for object detection, followed by a fusion algorithm. Our multichannel approach outperforms single-channel-based object detection by 0.7% in mean Average Precision (mAP) for detection overlapping ground truth with IOU = 0.5.

Keywords: event camera, object detection with multimodal inputs, multichannel fusion, computer vision

Procedia PDF Downloads 27

Authors: Sakapas Saengchai

Abstract:

Study on the development of people's participation in environmental development was a qualitative research method. Data were collected by participant observation, in-depth interview and discussion group in Pathumthani province. The study indicated that 1) People should be aware of environmental information from government agencies. 2) People in the community should be able to brainstorm information, exchange information about community environment development. 3) People should have a role with community leaders. 4) People in the community should have a role to play in the implementation of projects and activities in the development of the environment and 5) citizens, community leaders, village committee have directed the development of the area. Maintaining a community environment with a shared decision. By emphasizing the process of participation, self-reliance, mutual help, and responsibility for one's own community. Community empowerment strengthens the sustainable spatial development of the environment.

Keywords: people, participation, community, environment

Procedia PDF Downloads 280

Authors: Shehu S. Janguza

Abstract:

The need for national security cannot be over Emphasis, which should be pursued by any means. Thus the need for effective management of education through effective school community Relationship/participation. In preparing and implementing only effort to promote community involvement in manning Education, it is importance to understand the whole picture of community participation, how it works, what forms are used, what benefit it can yield and what we should expect in the process of carrying out the efforts finally emphasis will be made on how effective school community relationship/participation and lead to national security.

Keywords: community participation, managing, school community, national security

Procedia PDF Downloads 594

Authors: Yousef Farhaoui

Abstract:

An IDS is a tool which is used to improve the level of security. We present in this paper different architectures of IDS. We will also discuss measures that define the effectiveness of IDS and the very recent works of standardization and homogenization of IDS. At the end, we propose a new model of IDS called BiIDS (IDS Based on the two principles of detection) for securing web servers and applications by the Intrusion Detection System (IDS).

Keywords: intrusion detection, architectures, characteristic, tools, security, web server

Procedia PDF Downloads 418

Authors: Smail Boussaadi, Hassina Aliane

Abstract:

With the rapid growth of scientific literature, it is becoming increasingly challenging for researchers to keep up with the latest findings in their fields. Academic, professional networks play an essential role in connecting researchers and disseminating knowledge. To improve the user experience within these networks, we need effective article recommendation systems that provide personalized content.Current recommendation systems often rely on collaborative filtering or content-based techniques. However, these methods have limitations, such as the cold start problem and difficulty in capturing semantic relationships between articles. To overcome these challenges, we propose a new approach that combines BERTopic (Bidirectional Encoder Representations from Transformers), a state-of-the-art topic modeling technique, with community detection algorithms in a academic, professional network. Experiences confirm our performance expectations by showing good relevance and objectivity in the results.

Keywords: scientific articles, community detection, academic social network, recommender systems, neural topic model

Procedia PDF Downloads 97

Authors: Andrew Ka Pok Tam

Abstract:

Kierkegaard has been misinterpreted as an anti-social philosopher for a long time until in recent years when there are more discussions on his concept of community in Journals and Papers inspired by Karl Bayer. Community which is based upon an individual's relations to others is different from the crowd or the public where the numerical or the majority make decisions. As a result, authenticity is only possible in the community. But Kierkegaard did not explain how we can preserve the individual's authenticity by establishing a community instead of a public in the reality. Kierkegaard was against the democratic reform in 1848 Denmark because he thought all elections mean the majority wins and the authenticity of a single individual would be suppressed. However, Kierkegaard himself does not suggest an alternative political system that may preserve the authenticity of individual. This paper aims to evaluate the possibility for us to establish a Kierkegaadian community in practice so as to preserve every individual's authenticity. This paper argues that the practicality of Kierekegaadian community is limited. In order to have effective communications and relations among individuals, a Kierkegaardian community must be small and inefficient as every individual's must remain authentic in all political decision for the whole community.

Keywords: authenticity, community, individual, kierkegaard

Procedia PDF Downloads 360

Authors: Ji-Hoon Hong, Dong-Hee Kim, Nam-Uk Kim, Tai-Myoung Chung

Abstract:

Smartphone users are increasing rapidly. Accordingly, many companies are running BYOD (Bring Your Own Device: Policies to bring private-smartphones to the company) policy to increase work efficiency. However, smartphones are always under the threat of malware, thus the company network that is connected smartphone is exposed to serious risks. Most smartphone malware detection techniques are to perform an independent detection (perform the detection of a single target application). In this paper, we analyzed a variety of intrusion detection techniques. Based on the results of analysis propose an agent using the network IDS.

Keywords: android malware detection, software-defined network, interaction environment, android malware detection, software-defined network, interaction environment

Procedia PDF Downloads 433

Authors: Jenjira Chinnawong, Phusit Phukamchanoad

Abstract:

The objective of this study is to explore the guidelines for the development of community classroom for research and academic services in Ranong province. By interviewing leaders involved in the development of learning resources, research, and community services, it was found that the leaders' perceptions in the development of learning resources, research, and community services in Ranong, was at the highest level. They perceived at every step on policies of community classroom implementation, research, and community services in Ranong. Leaders' perceptions were at the moderate level in terms of analysis of problems related to procedures of community classroom management, research and community services in Ranong especially in the planning and implementation of the examination, improvement, and development of learning sources to be in good condition and ready to serve the visitors. Their participation in the development of community classroom, research, and community services in Ranong was at a high level, particularly in the participation in monitoring and evaluation of the development of learning resources as well as in reporting on the result of the development of learning resources. The most important thing in the development of community classroom, research and community services in Ranong is the necessity to integrate the three principles of knowledge building in teaching, research and academic services in order to create the identity of the local and community classroom for those who are interested to visit to learn more about the useful knowledge. As a result, community classroom, research, and community services were well-known both inside and outside the university.

Keywords: community classroom, learning resources, development, participation

Procedia PDF Downloads 158

Authors: Medjram Sofiane, Babahenini Mohamed Chaouki, Mohamed Benali Yamina

Abstract:

Skin detection is an important task for computer vision systems. A good method for skin detection means a good and successful result of the system. The colour is a good descriptor that allows us to detect skin colour in the images, but because of lightings effects and objects that have a similar colour skin, skin detection becomes difficult. In this paper, we proposed a method using the YCbCr colour space for skin detection and lighting effects elimination, then we use the information of texture to eliminate the false regions detected by the YCbCr colour skin model.

Keywords: skin detection, YCbCr, GLCM, texture, human skin

Procedia PDF Downloads 459

Authors: Zhang Xiaodong, Tang Zixin, Liu Xin

Abstract:

In order to avoid self-collision of space manipulators during operation process, a real-time detection method is proposed in this paper. The manipulator is fitted into a cylinder enveloping surface, and then the detection algorithm of collision between cylinders is analyzed. The collision model of space manipulator self-links can be detected by using this algorithm in real-time detection during the operation process. To ensure security of the operation, a safety threshold is designed. The simulation and experiment results verify the effectiveness of the proposed algorithm for a 7-DOF space manipulator.

Keywords: space manipulator, collision detection, self-collision, the real-time collision detection

Procedia PDF Downloads 469