Search results for: Redundant signed digit arithmetic

Authors: Vishal Awasthi, Krishna Raj

Abstract:

In this paper, firstly, we present the mathematical modeling of finite impulse response (FIR) filter and Cascaded Integrator Comb (CIC) filter for sampling rate reduction and then an extension of Canonical signed digit (CSD) based efficient structure is presented in framework using hybrid signed digit (HSD) arithmetic. CSD representation imposed a restriction that two non-zero CSD coefficient bits cannot acquire adjacent bit positions and therefore, represented structure is not economical in terms of speed, area and power consumption. The HSD based structure gives optimum performance in terms of area and speed with 37.02% passband droop compensation.

Keywords: Multirate filtering, compensation theory, CIC filter, compensation filter, signed digit arithmetic, canonical signed digit.

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Authors: Vishal Awasthi, Krishna Raj

Abstract:

Any digital processing performed on a signal with larger nyquist interval requires more computation than signal processing performed on smaller nyquist interval. The sampling rate alteration generates the unwanted effects in the system such as spectral aliasing and spectral imaging during signal processing. Multirate-multistage implementation of digital filter can result a significant computational saving than single rate filter designed for sample rate conversion. In this paper, we presented an efficient cascaded integrator comb (CIC) decimation filter that perform fast down sampling using signed digit adder algorithm with compensated frequency droop that arises due to aliasing effect during the decimation process. This proposed compensated CIC decimation filter structure with a hybrid signed digit (HSD) fast adder provide an improved performance in terms of down sampling speed by 65.15% than ripple carry adder (RCA) and reduced area and power by 57.5% and 0.01 % than signed digit (SD) adder algorithms respectively.

Keywords: Sampling rate conversion, Multirate Filtering, Compensation Theory, Decimation filter, CIC filter, Redundant signed digit arithmetic, Fast adders.

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Authors: D. Krishnaveni, M. Geetha Priya

Abstract:

Applications of reversible logic gates in the design of complex integrated circuits provide power optimization.  This technique finds a great use in low power CMOS design, optical computing, quantum computing and nanotechnology. This paper proposes a reversible signed division circuit that can divide an n-bit signed dividend with an n-bit signed divisor using non-restoration division logic. The proposed design adequately addresses the ‘delay’ there by improving the efficiency of the circuit. An attempt is made to design a reversible signed division circuit. This paper provides a threshold to build more complex arithmetic systems using reversible logic, thus increasing the performance of computing systems.

Keywords: Low power CMOS, quantum computing, reversible logic gates, shift register, signed division.

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Authors: Xing-Jian Li, Shen Qu

Abstract:

The Smith arithmetic determinant is investigated in this paper. By using two different methods, we derive the explicit formula for the Smith arithmetic determinant.

Keywords: Elementary row transformation, Euler function, Matrix decomposition, Smith arithmetic determinant.

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Authors: G. Poonkuzhali, K.Thiagarajan, K.Sarukesi, G.V.Uma

Abstract:

The emergence of the Internet has brewed the revolution of information storage and retrieval. As most of the data in the web is unstructured, and contains a mix of text, video, audio etc, there is a need to mine information to cater to the specific needs of the users without loss of important hidden information. Thus developing user friendly and automated tools for providing relevant information quickly becomes a major challenge in web mining research. Most of the existing web mining algorithms have concentrated on finding frequent patterns while neglecting the less frequent ones that are likely to contain outlying data such as noise, irrelevant and redundant data. This paper mainly focuses on Signed approach and full word matching on the organized domain dictionary for mining web content outliers. This Signed approach gives the relevant web documents as well as outlying web documents. As the dictionary is organized based on the number of characters in a word, searching and retrieval of documents takes less time and less space.

Keywords: Outliers, Relevant document, , Signed Approach, Web content mining, Web documents..

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Authors: Yu-Chen Kuo, Shih-Chieh Lin

Abstract:

Sensor relocation is to repair coverage holes caused by node failures. One way to repair coverage holes is to find redundant nodes to replace faulty nodes. Most researches took a long time to find redundant nodes since they randomly scattered redundant nodes around the sensing field. To record the precise position of sensor nodes, most researches assumed that GPS was installed in sensor nodes. However, high costs and power-consumptions of GPS are heavy burdens for sensor nodes. Thus, we propose a fast sensor relocation algorithm to arrange redundant nodes to form redundant walls without GPS. Redundant walls are constructed in the position where the average distance to each sensor node is the shortest. Redundant walls can guide sensor nodes to find redundant nodes in the minimum time. Simulation results show that our algorithm can find the proper redundant node in the minimum time and reduce the relocation time with low message complexity.

Keywords: Coverage, distributed algorithm, sensor relocation, wireless sensor networks.

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Authors: Hyun-Ho Lee, Kee-Won Kim

Abstract:

The arithmetic operations over GF(2m) have been extensively used in error correcting codes and public-key cryptography schemes. Finite field arithmetic includes addition, multiplication, division and inversion operations. Addition is very simple and can be implemented with an extremely simple circuit. The other operations are much more complex. The multiplication is the most important for cryptosystems, such as the elliptic curve cryptosystem, since computing exponentiation, division, and computing multiplicative inverse can be performed by computing multiplication iteratively. In this paper, we present a parallel computation algorithm that operates Montgomery multiplication over finite field using redundant basis. Also, based on the multiplication algorithm, we present an efficient semi-systolic multiplier over finite field. The multiplier has less space and time complexities compared to related multipliers. As compared to the corresponding existing structures, the multiplier saves at least 5% area, 50% time, and 53% area-time (AT) complexity. Accordingly, it is well suited for VLSI implementation and can be easily applied as a basic component for computing complex operations over finite field, such as inversion and division operation.

Keywords: Finite field, Montgomery multiplication, systolic array, cryptography.

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Authors: Yukinari Minagi , Akinori Kanasugi

Abstract:

This paper describes about dynamic reconfiguration to miniaturize arithmetic circuits in general-purpose processor. Dynamic reconfiguration is a technique to realize required functions by changing hardware construction during operation. The proposed arithmetic circuit performs floating-point arithmetic which is frequently used in science and technology. The data format is floating-point based on IEEE754. The proposed circuit is designed using VHDL, and verified the correct operation by simulations and experiments.

Keywords: dynamic reconfiguration, floating-point arithmetic, double precision, FPGA

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Authors: Hossein Khademolhosseini, Mehdi Hosseinzadeh

Abstract:

The residue number system (RNS), due to its properties, is used in applications in which high performance computation is needed. The carry free nature, which makes the arithmetic, carry bounded as well as the paralleling facility is the reason of its capability of high speed rendering. Since carry is not propagated between the moduli in this system, the performance is only restricted by the speed of the operations in each modulus. In this paper a novel method of number representation by use of redundancy is suggested in which {rn- 2,rn-1,rn} is the reference moduli set where r=2k+1 and k =1, 2,3,.. This method achieves fast computations and conversions and makes the circuits of them much simpler.

Keywords: Binary to RNS converter, Carry save adder, Computer arithmetic, Residue number system.

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Authors: A. Harifi, A. Aghagolzadeh

Abstract:

The main problem for recognition of handwritten Persian digits using Neural Network is to extract an appropriate feature vector from image matrix. In this research an asymmetrical segmentation pattern is proposed to obtain the feature vector. This pattern can be adjusted as an optimum model thanks to its one degree of freedom as a control point. Since any chosen algorithm depends on digit identity, a Neural Network is used to prevail over this dependence. Inputs of this Network are the moment of inertia and the center of gravity which do not depend on digit identity. Recognizing the digit is carried out using another Neural Network. Simulation results indicate the high recognition rate of 97.6% for new introduced pattern in comparison to the previous models for recognition of digits.

Keywords: Pattern recognition, Persian digits, NeuralNetwork.

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Authors: G. Poonkuzhali, K.Thiagarajan, K.Sarukesi

Abstract:

With the enormous growth on the web, users get easily lost in the rich hyper structure. Thus developing user friendly and automated tools for providing relevant information without any redundant links to the users to cater to their needs is the primary task for the website owners. Most of the existing web mining algorithms have concentrated on finding frequent patterns while neglecting the less frequent one that are likely to contain the outlying data such as noise, irrelevant and redundant data. This paper proposes new algorithm for mining the web content by detecting the redundant links from the web documents using set theoretical(classical mathematics) such as subset, union, intersection etc,. Then the redundant links is removed from the original web content to get the required information by the user..

Keywords: Web documents, Web content mining, redundantlink, outliers, set theory.

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Authors: K. Ganesan

Abstract:

By using a new set of arithmetic operations on interval numbers, we discuss some arithmetic properties of interval matrices which intern helps us to compute the powers of interval matrices and to solve the system of interval linear equations.

Keywords: Interval arithmetic, Interval matrix, linear equations.

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Authors: Haruo Shimada, Akinori Kanasugi

Abstract:

This paper proposes an architecture of dynamically reconfigurable arithmetic circuit. Dynamic reconfiguration is a technique to realize required functions by changing hardware construction during operations. The proposed circuit is based on a complex number multiply-accumulation circuit which is used frequently in the field of digital signal processing. In addition, the proposed circuit performs real number double precision arithmetic operations. The data formats are single and double precision floating point number based on IEEE754. The proposed circuit is designed using VHDL, and verified the correct operation by simulations and experiments.

Keywords: arithmetic circuit, complex number, double precision, dynamic reconfiguration

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Authors: Yusuf Bulale, Mark Prince, Geoff Tansley, Peter Brett

Abstract:

Cochlear Implantation (CI) which became a routine procedure for the last decades is an electronic device that provides a sense of sound for patients who are severely and profoundly deaf. The optimal success of this implantation depends on the electrode technology and deep insertion techniques. However, this manual insertion procedure may cause mechanical trauma which can lead to severe destruction of the delicate intracochlear structure. Accordingly, future improvement of the cochlear electrode implant insertion needs reduction of the excessive force application during the cochlear implantation which causes tissue damage and trauma. This study is examined tool-tissue interaction of large prototype scale digit embedded with distributive tactile sensor based upon cochlear electrode and large prototype scale cochlea phantom for simulating the human cochlear which could lead to small scale digit requirements. The digit, distributive tactile sensors embedded with silicon-substrate was inserted into the cochlea phantom to measure any digit/phantom interaction and position of the digit in order to minimize tissue and trauma damage during the electrode cochlear insertion. The digit have provided tactile information from the digitphantom insertion interaction such as contact status, tip penetration, obstacles, relative shape and location, contact orientation and multiple contacts. The tests demonstrated that even devices of such a relative simple design with low cost have potential to improve cochlear implant surgery and other lumen mapping applications by providing tactile sensory feedback information and thus controlling the insertion through sensing and control of the tip of the implant during the insertion. In that approach, the surgeon could minimize the tissue damage and potential damage to the delicate structures within the cochlear caused by current manual electrode insertion of the cochlear implantation. This approach also can be applied to other minimally invasive surgery applications as well as diagnosis and path navigation procedures.

Keywords: Cochlear electrode insertion, distributive tactile sensory feedback information, flexible digit, minimally invasive surgery, tool/tissue interaction.

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Authors: Harpreet Singh Dhillon, Abhijit Mitra

Abstract:

A reduced-bit multiplication algorithm based on the ancient Vedic multiplication formulae is proposed in this paper. Both the Vedic multiplication formulae, Urdhva tiryakbhyam and Nikhilam, are first discussed in detail. Urdhva tiryakbhyam, being a general multiplication formula, is equally applicable to all cases of multiplication. It is applied to the digital arithmetic and is shown to yield a multiplier architecture which is very similar to the popular array multiplier. Due to its structure, it leads to a high carry propagation delay in case of multiplication of large numbers. Nikhilam Sutra, on the other hand, is more efficient in the multiplication of large numbers as it reduces the multiplication of two large numbers to that of two smaller numbers. The framework of the proposed algorithm is taken from this Sutra and is further optimized by use of some general arithmetic operations such as expansion and bit-shifting to take advantage of bit-reduction in multiplication. We illustrate the proposed algorithm by reducing a general 4x4-bit multiplication to a single 2 x 2-bit multiplication operation.

Keywords: Multiplication, algorithm, Vedic mathematics, digital arithmetic, reduced-bit.

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Authors: Atilla Bayram

Abstract:

This paper presents the trajectory tracking control of a spatial redundant hybrid manipulator. This manipulator consists of two parallel manipulators which are a variable geometry truss (VGT) module. In fact, each VGT module with 3-degress of freedom (DOF) is a planar parallel manipulator and their operational planes of these VGT modules are arranged to be orthogonal to each other. Also, the manipulator contains a twist motion part attached to the top of the second VGT module to supply the missing orientation of the endeffector. These three modules constitute totally 7-DOF hybrid (parallel-parallel) redundant spatial manipulator. The forward kinematics equations of this manipulator are obtained, then, according to these equations, the inverse kinematics is solved based on an optimization with the joint limit avoidance. The dynamic equations are formed by using virtual work method. In order to test the performance of the redundant manipulator and the controllers presented, two different desired trajectories are followed by using the computed force control method and a switching control method. The switching control method is combined with the computed force control method and genetic algorithm. In the switching control method, the genetic algorithm is only used for fine tuning in the compensation of the trajectory tracking errors.

Keywords: Computed force control method, genetic algorithm, hybrid manipulator, inverse kinematics of redundant manipulators, variable geometry truss.

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Authors: Dhruba Das

Abstract:

In this paper, a method has been developed to construct the membership surfaces of row and column vectors and arithmetic operations of imprecise matrix. A matrix with imprecise elements would be called an imprecise matrix. The membership surface of imprecise vector has been already shown based on Randomness-Impreciseness Consistency Principle. The Randomness- Impreciseness Consistency Principle leads to defining a normal law of impreciseness using two different laws of randomness. In this paper, the author has shown row and column membership surfaces and arithmetic operations of imprecise matrix and demonstrated with the help of numerical example.

Keywords: Imprecise number, Imprecise vector, Membership surface, Imprecise matrix.

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Authors: Yong-Je Choi, Moo-Seop Kim, Hang-Rok Lee, Ho-Won Kim

Abstract:

Polynomial bases and normal bases are both used for elliptic curve cryptosystems, but field arithmetic operations such as multiplication, inversion and doubling for each basis are implemented by different methods. In general, it is said that normal bases, especially optimal normal bases (ONB) which are special cases on normal bases, are efficient for the implementation in hardware in comparison with polynomial bases. However there seems to be more examined by implementing and analyzing these systems under similar condition. In this paper, we designed field arithmetic operators for each basis over GF(2233), which field has a polynomial basis recommended by SEC2 and a type-II ONB both, and analyzed these implementation results. And, in addition, we predicted the efficiency of two elliptic curve cryptosystems using these field arithmetic operators.

Keywords: Elliptic Curve Cryptosystem, Crypto Algorithm, Polynomial Basis, Optimal Normal Basis, Security.

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Authors: José M. Merigó, Anna M. Gil-Lafuente

Abstract:

Different types of aggregation operators such as the ordered weighted quasi-arithmetic mean (Quasi-OWA) operator and the normalized Hamming distance are studied. We introduce the use of the OWA operator in generalized distances such as the quasiarithmetic distance. We will call these new distance aggregation the ordered weighted quasi-arithmetic distance (Quasi-OWAD) operator. We develop a general overview of this type of generalization and study some of their main properties such as the distinction between descending and ascending orders. We also consider different families of Quasi-OWAD operators such as the Minkowski ordered weighted averaging distance (MOWAD) operator, the ordered weighted averaging distance (OWAD) operator, the Euclidean ordered weighted averaging distance (EOWAD) operator, the normalized quasi-arithmetic distance, etc.

Keywords: Aggregation operators, Distance measures, Quasi- OWA operator.

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Authors: Ahmad T. Al-Taani

Abstract:

In this paper, an efficient structural approach for recognizing on-line handwritten digits is proposed. After reading the digit from the user, the slope is estimated and normalized for adjacent nodes. Based on the changing of signs of the slope values, the primitives are identified and extracted. The names of these primitives are represented by strings, and then a finite state machine, which contains the grammars of the digits, is traced to identify the digit. Finally, if there is any ambiguity, it will be resolved. Experiments showed that this technique is flexible and can achieve high recognition accuracy for the shapes of the digits represented in this work.

Keywords: Digits Recognition, Pattern Recognition, FeatureExtraction, Structural Primitives, Document Processing, Handwritten Recognition, Primitives Selection.

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Authors: Yazhi Huang, Jing Yang, Dingge Ying, Yan Zhang, Vorasuk Shotelersuk, Nattiya Hirankarn, Pak Chung Sham, Yu Lung Lau, Wanling Yang

Abstract:

Human leukocyte antigen (HLA) typing from next generation sequencing (NGS) data has the potential for applications in clinical laboratories and population genetic studies. Here we introduce a novel technique for HLA typing from NGS data based on read-mapping using a comprehensive reference panel containing all known HLA alleles and de novo assembly of the gene-specific short reads. An accurate HLA typing at high-digit resolution was achieved when it was tested on publicly available NGS data, outperforming other newly-developed tools such as HLAminer and PHLAT.

Keywords: Human leukocyte antigens, next generation sequencing, whole exome sequencing, HLA typing.

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Authors: Kefaya Qaddoum

Abstract:

Most of greenhouse growers desire a determined amount of yields in order to accurately meet market requirements. The purpose of this paper is to model a simple but often satisfactory supervised classification method. The original naive Bayes have a serious weakness, which is producing redundant predictors. In this paper, utilized regularization technique was used to obtain a computationally efficient classifier based on naive Bayes. The suggested construction, utilized L1-penalty, is capable of clearing redundant predictors, where a modification of the LARS algorithm is devised to solve this problem, making this method applicable to a wide range of data. In the experimental section, a study conducted to examine the effect of redundant and irrelevant predictors, and test the method on WSG data set for tomato yields, where there are many more predictors than data, and the urge need to predict weekly yield is the goal of this approach. Finally, the modified approach is compared with several naive Bayes variants and other classification algorithms (SVM and kNN), and is shown to be fairly good.

Keywords: Tomato yields prediction, naive Bayes, redundancy

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Authors: Mohamed Al Mahdi Eshtawie, Masuri Bin Othman

Abstract:

Finite impulse response (FIR) filters have the advantage of linear phase, guaranteed stability, fewer finite precision errors, and efficient implementation. In contrast, they have a major disadvantage of high order need (more coefficients) than IIR counterpart with comparable performance. The high order demand imposes more hardware requirements, arithmetic operations, area usage, and power consumption when designing and fabricating the filter. Therefore, minimizing or reducing these parameters, is a major goal or target in digital filter design task. This paper presents an algorithm proposed for modifying values and the number of non-zero coefficients used to represent the FIR digital pulse shaping filter response. With this algorithm, the FIR filter frequency and phase response can be represented with a minimum number of non-zero coefficients. Therefore, reducing the arithmetic complexity needed to get the filter output. Consequently, the system characteristic i.e. power consumption, area usage, and processing time are also reduced. The proposed algorithm is more powerful when integrated with multiplierless algorithms such as distributed arithmetic (DA) in designing high order digital FIR filters. Here the DA usage eliminates the need for multipliers when implementing the multiply and accumulate unit (MAC) and the proposed algorithm will reduce the number of adders and addition operations needed through the minimization of the non-zero values coefficients to get the filter output.

Keywords: Pulse shaping Filter, Distributed Arithmetic, Optimization algorithm.

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Authors: Azali Saudi, Jumat Sulaiman

Abstract:

Harmonic functions are solutions to Laplace’s equation that are known to have an advantage as a global approach in providing the potential values for autonomous vehicle navigation. However, the computation for obtaining harmonic functions is often too slow particularly when it involves very large environment. This paper presents a two-stage iterative method namely Modified Arithmetic Mean (MAM) method for solving 2D Laplace’s equation. Once the harmonic functions are obtained, the standard Gradient Descent Search (GDS) is performed for path finding of an autonomous vehicle from arbitrary initial position to the specified goal position. Details of the MAM method are discussed. Several simulations of vehicle navigation with path planning in a static known indoor environment were conducted to verify the efficiency of the MAM method. The generated paths obtained from the simulations are presented. The performance of the MAM method in computing harmonic functions in 2D environment to solve path planning problem for an autonomous vehicle navigation is also provided.

Keywords: Modified Arithmetic Mean method, Harmonic functions, Laplace’s equation, path planning.

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Authors: Massoud Masoumi, Hosseyn Mahdizadeh

Abstract:

A new and highly efficient architecture for elliptic curve scalar point multiplication which is optimized for a binary field recommended by NIST and is well-suited for elliptic curve cryptographic (ECC) applications is presented. To achieve the maximum architectural and timing improvements we have reorganized and reordered the critical path of the Lopez-Dahab scalar point multiplication architecture such that logic structures are implemented in parallel and operations in the critical path are diverted to noncritical paths. With G=41, the proposed design is capable of performing a field multiplication over the extension field with degree 163 in 11.92 s with the maximum achievable frequency of 251 MHz on Xilinx Virtex-4 (XC4VLX200) while 22% of the chip area is occupied, where G is the digit size of the underlying digit-serial finite field multiplier.

Keywords: Elliptic curve cryptography, FPGA implementation, scalar point multiplication.

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Authors: M. Schukat, M.P. Cullen, D. O'Beirne

Abstract:

This paper describes a UDP over IP based, server-oriented redundant host configuration protocol (RHCP) that can be used by collaborating embedded systems in an ad-hoc network to acquire a dynamic IP address. The service is provided by a single network device at a time and will be dynamically reassigned to one of the other network clients if the primary provider fails. The protocol also allows all participating clients to monitor the dynamic makeup of the network over time. So far the algorithm has been implemented and tested on an 8-bit embedded system architecture with a 10Mbit Ethernet interface.

Keywords: Ad-Hoc Networks, Collaborating Embedded Systems, Dynamic Host Configuration, Redundancy.

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Authors: P. S. Gomathi, B. Kalaavathi

Abstract:

The process in which the complementary information from multiple images is integrated to provide composite image that contains more information than the original input images is called image fusion. Medical image fusion provides useful information from multimodality medical images that provides additional information to the doctor for diagnosis of diseases in a better way. This paper represents the wavelet based medical image fusion algorithm on different multimodality medical images. In order to fuse the medical images, images are decomposed using Redundant Wavelet Transform (RWT). The high frequency coefficients are convolved with morphological operator followed by the maximum-selection (MS) rule. The low frequency coefficients are processed by MS rule. The reconstructed image is obtained by inverse RWT. The quantitative measures which includes Mean, Standard Deviation, Average Gradient, Spatial frequency, Edge based Similarity Measures are considered for evaluating the fused images. The performance of this proposed method is compared with Pixel averaging, PCA, and DWT fusion methods. When compared with conventional methods, the proposed framework provides better performance for analysis of multimodality medical images.

Keywords: Discrete Wavelet Transform (DWT), Image Fusion, Morphological Processing, Redundant Wavelet Transform (RWT).

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Authors: Davod Khojasteh Salkuyeh

Abstract:

An important task in solving second order linear ordinary differential equations by the finite difference is to choose a suitable stepsize h. In this paper, by using the stochastic arithmetic, the CESTAC method and the CADNA library we present a procedure to estimate the optimal stepsize hopt, the stepsize which minimizes the global error consisting of truncation and round-off error.

Keywords: Ordinary differential equations, optimal stepsize, error, stochastic arithmetic, CESTAC, CADNA.

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Authors: Lidia Obojska

Abstract:

This paper has, as its point of departure, the foundational axiomatic theory of E. De Giorgi (1996, Scuola Normale Superiore di Pisa, Preprints di Matematica 26, 1), based on two primitive notions of quality and relation. With the introduction of a unary relation, we develop a system totally based on the sole primitive notion of relation. Such a modification enables a definition of the concept of dynamic unary relation. In this way we construct a simple language capable to express other well known theories such as Robinson-s arithmetic or a piece of a theory of concatenation. A key role in this system plays an abstract relation designated by “( )", which can be interpreted in different ways, but in this paper we will focus on the case when we can perform computations and obtain results.

Keywords: language, unary relations, arithmetic, computability

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Authors: J. Radojicic, D. Surdilovic, G. Schreck

Abstract:

The paper considers a novel modular and intrinsically safe redundant robotic system with biologically inspired actuators (pneumatic artificial muscles and rubber bellows actuators). Similarly to the biological systems, the stiffness of the internal parallel modules, representing 2 DOF joints in the serial robotic chains, is controlled by co-activation of opposing redundant actuator groups in the null-space of the module Jacobian, without influencing the actual robot position. The decoupled position/stiffness control allows the realization of variable joint stiffness according to different force-displacement relationships. The variable joint stiffness, as well as limited pneumatic muscle/bellows force ability, ensures internal system safety that is crucial for development of human-friendly robots intended for human-robot collaboration. The initial experiments with the system prototype demonstrate the capabilities of independently, simultaneously controlling both joint (Cartesian) motion and joint stiffness. The paper also presents the possible industrial applications of snake-like robots built using the new modules.

Keywords: bellows actuator, human-robot interaction, hyper redundant robot, pneumatic muscle.

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