Search results for: Neural network algorithm

Authors: Nyah C. Temaneh, F. A. Phiri, E. Ruhunga

Abstract:

Most of the well known methods for generating Gaussian variables require at least one standard uniform distributed value, for each Gaussian variable generated. The length of the random number generator therefore, limits the number of independent Gaussian distributed variables that can be generated meanwhile the statistical solution of complex systems requires a large number of random numbers for their statistical analysis. We propose an alternative simple method of generating almost infinite number of Gaussian distributed variables using a limited number of standard uniform distributed random numbers.

Keywords: Gaussian variable, statistical analysis, simulation ofCommunication Network, Random numbers.

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Authors: Waqas Ahmed, S Sajjad Haider Zaidi

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For the past couple of decades Weak signal detection is of crucial importance in various engineering and scientific applications. It finds its application in areas like Wireless communication, Radars, Aerospace engineering, Control systems and many of those. Usually weak signal detection requires phase sensitive detector and demodulation module to detect and analyze the signal. This article gives you a preamble to intrusion detection system which can effectively detect a weak signal from a multiplexed signal. By carefully inspecting and analyzing the respective signal, this system can successfully indicate any peripheral intrusion. Intrusion detection system (IDS) is a comprehensive and easy approach towards detecting and analyzing any signal that is weakened and garbled due to low signal to noise ratio (SNR). This approach finds significant importance in applications like peripheral security systems.

Keywords: Data Acquisition, fast frequency transforms, Lab VIEW software, weak signal detection.

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Authors: Neda Navidi, Rene Jr. Landry

Abstract:

Vehicle tracking and accident recognizing are considered by many industries like insurance and vehicle rental companies. The main goal of this paper is to detect the location of a car accident by combining different methods. The methods, which are considered in this paper, are Global Navigation Satellite Systems/Inertial Measurement Units (GNSS/IMU)-based navigation and vehicle accident detection algorithms. They are expressed by a set of raw measurements, which are obtained from a designed integrator black box using GNSS and inertial sensors. Another concern of this paper is the definition of accident detection algorithm based on its jerk to identify the position of that accident. In fact, the results convinced us that, even in GNSS blockage areas, the position of the accident could be detected by GNSS/INS integration with 50% improvement compared to GNSS stand alone.

Keywords: Driving behavior, integration, IMU, GNSS, monitoring, tracking.

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Authors: Takahiro Takayama, Takao Kawamura, Toshihiko Sasama, Kazunori Sugahara

Abstract:

Recently, web services to access from many type devices are often used. We have developed the shortest path planning system called "Bus-Net" in Tottori prefecture as a web application to sustain the public transport. And it used the same user interface for both devices. To support both devices, the interface cannot use JavaScript and so on. Thus, we developed the method that use individual user interface for each device type to improve its convenience. To be concrete, we defined formats of condition input to the path planning system and result output from it and separate the system into the request processing part and user interface parts that depend on device types. By this method, we have also developed special device for Bus-Net named "Intelligent-Bus-Stop".

Keywords: Bus, Path planning, Public transport, User interface

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Authors: Nicholas D. Assimakis

Abstract:

In linear estimation, the traditional Kalman filter uses the Kalman filter gain in order to produce estimation and prediction of the n-dimensional state vector using the m-dimensional measurement vector. The computation of the Kalman filter gain requires the inversion of an m x m matrix in every iteration. In this paper, a variation of the Kalman filter eliminating the Kalman filter gain is proposed. In the time varying case, the elimination of the Kalman filter gain requires the inversion of an n x n matrix and the inversion of an m x m matrix in every iteration. In the time invariant case, the elimination of the Kalman filter gain requires the inversion of an n x n matrix in every iteration. The proposed Kalman filter gain elimination algorithm may be faster than the conventional Kalman filter, depending on the model dimensions.

Keywords: Discrete time, linear estimation, Kalman filter, Kalman filter gain.

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Authors: M. Sadeghzadeh, M. Teshnehlab

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Feature selection has recently been the subject of intensive research in data mining, specially for datasets with a large number of attributes. Recent work has shown that feature selection can have a positive effect on the performance of machine learning algorithms. The success of many learning algorithms in their attempts to construct models of data, hinges on the reliable identification of a small set of highly predictive attributes. The inclusion of irrelevant, redundant and noisy attributes in the model building process phase can result in poor predictive performance and increased computation. In this paper, a novel feature search procedure that utilizes the Ant Colony Optimization (ACO) is presented. The ACO is a metaheuristic inspired by the behavior of real ants in their search for the shortest paths to food sources. It looks for optimal solutions by considering both local heuristics and previous knowledge. When applied to two different classification problems, the proposed algorithm achieved very promising results.

Keywords: Ant colony optimization, Classification, Datamining, Feature selection.

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Authors: Lv Meibo, Naqvi Najam Abbas, Li YanJun

Abstract:

Attitude Determination (AD) of a spacecraft using the phase measurements of the Global Navigation Satellite System (GNSS) is an active area of research. Various attitude determination algorithms have been developed in yester years for spacecrafts using different sensors but the last two decades have witnessed a phenomenal increase in research related with GPS receivers as a stand-alone sensor for determining the attitude of satellite using the phase measurements of the signals from GNSS. The GNSS-based Attitude determination algorithms have been experimented in many real missions. The problem of AD algorithms using GNSS phase measurements has two important parts; the ambiguity resolution and the determining of attitude. Ambiguity resolution is the widely addressed topic in literature for implementing the AD algorithm using GNSS phase measurements for achieving the accuracy of millimeter level. This paper broadly overviews the different techniques for resolving the integer ambiguities encountered in AD using GNSS phase measurements.

Keywords: Attitude Determination, Ambiguity Resolution, GNSS, LAMBDA Method, Satellite.

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Authors: Md. Masum Billah, Mohiuddin Ahmed, Soheli Farhana

Abstract:

In modern day disaster recovery mission has become one of the top priorities in any natural disaster management regime. Smart autonomous robots may play a significant role in such missions, including search for life under earth quake hit rubbles, Tsunami hit islands, de-mining in war affected areas and many other such situations. In this paper current state of many walking robots are compared and advantages of hexapod systems against wheeled robots are described. In our research we have selected a hexapod spider robot; we are developing focusing mainly on efficient navigation method in different terrain using apposite gait of locomotion, which will make it faster and at the same time energy efficient to navigate and negotiate difficult terrain. This paper describes the method of terrain negotiation navigation in a hazardous field.

Keywords: Walking robots, locomotion, hexapod robot, gait, hazardous field.

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Authors: Yatin Wadhawan, Clifford Neuman, Anas Al Majali

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In this paper, we evaluate the resilience of the smart grid system in the presence of multiple cyber-physical attacks on its distinct functional components. We discuss attack-defense scenarios and their effect on smart grid resilience. Through contingency simulations in the Network and PowerWorld Simulator, we analyze multiple cyber-physical attacks that propagate from the cyber domain to power systems and discuss how such attacks destabilize the underlying power grid. The analysis of such simulations helps system administrators develop more resilient systems and improves the response of the system in the presence of cyber-physical attacks.

Keywords: Smart grid, resilience, gas pipeline, cyber-physical attack, security.

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Authors: H. Shayeghi, H. Hosseini, A. Shabani, M. Mahdavi

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In this paper, optimal generation expansion planning (GEP) is investigated considering purchase prices, profits of independent power producers (IPPs) and reliability criteria using a new method based on hybrid coded Genetic Algorithm (GA) and Particle Swarm Optimization (PSO). In this approach, optimal purchase price of each IPP is obtained by HCGA and reliability criteria are calculated by PSO technique. It should be noted that reliability criteria and the rate of carbon dioxide (CO2) emission have been considered as constraints of the GEP problem. Finally, the proposed method has been tested on the case study system. The results evaluation show that the proposed method can simply obtain optimal purchase prices of IPPs and is a fast method for calculation of reliability criteria in expansion planning. Also, considering the optimal purchase prices and profits of IPPs in generation expansion planning are caused that the expansion costs are decreased and the problem is solved more exactly.

Keywords: GEP Problem, IPPs, Reliability Criteria, GA, PSO.

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Authors: S. Sarumathi, N. Shanthi, P. Ranjetha

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Data mining is the procedure of determining interesting patterns from the huge amount of data. With the intention of accessing the data faster the most supporting processes needed is clustering. Clustering is the process of identifying similarity between data according to the individuality present in the data and grouping associated data objects into clusters. Cluster ensemble is the technique to combine various runs of different clustering algorithms to obtain a general partition of the original dataset, aiming for consolidation of outcomes from a collection of individual clustering outcomes. The performances of clustering ensembles are mainly affecting by two principal factors such as diversity and quality. This paper presents the overview about the different cluster ensemble algorithm along with their methods used in cluster ensemble to improve the diversity and quality in the several cluster ensemble related papers and shows the comparative analysis of different cluster ensemble also summarize various cluster ensemble methods. Henceforth this clear analysis will be very useful for the world of clustering experts and also helps in deciding the most appropriate one to determine the problem in hand.

Keywords: Cluster Ensemble, Consensus Function, CSPA, Diversity, HGPA, MCLA.

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Authors: Daria Topousis, Keri Murphy, Jeanne Holm

Abstract:

Following the loss of NASA's Space Shuttle Columbia in 2003, it was determined that problems in the agency's organization created an environment that led to the accident. One component of the proposed solution resulted in the formation of the NASA Engineering Network (NEN), a suite of information retrieval and knowledge-sharing tools. This paper describes the implementation of communities of practice, which are formed along engineering disciplines. Communities of practice enable engineers to leverage their knowledge and best practices to collaborate and take information learning back to their jobs and embed it into the procedures of the agency. This case study offers insight into using traditional engineering disciplines for virtual collaboration, including lessons learned during the creation and establishment of NASA-s communities.

Keywords: Collaboration, communities of practice, knowledge management, virtual teams.

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Authors: Reza Ghaemi , Md. Nasir Sulaiman , Hamidah Ibrahim , Norwati Mustapha

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The clustering ensembles combine multiple partitions generated by different clustering algorithms into a single clustering solution. Clustering ensembles have emerged as a prominent method for improving robustness, stability and accuracy of unsupervised classification solutions. So far, many contributions have been done to find consensus clustering. One of the major problems in clustering ensembles is the consensus function. In this paper, firstly, we introduce clustering ensembles, representation of multiple partitions, its challenges and present taxonomy of combination algorithms. Secondly, we describe consensus functions in clustering ensembles including Hypergraph partitioning, Voting approach, Mutual information, Co-association based functions and Finite mixture model, and next explain their advantages, disadvantages and computational complexity. Finally, we compare the characteristics of clustering ensembles algorithms such as computational complexity, robustness, simplicity and accuracy on different datasets in previous techniques.

Keywords: Clustering Ensembles, Combinational Algorithm, Consensus Function, Unsupervised Classification.

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Authors: Siyuan Jing, Kun She

Abstract:

Virtualization-based server consolidation has been proven to be an ideal technique to solve the server sprawl problem by consolidating multiple virtualized servers onto a few physical servers leading to improved resource utilization and return on investment. In this paper, we solve this problem by using existing servers, which are heterogeneous and diversely preferred by IT managers. Five practical consolidation rules are introduced, and a decision model is proposed to optimally allocate source services to physical target servers while maximizing the average resource utilization and preference value. Our model can be regarded as a multi-objective multi-dimension bin-packing (MOMDBP) problem with constraints, which is strongly NP-hard. An improved grouping generic algorithm (GGA) is introduced for the problem. Extensive simulations were performed and the results are given.

Keywords: GGA-based Heuristics, Preference, Real-worldConstraints, Resource Utilization, Server Consolidation

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Authors: E T. Rakgati, E. Matlotse

Abstract:

In this paper the principle, basic torque theory and design optimisation of a six-phase reluctance dc machine are considered. A trapezoidal phase current waveform for the machine drive is proposed and evaluated to minimise ripple torque. Low cost normal laminated salient-pole rotors with and without slits and chamfered poles are investigated. The six-phase machine is optimised in multi-dimensions by linking the finite-element analysis method directly with an optimisation algorithm; the objective function is to maximise the torque per copper losses of the machine. The armature reaction effect is investigated in detail and found to be severe. The measured and calculated torque performances of a 35 kW optimum designed six-phase reluctance dc machine drive are presented.

Keywords: Reluctance dc machine, current waveform, design optimisation, finite element analysis, armature reaction effect.

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Authors: S. Kannimuthu, K. Premalatha

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This paper investigates a new data mining capability that entails mining of High Utility Itemsets (HUI) in a distributed environment. Existing research in data mining deals with only presence or absence of an items and do not consider the semantic measures like weight or cost of the items. Thus, HUI mining algorithm has evolved. HUI mining is the one kind of utility mining concept, aims to identify itemsets whose utility satisfies a given threshold. Although, the approach of mining HUIs in a distributed environment and mining of the same from XML data have not explored yet. In this work, a novel approach is proposed to mine HUIs from the XML based data in a distributed environment. This work utilizes Service Oriented Computing (SOC) paradigm which provides Knowledge as a Service (KaaS). The interesting patterns are provided via the web services with the help of knowledge server to answer the queries of the consumers. The performance of the approach is evaluated on various databases using execution time and memory consumption.

Keywords: Data mining, Knowledge as a Service, service oriented computing, utility mining.

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Authors: P. Jomsri

Abstract:

Nowadays social media are important tools for web resource discovery. The performance and capabilities of web searches are vital, especially search results from social research paper bookmarking. This paper proposes a new algorithm for ranking method that is a combination of similarity ranking with paper posted time or CSTRank. The paper posted time is static ranking for improving search results. For this particular study, the paper posted time is combined with similarity ranking to produce a better ranking than other methods such as similarity ranking or SimRank. The retrieval performance of combination rankings is evaluated using mean values of NDCG. The evaluation in the experiments implies that the chosen CSTRank ranking by using weight score at ratio 90:10 can improve the efficiency of research paper searching on social bookmarking websites.

Keywords: combination ranking, information retrieval, time, similarity ranking, static ranking, weight score

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Authors: Swadhin Kumar Mishra, Sidhartha Panda, C. Ardil

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Multiple-Input-Multiple-Output (MIMO) is one of the most important communication techniques that allow wireless systems to achieve higher data rate. To overcome the practical difficulties in implementing Dirty Paper Coding (DPC), various suboptimal MIMO Broadcast (MIMO-BC) scheduling algorithms are employed which choose the best set of users among all the users. In this paper we discuss such a sub-optimal MIMO-BC scheduling algorithm which employs antenna selection at the receiver side. The channels for the users considered here are not Identical and Independent Distributed (IID) so that users at the receiver side do not get equal opportunity for communication. So we introduce a method of applying weights to channels of the users which are not IID in such a way that each of the users gets equal opportunity for communication. The effect of weights on overall sum-rate achieved by the system has been investigated and presented.

Keywords: Antenna selection, Identical and Independent Distributed (IID), Sum-rate capacity, Weighted sum rate.

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Authors: Sudipta Nath, Arindam Dey, Abhijit Chakrabarti

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This paper presents features that characterize power quality disturbances from recorded voltage waveforms using wavelet transform. The discrete wavelet transform has been used to detect and analyze power quality disturbances. The disturbances of interest include sag, swell, outage and transient. A power system network has been simulated by Electromagnetic Transients Program. Voltage waveforms at strategic points have been obtained for analysis, which includes different power quality disturbances. Then wavelet has been chosen to perform feature extraction. The outputs of the feature extraction are the wavelet coefficients representing the power quality disturbance signal. Wavelet coefficients at different levels reveal the time localizing information about the variation of the signal.

Keywords: Power quality, detection of disturbance, wavelet transform, multiresolution signal decomposition.

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Authors: Margaret F. Shipley

Abstract:

Fuzzy logic can be used when knowledge is incomplete or when ambiguity of data exists. The purpose of this paper is to propose a proactive fuzzy set- based model for reacting to the risk inherent in investment activities relative to a complete view of portfolio management. Fuzzy rules are given where, depending on the antecedents, the portfolio size may be slightly or significantly decreased or increased. The decision maker considers acceptable bounds on the proportion of acceptable risk and return. The Fuzzy Controller model allows learning to be achieved as 1) the firing strength of each rule is measured, 2) fuzzy output allows rules to be updated, and 3) new actions are recommended as the system continues to loop. An extension is given to the fuzzy controller that evaluates potential financial loss before adjusting the portfolio. An application is presented that illustrates the algorithm and extension developed in the paper.

Keywords: Portfolio Management, Financial Market Monitoring, Fuzzy Controller, Fuzzy Logic,

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Authors: Marios Poulos, Sozon Papavlasopoulos, V. S. Belesiotis

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In the proposed method for Web page-ranking, a novel theoretic model is introduced and tested by examples of order relationships among IP addresses. Ranking is induced using a convexity feature, which is learned according to these examples using a self-organizing procedure. We consider the problem of selforganizing learning from IP data to be represented by a semi-random convex polygon procedure, in which the vertices correspond to IP addresses. Based on recent developments in our regularization theory for convex polygons and corresponding Euclidean distance based methods for classification, we develop an algorithmic framework for learning ranking functions based on a Computational Geometric Theory. We show that our algorithm is generic, and present experimental results explaining the potential of our approach. In addition, we explain the generality of our approach by showing its possible use as a visualization tool for data obtained from diverse domains, such as Public Administration and Education.

Keywords: Computational Geometry, Education, e-Governance, Semantic Web.

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Authors: Radek Malinský, Ivan Jelínek

Abstract:

The current web has become a modern encyclopedia, where people share their thoughts and ideas on various topics around them. This kind of encyclopedia is very useful for other people who are looking for answers to their questions. However, with the growing popularity of social networking and blogging and ever expanding network services, there has also been a growing diversity of technologies along with a different structure of individual web sites. It is therefore difficult to directly find a relevant answer for a common Internet user. This paper presents a web application for the real-time end-to-end analysis of selected Internet trends where the trend can be whatever the people post online. The application integrates fully configurable tools for data collection and analysis using selected webometric algorithms, and for its chronological visualization to user. It can be assumed that the application facilitates the users to evaluate the quality of various products that are mentioned online.

Keywords: Trend, visualizer, web analysis, web 2.0.

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Authors: Inamullah Bhatti, Ahsanullah Baloch, Khadija Qureshi

Abstract:

The objective of this research is to examine the shear thinning behaviour of mixing flow of non-Newtonian fluid like toothpaste in the dissolution container with rotating stirrer. The problem under investigation is related to the chemical industry. Mixing of fluid is performed in a cylindrical container with rotating stirrer, where stirrer is eccentrically placed on the lid of the container. For the simulation purpose the associated motion of the fluid is considered as revolving of the container, with stick stirrer. For numerical prediction, a time-stepping finite element algorithm in a cylindrical polar coordinate system is adopted based on semi-implicit Taylor-Galerkin/pressure-correction scheme. Numerical solutions are obtained for non-Newtonian fluids employing power law model. Variations with power law index have been analysed, with respect to the flow structure and pressure drop.

Keywords: finite element simulation, mixing fluid, rheology, rotating flow, toothpaste

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Authors: Erika Martinez Ramirez, Rene V. Mayorga

Abstract:

Nowadays, more engineering systems are using some kind of Artificial Intelligence (AI) for the development of their processes. Some well-known AI techniques include artificial neural nets, fuzzy inference systems, and neuro-fuzzy inference systems among others. Furthermore, many decision-making applications base their intelligent processes on Fuzzy Logic; due to the Fuzzy Inference Systems (FIS) capability to deal with problems that are based on user knowledge and experience. Also, knowing that users have a wide variety of distinctiveness, and generally, provide uncertain data, this information can be used and properly processed by a FIS. To properly consider uncertainty and inexact system input values, FIS normally use Membership Functions (MF) that represent a degree of user satisfaction on certain conditions and/or constraints. In order to define the parameters of the MFs, the knowledge from experts in the field is very important. This knowledge defines the MF shape to process the user inputs and through fuzzy reasoning and inference mechanisms, the FIS can provide an “appropriate" output. However an important issue immediately arises: How can it be assured that the obtained output is the optimum solution? How can it be guaranteed that each MF has an optimum shape? A viable solution to these questions is through the MFs parameter optimization. In this Paper a novel parameter optimization process is presented. The process for FIS parameter optimization consists of the five simple steps that can be easily realized off-line. Here the proposed process of FIS parameter optimization it is demonstrated by its implementation on an Intelligent Interface section dealing with the on-line customization / personalization of internet portals applied to E-commerce.

Keywords: Artificial Intelligence, Fuzzy Logic, Fuzzy InferenceSystems, Nonlinear Optimization.

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Authors: Ruibiao J. Guo, Brad Cain, Pierre Meunier

Abstract:

The Integrated Performance Modelling Environment (IPME) is a powerful simulation engine for task simulation and performance analysis. However, it has no high level cognition such as memory and reasoning for complex simulation. This article introduces a knowledge representation and reasoning scheme that can accommodate uncertainty in simulations of military personnel with IPME. This approach demonstrates how advanced reasoning models that support similarity-based associative process, rule-based abstract process, multiple reasoning methods and real-time interaction can be integrated with conventional task network modelling to provide greater functionality and flexibility when modelling operator performance.

Keywords: Computer-Generated Forces, Human Behaviour Representation, IPME, Modelling and Simulation, Uncertainty Reasoning

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Authors: Yong-Hui Li, Jing-Wen Huang

Abstract:

As the advancement of technology, online shopping channel develops rapidly in recent years. According to the report of Taiwan Network Information Center, there are almost eighty percents of internet population shopping in online channel. Synthesizing insights from the previous research, this study develops the conceptual model to integrate Theory of Perceived Risk (TPR) and Technology Acceptance Model (TAM) to apply in online shopping. Using data collected from 637 respondents from online survey website, we use structural equation modeling to test measurement and structural models. The results suggest the need for consideration of perceived risk as an antecedent in the Technology Acceptance Model. The limitations and implications are discussed.

Keywords: perceived risk, perceived usefulness, perceived ease of use, behavioral intention, actual purchase behavior

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Authors: Phornpat Chewasoonthorn, Surat Kwanmuang

Abstract:

Indoor positioning technologies have been evolved rapidly. They augment the Global Positioning System (GPS) which requires line-of-sight to the sky to track the location of people or objects. In this study, we developed an error correction method for an indoor real-time location system (RTLS) based on an ultra-wideband (UWB) sensor from Decawave. Multiple stationary nodes (anchor) were installed throughout the workspace. The distance between stationary and moving nodes (tag) can be measured using a two-way-ranging (TWR) scheme. The result has shown that the uncorrected ranging error from the sensor system can be as large as 1 m. To reduce ranging error and thus increase positioning accuracy, we present an online correction algorithm using the Kalman filter. The results from experiments have shown that the system can reduce ranging error down to 5 cm.

Keywords: Indoor positioning, ultra-wideband, error correction, Kalman filter.

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Authors: S. Shirazian, M.R. Ghayamghamian, G.R. Nouri

Abstract:

Bridges are one of the main components of transportation networks. They should be functional before and after earthquake for emergency services. Therefore we need to assess seismic performance of bridges under different seismic loadings. Fragility curve is one of the popular tools in seismic evaluations. The fragility curves are conditional probability statements, which give the probability of a bridge reaching or exceeding a particular damage level for a given intensity level. In this study, the seismic performance of a two-span simply supported concrete bridge is assessed. Due to usual lack of empirical data, the analytical fragility curve was developed by results of the dynamic analysis of bridge subjected to the different time histories in near-fault area.

Keywords: Fragility curve, Seismic behavior, Time historyanalysis, Transportation Network.

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Authors: Kyung Hyun, Choi, Minh Ngoc, Nong, M. Asif Ali, Rehmani

Abstract:

This present paper proposes the modified Elastic Strip method for mobile robot to avoid obstacles with a real time system in an uncertain environment. The method deals with the problem of robot in driving from an initial position to a target position based on elastic force and potential field force. To avoid the obstacles, the robot has to modify the trajectory based on signal received from the sensor system in the sampling times. It was evident that with the combination of Modification Elastic strip and Pseudomedian filter to process the nonlinear data from sensor uncertainties in the data received from the sensor system can be reduced. The simulations and experiments of these methods were carried out.

Keywords: Collision avoidance, Avoidance obstacle, Elastic Strip, Real time collision avoidance.

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Authors: Sun Lim, Il-Kyun Jung

Abstract:

This paper describes a newly designed decentralized nonlinear control strategy to control a robot manipulator. Based on the concept of the nonlinear state feedback theory and decentralized concept is developed to improve the drawbacks in previous works concerned with complicate intelligent control and low cost effective sensor. The control methodology is derived in the sense of Lyapunov theorem so that the stability of the control system is guaranteed. The decentralized algorithm does not require other joint angle and velocity information. Individual Joint controller is implemented using a digital processor with nearly actuator to make it possible to achieve good dynamics and modular. Computer simulation result has been conducted to validate the effectiveness of the proposed control scheme under the occurrence of possible uncertainties and different reference trajectories. The merit of the proposed control system is indicated in comparison with a classical control system.

Keywords: Robot manipulator control, nonlinear controller, Lyapunov based stability, Interconnection compensation.

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