Search results for: motion errors

Authors: Zeeshan Furqan, Shahabuddin Muhammad, Ratan Guha

Abstract:

IEEE has designed 802.11i protocol to address the security issues in wireless local area networks. Formal analysis is important to ensure that the protocols work properly without having to resort to tedious testing and debugging which can only show the presence of errors, never their absence. In this paper, we present the formal verification of an abstract protocol model of 802.11i. We translate the 802.11i protocol into the Strand Space Model and then prove the authentication property of the resulting model using the Strand Space formalism. The intruder in our model is imbued with powerful capabilities and repercussions to possible attacks are evaluated. Our analysis proves that the authentication of 802.11i is not compromised in the presented model. We further demonstrate how changes in our model will yield a successful man-in-the-middle attack.

Keywords: authentication, formal analysis, formal verification, security.

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Authors: Aziza Altaibayeva, Ertan Gudekli, Ratbay Myrzakulov

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In this letter, we explore exact solutions for the Horava-Lifshitz gravity. We use of an extension of this theory with first order dynamical lapse function. The equations of motion have been derived in a fully consistent scenario. We assume that there are some spherically symmetric families of exact solutions of this extended theory of gravity. We obtain exact solutions and investigate the singularity structures of these solutions. Specially, an exact solution with the regular horizon is found.

Keywords: Quantum gravity, Horava-Lifshitz gravity, black hole, spherically symmetric space times.

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Authors: Y.B.Gandole

Abstract:

Compaction testing methods allow at-speed detecting of errors while possessing low cost of implementation. Owing to this distinctive feature, compaction methods have been widely used for built-in testing, as well as external testing. In the latter case, the bandwidth requirements to the automated test equipment employed are relaxed which reduces the overall cost of testing. Concurrent compaction testing methods use operational signals to detect misbehavior of the device under test and do not require input test stimuli. These methods have been employed for digital systems only. In the present work, we extend the use of compaction methods for concurrent testing of analog-to-digital converters. We estimate tolerance bounds for the result of compaction and evaluate the aliasing rate.

Keywords: Analog-to Digital Converter, Embedded system, Concurrent Testing

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Authors: Amran Mohd Zaid, M. Atif Yaqub, Mohd Rizal Arshad, Md Saidin Wahab

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A multi fingered dexterous anthropomorphic hand is being developed by the authors. The focus of the hand is the replacement of human operators in hazardous environments and also in environments where zero tolerance is observed for the human errors. The robotic hand will comprise of five fingers (four fingers and one thumb) each having four degrees of freedom (DOF) which can perform flexion, extension, abduction, adduction and also circumduction. For the actuation purpose pneumatic muscles and springs will be used. The paper exemplifies the mechanical design for the robotic hand. It also describes different mechanical designs that have been developed before date.

Keywords: Robotic hand, Multi-fingered hand, dextrous hand, anthropomorphic hand, pneumatic muscles.

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Authors: Jaroslav Krutil, František Pochylý, Simona Fialová

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The article presents two mathematical models of the interaction between a rotating shaft and an incompressible fluid. The mathematical model includes both the journal bearings and the axially traversed hydrodynamic sealing gaps of hydraulic machines. A method is shown for the identification of additional effects of the fluid acting on the rotor of the machine, both for a linear and a nonlinear model. The interaction is expressed by matrices of mass, stiffness and damping.

Keywords: CFD modeling, hydrodynamic gap, matrices of mass, stiffness and damping, nonlinear mathematical model.

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Authors: Goh Yongli, Ooi Shih Yin, Pang Ying Han

Abstract:

Unintentional falls are rife throughout the ages and have been the common factor of serious or critical injuries especially for the elderly society. Fortunately, owing to the recent rapid advancement in technology, fall detection system is made possible, enabling detection of falling events for the elderly, monitoring the patient and consequently provides emergency support in the event of falling. This paper presents a review of 3 main categories of fall detection techniques, ranging from year 2005 to year 2010. This paper will be focusing on discussing the techniques alongside with summary and conclusion for them.

Keywords: State of the art, fall detection, wearable devices, ambient analyser, motion detection.

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Authors: H. Bouadi, M. Bouchoucha, M. Tadjine

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In this paper; we are interested principally in dynamic modelling of quadrotor while taking into account the high-order nonholonomic constraints in order to develop a new control scheme as well as the various physical phenomena, which can influence the dynamics of a flying structure. These permit us to introduce a new state-space representation. After, the use of Backstepping approach for the synthesis of tracking errors and Lyapunov functions, a sliding mode controller is developed in order to ensure Lyapunov stability, the handling of all system nonlinearities and desired tracking trajectories. Finally simulation results are also provided in order to illustrate the performances of the proposed controller.

Keywords: Dynamic modeling, nonholonomic constraints, Backstepping, sliding mode.

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Authors: S. Jeon, J. Kim, H. Choi

Abstract:

KSLV-I(Korea Space Launch Vehicle-I) is designed as a launch vehicle to enter a 100 kg-class satellite to the LEO(Low Earth Orbit). Attitude angles of the upper-stage, including roll, pitch and yaw are controlled by the cold gas thruster system using nitrogen gas. The cold gas thruster is an actuator in the RCS(Reaction Control System). To design an attitude controller for the upper-stage, thrust measurement in vacuum condition is required. In this paper, the new thrust measurement system and calibration mechanism are developed and measurement errors and signal processing method are presented.

Keywords: cold gas thruster, launch vehicle, thrust measurement, calibration mechanism, signal processing

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Authors: R. O’Reilly Meehan, D. B. Murray

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In many practical situations, bubbles are dispersed in a liquid phase. Understanding these complex bubbly flows is therefore a key issue for applications such as shell and tube heat exchangers, mineral flotation and oxidation in water treatment. Although a large body of work exists for bubbles rising in an unbounded medium, that of bubbles rising in constricted geometries has received less attention. The particular case of a bubble sliding underneath an inclined surface is common to two-phase flow systems. The current study intends to expand this knowledge by performing experiments to quantify the streamwise flow structures associated with a single sliding air bubble under an inclined surface in quiescent water. This is achieved by means of two-dimensional, two-component particle image velocimetry (PIV), performed with a continuous wave laser and high-speed camera. PIV vorticity fields obtained in a plane perpendicular to the sliding surface show that there is significant bulk fluid motion away from the surface. The associated momentum of the bubble means that this wake motion persists for a significant time before viscous dissipation. The magnitude and direction of the flow structures in the streamwise measurement plane are found to depend on the point on its path through which the bubble enters the plane. This entry point, represented by a phase angle, affects the nature and strength of the vortical structures. This study reconstructs the vorticity field in the wake of the bubble, converting the field at different instances in time to slices of a large-scale wake structure. This is, in essence, Taylor’s ”frozen turbulence” hypothesis. Applying this to the vorticity fields provides a pseudo three-dimensional representation from 2-D data, allowing for a more intuitive understanding of the bubble wake. This study provides insights into the complex dynamics of a situation common to many engineering applications, particularly shell and tube heat exchangers in the nucleate boiling regime.

Keywords: Bubbly flow, particle image velocimetry, two-phase flow, wake structures.

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Authors: Nafise Fareghzadeh

Abstract:

Service identification is one of the main activities in the modeling of a service-oriented solution, and therefore errors made during identification can flow down through detailed design and implementation activities that may necessitate multiple iterations, especially in building composite applications. Different strategies exist for how to identify candidate services that each of them has its own benefits and trade offs. The approach presented in this paper proposes a selective identification of services approach, based on in depth business process analysis coupled with use cases and existing assets analysis and goal service modeling. This article clearly emphasizes the key activities need for the analysis and service identification to build a optimized service oriented architecture. In contrast to other approaches this article mentions some best practices and steps, wherever appropriate, to point out the vagueness involved in service identification.

Keywords: SOA, service identification, service taxonomy, service layer.

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Authors: Walid Aydi, Nouri Masmoudi, Lotfi Kamoun

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Images of human iris contain specular highlights due to the reflective properties of the cornea. This corneal reflection causes many errors not only in iris and pupil center estimation but also to locate iris and pupil boundaries especially for methods that use active contour. Each iris recognition system has four steps: Segmentation, Normalization, Encoding and Matching. In order to address the corneal reflection, a novel reflection removal method is proposed in this paper. Comparative experiments of two existing methods for reflection removal method are evaluated on CASIA iris image databases V3. The experimental results reveal that the proposed algorithm provides higher performance in reflection removal.

Keywords: iris, pupil, specular highlights, reflection removal

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Authors: Rongli Gai, Zhiyuan Chang, Xiaohong Wang, Jingyu Liu

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In view of various situations in the interpolation process, most researchers use self-adaptation to adjust the interpolation process, which is also one of the current and future research hotspots in the field of CNC (Computerized Numerical Control) machining. In the interpolation process, according to the overview of the spline curve interpolation algorithm, the adaptive analysis is carried out from the factors affecting the interpolation process. The adaptive operation is reflected in various aspects, such as speed, parameters, errors, nodes, feed rates, random period, sensitive point, step size, curvature, adaptive segmentation, adaptive optimization, etc. This paper will analyze and summarize the research of adaptive imputation in the direction of the above factors affecting imputation.

Keywords: Adaptive algorithm, CNC machining, interpolation constraints, spline curve interpolation.

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Authors: Tharunika Sridhar

Abstract:

This research explores the benefits and methods of integrating Continuous Integration and Continuous Delivery (CI/CD) methodologies into network automation, focusing on Infrastructure as Code (IaC) applications. The primary goal is to enable IT organizations to achieve scalable network resources with enhanced security and compliance while streamlining deployment processes. The study highlights some key advantages of CI/CD, including improved version control, reduced manual errors and enhanced operational efficiency. Despite these benefits, using cloud-based systems and open-source tools introduces security challenges that organizations must address to optimize network configurations effectively.

Keywords: Infrastructure as Code, Continuous Integration, Continuous Delivery, pipeline, azure, terraform.

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Authors: Su-Lien Liao

Abstract:

Most of college students in Taiwan do not have sufficient English proficiency to express themselves in written English. Teachers spent a lot of time correcting the errors in students’ English writing, but the results are not satisfactory. This study aims to use blogs as a teaching and learning tool in written English. Before applying peer assessment, students should be trained to be good reviewers.  The teacher starts the course by posting the error analysis of students’ first English composition on blogs as the comment models for students. Then the students will go through the process of drafting, composing, peer response and last revision on blogs. Evaluation questionnaires and interviews will be conducted at the end of the course to see the impact and also students’ perception for the course.

Keywords: Blog, Peer assessment, English writing, Error analysis.

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Authors: A. Giniatoulline

Abstract:

A nonlinear model of the mathematical fluid dynamics which describes the motion of an incompressible viscous rotating fluid in a homogeneous gravitational field is considered. The model is a generalization of the known Navier-Stokes system with the addition of the Coriolis parameter and the equations for changeable density. An explicit algorithm for the solution is constructed, and the proof of the existence and uniqueness theorems for the strong solution of the nonlinear problem is given. For the linear case, the localization and the structure of the spectrum of inner waves are also investigated.

Keywords: Galerkin method, Navier-Stokes equations, nonlinear partial differential equations, Sobolev spaces, stratified fluid.

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Authors: T.C. Manjunath,

Abstract:

This paper features the trajectory planning design of a indigenously developed 4-Axis SCARA robot which is used for doing successful robotic manipulation task in the laboratory. Once, a trajectory is being designed and given as input to the robot, the robot's gripper tip moves along that specified trajectory. Trajectories have to be designed in the work space only. The main idea of this paper is to design a continuous path trajectory model for the indigenously developed SCARA robot arm during its maneuvering from one point to another point (during pick and place operations) in a workspace avoiding all the obstacles in its path of motion.

Keywords: SCARA, Trajectory, Planning.

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Authors: J. Novak-Marcincin, J. Barna, M. Janak

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Augmented Reality (AR) shows great promises for its usage as a tool for simulation and verification of design proposal of new technological systems. Main advantage of augmented reality application usage is possibility of creation and simulation of new technological unit before its realization. This may contribute to increasing of safety and ergonomics and decreasing of economical aspects of new proposed unit. Virtual model of proposed workcell could reveal hidden errors which elimination in later stage of new workcell creation should cause great difficulties. Paper describes process of such virtual model creation and possibilities of its simulation and verification by augmented reality tools.

Keywords: Augmented reality, simulation, workcell design.

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Authors: Rabah Diabi

Abstract:

As known, the guard wires of overhead high voltage are usually grounded through the grounding systems of support and of the terminal stations. They do affect the zero sequence impedance value of the line, Z0, which is generally, calculated assuming that the wires guard are at ground potential. In this way it is not considered the effect of the resistances of earth of supports and stations. In this work is formed a formula for the calculation of Z0 which takes account of said resistances. Is also proposed a method of calculating the impedance zero sequence overhead lines in which, in various sections or spans, the guard wires are connected to the supports, or isolated from them, or are absent. Parametric analysis is given for lines 220 kV and 400 kV, which shows the extent of the errors made with traditional methods of calculation.

Keywords: Overhead line, power system, zero sequence, wire guard, grounding.

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Authors: Maria C. Mariani, Md Al Masum Bhuiyan, Osei K. Tweneboah, Hector G. Huizar

Abstract:

This work is devoted to the study of modeling geophysical time series. A stochastic technique with time-varying parameters is used to forecast the volatility of data arising in geophysics. In this study, the volatility is defined as a logarithmic first-order autoregressive process. We observe that the inclusion of log-volatility into the time-varying parameter estimation significantly improves forecasting which is facilitated via maximum likelihood estimation. This allows us to conclude that the estimation algorithm for the corresponding one-step-ahead suggested volatility (with ±2 standard prediction errors) is very feasible since it possesses good convergence properties.

Keywords: Augmented Dickey Fuller Test, geophysical time series, maximum likelihood estimation, stochastic volatility model.

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Authors: Zilong Feng, Hong Li, Yang Liu, Siriguleng He

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In this article, an adaptive least-squares mixed finite element method is studied for pseudo-parabolic integro-differential equations. The solutions of least-squares mixed weak formulation and mixed finite element are proved. A posteriori error estimator is constructed based on the least-squares functional and the posteriori errors are obtained.

Keywords: Pseudo-parabolic integro-differential equation, least squares mixed finite element method, adaptive method, a posteriori error estimates.

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Authors: Marzieh Dosti, Alireza Nazemi

Abstract:

In this paper, the telegraph equation is solved numerically by cubic B-spline quasi-interpolation .We obtain the numerical scheme, by using the derivative of the quasi-interpolation to approximate the spatial derivative of the dependent variable and a low order forward difference to approximate the temporal derivative of the dependent variable. The advantage of the resulting scheme is that the algorithm is very simple so it is very easy to implement. The results of numerical experiments are presented, and are compared with analytical solutions by calculating errors L2 and L∞ norms to confirm the good accuracy of the presented scheme.

Keywords: Cubic B-spline, quasi-interpolation, collocation method, second-order hyperbolic telegraph equation.

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Authors: Jiří Primas, Michal Malík, Darina Jašíková, Václav Kopecký

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When a high DC voltage is applied to a capacitor with strongly asymmetrical electrodes, it generates a mechanical force that affects the whole capacitor. This is caused by the motion of ions generated around the smaller of the two electrodes and their subsequent interaction with the surrounding medium. If one of the electrodes is heated, it changes the conditions around the capacitor and influences the process of ionisation, thus changing the value of the generated force. This paper describes these changes and gives reasons behind them. Further the experimental results are given as proof of the ionic mechanism of the phenomenon.

Keywords: Capacitor with asymmetrical electrodes, Generated force, Heated electrode, High voltage.

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Authors: Osman Acar

Abstract:

Sun tracking systems are the systems following the sun ray by a right angle or by predetermined certain angle. In this study, we used theoretical trajectory of sun for latitude of central Anatolia in Turkey. A two degree of freedom spherical mechanism was designed to have a large workspace able to follow the sun's theoretical motion by the right angle during the whole year. An inverse kinematic analysis was generated to find the positions of mechanism links for the predicted trajectory. Force and torque analysis were shown for the first day of the year.

Keywords: Sun tracking, theoretical sun trajectory, spherical mechanism, inverse kinematic analysis.

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Authors: Mohamed Mounir Tellache, Hiroyuki Kambara, Yasuharu Koike, Makoto Miyakoshi, Natsue Yoshimura

Abstract:

This study explores the practicality of using electroencephalographic (EEG) independent components to predict eight-direction finger movements in pseudo-real-time. Six healthy participants with individual-head MRI images performed finger movements in eight directions with two different arm configurations. The analysis was performed in two stages. The first stage consisted of using independent component analysis (ICA) to separate the signals representing brain activity from non-brain activity signals and to obtain the unmixing matrix. The resulting independent components (ICs) were checked, and those reflecting brain-activity were selected. Finally, the time series of the selected ICs were used to predict eight finger-movement directions using Sparse Logistic Regression (SLR). The second stage consisted of using the previously obtained unmixing matrix, the selected ICs, and the model obtained by applying SLR to classify a different EEG dataset. This method was applied to two different settings, namely the single-participant level and the group-level. For the single-participant level, the EEG dataset used in the first stage and the EEG dataset used in the second stage originated from the same participant. For the group-level, the EEG datasets used in the first stage were constructed by temporally concatenating each combination without repetition of the EEG datasets of five participants out of six, whereas the EEG dataset used in the second stage originated from the remaining participants. The average test classification results across datasets (mean ± S.D.) were 38.62 ± 8.36% for the single-participant, which was significantly higher than the chance level (12.50 ± 0.01%), and 27.26 ± 4.39% for the group-level which was also significantly higher than the chance level (12.49% ± 0.01%). The classification accuracy within [–45°, 45°] of the true direction is 70.03 ± 8.14% for single-participant and 62.63 ± 6.07% for group-level which may be promising for some real-life applications. Clustering and contribution analyses further revealed the brain regions involved in finger movement and the temporal aspect of their contribution to the classification. These results showed the possibility of using the ICA-based method in combination with other methods to build a real-time system to control prostheses.

Keywords: Brain-computer interface, BCI, electroencephalography, EEG, finger motion decoding, independent component analysis, pseudo-real-time motion decoding.

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Authors: Wen-Yin Huang, Jia-Jie Liu, Jou-Ming Chang

Abstract:

Faults in a network may take various forms such as hardware/software errors, vertex/edge faults, etc. Folded hypercube is a well-known variation of the hypercube structure and can be constructed from a hypercube by adding a link to every pair of nodes with complementary addresses. Let FFv (respectively, FFe) be the set of faulty nodes (respectively, faulty links) in an n-dimensional folded hypercube FQn. Hsieh et al. have shown that FQn - FFv - FFe for n ≥ 3 contains a fault-free cycle of length at least 2n -2|FFv|, under the constraints that (1) |FFv| + |FFe| ≤ 2n - 4 and (2) every node in FQn is incident to at least two fault-free links. In this paper, we further consider the constraints |FFv| + |FFe| ≤ 2n - 3. We prove that FQn - FFv - FFe for n ≥ 5 still has a fault-free cycle of length at least 2n - 2|FFv|, under the constraints : (1) |FFv| + |FFe| ≤ 2n - 3, (2) |FFe| ≥ n + 2, and (3) every vertex is still incident with at least two links.

Keywords: Folded hypercubes, interconnection networks, cycle embedding, faulty elements.

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Authors: K. Oh, J. P. Hwang, E. Kim, H. Lee

Abstract:

This paper presents an algorithm which extends the rapidly-exploring random tree (RRT) framework to deal with change of the task environments. This algorithm called the Retrieval RRT Strategy (RRS) combines a support vector machine (SVM) and RRT and plans the robot motion in the presence of the change of the surrounding environment. This algorithm consists of two levels. At the first level, the SVM is built and selects a proper path from the bank of RRTs for a given environment. At the second level, a real path is planned by the RRT planners for the given environment. The suggested method is applied to the control of KUKA™,, a commercial 6 DOF robot manipulator, and its feasibility and efficiency are demonstrated via the cosimulatation of MatLab™, and RecurDyn™,.

Keywords: Path planning, RRT, 6 DOF manipulator, SVM.

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Authors: Qasem M. Al-Mdallal

Abstract:

This paper presents results obtained from the numerical solution for the flow past an oscillating circular cylinder at Reynolds number of 200. The frequency of oscillation was fixed to the vortex shedding frequency from a fixed cylinder, f0, while the amplitudes of oscillations were varied from to 1.1a, where a represents the radius of the cylinder. The response of the flow through the fluid forces acting on the surface of the cylinder are investigated. The lock-on phenomenon is captured at low oscillation amplitudes.

Keywords: Lock-on; streamwise oscillation; transverse oscillation; fluid forces, combined motion

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Authors: Naoto Suzuki

Abstract:

Japanese are affected by the most common causes of eyesight loss such as glaucoma, diabetic retinopathy, pigmentary retinal degeneration, and age-related macular degeneration. We developed an ophthalmological examination apparatus with a fundus camera, precisely fundus-related perimetry (microperimetry), and electroretinogram (ERG) functions to diagnose a variety of diseases that cause eyesight loss. The experimental apparatus was constructed with the same optical system as a fundus camera. The microperimetry optical system was calculated and added to the experimental apparatus using the German company Optenso's optical engineering software (OpTaliX-LT 10.8). We also added an Edmund infrared camera (EO-0413), a lens with a 25 mm focal length, a 45° cold mirror, a 12 V/50 W halogen lamp, and an 8-inch monitor. We made the artificial eye of a plane-convex lens, a black spacer, and a hemispherical cup. The hemispherical cup had a small section of the paper at the bottom. The artificial eye was photographed five times using the experimental apparatus. The software was created to display the examination target on the monitor and save examination data using C++Builder 10.2. The retinal fundus was displayed on the monitor at a length and width of 1 mm and a resolution of 70.4 ± 4.1 and 74.7 ± 6.8 pixels, respectively. The microperimetry and ERG functions were successfully added to the experimental ophthalmological apparatus. A moving machine was developed to measure the artificial eye's movement. The artificial eye's rear part was painted black and white in the central area. It was rotated 10 degrees from one side to the other. The movement was captured five times as motion videos. Three static images were extracted from one of the motion videos captured. The images display the artificial eye facing the center, right, and left directions. The three images were processed using Scilab 6.1.0 and Image Processing and Computer Vision Toolbox 4.1.2, including trimming, binarization, making a window, deleting peripheral area, and morphological operations. To calculate the artificial eye's fundus center, we added a gravity method to the program to calculate the gravity position of connected components. From the three images, the image processing could calculate the center position.

Keywords: Ophthalmological examination apparatus, microperimetry, electroretinogram, eye movement.

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Authors: P. Prema, B. Ramadoss

Abstract:

Testing is an activity that is required both in the development and maintenance of the software development life cycle in which Integration Testing is an important activity. Integration testing is based on the specification and functionality of the software and thus could be called black-box testing technique. The purpose of integration testing is testing integration between software components. In function or system testing, the concern is with overall behavior and whether the software meets its functional specifications or performance characteristics or how well the software and hardware work together. This explains the importance and necessity of IT for which the emphasis is on interactions between modules and their interfaces. Software errors should be discovered early during IT to reduce the costs of correction. This paper introduces a new type of integration error, presenting an overview of Integration Testing techniques with comparison of each technique and also identifying which technique detects what type of error.

Keywords: Integration Error, Integration Error Types, Integration Testing Techniques, Software Testing

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Authors: Saeed Hosseini, Ali Reza Tahavvor

Abstract:

Sound processing is one the subjects that newly attracts a lot of researchers. It is efficient and usually less expensive than other methods. In this paper the flow generated sound is used to estimate the flow speed of free flows. Many sound samples are gathered. After analyzing the data, a parameter named wave power is chosen. For all samples the wave power is calculated and averaged for each flow speed. A curve is fitted to the averaged data and a correlation between the wave power and flow speed is found. Test data are used to validate the method and errors for all test data were under 10 percent. The speed of the flow can be estimated by calculating the wave power of the flow generated sound and using the proposed correlation.

Keywords: Flow generated sound, sound processing, speed, wave power.

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