Search results for: Mobile Manipulator

Authors: JooHyung Oh, Dongwan Kang, Sekwon Kim, ChaeTae Im

Abstract:

Currently, there has been a 3G mobile networks data traffic explosion due to the large increase in the number of smartphone users. Unlike a traditional wired infrastructure, 3G mobile networks have limited wireless resources and signaling procedures for complex wireless resource management. And mobile network security for various abnormal and malicious traffic technologies was not ready. So Malicious or potentially malicious traffic originating from mobile malware infected smart devices can cause serious problems to the 3G mobile networks, such as DoS and scanning attack in wired networks. This paper describes the DoS security threat in the 3G mobile network and proposes a detection technology.

Keywords: 3G, WCDMA, DoS, Security Threat

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Authors: Y. Cifuentes, L. Beltrán, L. Ramírez

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The availability to deploy mobile applications for health care is increasing daily thru different mobile app stores. But within these capabilities the number of hacking attacks has also increased, in particular into medical mobile applications. The security vulnerabilities in medical mobile apps can be triggered by errors in code, incorrect logic, poor design, among other parameters. This is usually used by malicious attackers to steal or modify the users’ information. The aim of this research is to analyze the vulnerabilities detected in mobile medical apps according to risk factor standards defined by OWASP in 2014.

Keywords: mHealth apps, OWASP, protocols, security vulnerabilities, risk factors.

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Authors: Shafiq ur Rehman, Jane Coughlan

Abstract:

The work we have accomplished in implementing a Mobile Payment mechanism that enables customers to pay bills for groceries and other purchased items in a store through the means of a mobile phone, specifically a Smartphone. The mode of transaction, as far as communication between the customer-s handset and the merchant-s POS is concerned, we have decided upon NFC (Near Field Communication). This is due to the fact that for the most part, Pakistani Smartphone users have handsets that have Android mobile OS, which supports the aforementioned platform, IOS, on the other hand does not.

Keywords: Usability, mobile payment system, NFC technology, payment process, customer.

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Authors: Tarig Mohamed Ahmed

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The usage of internet is rapidly increasing and the usage of mobile agent technology in internet environment has a great demand. The security issue one of main obstacles that restrict the mobile agent technology to spread. This paper proposes Secure-Image Mechanism (SIM) as a new mechanism to protect mobile agents against malicious hosts. . SIM aims to protect mobile agent by using the symmetric encryption and hash function in cryptography science. This mechanism can prevent the eavesdropping and alteration attacks. It assists the mobile agents to continue their journey normally incase attacks occurred.

Keywords: Agent protection, cryptography, mobile agent security.

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Authors: A. Arockia Selvakumar, R. Sivaramakrishnan, Srinivasa Karthik.T.V, Valluri Siva Ramakrishna, B.Vinodh.

Abstract:

Industrial robots play a vital role in automation however only little effort are taken for the application of robots in machining work such as Grinding, Cutting, Milling, Drilling, Polishing etc. Robot parallel manipulators have high stiffness, rigidity and accuracy, which cannot be provided by conventional serial robot manipulators. The aim of this paper is to perform the modeling and the workspace analysis of a 3 DOF Parallel Manipulator (3 DOF PM). The 3 DOF PM was modeled and simulated using 'ADAMS'. The concept involved is based on the transformation of motion from a screw joint to a spherical joint through a connecting link. This paper work has been planned to model the Parallel Manipulator (PM) using screw joints for very accurate positioning. A workspace analysis has been done for the determination of work volume of the 3 DOF PM. The position of the spherical joints connected to the moving platform and the circumferential points of the moving platform were considered for finding the workspace. After the simulation, the position of the joints of the moving platform was noted with respect to simulation time and these points were given as input to the 'MATLAB' for getting the work envelope. Then 'AUTOCAD' is used for determining the work volume. The obtained values were compared with analytical approach by using Pappus-Guldinus Theorem. The analysis had been dealt by considering the parameters, link length and radius of the moving platform. From the results it is found that the radius of moving platform is directly proportional to the work volume for a constant link length and the link length is also directly proportional to the work volume, at a constant radius of the moving platform.

Keywords: Three Degrees of freedom Parallel Manipulator (3DOF PM), ADAMS, Work volume, MATLAB, AUTOCAD, Pappus- Guldinus Theorem.

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Authors: Saipunidzam Mahamad, Eliza Mazmee Mazlan, Rozana Kasbon, Khairul Shafee Kalid, NurSyazwani Rusdi

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Mobile Picture Puzzle is a mobile game application where the player use existing images stored in the mobile phone to create a puzzle to be played. This traditional picture puzzle is not so challenging once the player is familiar with the game. The objective of the developed mobile game application is to have a similar mobile game application that can provide the player with more challenging gaming experience. The developed mobile game application is also a mobile picture puzzle game application to create a puzzle to be played but instead of just using existing images that are stored, the personalised capability allows the player to use the built-in camera phone to capture an image and use the newly captured image to create the puzzle. The development of the mobile game application uses Symbian Operating System (OS), Mobile Media API (Application Programming Interface), Record Management System (RMS) storage and TiledLayer class from Game API.

Keywords: Picture Puzzle, Pervasive gaming, J2ME.

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Authors: H. Sadjadian , H.D. Taghirad Member, A. Fatehi

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In this paper, different approaches to solve the forward kinematics of a three DOF actuator redundant hydraulic parallel manipulator are presented. On the contrary to series manipulators, the forward kinematic map of parallel manipulators involves highly coupled nonlinear equations, which are almost impossible to solve analytically. The proposed methods are using neural networks identification with different structures to solve the problem. The accuracy of the results of each method is analyzed in detail and the advantages and the disadvantages of them in computing the forward kinematic map of the given mechanism is discussed in detail. It is concluded that ANFIS presents the best performance compared to MLP, RBF and PNN networks in this particular application.

Keywords: Forward Kinematics, Neural Networks, Numerical Solution, Parallel Manipulators.

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Authors: K. B. Manwade, G. A. Patil

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Mobile agent has motivated the creation of a new methodology for parallel computing. We introduce a methodology for the creation of parallel applications on the network. The proposed Mobile-Agent parallel processing framework uses multiple Javamobile Agents. Each mobile agent can travel to the specified machine in the network to perform its tasks. We also introduce the concept of master agent, which is Java object capable of implementing a particular task of the target application. Master agent is dynamically assigns the task to mobile agents. We have developed and tested a prototype application: Mobile Agent Based Parallel Computing. Boosted by the inherited benefits of using Java and Mobile Agents, our proposed methodology breaks the barriers between the environments, and could potentially exploit in a parallel manner all the available computational resources on the network. This paper elaborates performance issues of a mobile agent for parallel computing.

Keywords: Parallel Computing, Mobile Agent.

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Authors: A. Izadbakhsh, M. M. Fateh, M. A. Sadrnia

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A multivariable discontinuous feedback linearization approach is proposed to position control of an electrically driven fast robot manipulator. A desired performance is achieved by selecting a useful controller and suitable sampling rate and considering saturation for actuators. There is a high flexibility to apply the proposed control approach on different electrically driven manipulators. The control approach can guarantee the stability and satisfactory tracking performance. A PUMA 560 robot driven by geared permanent magnet dc motors is simulated. The simulation results show a desired performance for control system under technical specifications.

Keywords: Fast robot, feedback linearization, multivariabledigital control, PUMA560.

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Authors: M. Pala Prasad Reddy, Jeevamma Jacob

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Accurate dynamic modeling and analysis of flexible link manipulator (FLM) with non linear dynamics is very difficult due to distributed link flexibility and few studies have been conducted based on assumed modes method (AMM) and finite element models. In this paper a nonlinear dynamic model with first two elastic modes is derived using combined Euler/Lagrange and AMM approaches. Significant dynamics associated with the system such as hub inertia, payload, structural damping, friction at joints, combined link and joint flexibility are incorporated to obtain the complete and accurate dynamic model. The response of the FLM to the applied bang-bang torque input is compared against the models derived from LS-DYNA finite element discretization approach and linear finite element models. Dynamic analysis is conducted using LS-DYNA finite element model which uses the explicit time integration scheme to simulate the system. Parametric study is conducted to show the impact payload mass. A numerical result shows that the LS-DYNA model gives the smooth hub-angle profile.

 

Keywords: Flexible link manipulator, AMM, FEM, LS-DYNA, Bang-bang torque input.

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Authors: Yao Lu, Xiuguo Zhang, Zhiying Cao

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In this paper, Load Balancing idea is used in the Web service mobile host. The main idea of Load Balancing is to establish a one-to-many mapping mechanism: An entrance-mapping request to plurality of processing node in order to realize the dividing and assignment processing. Because the mobile host is a resource constrained environment, there are some Web services which cannot be completed on the mobile host. When the mobile host resource is not enough to complete the request, Load Balancing scheduler will divide the request into a plurality of sub-requests and transfer them to different auxiliary mobile hosts. Auxiliary mobile host executes sub-requests, and then, the results will be returned to the mobile host. Service request integrator receives results of sub-requests from the auxiliary mobile host, and integrates the sub-requests. In the end, the complete request is returned to the client. Experimental results show that this technology adopted in this paper can complete requests and have a higher efficiency.

Keywords: Dinic, load balancing, mobile host, web service.

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Authors: M. Samaka

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This paper presents the development of a software application for Off-line robot task programming and simulation. Such application is designed to assist in robot task planning and to direct manipulator motion on sensor based programmed motion. The concept of the designed programming application is to use the power of the knowledge base for task accumulation. In support of the programming means, an interactive graphical simulation for manipulator kinematics was also developed and integrated into the application as the complimentary factor to the robot programming media. The simulation provides the designer with useful, inexpensive, off-line tools for retain and testing robotics work cells and automated assembly lines for various industrial applications.

Keywords: Robot programming, task-level programming, robot languages, robot simulation, robotics software.

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Authors: Rajdeep Niyogi

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The objective of the paper is twofold. First, to develop a formal framework for planning for mobile agents. A logical language based on a temporal logic is proposed that can express a type of tasks which often arise in network management. Second, to design a planning algorithm for such tasks. The aim of this paper is to study the importance of finding plans for mobile agents. Although there has been a lot of research in mobile agents, not much work has been done to incorporate planning ideas for such agents. This paper makes an attempt in this direction. A theoretical study of finding plans for mobile agents is undertaken. A planning algorithm (based on the paradigm of mobile computing) is proposed and its space, time, and communication complexity is analyzed. The algorithm is illustrated by working out an example in detail.

Keywords: Acting, computer network, mobile agent, mobile computing, planning, temporal logic.

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Authors: Tan Soo Fun, Leau Yu Beng, Rozaini Roslan, Habeeb Saleh Habeeb

Abstract:

The increasing development of wireless networks and the widespread popularity of handheld devices such as Personal Digital Assistants (PDAs), mobile phones and wireless tablets represents an incredible opportunity to enable mobile devices as a universal payment method, involving daily financial transactions. Unfortunately, some issues hampering the widespread acceptance of mobile payment such as accountability properties, privacy protection, limitation of wireless network and mobile device. Recently, many public-key cryptography based mobile payment protocol have been proposed. However, limited capabilities of mobile devices and wireless networks make these protocols are unsuitable for mobile network. Moreover, these protocols were designed to preserve traditional flow of payment data, which is vulnerable to attack and increase the user-s risk. In this paper, we propose a private mobile payment protocol which based on client centric model and by employing symmetric key operations. The proposed mobile payment protocol not only minimizes the computational operations and communication passes between the engaging parties, but also achieves a completely privacy protection for the payer. The future work will concentrate on improving the verification solution to support mobile user authentication and authorization for mobile payment transactions.

Keywords: Mobile Network Operator, Mobile payment protocol, Privacy, Symmetric key.

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Authors: Juyi Park, Jung-Min Kim, Hee-Hwan Park, Jin-Wook Kim, Gye-Hyung Kang, Soo-Ho Kim

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This paper presents an iterative algorithm to find a inverse kinematic solution of 5-DOF robot. The algorithm is to minimize the iteration number. Since the 5-DOF robot cannot give full orientation of tool. Only z-direction of tool is satisfied while rotation of tool is determined by kinematic constraint. This work therefore described how to specify the tool direction and let the tool rotation free. The simulation results show that this algorithm effectively worked. Using the proposed iteration algorithm, error due to inverse kinematics converged to zero rapidly in 5 iterations. This algorithm was applied in real welding robot and verified through various practical works.

Keywords: 5-DOF manipulator, Inverse kinematics, Iterative algorithm, Wrist offset.

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Authors: Hasanul Ferdaus, Sazzadur Rahman, Kamrul Islam

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With the rapid usage of portable devices mobility in IP networks becomes more important issue in the recent years. IETF standardized Mobile IP that works in Network Layer, which involves tunneling of IP packets from HA to Foreign Agent. Mobile IP suffers many problems of Triangular Routing, conflict with private addressing scheme, increase in load in HA, need of permanent home IP address, tunneling itself, and so on. In this paper, we proposed mobility management in Application Layer protocol SIP and show some comparative analysis between Mobile IP and SIP in context of mobility.

Keywords: Mobility, mobile IP, SIP, tunneling.

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Authors: Salima Hacini, Haoua Cheribi, Zizette Boufaïda

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The paradigm of mobile agent provides a promising technology for the development of distributed and open applications. However, one of the main obstacles to widespread adoption of the mobile agent paradigm seems to be security. This paper treats the security of the mobile agent against malicious host attacks. It describes generic mobile agent protection architecture. The proposed approach is based on the dynamic adaptability and adopts the reflexivity as a model of conception and implantation. In order to protect it against behaviour analysis attempts, the suggested approach supplies the mobile agent with a flexibility faculty allowing it to present an unexpected behaviour. Furthermore, some classical protective mechanisms are used to reinforce the level of security.

Keywords: Dynamic adaptability, malicious host, mobile agent security, reflexivity.

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Authors: Yongyoon Suh, Chulhyun Kim, Moon-soo Kim

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As increasing importance of symbiosis and cooperation among mobile communication industries, the mobile ecosystem has been especially highlighted in academia and practice. The structure of mobile ecosystem is quite complex and the ecological role of actors is important to understand that structure. In this respect, this study aims to explore structure of mobile ecosystem in the case of Korea using inter-industry network analysis. Then, the ecological roles in mobile ecosystem are identified using centrality measures as a result of network analysis: degree of centrality, closeness, and betweenness. The result shows that the manufacturing and service industries are separate. Also, the ecological roles of some actors are identified based on the characteristics of ecological terms: keystone, niche, and dominator. Based on the result of this paper, we expect that the policy makers can formulate the future of mobile industry and healthier mobile ecosystem can be constructed.

Keywords: Mobile ecosystem, structure, ecological roles, network analysis, network index.

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Authors: Shafiq Ur Rehman, Jane-Lisa Coughlan

Abstract:

One challenging direction of mobile commerce (mcommerce) that is getting a great deal of attention globally is mobile financing. The smart-phone and PDA users all around the world are facing difficulties to become accustomed and trust in m-commerce. The main rationale can be the slow variation and lack of trust in mobile payment systems. Mobile payment systems that are in use need to be more effective and efficient. This paper proposes: the interface design is not the only factor affecting the m-commerce adoption and lack of trust; in fact it is the combined effect of interface usability and trustworthy mobile payment systems, because it-s the money that the user has to spend at the end of the day, which the user requires to get transferred securely. The purpose of this research is to identify the problems regarding the trust and adaption of m-commerce applications by mobile users and to provide the best possible solution with respect to human computer interaction (HCI) principles.

Keywords: m-commerce, usability, mobile payment method, interface design.

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Authors: Prasansha Kumari

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This paper intends to identify and analyze customer adoption and attitudes towards mobile banking facilities. The study uses six perceived characteristics of innovation that can be used to form a favorable or unfavorable attitude toward an innovation, namely: Relative advantage, compatibility, complexity, trailability, risk, and observability. Collected data were analyzed using Pearson Chi-Square test. The results showed that mobile bank users were predominantly males. There is a growing trend among young, educated customers towards converting to mobile banking in Sri Lanka. The research outcomes suggested that all the six factors are statistically highly significant in influencing mobile banking adoption and attitude formation towards mobile banking in Sri Lanka. The major reasons for adopting mobile banking services are the accessibility and availability of services regardless of time and place. Over the 75 percent of the respondents mentioned that savings in time and effort and low financial costs of conducting mobile banking were advantageous. Issue of security was found to be the most important factor that motivated consumer adoption and attitude formation towards mobile banking. Main barriers to mobile banking were the lack of technological skills, the traditional cash‐carry banking culture, and the lack of awareness and insufficient guidance to using mobile banking.

Keywords: Compatibility, complexity, mobile banking, risk.

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Authors: M. Sarrab, M. Elbasir

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The use of information technology in education have changed not only the learners learning style but also the way they taught, where nowadays learners are connected with diversity of information sources with means of knowledge available everywhere. The advantage of network wireless technologies and mobility technologies used in the education and learning processes lead to mobile learning as a new model of learning technology. Currently, most of mobile learning applications are developed for the formal education and learning environment. Despite the long history and large amount of research on mobile learning and instruction design model still there is a need of well-defined process in designing mobile learning applications. Based on this situation, this paper emphasizes on identifying instruction design phase’s considerations and influencing factors in developing mobile learning application. This set of instruction design steps includes analysis, design, development, implementation, evaluation and continuous has been built from a literature study, with focus on standards for learning, mobile application software quality and guidelines. The effort is part of an Omani-funded research project investigating the development, adoption and dissemination of mobile learning in Oman.

Keywords: Instruction design, mobile learning, mobile application.

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Authors: Eugen Pop, Mihai Barbos, Razvan Lupu

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The client server systems using mobile communications networks for data transmission became very attractive for many economic agents, in the purpose of promoting and offering electronic services to their clients. E-services are suitable for business developing and financial benefits increasing. The products or services can be efficiently delivered to a large number of clients, using mobile Internet access technologies. The clients can have access to e-services, anywhere and anytime, with the support of 3G, GPRS, WLAN, etc., channels bandwidth, data services and protocols. Based on the mobile communications networks evolution and development, a convergence of technological and financial interests of mobile operators, software developers, mobile terminals producers and e-content providers is established. These will lead to a high level of integration of IT&C resources and will facilitate the value added services delivery through the mobile communications networks. In this paper it is presented a client server system, for e-services access, with Smartphones and PDA-s mobile software applications, installed on Symbian and Windows Mobile operating systems.

Keywords: Client server system, e-services access, mobile communications, PDA, Smartphone.

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Authors: Pei-Shan Wei, Szu-Ying Lee, Hsi-Peng Lu, Jen-Chuen Tzou, Chien-I Weng

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Mobile social games recently become extremely popular, spawning a whole new entertainment culture. However, mobile game players are fickle, quickly and easily picking up and abandoning games. This pilot study seeks to identify factors that influence users to discontinuing playing mobile social games. We identified three sacrifices which can prompt users to abandon games: monetary sacrifice, time sacrifice and privacy sacrifice. The results showed that monetary sacrifice has a greater impact than the other two factors in causing players to discontinue usage intention.

Keywords: Abandon, Mobile devices, Mobile social games, Perceived sacrifice.

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Authors: Esad Kadušić, Petar Bojović, Amela Žgalj

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Mobile banking services present a unique growth opportunity for mobile operators in emerging markets, and have already made good progress in bringing financial services to the previously unbanked populations of many developing countries. The potential is amazing, but what about the risks? In the complex process of establishing a mobile banking business model, many kinds of risks and factors need to be monitored and well-managed. Risk identification is the first stage of risk management. Correct risk identification ensures risk management effectiveness. Keeping the risks low makes it possible to use the full potential of mobile banking and carry out the planned business strategy. The focus should be on adoption of consumers which is the main risk factor of mobile banking services.

Keywords: Consumer Adoption, Mobile Banking, Risk

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Authors: Conradie, P.W., Lombard, A., Moller, M.

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The dramatic effect of information technology on society is undeniable. In education, it is evident in the use of terms like active learning, blended learning, electronic learning and mobile learning (ubiquitous learning). This study explores the perceptions of 54 learners in a higher education institution regarding the use of mobile devices in a third year module. Using semi-structured interviews, it was found that mobile devices had a positive impact on learner motivation, engagement and enjoyment. It also improved the consistency of learning material, and the convenience and flexibility (anywhere, anytime) of learning. User-interfacelimitation, bandwidth and cognitive overload, however, were of concern. The use of cloud based resources like Youtube and Google Docs, through mobile devices, positively influenced learner perceptions, making them prosumers (both consumers and producers) of education content.

Keywords: Active learning, education, mobile learning, pedagogy.

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Authors: M. Sarrab, H. Bourdoucen

Abstract:

Mobile applications are verified to check the correctness or evaluated to check the performance with respect to specific security properties such as Availability, Integrity and Confidentiality. Where they are made available to the end users of the mobile application is achievable only to a limited degree using software engineering static verification techniques. The more sensitive the information, such as credit card data, personal medical information or personal emails being processed by mobile application, the more important it is to ensure the confidentiality of this information. Monitoring untrusted mobile application during execution in an environment where sensitive information is present is difficult and unnerving. The paper addresses the issue of monitoring and controlling the flow of confidential information during untrusted mobile application execution. The approach concentrates on providing a dynamic and usable information security solution by interacting with the mobile users during the runtime of mobile application in response to information flow events.

Keywords: Mobile application, Run-time verification, Usable security, Direct information flow.

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Authors: Abdallah Ghoul, Bachir Ouamri, Ismail Khalil Bousserhane

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In this paper, we have developed a sliding mode controller for PUMA 600 manipulator robot, to control the remote robot a teleoperation system was developed. This system includes two sites, local and remote. The sliding mode controller is installed at the remote site. The client asks for a position through an interface and receives the real positions after running of the task by the remote robot. Both sites are interconnected via the Internet. In order to verify the effectiveness of the sliding mode controller, that is compared with a classic PID controller. The developed approach is tested on a virtual robot. The results confirmed the high performance of this approach.

Keywords: Internet, manipulator robot, PID controller, remote control, sliding mode, teleoperation.

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Authors: T. C. Kuo

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In this paper, a novel adaptive fuzzy sliding mode control method is proposed for the robust tracking control of robotic manipulators. The proposed controller possesses the advantages of adaptive control, fuzzy control, and sliding mode control. First, system stability and robustness are guaranteed based on the sliding mode control. Further, fuzzy rules are developed incorporating with adaptation law to alleviate the input chattering effectively. Stability of the control system is proven by using the Lyapunov method. An application to a three-degree-of-freedom robotic manipulator is carried out. Accurate trajectory tracking as well as robustness is achieved. Input chattering is greatly eliminated.

Keywords: Fuzzy control, sliding mode control, roboticmanipulator, adaptive control.

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Authors: M. E. Marwan, A. R. Madar, N. Fuad

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Mobile communication provides access to the outside world without borders everywhere and at any time. The learning method that related to mobile communication technology is known as mobile learning (M-learning). It is a method that communicates learning materials with mobile device technology. The purpose of this method is to increase the interest in learning among students and assist them in obtaining learning materials at Kolej Poly-Tech MARA (KPTM) in order to improve the student’s performance in their study and to encourage educators to diversify the teaching practices. This paper discusses the student’s awareness for enhancement of learning style using mobile technologies and their readiness to apply the elements of mobile learning in learning to improve performance and interest in learning among students. An application called Mobile EEF Learning System (MEEFLS) has been developed as a tool to be used as a pilot test in KPTM.

Keywords: Awareness, MEEFLS, mobile learning, readiness.

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Authors: Wassila Kiamouche, Malek Benslama

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In order to derive important parameters concerning mobile subscriber MS with ongoing calls in Low Earth Orbit Mobile Satellite Systems LEO MSSs, a positioning system had to be integrated into MSS in order to localize mobile subscribers MSs and track them during the connection. Such integration is regarded as a complex implementation. We propose in this paper a novel method based on advantages of mobility model of Low Earth Orbit Mobile Satellite System LEO MSS called Evaluation Parameters Method EPM which allows for such systems the evaluation of different information concerning a MS with a call in progress even if its location is unknown.

Keywords: Cellular layout, LEO mobile satellite system, mobilitymodel, positioning system.

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