Search results for: power error
2003 Perceptual Framework for a Modern Left-Turn Collision Warning System
Authors: E. Dabbour, S. M. Easa
Abstract:
Most of the collision warning systems currently available in the automotive market are mainly designed to warn against imminent rear-end and lane-changing collisions. No collision warning system is commercially available to warn against imminent turning collisions at intersections, especially for left-turn collisions when a driver attempts to make a left-turn at either a signalized or non-signalized intersection, conflicting with the path of other approaching vehicles traveling on the opposite-direction traffic stream. One of the major factors that lead to left-turn collisions is the human error and misjudgment of the driver of the turning vehicle when perceiving the speed and acceleration of other vehicles traveling on the opposite-direction traffic stream; therefore, using a properly-designed collision warning system will likely reduce, or even eliminate, this type of collisions by reducing human error. This paper introduces perceptual framework for a proposed collision warning system that can detect imminent left-turn collisions at intersections. The system utilizes a commercially-available detection sensor (either a radar sensor or a laser detector) to detect approaching vehicles traveling on the opposite-direction traffic stream and calculate their speeds and acceleration rates to estimate the time-tocollision and compare that time to the time required for the turning vehicle to clear the intersection. When calculating the time required for the turning vehicle to clear the intersection, consideration is given to the perception-reaction time of the driver of the turning vehicle, which is the time required by the driver to perceive the message given by the warning system and react to it by engaging the throttle. A regression model was developed to estimate perception-reaction time based on age and gender of the driver of the host vehicle. Desired acceleration rate selected by the driver of the turning vehicle, when making the left-turn movement, is another human factor that is considered by the system. Another regression model was developed to estimate the acceleration rate selected by the driver of the turning vehicle based on driver-s age and gender as well as on the location and speed of the nearest approaching vehicle along with the maximum acceleration rate provided by the mechanical characteristics of the turning vehicle. By comparing time-to-collision with the time required for the turning vehicle to clear the intersection, the system displays a message to the driver of the turning vehicle when departure is safe. An application example is provided to illustrate the logic algorithm of the proposed system.Keywords: Collision warning systems, intelligent transportationsystems, vehicle safety.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 20622002 Interrelationships between Physicochemical Water Pollution Indicators: A Case Study of River Pandu
Authors: Sunita Verma , Divya Tiwari, Ajay Verma
Abstract:
Water samples were collected from river Pandu at six stations where human and animal activities were high. Composite samples were analyzed for dissolved oxygen (DO), biochemical oxygen demand (BOD), chemical oxygen demand (COD) , pH values during dry and wet seasons as well as the harmattan period. The total data points were used to establish relationships between the parameters and data were also subjected to statistical analysis and expressed as mean ± standard error of mean (SEM) at a level of significance of p<0.05. Regression analysis was carried out to establish relationships if any between studied parameters and relationships in form of scatter plots were obtained between DO/BOD, COD/DO, BOD/COD, COD/pH, BOD/pH and DO/pH. The high to moderate correlation coefficient observed, R2 ranged from 0.68 to 0.15 between these parameters.Keywords: BOD, DO, COD, pH, Regression analysis.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 21352001 Study and Design of Patient Flow at the Medicine Department of a University Hospital
Authors: P. Prudtikul, S. Pathomsiri
Abstract:
Most, if not all, public hospitals in Thailand have encountered a common problem regarding the increasing demand for medical services. The increasing number of patients causes so much strain on the hospital-s services, over-crowded, overloaded working hours, staff fatigue, medical error and long waiting time. This research studied the characteristics of operational processes of the medical care services at the medicine department in a large public university hospital. The research focuses on details regarding methods, procedures, processes, resources, and time management in overall processes. The simulation model is used as a tool to analyze the impact of various improvement strategies.
Keywords: Patient flow, medicine department, simulation, outpatient department.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 32842000 Adaptive Transmission Scheme Based on Channel State in Dual-Hop System
Authors: Seung-Jun Yu, Yong-Jun Kim, Jung-In Baik, Hyoung-Kyu Song
Abstract:
In this paper, a dual-hop relay based on channel state is studied. In the conventional relay scheme, a relay uses the same modulation method without reference to channel state. But, a relay uses an adaptive modulation method with reference to channel state. If the channel state is poor, a relay eliminates latter 2 bits and uses Quadrature Phase Shift Keying (QPSK) modulation. If channel state is good, a relay modulates the received symbols with 16-QAM symbols by using 4 bits. The performance of the proposed scheme for Symbol Error Rate (SER) and throughput is analyzed.Keywords: Adaptive transmission, channel state, dual-hop, hierarchical modulation, relay.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 18111999 Experimental Analyses of Thermoelectric Generator Behavior Using Two Types of Thermoelectric Modules for Marine Application
Authors: A. Nour Eddine, D. Chalet, L. Aixala, P. Chessé, X. Faure, N. Hatat
Abstract:
Thermal power technology such as the TEG (Thermo-Electric Generator) arouses significant attention worldwide for waste heat recovery. Despite the potential benefits of marine application due to the permanent heat sink from sea water, no significant studies on this application were to be found. In this study, a test rig has been designed and built to test the performance of the TEG on engine operating points. The TEG device is built from commercially available materials for the sake of possible economical application. Two types of commercial TEM (thermo electric module) have been studied separately on the test rig. The engine data were extracted from a commercial Diesel engine since it shares the same principle in terms of engine efficiency and exhaust with the marine Diesel engine. An open circuit water cooling system is used to replicate the sea water cold source. The characterization tests showed that the silicium-germanium alloys TEM proved a remarkable reliability on all engine operating points, with no significant deterioration of performance even under sever variation in the hot source conditions. The performance of the bismuth-telluride alloys was 100% better than the first type of TEM but it showed a deterioration in power generation when the air temperature exceeds 300 °C. The temperature distribution on the heat exchange surfaces revealed no useful combination of these two types of TEM with this tube length, since the surface temperature difference between both ends is no more than 10 °C. This study exposed the perspective of use of TEG technology for marine engine exhaust heat recovery. Although the results suggested non-sufficient power generation from the low cost commercial TEM used, it provides valuable information about TEG device optimization, including the design of heat exchanger and the types of thermo-electric materials.
Keywords: Internal combustion engine application, Seebeck, thermo-electricity, waste heat recovery.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 16281998 Comparative Kinetic Study on Alkylation of p-cresol with Tert-butyl Alcohol using Different SO3-H Functionalized Ionic Liquid Catalysts
Authors: Pandian Elavarasan, Kishore Kondamudi, Sreedevi Upadhyayula
Abstract:
Ionic liquids are well known as green solvents, reaction media and catalysis. Here, three different sulfonic acid functional ionic liquids prepared in the laboratory are used as catalysts in alkylation of p-cresol with tert-butyl alcohol. The kinetics on each of the catalysts was compared and a kinetic model was developed based on the product distribution over these catalysts. The kinetic parameters were estimated using Marquadt's algorithm to minimize the error function. The Arrhenius plots show a curvature which is best interpreted by the extended Arrhenius equation.
Keywords: Alkylation, p-cresol, tert-butyl alcohol, kinetics, activation parameter, extended Arrhenius equation.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 24501997 The Design of PIP Controller for a Thermal System with Large Time Delay
Authors: Seiyed Hamid Zareh, Atabak Sarrafan, Kambiz Ghaemi Osgouie
Abstract:
This paper will first describe predictor controllers when the proportional-integral-derivative (PID) controllers are inactive for procedures that have large delay time (LDT) in transfer stage. Therefore in those states, the predictor controllers are better than the PID controllers, then compares three types of predictor controllers. The value of these controller-s parameters are obtained by trial and error method, so here an effort has been made to obtain these parameters by Ziegler-Nichols method. Eventually in this paper Ziegler-Nichols method has been described and finally, a PIP controller has been designed for a thermal system, which circulates hot air to keep the temperature of a chamber constant.Keywords: Proportional-integral-predictive controller, Transferfunction, Delay time, Transport-lag.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 17971996 Automated Segmentation of ECG Signals using Piecewise Derivative Dynamic Time Warping
Authors: Ali Zifan, Mohammad Hassan Moradi, Sohrab Saberi, Farzad Towhidkhah
Abstract:
Electrocardiogram (ECG) segmentation is necessary to help reduce the time consuming task of manually annotating ECG-s. Several algorithms have been developed to segment the ECG automatically. We first review several of such methods, and then present a new single lead segmentation method based on Adaptive piecewise constant approximation (APCA) and Piecewise derivative dynamic time warping (PDDTW). The results are tested on the QT database. We compared our results to Laguna-s two lead method. Our proposed approach has a comparable mean error, but yields a slightly higher standard deviation than Laguna-s method.Keywords: Adaptive Piecewise Constant Approximation, Dynamic programming, ECG segmentation, Piecewise DerivativeDynamic Time Warping.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 20731995 Bipolar PWM and LCL Filter Configuration to Reduce Leakage Currents in Transformerless PV System Connected to Utility Grid
Authors: Shanmuka Naga Raju
Abstract:
This paper presents PV system without considering transformer connected to electric grid. This is considered more economic compared to present PV system. The problem that occurs when transformer is not considered appears with a leakage current near capacitor connected to ground. Bipolar Pulse Width Modulation (BPWM) technique along with filter L-C-L configuration in the circuit is modeled to shrink the leakage current in the circuit. The DC/AC inverter is modeled using H-bridge Insulated Gate Bipolar Transistor (IGBT) module which is controlled using proposed Bipolar PWM control technique. To extract maximum power, Maximum Power Point Technique (MPPT) controller is used in this model. Voltage and current regulators are used to determine the reference voltage for the inverter from active and reactive current where reactive current is set to zero. The PLL is modeled to synchronize the measurements. The model is designed with MATLAB Simulation blocks and compared with the methods available in literature survey to show its effectiveness.Keywords: Photovoltaic, PV, pulse width modulation, PWM, perturb and observe, phase locked loop.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 10271994 Circular Patch Microstrip Array Antenna for KU-band
Authors: T.F.Lai, Wan Nor Liza Mahadi, Norhayati Soin
Abstract:
This paper present a circular patch microstrip array antenna operate in KU-band (10.9GHz – 17.25GHz). The proposed circular patch array antenna will be in light weight, flexible, slim and compact unit compare with current antenna used in KU-band. The paper also presents the detail steps of designing the circular patch microstrip array antenna. An Advance Design System (ADS) software is used to compute the gain, power, radiation pattern, and S11 of the antenna. The proposed Circular patch microstrip array antenna basically is a phased array consisting of 'n' elements (circular patch antennas) arranged in a rectangular grid. The size of each element is determined by the operating frequency. The incident wave from satellite arrives at the plane of the antenna with equal phase across the surface of the array. Each 'n' element receives a small amount of power in phase with the others. There are feed network connects each element to the microstrip lines with an equal length, thus the signals reaching the circular patches are all combined in phase and the voltages add up. The significant difference of the circular patch array antenna is not come in the phase across the surface but in the magnitude distribution.
Keywords: Circular patch microstrip array antenna, gain, radiation pattern, S-Parameter.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 31171993 An Efficient Stud Krill Herd Framework for Solving Non-Convex Economic Dispatch Problem
Authors: Bachir Bentouati, Lakhdar Chaib, Saliha Chettih, Gai-Ge Wang
Abstract:
The problem of economic dispatch (ED) is the basic problem of power framework, its main goal is to find the most favorable generation dispatch to generate each unit, reduce the whole power generation cost, and meet all system limitations. A heuristic algorithm, recently developed called Stud Krill Herd (SKH), has been employed in this paper to treat non-convex ED problems. The proposed KH has been modified using Stud selection and crossover (SSC) operator, to enhance the solution quality and avoid local optima. We are demonstrated SKH effects in two case study systems composed of 13-unit and 40-unit test systems to verify its performance and applicability in solving the ED problems. In the above systems, SKH can successfully obtain the best fuel generator and distribute the load requirements for the online generators. The results showed that the use of the proposed SKH method could reduce the total cost of generation and optimize the fulfillment of the load requirements.
Keywords: Stud Krill Herd, economic dispatch, crossover, stud selection, valve-point effect.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 8811992 CNet Module Design of IMCS
Authors: Youkyung Park, SeungYup Kang, SungHo Kim, SimKyun Yook
Abstract:
IMCS is Integrated Monitoring and Control System for thermal power plant. This system consists of mainly two parts; controllers and OIS (Operator Interface System). These two parts are connected by Ethernet-based communication. The controller side of communication is managed by CNet module and OIS side is managed by data server of OIS. CNet module sends the data of controller to data server and receives commend data from data server. To minimizes or balance the load of data server, this module buffers data created by controller at every cycle and send buffered data to data server on request of data server. For multiple data server, this module manages the connection line with each data server and response for each request from multiple data server. CNet module is included in each controller of redundant system. When controller fail-over happens on redundant system, this module can provide data of controller to data sever without loss. This paper presents three main features – separation of get task, usage of ring buffer and monitoring communication status –of CNet module to carry out these functions.Keywords: Ethernet communication, DCS, power plant, ring buffer, data integrity
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 15671991 Adequacy of Object-Oriented Framework System-Based Testing Techniques
Authors: Jehad Al Dallal
Abstract:
An application framework provides a reusable design and implementation for a family of software systems. If the framework contains defects, the defects will be passed on to the applications developed from the framework. Framework defects are hard to discover at the time the framework is instantiated. Therefore, it is important to remove all defects before instantiating the framework. In this paper, two measures for the adequacy of an object-oriented system-based testing technique are introduced. The measures assess the usefulness and uniqueness of the testing technique. The two measures are applied to experimentally compare the adequacy of two testing techniques introduced to test objectoriented frameworks at the system level. The two considered testing techniques are the New Framework Test Approach and Testing Frameworks Through Hooks (TFTH). The techniques are also compared analytically in terms of their coverage power of objectoriented aspects. The comparison study results show that the TFTH technique is better than the New Framework Test Approach in terms of usefulness degree, uniqueness degree, and coverage power.Keywords: Object-oriented framework, object-oriented framework testing, test case generation, testing adequacy.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 14341990 A ZVS Flyback DC-DC Converter using Multilayered Coreless Printed-Circuit Board(PCB) Step-down Power Transformer
Authors: Hari Babu Kotte, Radhika Ambatipudi, Dr. Kent Bertilsson
Abstract:
The experimental and theoretical results of a ZVS (Zero Voltage Switching) isolated flyback DC-DC converter using multilayered coreless PCB step down 2:1 transformer are presented. The performance characteristics of the transformer are shown which are useful for the parameters extraction. The measured energy efficiency of the transformer is found to be more than 94% with the sinusoidal input voltage excitation. The designed flyback converter has been tested successfully upto the output power level of 10W, with a switching frequency in the range of 2.7MHz-4.3MHz. The input voltage of the converter is varied from 25V-40V DC. Frequency modulation technique is employed by maintaining constant off time to regulate the output voltage of the converter. The energy efficiency of the isolated flyback converter circuit under ZVS condition in the MHz frequency region is found to be approximately in the range of 72-84%. This paper gives the comparative results in terms of the energy efficiency of the hard switched and soft switched flyback converter in the MHz frequency region.Keywords: Coreless PCB step down transformer, DC-DCconverter, Flyback, Hard Switched Converter, MHz frequencyregion, Multilayered PCB transformer, Zero Voltage Switching
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 42471989 Three-Dimensional Positioning Method of Indoor Personnel Based on Millimeter Wave Radar Sensor
Authors: Chao Wang, Zuxue Xia, Wenhai Xia, Rui Wang, Jiayuan Hu, Rui Cheng
Abstract:
Aiming at the application of indoor personnel positioning under smog conditions, this paper proposes a 3D positioning method based on the IWR1443 millimeter wave radar sensor. The problem that millimeter-wave radar cannot effectively form contours in 3D point cloud imaging is solved. The results show that the method can effectively achieve indoor positioning and scene construction, and the maximum positioning error of the system is 0.130 m.
Keywords: indoor positioning, millimeter wave radar, IWR1443 sensor, point cloud imaging
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 5061988 Automated ECG Segmentation Using Piecewise Derivative Dynamic Time Warping
Authors: Ali Zifan, Sohrab Saberi, Mohammad Hassan Moradi, Farzad Towhidkhah
Abstract:
Electrocardiogram (ECG) segmentation is necessary to help reduce the time consuming task of manually annotating ECG's. Several algorithms have been developed to segment the ECG automatically. We first review several of such methods, and then present a new single lead segmentation method based on Adaptive piecewise constant approximation (APCA) and Piecewise derivative dynamic time warping (PDDTW). The results are tested on the QT database. We compared our results to Laguna's two lead method. Our proposed approach has a comparable mean error, but yields a slightly higher standard deviation than Laguna's method.
Keywords: Adaptive Piecewise Constant Approximation, Dynamic programming, ECG segmentation, Piecewise Derivative Dynamic Time Warping.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 23991987 Diesel Fault Prediction Based on Optimized Gray Neural Network
Authors: Han Bing, Yin Zhenjie
Abstract:
In order to analyze the status of a diesel engine, as well as conduct fault prediction, a new prediction model based on a gray system is proposed in this paper, which takes advantage of the neural network and the genetic algorithm. The proposed GBPGA prediction model builds on the GM (1.5) model and uses a neural network, which is optimized by a genetic algorithm to construct the error compensator. We verify our proposed model on the diesel faulty simulation data and the experimental results show that GBPGA has the potential to employ fault prediction on diesel.
Keywords: Fault prediction, Neural network, GM (1.5), Genetic algorithm, GBPGA.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 13041986 Dissipation of Higher Mode using Numerical Integration Algorithm in Dynamic Analysis
Authors: Jin Sup Kim, Woo Young Jung, Minho Kwon
Abstract:
In general dynamic analyses, lower mode response is of interest, however the higher modes of spatially discretized equations generally do not represent the real behavior and not affects to global response much. Some implicit algorithms, therefore, are introduced to filter out the high-frequency modes using intended numerical error. The objective of this study is to introduce the P-method and PC α-method to compare that with dissipation method and Newmark method through the stability analysis and numerical example. PC α-method gives more accuracy than other methods because it based on the α-method inherits the superior properties of the implicit α-method. In finite element analysis, the PC α-method is more useful than other methods because it is the explicit scheme and it achieves the second order accuracy and numerical damping simultaneously.Keywords: Dynamic, α-Method, P-Method, PC α-Method, Newmark method.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 30871985 Effect of Different BER Performance Comparison of MAP and ML Detection
Authors: Naveed Ur Rehman, Rehan Jamil, Irfan Jamil
Abstract:
In this paper, we regard as a coded transmission over a frequency-selective channel. We plan to study analytically the convergence of the turbo-detector using a maximum a posteriori (MAP) equalizer and a MAP decoder. We demonstrate that the densities of the maximum likelihood (ML) exchanged during the iterations are e-symmetric and output-symmetric. Under the Gaussian approximation, this property allows to execute a one-dimensional scrutiny of the turbo-detector. By deriving the analytical terminology of the ML distributions under the Gaussian approximation, we confirm that the bit error rate (BER) performance of the turbo-detector converges to the BER performance of the coded additive white Gaussian noise (AWGN) channel at high signal to noise ratio (SNR), for any frequency selective channel.
Keywords: MAP, ML, SNR, Decoder, BER, Coded transmission.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 22621984 Using Data Mining Techniques for Estimating Minimum, Maximum and Average Daily Temperature Values
Authors: S. Kotsiantis, A. Kostoulas, S. Lykoudis, A. Argiriou, K. Menagias
Abstract:
Estimates of temperature values at a specific time of day, from daytime and daily profiles, are needed for a number of environmental, ecological, agricultural and technical applications, ranging from natural hazards assessments, crop growth forecasting to design of solar energy systems. The scope of this research is to investigate the efficiency of data mining techniques in estimating minimum, maximum and mean temperature values. For this reason, a number of experiments have been conducted with well-known regression algorithms using temperature data from the city of Patras in Greece. The performance of these algorithms has been evaluated using standard statistical indicators, such as Correlation Coefficient, Root Mean Squared Error, etc.
Keywords: regression algorithms, supervised machine learning.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 34221983 Time Synchronization between the eNBs in E-UTRAN under the Asymmetric IP Network
Abstract:
In this paper, we present a method for a time synchronization between the two eNodeBs (eNBs) in E-UTRAN (Evolved Universal Terrestrial Radio Access) network. The two eNBs are cooperating in so-called inter eNB CA (Carrier Aggregation) case and connected via asymmetrical IP network. We solve the problem by using broadcasting signals generated in E-UTRAN as synchronization signals. The results show that the time synchronization with the proposed method is possible with the error significantly less than 1 ms which is sufficient considering the time transmission interval is 1 ms in E-UTRAN. This makes this method (with low complexity) more suitable than Network Time Protocol (NTP) in the mobile applications with generated broadcasting signals where time synchronization in asymmetrical network is required.
Keywords: E-UTRAN, IP scheduled throughput, initial burst delay, synchronization, NTP, delay, asymmetric network.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 7211982 A Low Power SRAM Base on Novel Word-Line Decoding
Authors: Arash Azizi Mazreah, Mohammad T. Manzuri Shalmani, Hamid Barati, Ali Barati, Ali Sarchami
Abstract:
This paper proposes a low power SRAM based on five transistor SRAM cell. Proposed SRAM uses novel word-line decoding such that, during read/write operation, only selected cell connected to bit-line whereas, in conventional SRAM (CV-SRAM), all cells in selected row connected to their bit-lines, which in turn develops differential voltages across all bit-lines, and this makes energy consumption on unselected bit-lines. In proposed SRAM memory array divided into two halves and this causes data-line capacitance to reduce. Also proposed SRAM uses one bit-line and thus has lower bit-line leakage compared to CV-SRAM. Furthermore, the proposed SRAM incurs no area overhead, and has comparable read/write performance versus the CV-SRAM. Simulation results in standard 0.25μm CMOS technology shows in worst case proposed SRAM has 80% smaller dynamic energy consumption in each cycle compared to CV-SRAM. Besides, energy consumption in each cycle of proposed SRAM and CV-SRAM investigated analytically, the results of which are in good agreement with the simulation results.Keywords: SRAM, write Operation, read Operation, capacitances, dynamic energy consumption.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 26551981 An Iterative Algorithm for Inverse Kinematics of 5-DOF Manipulator with Offset Wrist
Authors: Juyi Park, Jung-Min Kim, Hee-Hwan Park, Jin-Wook Kim, Gye-Hyung Kang, Soo-Ho Kim
Abstract:
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.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 41541980 Single-Camera EKF-vSLAM
Authors: ML. Benmessaoud, A. Lamrani, K. Nemra, AK. Souici
Abstract:
This paper presents an Extended Kaman Filter implementation of a single-camera Visual Simultaneous Localization and Mapping algorithm, a novel algorithm for simultaneous localization and mapping problem widely studied in mobile robotics field. The algorithm is vision and odometry-based, The odometry data is incremental, and therefore it will accumulate error over time, since the robot may slip or may be lifted, consequently if the odometry is used alone we can not accurately estimate the robot position, in this paper we show that a combination of odometry and visual landmark via the extended Kalman filter can improve the robot position estimate. We use a Pioneer II robot and motorized pan tilt camera models to implement the algorithm.Keywords: Mobile Robot, Navigation, vSLAM, EKF, monocular.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 16851979 Image Sensor Matrix High Speed Simulation
Authors: Z. Feng, V. Viswanathan, D. Navarro, I. O'Connor
Abstract:
This paper presents a new high speed simulation methodology to solve the long simulation time problem of CMOS image sensor matrix. Generally, for integrating the pixel matrix in SOC and simulating the system performance, designers try to model the pixel in various modeling languages such as VHDL-AMS, SystemC or Matlab. We introduce a new alternative method based on spice model in cadence design platform to achieve accuracy and reduce simulation time. The simulation results indicate that the pixel output voltage maximum error is at 0.7812% and time consumption reduces from 2.2 days to 13 minutes achieving about 240X speed-up for the 256x256 pixel matrix.
Keywords: CMOS image sensor, high speed simulation, image sensor matrix simulation.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 20201978 On the Impact of Reference Node Placement in Wireless Indoor Positioning Systems
Authors: Supattra Aomumpai, Chutima Prommak
Abstract:
This paper presents a studyof the impact of reference node locations on the accuracy of the indoor positioning systems. In particular, we analyze the localization accuracy of the RSSI database mapping techniques, deploying on the IEEE 802.15.4 wireless networks. The results show that the locations of the reference nodes used in the positioning systems affect the signal propagation characteristics in the service area. Thisin turn affects the accuracy of the wireless indoor positioning system. We found that suitable location of reference nodes could reduce the positioning error upto 35 %.Keywords: Indoor positioning systems, IEEE 802.15.4 wireless networks, Signal propagation characteristics
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 14861977 Analysis of Testing and Operational Software Reliability in SRGM based on NHPP
Authors: S. Thirumurugan, D. R. Prince Williams
Abstract:
Software Reliability is one of the key factors in the software development process. Software Reliability is estimated using reliability models based on Non Homogenous Poisson Process. In most of the literature the Software Reliability is predicted only in testing phase. So it leads to wrong decision-making concept. In this paper, two Software Reliability concepts, testing and operational phase are studied in detail. Using S-Shaped Software Reliability Growth Model (SRGM) and Exponential SRGM, the testing and operational reliability values are obtained. Finally two reliability values are compared and optimal release time is investigated.Keywords: Error Detection Rate, Estimation of Parameters, Instantaneous Failure Rate, Mean Value Function, Non Homogenous Poisson Process (NHPP), Software Reliability.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 16401976 An Improved Lattice Reduction Aided Detection Scheme for MIMO-OFDM System
Authors: Jang-Kyun Ahn, Seung-Jun Yu, Eui-Young Lee, Hyoung-Kyu Song
Abstract:
This paper proposes an efficient lattice-reduction-aided detection (LRD) scheme to improve the detection performance of MIMO-OFDM system. In this proposed scheme, V candidate symbols are considered at the first layer, and V probable streams are detected with LRD scheme according to the first detected V candidate symbols. Then, the most probable stream is selected through a ML test. Since the proposed scheme can more accurately detect initial symbol and can reduce transmission of error to rest symbols, the proposed scheme shows more improved performance than conventional LRD with very low complexity.Keywords: Lattice reduction aided detection, MIMO-OFDM, QRD-M, V-BLAST.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 17231975 Modelling of Induction Motor Including Skew Effect Using MWFA for Performance Improvement
Authors: M. Harir, A. Bendiabdellah, A. Chaouch, N. Benouzza
Abstract:
This paper deals with the modelling and simulation of the squirrel cage induction motor by taking into account all space harmonic components as well as the introduction of the bars skew in the calculation of the linear evolution of the magnetomotive force (MMF) between the slots extremities. The model used is based on multiple coupled circuits and the modified winding function approach (MWFA). The effect of skewing is included in the calculation of motors inductances with an axial asymmetry in the rotor. The simulation results in both time and spectral domains show the effectiveness and merits of the model and the error that may be caused if the skew of the bars are neglected.
Keywords: Modelling, MWFA, Skew effect, Squirrel cage induction motor, Spectral domain.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 32991974 Application of Genetic Algorithm for FACTS-based Controller Design
Authors: Sidhartha Panda, N. P. Padhy, R.N.Patel
Abstract:
In this paper, genetic algorithm (GA) opmization technique is applied to design Flexible AC Transmission System (FACTS)-based damping controllers. Two types of controller structures, namely a proportional-integral (PI) and a lead-lag (LL) are considered. The design problem of the proposed controllers is formulated as an optimization problem and GA is employed to search for optimal controller parameters. By minimizing the time-domain based objective function, in which the deviation in the oscillatory rotor speed of the generator is involved; stability performance of the system is improved. The proposed controllers are tested on a weakly connected power system subjected to different disturbances. The non-linear simulation results are presented to show the effectiveness of the proposed controller and their ability to provide efficient damping of low frequency oscillations. It is also observed that the proposed SSSC-based controllers improve greatly the voltage profile of the system under severe disturbances. Further, the dynamic performances of both the PI and LL structured FACTS-controller are analyzed at different loading conditions and under various disturbance condition as well as under unbalanced fault conditions..
Keywords: Genetic algorithm, proportional-integral controller, lead-lag controller, power system stability, FACTS.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2549