Search results for: Joint Photographic Expert Group (JPEG)

Authors: I. Naeem, R. Naz

Abstract:

The group invariant solution for Prandtl-s boundary layer equations for an incompressible fluid governing the flow in radial free, wall and liquid jets having finite fluid velocity at the orifice are investigated. For each jet a symmetry is associated with the conserved vector that was used to derive the conserved quantity for the jet elsewhere. This symmetry is then used to construct the group invariant solution for the third-order partial differential equation for the stream function. The general form of the group invariant solution for radial jet flows is derived. The general form of group invariant solution and the general form of the similarity solution which was obtained elsewhere are the same.

Keywords: Two-dimensional jets, radial jets, group invariant solution.

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Authors: Shiuh-Jer Huang, Yu-Chi Liu, Su-Hai Hsiang

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A novel low-cost impedance control structure is proposed for monitoring the contact force between end-effector and environment without installing an expensive force/torque sensor. Theoretically, the end-effector contact force can be estimated from the superposition of each joint control torque. There have a nonlinear matrix mapping function between each joint motor control input and end-effector actuating force/torques vector. This new force control structure can be implemented based on this estimated mapping matrix. First, the robot end-effector is manipulated to specified positions, then the force controller is actuated based on the hall sensor current feedback of each joint motor. The model-free fuzzy sliding mode control (FSMC) strategy is employed to design the position and force controllers, respectively. All the hardware circuits and software control programs are designed on an Altera Nios II embedded development kit to constitute an embedded system structure for a retrofitted Mitsubishi 5 DOF robot. Experimental results show that PI and FSMC force control algorithms can achieve reasonable contact force monitoring objective based on this hardware control structure.

Keywords: Robot, impedance control, fuzzy sliding mode control, contact force estimator.

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Authors: J. Costa, M. Ortigueira, A. Batista, T. Paiva

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Sleep spindles are the most interesting hallmark of stage 2 sleep EEG. Their accurate identification in a polysomnographic signal is essential for sleep professionals to help them mark Stage 2 sleep. Sleep Spindles are also promising objective indicators for neurodegenerative disorders. Visual spindle scoring however is a tedious workload. In this paper three different approaches are used for the automatic detection of sleep spindles: Short Time Fourier Transform, Wavelet Transform and Wave Morphology for Spindle Detection. In order to improve the results, a combination of the three detectors is presented and comparison with human expert scorers is performed. The best performance is obtained with a combination of the three algorithms which resulted in a sensitivity and specificity of 94% when compared to human expert scorers.

Keywords: EEG, Short Time Fourier Transform, Sleep Spindles, Wave Morphology for Spindle Detection, Wavelet Transform.

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Authors: Liang Zhao, Jianhua Ge

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In this paper, we proposed a novel receiver algorithm for coherent underwater acoustic communications. The proposed receiver is composed of three parts: (1) Doppler tracking and correction, (2) Time reversal channel estimation and combining, and (3) Joint iterative equalization and decoding (JIED). To reduce computational complexity and optimize the equalization algorithm, Time reversal (TR) channel estimation and combining is adopted to simplify multi-channel adaptive decision feedback equalizer (ADFE) into single channel ADFE without reducing the system performance. Simultaneously, the turbo theory is adopted to form joint iterative ADFE and convolutional decoder (JIED). In JIED scheme, the ADFE and decoder exchange soft information in an iterative manner, which can enhance the equalizer performance using decoding gain. The simulation results show that the proposed algorithm can reduce computational complexity and improve the performance of equalizer. Therefore, the performance of coherent underwater acoustic communications can be improved greatly.

Keywords: Underwater acoustic communication, Time reversal (TR) combining, joint iterative equalization and decoding (JIED)

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Authors: Hamid Ahmadi, Shadi Asoodeh

Abstract:

The fatigue life of tubular joints commonly found in offshore industry is not only dependent on the value of hot-spot stress (HSS), but is also significantly influenced by the through-thethickness stress distribution characterized by the degree of bending (DoB). The determination of DoB values in a tubular joint is essential for improving the accuracy of fatigue life estimation using the stresslife (S–N) method and particularly for predicting the fatigue crack growth based on the fracture mechanics (FM) approach. In the present paper, data extracted from finite element (FE) analyses of tubular KT-joints, verified against experimental data and parametric equations, was used to investigate the effects of geometrical parameters on DoB values at the crown 0°, saddle, and crown 180° positions along the weld toe of central brace in tubular KT-joints subjected to axial loading. Parametric study was followed by a set of nonlinear regression analyses to derive DoB parametric formulas for the fatigue analysis of KT-joints under axial loads. The tubular KTjoint is a quite common joint type found in steel offshore structures. However, despite the crucial role of the DoB in evaluating the fatigue performance of tubular joints, this paper is the first attempt to study and formulate the DoB values in KT-joints.

Keywords: Tubular KT-joint, fatigue, degree of bending (DoB), axial loading, parametric formula.

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Authors: Chang He, Hiroshi Tamura, Hiroshi Katsuchi, Jiaqi Wang

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In this study, the aim is to infer the slip limit (static friction limit) of contact interfaces in bolt friction joints by analyzing other bolt friction joints with the same contact surface but in a different shape. By using the Weibull distribution to deal with microelements on the contact surface statistically, the slip limit of a certain type of bolt joint was predicted from other types of bolt joint with the same contact surface. As a result, this research succeeded in predicting the slip limit of bolt joins with different numbers of contact surfaces and with different numbers of bolt rows.

Keywords: Bolt joints, slip coefficient, finite element method, Weibull distribution.

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Authors: Hachmia Faqihi, Maarouf Saad, Khalid Benjelloun, Mohammed Benbrahim, M. Nabil Kabbaj

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This paper investigates and presents a cable-driven robot to lower limb rehabilitation use in sagittal plane. The presented rehabilitation robot is used for a trajectory tracking in joint space. The paper covers kinematic and dynamic analysis, which reveals the tensionability of the used cables as being the actuating source to provide a rehabilitation exercises of the human leg. The desired trajectory is generated to be used in the control system design in joint space. The obtained simulation results is showed to be efficient in this kind of application.

Keywords: Cable-driven multibody system, computed-torque controller, lower limb rehabilitation, tracking trajectory.

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Authors: Osama Elsarrar, Marjorie Darrah, Richard Devin

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This paper discusses the idea of capturing an expert’s knowledge in the form of human understandable rules and then inserting these rules into a dynamic cell structure (DCS) neural network. The DCS is a form of self-organizing map that can be used for many purposes, including classification and prediction. This particular neural network is considered to be a topology preserving network that starts with no pre-structure, but assumes a structure once trained. The DCS has been used in mission and safety-critical applications, including adaptive flight control and health-monitoring in aerial vehicles. The approach is to insert expert knowledge into the DCS before training. Rules are translated into a pre-structure and then training data are presented. This idea has been demonstrated using the well-known Iris data set and it has been shown that inserting the pre-structure results in better accuracy with the same training.

Keywords: Neural network, rule extraction, rule insertion, self-organizing map.

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Authors: Martín Agüero, Franco Madou, Gabriela Esperón, Daniela López De Luise

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This paper presents a software quality support tool, a Java source code evaluator and a code profiler based on computational intelligence techniques. It is Java prototype software developed by AI Group [1] from the Research Laboratories at Universidad de Palermo: an Intelligent Java Analyzer (in Spanish: Analizador Java Inteligente, AJI). It represents a new approach to evaluate and identify inaccurate source code usage and transitively, the software product itself. The aim of this project is to provide the software development industry with a new tool to increase software quality by extending the value of source code metrics through computational intelligence.

Keywords: Software metrics, artificial intelligence, neuralnetworks, clustering algorithms, expert systems

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Authors: A. M. Gsiea, J. P. Goss, P. R. Briddon, K. M. Etmimi

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In realizing devices using ZnO, a key challenge is the production of p-type material. Substitution of oxygen by a group-V impurity is thought to result in deep acceptor levels, but a candidate made up from a complex of a group-V impurity (P, As, Sb) on a Zn site coupled with two vacant Zn sites is widely viewed as a candidate. We show using density-functional simulations that in contrast to such a view, complexes involving oxygen interstitials are energetically more favorable, resulting in group-V impurities coordinated with four, five or six oxygen atoms.

Keywords: DFT, Oxygen, p-Type, ZnO.

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Authors: Roman Graf, Sergiu Gordea, Heather M. Ryan

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This paper presents an approach for the classification of an unstructured format description for identification of file formats. The main contribution of this work is the employment of data mining techniques to support file format selection with just the unstructured text description that comprises the most important format features for a particular organisation. Subsequently, the file format indentification method employs file format classifier and associated configurations to support digital preservation experts with an estimation of required file format. Our goal is to make use of a format specification knowledge base aggregated from a different Web sources in order to select file format for a particular institution. Using the naive Bayes method, the decision support system recommends to an expert, the file format for his institution. The proposed methods facilitate the selection of file format and the quality of a digital preservation process. The presented approach is meant to facilitate decision making for the preservation of digital content in libraries and archives using domain expert knowledge and specifications of file formats. To facilitate decision-making, the aggregated information about the file formats is presented as a file format vocabulary that comprises most common terms that are characteristic for all researched formats. The goal is to suggest a particular file format based on this vocabulary for analysis by an expert. The sample file format calculation and the calculation results including probabilities are presented in the evaluation section.

Keywords: Data mining, digital libraries, digital preservation, file format.

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Authors: Feng-Chuan Pan, Fang-Yue Liu

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Hospitals in southern Hualien teamed with the Hypertension Joint Care Network. Working with the network, the team provided a special designed health education to the individual who had been identified as a hypertension patient in the outpatient department. Some metabolism improvements achieved. This is a retrospective study by purposively taking 106 patients from a hospital between 2008 and 2010. Records of before and after education intervention of the objects was collected and analyzed to see the how the intervention affected the patients- hypertension control via clinical parameter monitoring. The results showed that the clinical indicators, the LDL-C, the cholesterol and the systolic blood pressure were significantly improved. The study provides evidence for the effectiveness of the network in controlling hypertension.

Keywords: hypertension, joint care management network, cardiovascular diseases, metabolic syndrome.

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Authors: Úrsula B. Ferraz, Paulo F. Seixas, Webber E. Aguiar

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This paper presents a dynamic model for mechanical loads of an electric drive, including angular misalignment and including load unbalance. The misalignment model represents the effects of the universal joint between the motor and the mechanical load. Simulation results are presented for an induction motor driving a mechanical load with angular misalignment for both flexible and rigid coupling. The models presented are very useful in the study of mechanical fault detection in induction motors, using mechanical and electrical signals already available in a drive system, such as speed, torque and stator currents.

Keywords: Angular misalignment, fault modeling, unbalance, universal joint.

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Authors: Amal Elmzabi, Mostafa Bellafkih, Mohammed Ramdani

Abstract:

The Chiu-s method which generates a Takagi-Sugeno Fuzzy Inference System (FIS) is a method of fuzzy rules extraction. The rules output is a linear function of inputs. In addition, these rules are not explicit for the expert. In this paper, we develop a method which generates Mamdani FIS, where the rules output is fuzzy. The method proceeds in two steps: first, it uses the subtractive clustering principle to estimate both the number of clusters and the initial locations of a cluster centers. Each obtained cluster corresponds to a Mamdani fuzzy rule. Then, it optimizes the fuzzy model parameters by applying a genetic algorithm. This method is illustrated on a traffic network management application. We suggest also a Mamdani fuzzy rules generation method, where the expert wants to classify the output variables in some fuzzy predefined classes.

Keywords: Fuzzy entropy, fuzzy inference systems, genetic algorithms, network management, subtractive clustering.

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Authors: N. Mamode Khan, V. Jowaheer

Abstract:

In this paper, we apply and compare two generalized estimating equation approaches to the analysis of car breakdowns data in Mauritius. Number of breakdowns experienced by a machinery is a highly under-dispersed count random variable and its value can be attributed to the factors related to the mechanical input and output of that machinery. Analyzing such under-dispersed count observation as a function of the explanatory factors has been a challenging problem. In this paper, we aim at estimating the effects of various factors on the number of breakdowns experienced by a passenger car based on a study performed in Mauritius over a year. We remark that the number of passenger car breakdowns is highly under-dispersed. These data are therefore modelled and analyzed using Com-Poisson regression model. We use the two types of quasi-likelihood estimation approaches to estimate the parameters of the model: marginal and joint generalized quasi-likelihood estimating equation approaches. Under-dispersion parameter is estimated to be around 2.14 justifying the appropriateness of Com-Poisson distribution in modelling underdispersed count responses recorded in this study.

Keywords: Breakdowns, under-dispersion, com-poisson, generalized linear model, marginal quasi-likelihood estimation, joint quasi-likelihood estimation.

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Authors: Timothy Akinwande, Eddie C. M. Hui

Abstract:

Housing the urban poor has remained a challenge for many years across the world, especially in developing economies, despite the apparent research attention and policy interventions. It is apt to investigate the prevalent affordable housing (AH) provision challenges using unconventional approaches. It is pragmatic to thoroughly examine housing experts to provide supply-side solutions to AH challenges and investigate informal settlers to deduce solutions from AH demand viewpoints. This study, being the supply-side investigation of an ongoing research, interrogated housing experts to determine significant expert solutions. Focus group discussions and in-depth interviews were conducted with housing experts in Nigeria. Through descriptive, content, and systematic thematic analyses of data, major findings are that deliberate finance models designed for the urban poor are the most significant housing finance solution in developing economies. Other findings are that adequately implemented rent control policies, deliberate Public-Private Partnership (PPP) approaches like inclusionary housing and land-value capture, and urban renewal programs to enlighten and tutor the urban poor on how to earn more, spend wisely, and invest in their own better housing will effectively solve AH finance challenges. Study findings are informative for the best approaches to achieve effective, AH finance for the urban poor in Nigeria, which is indispensable for the achievement of sustainable development goals. This research’s originality lies in the exploration of experts’ opinions in relation to AH finance to produce an equation model of critical solutions to AH finance challenges. Study data are useful resources for future pro-poor housing studies. This study makes housing policy-oriented recommendations toward effective, AH for the urban poor in developing countries.

Keywords: Affordable housing, effective affordable housing, housing policy, housing research, sustainable development, urban poor.

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Authors: Harsh Vikram Singh, S. P. Singh, Anand Mohan

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This paper discusses a new heavy tailed distribution based data hiding into discrete cosine transform (DCT) coefficients of image, which provides statistical security as well as robustness against steganalysis attacks. Unlike other data hiding algorithms, the proposed technique does not introduce much effect in the stegoimage-s DCT coefficient probability plots, thus making the presence of hidden data statistically undetectable. In addition the proposed method does not compromise on hiding capacity. When compared to the generic block DCT based data-hiding scheme, our method found more robust against a variety of image manipulating attacks such as filtering, blurring, JPEG compression etc.

Keywords: Information Security, Robust Steganography, Steganalysis, Pareto Probability Distribution function.

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Authors: Mohit Tyagi, Pradeep Kumar

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The objective of this research work is to identify and analyze the significant corporate social responsibility (CSR) practices with an aim to improve the supply chain performance of automobile industry located at National Capital Region (NCR) of India. To achieve the objective, 6 CSR practices have been considered and analyzed using expert’s preference rating (EPR) approach. The considered CSR practices are namely, Top management and employee awareness about CSR (P₁), Employee involvement in social and environmental problems (P₂), Protection of human rights (P₃), Waste reduction, energy saving and water conservation (P₄), Proper visibility of CSR guidelines (P₅) and Broad perception towards CSR initiatives (P₆). The outcomes of this research may help mangers in decision making processes and framing polices for SCP implementation under CSR context.

Keywords: Supply chain performance, corporate social responsibility, CSR practices, expert’s preference rating approach.

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Authors: M. S. Suhaida, N. M. Tawil, N. Hamzah, A. I. Che-Ani, M.M. Tahir

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Socioeconomic stability and development of a country, can be describe by housing affordability. It is aimed to ensure the housing provided as one of the key factors that is affordable by every income earner group whether low-income, middle income and high income group. This research carried out is to find out affordability of home ownership level for first medium cost landed-house by the middle-income group in Selangor, Malaysia. It is also hope that it could be seen as able to contribute to the knowledge and understanding on housing affordability level for the middleincome group and variables that influenced the medium income group-s ability to own first medium-cost houses.

Keywords: Residential, Housing Affordability, Middle income.

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Authors: Pardeep Singh, Sanjay Sharma

Abstract:

With increasing data in medical databases, medical data retrieval is growing in popularity. Some of this analysis including inducing propositional rules from databases using many soft techniques, and then using these rules in an expert system. Diagnostic rules and information on features are extracted from clinical databases on diseases of congenital anomaly. This paper explain the latest soft computing techniques and some of the adaptive techniques encompasses an extensive group of methods that have been applied in the medical domain and that are used for the discovery of data dependencies, importance of features, patterns in sample data, and feature space dimensionality reduction. These approaches pave the way for new and interesting avenues of research in medical imaging and represent an important challenge for researchers.

Keywords: CBIR, GA, Rough sets, CBMIR, SVM.

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Authors: I. Khutsishvili, G. Sirbiladze, B. Ghvaberidze

Abstract:

This work proposes a fuzzy methodology to support the investment decisions. While choosing among competitive investment projects, the methodology makes ranking of projects using the new aggregation OWA operator – AsPOWA, presented in the environment of possibility uncertainty. For numerical evaluation of the weighting vector associated with the AsPOWA operator the mathematical programming problem is constructed. On the basis of the AsPOWA operator the projects’ group ranking maximum criteria is constructed. The methodology also allows making the most profitable investments into several of the project using the method developed by the authors for discrete possibilistic bicriteria problems. The article provides an example of the investment decision-making that explains the work of the proposed methodology.

Keywords: Expert evaluations, investment decision making, OWA operator, possibility uncertainty.

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Authors: H. Siswoyo Jo, N. Mir-Nasiri, E. Jayamani

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This paper presents a new type of mechanism and trajectory planning strategy for bipedal walking robot. The newly designed mechanism is able to improve the performance of bipedal walking robot in terms of energy efficiency and weight reduction by utilizing minimum number of actuators. The usage of parallelogram mechanism eliminates the needs of having an extra actuator at the knee joint. This mechanism works together with the joint space trajectory planning in order to realize straight legged walking which cannot be achieved by conventional inverse kinematics trajectory planning due to the singularity. The effectiveness of the proposed strategy is confirmed by computer simulation results.

Keywords: Bipedal robot, Energy efficiency, Straight legged walking, Trajectory planning.

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Authors: John N. Ellinas

Abstract:

In this paper, a robust watermarking algorithm using the wavelet transform and edge detection is presented. The efficiency of an image watermarking technique depends on the preservation of visually significant information. This is attained by embedding the watermark transparently with the maximum possible strength. The watermark embedding process is carried over the subband coefficients that lie on edges, where distortions are less noticeable, with a subband level dependent strength. Also, the watermark is embedded to selected coefficients around edges, using a different scale factor for watermark strength, that are captured by a morphological dilation operation. The experimental evaluation of the proposed method shows very good results in terms of robustness and transparency to various attacks such as median filtering, Gaussian noise, JPEG compression and geometrical transformations.

Keywords: Watermarking, wavelet transform, edge detection.

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Authors: Triloksingh G. Arora, Mohan V. Aware, Dhananjay R. Tutakne

Abstract:

Thyristor based firing angle controlled voltage regulators are extensively used for speed control of single phase induction motors. This leads to power saving but the applied voltage and current waveforms become non-sinusoidal. These non-sinusoidal waveforms increase voltage and thermal stresses which result into accelerated insulation aging, thus reducing the motor life. Life models that allow predicting the capability of insulation under such multi-stress situations tend to be very complex and somewhat impractical. This paper presents the fuzzy logic application to investigate the synergic effect of voltage and thermal stresses on intrinsic aging of induction motor insulation. A fuzzy expert system is developed to estimate the life of induction motor insulation under multiple stresses. Three insulation degradation parameters, viz. peak modification factor, wave shape modification factor and thermal loss are experimentally obtained for different firing angles. Fuzzy expert system consists of fuzzyfication of the insulation degradation parameters, algorithms based on inverse power law to estimate the life and defuzzyficaton process to output the life. An electro-thermal life model is developed from the results of fuzzy expert system. This fuzzy logic based electro-thermal life model can be used for life estimation of induction motors operated with non-sinusoidal voltage and current waveforms.

Keywords: Aging, Dielectric losses, Insulation and Life Estimation.

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Authors: A. Pajaziti, H. Cana

Abstract:

In this paper, the structural genetic algorithm is used to optimize the neural network to control the joint movements of robotic arm. The robotic arm has also been modeled in 3D and simulated in real-time in MATLAB. It is found that Neural Networks provide a simple and effective way to control the robot tasks. Computer simulation examples are given to illustrate the significance of this method. By combining Genetic Algorithm optimization method and Neural Networks for the given robotic arm with 5 D.O.F. the obtained the results shown that the base joint movements overshooting time without controller was about 0.5 seconds, while with Neural Network controller (optimized with Genetic Algorithm) was about 0.2 seconds, and the population size of 150 gave best results.

Keywords: Robotic Arm, Neural Network, Genetic Algorithm, Optimization.

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Authors: S. Parasuraman, Ler Shiaw Pei

Abstract:

In this paper, the bio-mechanical analysis of human joints is carried out and the study is extended to the robot manipulator. This study will first focus on the kinematics of human arm which include the movement of each joint in shoulder, wrist, elbow and finger complexes. Those analyses are then extended to the design of a human robot manipulator. A simulator is built for Direct Kinematics and Inverse Kinematics of human arm. In the simulation of Direct Kinematics, the human joint angles can be inserted, while the position and orientation of each finger tips (end-effector) are shown. Inverse Kinematics does the reverse of the Direct Kinematics. Based on previous materials obtained from kinematics analysis, the human manipulator joints can be designed to follow prescribed position trajectories.

Keywords: Kinematics, Human Joints, Robotics, Robot Dynamics, Manipulators.

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Authors: Yasunori Sugita, Toshinori Yoshikawa

Abstract:

The design problem of Infinite Impulse Response (IIR) digital filters is usually expressed as the minimization problem of the complex magnitude error that includes both the magnitude and phase information. However, the group delay of the filter obtained by solving such design problem may be far from the desired group delay. In this paper, we propose a design method of stable IIR digital filters with prespecified maximum group delay errors. In the proposed method, the approximation problems of the magnitude-phase and group delay are separately defined, and these two approximation problems are alternately solved using successive projections. As a result, the proposed method can design the IIR filters that satisfy the prespecified allowable errors for not only the complex magnitude but also the group delay by alternately executing the coefficient update for the magnitude-phase and the group delay approximation. The usefulness of the proposed method is verified through some examples.

Keywords: Filter design, Group delay approximation, Stable IIRfilters, Successive projection method.

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Authors: Vladyslav Povoroznyuk, Anna Musiienko, Nataliia Zaverukha, Roksolana Povoroznyuk

Abstract:

Along with the global aging of population, the number of people with somatic diseases is increasing, including such interrelated pathologies as obesity, osteoarthritis (OA) and osteoporosis (OP). The objective of the study is to examine the connection between body mass index (BMI), OA and bone mineral density (BMD) of lumbar spine, femoral neck and trabecular bone score (TBS) in postmenopausal women with OA. We have observed 359 postmenopausal women (50-89 years old) and divided them into four groups by age: 50-59 yrs, 60-69 yrs, 70-79 yrs and over 80 years old. In addition, according to the American College of Rheumatology (ACR) Clinical classification criteria for knee and hip OA, we divided them into 2 groups: group I – 117 females with symptomatic OA (including 89 patients with knee OA, 28 patients with hip OA) and group II –242 women with a normal functional activity of large joints. Analysis of data was performed taking into account their BMI, classified by World Health Organization (WHO). Diagnosis of obesity was established when BMI was above 30 kg/m². In woman with obesity, a symptomatic OA was detected in 44 postmenopausal women (41.1%), a normal functional activity of large joints - in 63 women (58.9%). However, in women with normal BMI – 73 women, who account for 29.0% of cases, a symptomatic OA was detected. According to a chi-squared (χ2) test, a significantly higher level of BMI was detected in postmenopausal women with OA (χ2 = 5.05, p = 0.02). Women with a symptomatic OA had a significantly higher BMD of lumbar spine compared with women who had a normal functional activity of large joints. No significant differences of BMD of femoral necks or TBS were detected in either the group with OA or with a normal functional activity of large joints.

Keywords: Bone mineral density, BMD, body mass index, BMI, obesity, overweight, postmenopausal women, osteoarthritis.

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Authors: S. Parasuraman

Abstract:

In this work, a new approach is proposed to control the manipulators for Humanoid robot. The kinematics of the manipulators in terms of joint positions, velocity, acceleration and torque of each joint is computed using the Denavit Hardenberg (D-H) notations. These variables are used to design the manipulator control system, which has been proposed in this work. In view of supporting the development of a controller, a simulation of the manipulator is designed for Humanoid robot. This simulation is developed through the use of the Virtual Reality Toolbox and Simulink in Matlab. The Virtual Reality Toolbox in Matlab provides the interfacing and controls to an environment which is developed based on the Virtual Reality Modeling Language (VRML). Chains of bones were used to represent the robot.

Keywords: Mobile robot, Robot Kinematics, Robot Navigation, MATLAB.

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Authors: Amon Tunwannarux, Supanunt Tunwannarux

Abstract:

This paper presents design features of a rescue robot, named CEO Mission II. Its body is designed to be the track wheel type with double front flippers for climbing over the collapse and the rough terrain. With 125 cm. long, 5-joint mechanical arm installed on the robot body, it is deployed not only for surveillance from the top view but also easier and faster access to the victims to get their vital signs. Two cameras and sensors for searching vital signs are set up at the tip of the multi-joint mechanical arm. The third camera is at the back of the robot for driving control. Hardware and software of the system, which controls and monitors the rescue robot, are explained. The control system is used for controlling the robot locomotion, the 5-joint mechanical arm, and for turning on/off devices. The monitoring system gathers all information from 7 distance sensors, IR temperature sensors, 3 CCD cameras, voice sensor, robot wheels encoders, yawn/pitch/roll angle sensors, laser range finder and 8 spare A/D inputs. All sensors and controlling data are communicated with a remote control station via IEEE 802.11b Wi-Fi. The audio and video data are compressed and sent via another IEEE 802.11g Wi-Fi transmitter for getting real-time response. At remote control station site, the robot locomotion and the mechanical arm are controlled by joystick. Moreover, the user-friendly GUI control program is developed based on the clicking and dragging method to easily control the movement of the arm. Robot traveling map is plotted from computing the information of wheel encoders and the yawn/pitch data. 2D Obstacle map is plotted from data of the laser range finder. The concept and design of this robot can be adapted to suit many other applications. As the Best Technique awardee from Thailand Rescue Robot Championship 2006, all testing results are satisfied.

Keywords: Controlling, monitoring, rescue robot, mechanicalarm.

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