Search results for: Operations research applications

Authors: Pedro Acevedo, Carlos Díaz, Mónica Vázquez, Joel Durán

Abstract:

This paper describes the design of a pulse generator based on the Programmable System-on-Chip (PSoC) module. In this module, using programmable logic is possible to implement different pulses which are required for ultrasonic applications, either in a single channel or multiple channels. This module can operate with programmable frequencies from 3-74 MHz; its programming may be versatile covering a wide range of ultrasonic applications. It is ideal for low-power ultrasonic applications where PZT or PVDF transducers are used.

Keywords: pulse generator, PVDF, Programmable System-on-Chip (PSoC), ultrasonic transducer

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Authors: Melek Oktay, Ayşe Betül Gülbağcı, Mustafa Sarıöz

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Enterprise applications are complex systems that are hard to develop and deploy in organizations. Although software application development tools, frameworks, methodologies and patterns are rapidly developing; many projects fail by causing big costs. There are challenging issues that programmers and designers face with while working on enterprise applications. In this paper, we present the three of the significant issues: Architectural, technological and performance. The important subjects in each issue are pointed out and recommendations are given. In architectural issues the lifecycle, meta-architecture, guidelines are pointed out. .NET and Java EE platforms are presented in technological issues. The importance of performance, measuring performance and profilers are explained in performance issues.

Keywords: Enterprise Applications, Architecture, Technology, Performance.

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Authors: Bashir A. Yauri, Aliyu R. Yauri

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With the introduction of cash-less society policy by the Central Bank of Nigeria, the concept of e-banking services have over the years’ experience a significant improvement. Today quite a number of people are embracing e-banking activities especially ATM, thereby moving away from the conventional banking system. This paper presents a review of the underlying Architectural Layout of Intra-Bank and Inter-Bank ATM connectivity in Nigeria. The paper further investigates and discusses factors affecting the Intra- Bank and Inter-Bank ATM connectivity in Nigeria. In addition, as well possible solutions to these factors affecting ATM Connectivity and Operations are proposed.

Keywords: Architectural layout, automated teller machine, e-services, interswitch.

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Authors: R. Eslami Farsani, R. Fazaeli

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Carbon fibers have specific characteristics in comparison with industrial and structural materials used in different applications. Special properties of carbon fibers make them attractive for reinforcing and fabrication of composites. These fibers have been utilized for composites of metals, ceramics and plastics. However, it-s mainly used in different forms to reinforce lightweight polymer materials such as epoxy resin, polyesters or polyamides. The composites of carbon fiber are stronger than steel, stiffer than titanium, and lighter than aluminum and nowadays they are used in a variety of applications. This study explains applications of carbon fibers in different fields such as space, aviation, transportation, medical, construction, energy, sporting goods, electronics, and the other commercial/industrial applications. The last findings of composites with polymer, metal and ceramic matrices containing carbon fibers and their applications in the world investigated. Researches show that carbon fibers-reinforced composites due to unique properties (including high specific strength and specific modulus, low thermal expansion coefficient, high fatigue strength, and high thermal stability) can be replaced with common industrial and structural materials.

Keywords: Polyacrylonitrile Fibers, Carbon Fibers, Application

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Authors: Zixin Liu, Shu Lü, Shouming Zhong, Mao Ye

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In this paper, some new nonlinear generalized Gronwall-Bellman-Type integral inequalities with mixed time delays are established. These inequalities can be used as handy tools to research stability problems of delayed differential and integral dynamic systems. As applications, based on these new established inequalities, some p-stable results of a integro-differential equation are also given. Two numerical examples are presented to illustrate the validity of the main results.

Keywords: Gronwall-Bellman-Type integral inequalities, integrodifferential equation, p-exponentially stable, mixed delays.

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Authors: Jaouadi Imen, Ben Djemaa Raoudha, Ben Abdallah Hanene

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The access to relevant information that is adapted to user’s needs, preferences and environment is a challenge in many applications running. That causes an appearance of context-aware systems. To facilitate the development of this class of applications, it is necessary that these applications share a common context metamodel. In this article, we will present our context metamodel that is defined using the OMG Meta Object facility (MOF).This metamodel is based on the analysis and synthesis of context concepts proposed in literature.

Keywords: Context, metamodel, Meta Object Facility (MOF), awareness system.

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Authors: R. Varalakshmi

Abstract:

For the last decade, researchers have started to focus their interest on Multicast Group Key Management Framework. The central research challenge is secure and efficient group key distribution. The present paper is based on the Bit model based Secure Multicast Group key distribution scheme using the most popular absolute encoder output type code named Gray Code. The focus is of two folds. The first fold deals with the reduction of computation complexity which is achieved in our scheme by performing fewer multiplication operations during the key updating process. To optimize the number of multiplication operations, an O(1) time algorithm to multiply two N-bit binary numbers which could be used in an N x N bit-model of reconfigurable mesh is used in this proposed work. The second fold aims at reducing the amount of information stored in the Group Center and group members while performing the update operation in the key content. Comparative analysis to illustrate the performance of various key distribution schemes is shown in this paper and it has been observed that this proposed algorithm reduces the computation and storage complexity significantly. Our proposed algorithm is suitable for high performance computing environment.

Keywords: Multicast Group key distribution, Bit model, Integer Multiplications, reconfigurable mesh, optimal algorithm, Gray Code, Computation Complexity, Storage Complexity.

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Authors: M. N. Osman Zahid, K. Case, D. Watts

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This paper reports an advanced approach in the application of CNC machining for rapid manufacturing processes (CNC-RM). The aim of this study is to improve the quality of machined parts by introducing different cutting tools during finishing operations. As the cutting is performed in different directions, the surfaces presented on part can be classified into several categories. Therefore, suitable cutting tools are assigned to machine particular surfaces and to improve the quality. Experimental studies have been carried out by fabricating several parts based on the suggested approach. The results provide further support for implementing this approach in rapid machining processes.

Keywords: CNC machining, End mill tool, Finishing operation, Rapid manufacturing.

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Authors: M.R. Osman, F. Abas, M.S. Noh, A. Mohamad Suffian, O. Ilhamah, H.Z. Zarir, A.B. Wahida, P. Noor Faradila, M.F. Siti Atiqah

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Safety Health and Environment Code of Practice (SHE COP) was developed to help road transportation operators to manage its operation in a systematic and safe manner. A study was conducted to determine the effectiveness of SHE COP implementation during non-OPS period. The objective of the study is to evaluate the implementations of SHE COP among bus operators during wee hour operations. The data was collected by completing a set of checklist after observing the activities during pre departure, during the trip, and upon arrival. The results show that there are seven widely practiced SHE COP elements. 22% of the buses have average speed exceeding the maximum permissible speed on the highways (90 km/h), with 13% of the buses were travelling at the speed of more than 100 km/h. The statistical analysis shows that there is only one significant association which relates speeding with prior presence of enforcement officers.

Keywords: Safety practices, speeding, wee hour.

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Authors: Yaşar Önal, Aydın Akın

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This study was conducted Ismailoglu grape type (Vitis vinifera L.) and its vine which was aged 15 was grown on its own root in a vegetation period of 2013 in Nevşehir province in Turkey. In this research, it was investigated whether the applications of Control (C), 1/3 cluster tip reduction (1/3 CTR), shoot tip reduction (STR), 1/3 CTR + STR, TKI-HUMAS (TKI-HM) (Soil) (S), TKIHM (Foliar) (F), TKI-HM (S + F), 1/3 CTR + TKI-HM (S), 1/3 CTR + TKI-HM (F), 1/3 CTR + TKI-HM (S+F), STR + TKI-HM (S), STR + TKI-HM (F), STR + TKI-HM (S + F), 1/3 CTR + STR+TKI-HM (S), 1/3 CTR + STR + TKI-HM (F), 1/3 CTR + STR + TKI-HM (S + F) on yield and yield components of Ismailoglu grape type. The results were obtained as the highest fresh grape yield (16.15 kg/vine) with TKI-HM (S), as the highest cluster weight (652.39 g) with 1/3 CTR + STR, as the highest 100 berry weight (419.07 g) with 1/3 CTR + STR + TKI-HM (F), as the highest maturity index (44.06) with 1/3 CTR, as the highest must yield (810.00 ml) with STR + TKI-HM (F), as the highest intensity of L* color (42.04) with TKIHM (S + F), as the highest intensity of a* color (2.60) with 1/3 CTR + TKI-HM (S), as the highest intensity of b* color (7.16) with 1/3 CTR + TKI-HM (S) applications. To increase the fresh grape yield of Ismailoglu grape type can be recommended TKI-HM (S) application.

Keywords: 1/3 cluster tip reduction, shoot tip reduction, TKIHumas application, yield and yield Components.

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Authors: Moataz M. Naguib, Hatem Khater, A. Baith Mohamed

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MARS is a shared-key (symmetric) block cipher algorithm supporting 128-bit block size and a variable key size of between 128 and 448 bits. MARS has a several rounds of cryptographic core that is designed to take advantage of the powerful results for improving security/performance tradeoff over existing ciphers. In this work, a new function added to improve the ciphering process it is called, Meta-Morphic function. This function use XOR, Rotating, Inverting and No-Operation logical operations before and after encryption process. The aim of these operations is to improve MARS cipher process and makes a high confusion criterion for the Ciphertext.

Keywords: AES, MARS, Metamorphic, Cryptography, Block Cipher.

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Authors: Barbora Haltofová

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In recent years, citizens have become an important source of geographic information and, therefore, geo-crowdsourcing, often known as volunteered geographic information, has provided an interesting alternative to traditional mapping practices which are becoming expensive, resource-intensive and unable to capture the dynamic nature of urban environments. In order to address a gap in research literature, this paper deals with a survey conducted to assess the current state of geo-crowdsourcing, a recent phenomenon popular with people who collect geographic information using their smartphones. This article points out that there is an increasing body of knowledge of geo-crowdsourcing mobile applications in the Visegrad countries marked by the ubiquitous Internet connection and the current massive proliferation of smartphones. This article shows how geo-crowdsourcing can be used as a complement, or in some cases a replacement, to traditionally generated sources of spatial data and information in public management. It discusses the new spaces of citizen participation constructed by these geo-crowdsourcing practices.

Keywords: Citizen participation, geo-crowdsourcing, e-government, participatory mapping, mobile applications.

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Authors: Neven Vrček, Goran Bubaš, Neven Bosilj

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Location-based services (LBS) exploit the known location of a user to provide services dependent on their geographic context and personalized needs [1]. The development and arrival of broadband mobile data networks supported with mobile terminals equipped with new location technologies like GPS have finally created opportunities for implementation of LBS applications. But, from the other side, collecting location information data in general raises privacy concerns. This paper presents results from two surveys of LBS acceptance in Croatia. The first survey was administered on 181 students, and the second extended survey involved pattern of 180 Croatian citizens. We developed questionnaire which consists of descriptions of 15 different applications with scale which measures perceptions and attitudes of users towards these applications. We report the results to identify potential commercial applications for LBS in B2C segment. Our findings suggest that some types of applications like emergency&safety services and navigation have significantly higher rate of acceptance than other types.

Keywords: Acceptance, location-based services, m-application.

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Authors: Huafeng Wang, Yunhong Wang, Yuan Cao

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During the past several years, face recognition in video has received significant attention. Not only the wide range of commercial and law enforcement applications, but also the availability of feasible technologies after several decades of research contributes to the trend. Although current face recognition systems have reached a certain level of maturity, their development is still limited by the conditions brought about by many real applications. For example, recognition images of video sequence acquired in an open environment with changes in illumination and/or pose and/or facial occlusion and/or low resolution of acquired image remains a largely unsolved problem. In other words, current algorithms are yet to be developed. This paper provides an up-to-date survey of video-based face recognition research. To present a comprehensive survey, we categorize existing video based recognition approaches and present detailed descriptions of representative methods within each category. In addition, relevant topics such as real time detection, real time tracking for video, issues such as illumination, pose, 3D and low resolution are covered.

Keywords: Face recognition, video-based, survey

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Authors: J. Barbarán, M. Díaz, I. Esteve, D. Garrido, L. Llopis, B. Rubio

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Wireless Sensor and Actor Networks (WSANs) constitute an emerging and pervasive technology that is attracting increasing interest in the research community for a wide range of applications. WSANs have two important requirements: coordination interactions and real-time communication to perform correct and timely actions. This paper introduces a methodology to facilitate the task of the application programmer focusing on the coordination and real-time requirements of WSANs. The methodology proposed in this model uses a real-time component model, UM-RTCOM, which will help us to achieve the design and implementation of applications in WSAN by using the component oriented paradigm. This will help us to develop software components which offer some very interesting features, such as reusability and adaptability which are very suitable for WSANs as they are very dynamic environments with rapidly changing conditions. In addition, a high-level coordination model based on tuple channels (TC-WSAN) is integrated into the methodology by providing a component-based specification of this model in UM-RTCOM; this will allow us to satisfy both sensor-actor and actor-actor coordination requirements in WSANs. Finally, we present in this paper the design and implementation of an application which will help us to show how the methodology can be easily used in order to achieve the development of WSANs applications.

Keywords: Sensor networks, real time and embedded systems.

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Authors: José Carlos Rodríguez, Mario Gómez

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This paper analyzes innovation trends in Latin America countries by means of the number of patent applications filed by residents and non residents during the period 1965 to 2012. Making use of patent data released by the World Intellectual Property Organization (WIPO), we search for the presence of multiple structural changes in patent application series in Argentina, Brazil Chile, and Mexico. These changes may suggest that firms’ innovative activity has been modified as a result of implementing a particular science, technology and innovation (STI) policy. Accordingly, the new regulations implemented in these countries during 1980s and 1990s have influenced their intellectual property regimes. The question conducting this research is thus how STI policies in these countries have affected their innovation activity? The results achieved in this research confirm the existence of multiple structural changes in the series of patent applications resulting from STI policies implemented in these countries.

Keywords: Econometric methods, innovation activity, Latin America countries, patents, science, technology and innovation (STI) policy.

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Authors: Haruo Shimada, Akinori Kanasugi

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This paper proposes an architecture of dynamically reconfigurable arithmetic circuit. Dynamic reconfiguration is a technique to realize required functions by changing hardware construction during operations. The proposed circuit is based on a complex number multiply-accumulation circuit which is used frequently in the field of digital signal processing. In addition, the proposed circuit performs real number double precision arithmetic operations. The data formats are single and double precision floating point number based on IEEE754. The proposed circuit is designed using VHDL, and verified the correct operation by simulations and experiments.

Keywords: arithmetic circuit, complex number, double precision, dynamic reconfiguration

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Authors: Regius Asiimwe, Amir Anvar

Abstract:

This paper describes the process used in the automation of the Maritime UAV commands using the Kinect sensor. The AR Drone is a Quadrocopter manufactured by Parrot [1] to be controlled using the Apple operating systems such as iPhones and Ipads. However, this project uses the Microsoft Kinect SDK and Microsoft Visual Studio C# (C sharp) software, which are compatible with Windows Operating System for the automation of the navigation and control of the AR drone. The navigation and control software for the Quadrocopter runs on a windows 7 computer. The project is divided into two sections; the Quadrocopter control system and the Kinect sensor control system. The Kinect sensor is connected to the computer using a USB cable from which commands can be sent to and from the Kinect sensors. The AR drone has Wi-Fi capabilities from which it can be connected to the computer to enable transfer of commands to and from the Quadrocopter. The project was implemented in C#, a programming language that is commonly used in the automation systems. The language was chosen because there are more libraries already established in C# for both the AR drone and the Kinect sensor. The study will contribute toward research in automation of systems using the Quadrocopter and the Kinect sensor for navigation involving a human operator in the loop. The prototype created has numerous applications among which include the inspection of vessels such as ship, airplanes and areas that are not accessible by human operators.

Keywords: UAV, AR drone, Kinect Sensors, Automation, Real time, C sharp, Microsoft Kinect SDK.

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Authors: N. Sefiani, L. Chraibi, K. Reklaoui, Y. Sefiani

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Currently, business environment is characterized by pressure caused by stiff competition, constant changes (e.g., product/ technological innovations, decreasing product lifecycles, and product proliferation), and a high level of market uncertainty band unpredictability. The agility of the Supply Chain Management (SCM) is clearly identified as a key factor for success and a strategic essential lever. This paper explores the impact of deploying competence management and Supply Chain Operations Reference (SCOR) model on firm performance. Our approach is based on a systemic view by considering the SCOR reference model as the heart of competence management system.

Keywords: Competence, competence management, performance, SCOR model and agility.

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Authors: A. AlKalbany, H. Al hassan, M. Saeb

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The “PYRAMIDS" Block Cipher is a symmetric encryption algorithm of a 64, 128, 256-bit length, that accepts a variable key length of 128, 192, 256 bits. The algorithm is an iterated cipher consisting of repeated applications of a simple round transformation with different operations and different sequence in each round. The algorithm was previously software implemented in Cµ code. In this paper, a hardware implementation of the algorithm, using Field Programmable Gate Arrays (FPGA), is presented. In this work, we discuss the algorithm, the implemented micro-architecture, and the simulation and implementation results. Moreover, we present a detailed comparison with other implemented standard algorithms. In addition, we include the floor plan as well as the circuit diagrams of the various micro-architecture modules.

Keywords: FPGA, VHDL, micro-architecture, encryption, cryptography, algorithm, data communication security.

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Authors: Chen-Yuan Chen, Wan-I Lee, Yi-Chaio Sui, Cheng-Wu Chen

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This study focuses on the development of triangular fuzzy numbers, the revising of triangular fuzzy numbers, and the constructing of a HCFN (half-circle fuzzy number) model which can be utilized to perform more plural operations. They are further transformed for trigonometric functions and polar coordinates. From half-circle fuzzy numbers we can conceive cylindrical fuzzy numbers, which work better in algebraic operations. An example of fuzzy control is given in a simulation to show the applicability of the proposed half-circle fuzzy numbers.

Keywords: triangular fuzzy number, half-circle fuzzy numbers, predictions, polar coordinates, Lyapunov method

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Authors: Abdulmajid Mukhtar Afat

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This paper aims at introducing nondeterministic finite automata with ε value which is used to perform some operations on languages. a program is created to implement the algorithm that converts nondeterministic finite automata with ε value (ε-NFA) to deterministic finite automata (DFA).The program is written in c++ programming language. The program inputs are FA 5-tuples from text file and then classifies it into either DFA/NFA or ε -NFA. For DFA, the program will get the string w and decide whether it is accepted or rejected. The tracking path for an accepted string is saved by the program. In case of NFA or ε-NFA automation, the program changes the automation to DFA to enable tracking and to decide if the string w exists in the regular language or not.

Keywords: Finite automata, DFA, NFA, ε-NFA, Eclose, operations on languages.

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Authors: Marcel Schneider, Nils Nießen

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Microscopic simulation tool kits allow for consideration of the two processes of railway operations and the previous timetable production. Block occupation conflicts on both process levels are often solved by using defined train priorities. These conflict resolutions (dispatching decisions) generate reactionary delays to the involved trains. The sum of reactionary delays is commonly used to evaluate the quality of railway operations, which describes the timetable robustness. It is either compared to an acceptable train performance or the delays are appraised economically by linear monetary functions. It is impossible to adequately evaluate dispatching decisions without a well-founded objective function. This paper presents a new approach for the evaluation of dispatching decisions. The approach uses mode choice models and considers the behaviour of the end-customers. These models evaluate the reactionary delays in more detail and consider other competing modes of transport. The new approach pursues the coupling of a microscopic model of railway operations with the macroscopic choice mode model. At first, it will be implemented for railway operations process but it can also be used for timetable production. The evaluation considers the possibility for the customer to interchange to other transport modes. The new approach starts to look at rail and road, but it can also be extended to air travel. The result of mode choice models is the modal split. The reactions by the end-customers have an impact on the revenue of the train operating companies. Different purposes of travel have different payment reserves and tolerances towards late running. Aside from changes to revenues, longer journey times can also generate additional costs. The costs are either time- or track-specific and arise from required changes to rolling stock or train crew cycles. Only the variable values are summarised in the contribution margin, which is the base for the monetary evaluation of delays. The contribution margin is calculated for different possible solutions to the same conflict. The conflict resolution is optimised until the monetary loss becomes minimal. The iterative process therefore determines an optimum conflict resolution by monitoring the change to the contribution margin. Furthermore, a monetary value of each dispatching decision can also be derived.

Keywords: Choice of mode, monetary evaluation, railway operations, reactionary delays.

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Authors: M. Sarrab, M. Elbasir

Abstract:

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: Sandro Mourão, Karla Okada

Abstract:

The necessity of accurate and timely field data is shared among organizations engaged in fundamentally different activities, public services or commercial operations. Basically, there are three major components in the process of the qualitative research: data collection, interpretation and organization of data, and analytic process. Representative technological advancements in terms of innovation have been made in mobile devices (mobile phone, PDA-s, tablets, laptops, etc). Resources that can be potentially applied on the data collection activity for field researches in order to improve this process. This paper presents and discuss the main features of a mobile phone based solution for field data collection, composed of basically three modules: a survey editor, a server web application and a client mobile application. The data gathering process begins with the survey creation module, which enables the production of tailored questionnaires. The field workforce receives the questionnaire(s) on their mobile phones to collect the interviews responses and sending them back to a server for immediate analysis.

Keywords: Data Gathering, Field Research, Mobile Phone, Survey.

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Authors: Petr Teply, Ondrej Vejdovec

Abstract:

There are three main ways of categorizing capital in banking operations: accounting, regulatory and economic capital. However, the 2008-2009 global crisis has shown that none of these categories adequately reflects the real risks of bank operations, especially in light of the failures Bear Stearns, Lehman Brothers or Northern Rock. This paper deals with the economic capital allocation of global banks. In theory, economic capital should reflect the real risks of a bank and should be publicly available. Yet, as discovered during the global financial crisis, even when economic capital information was publicly disclosed, the underlying assumptions rendered the information useless. Specifically, some global banks that reported relatively high levels of economic capital before the crisis went bankrupt or had to be bailed-out by their government. And, only 15 out of 50 global banks reported their economic capital during the 2007-2010 period. In this paper, we analyze the changes in reported bank economic capital disclosure during this period. We conclude that relative shares of credit and business risks increased in 2010 compared to 2007, while both operational and market risks decreased their shares on the total economic capital of top-rated global banks. Generally speaking, higher levels of disclosure and transparency of bank operations are required to obtain more confidence from stakeholders. Moreover, additional risks such as liquidity risks should be included in these disclosures.

Keywords: global crisis, economic capital, risk management, risk allocation, bank

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Authors: Ilias Spais, George Bafas

Abstract:

Natural Language Understanding Systems (NLU) will not be widely deployed unless they are technically mature and cost effective to develop. Cost effective development hinges on the availability of tools and techniques enabling the rapid production of NLU applications through minimal human resources. Further, these tools and techniques should allow quick development of applications in a user friendly way and should be easy to upgrade in order to continuously follow the evolving technologies and standards. This paper presents a visual tool for the structuring and editing of dialog forms, the key element of driving conversation in NLU applications based on IBM technology. The main focus is given on the basic component used to describe Human – Machine interactions of that kind, the Dialogue Manager. In essence, the description of a tool that enables the visual representation of the Dialogue Manager mainly during the implementation phase is illustrated.

Keywords: Conversational Applications, Forms Dialogue Manager (FDM), Natural Language Processing, Natural Language Understanding.

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Authors: Ilya Kavalchuk, Mehdi Seyedmahmoudian, Ben Horan, Aman Than Oo, Alex Stojcevski

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The power electronic components within Electric Vehicles (EV) need to operate in several important modes. Some modes directly influence safety, while others influence vehicle performance. Given the variety of functions and operational modes required of the power electronics, it needs to meet efficiency requirements to minimize power losses. Another challenge in the control and construction of such systems is the ability to support bidirectional power flow. This paper considers the construction, operation, and feasibility of available converters for electric vehicles with feasible configurations of electrical buses and loads. This paper describes logic and control signals for the converters for different operations conditions based on the efficiency and energy usage bases.

Keywords: Electric Vehicles, Electrical Machines Control, Power Electronics, Powerflow Regulations.

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Authors: Namal A. Senanayake, Khoo B. How, Quah W. Wai

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In this project, a tele-operated anthropomorphic robotic arm and hand is designed and built as a versatile robotic arm system. The robot has the ability to manipulate objects such as pick and place operations. It is also able to function by itself, in standalone mode. Firstly, the robotic arm is built in order to interface with a personal computer via a serial servo controller circuit board. The circuit board enables user to completely control the robotic arm and moreover, enables feedbacks from user. The control circuit board uses a powerful integrated microcontroller, a PIC (Programmable Interface Controller). The PIC is firstly programmed using BASIC (Beginner-s All-purpose Symbolic Instruction Code) and it is used as the 'brain' of the robot. In addition a user friendly Graphical User Interface (GUI) is developed as the serial servo interface software using Microsoft-s Visual Basic 6. The second part of the project is to use speech recognition control on the robotic arm. A speech recognition circuit board is constructed with onboard components such as PIC and other integrated circuits. It replaces the computers- Graphical User Interface. The robotic arm is able to receive instructions as spoken commands through a microphone and perform operations with respect to the commands such as picking and placing operations.

Keywords: Tele-operated Anthropomorphic Robotic Arm and Hand, Robot Motion System, Serial Servo Controller, Speech Recognition Controller.

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Authors: M. G. Papoutsidakis, G. Chamilothoris, A Pipe

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Due to their high power-to-weight ratio and low cost, pneumatic actuators are attractive for robotics and automation applications; however, achieving fast and accurate control of their position have been known as a complex control problem. The paper presents a methodology for obtaining controllers that achieve high position accuracy and preserve the closed-loop characteristics over a broad operating range. Experimentation with a number of conventional (or "classical") three-term controllers shows that, as repeated operations accumulate, the characteristics of the pneumatic actuator change requiring frequent re-tuning of the controller parameters (PID gains). Furthermore, three-term controllers are found to perform poorly in recovering the closed-loop system after the application of load or other external disturbances. The key reason for these problems lies in the non-linear exchange of energy inside the cylinder relating, in particular, to the complex friction forces that develop on the piston-wall interface. In order to overcome this problem but still remain within the boundaries of classical control methods, we designed an auto selective classicaql controller so that the system performance would benefit from all three control gains (KP, Kd, Ki) according to system requirements and the characteristics of each type of controller. This challenging experimentation took place for consistent performance in the face of modelling imprecision and disturbances. In the work presented, a selective PID controller is presented for an experimental rig comprising an air cylinder driven by a variable-opening pneumatic valve and equipped with position and pressure sensors. The paper reports on tests carried out to investigate the capability of this specific controller to achieve consistent control performance under, repeated operations and other changes in operating conditions.

Keywords: Classical selective controller, long-termexperimentation, pneumatic actuator, position accuracy.

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