Search results for: differential mobile robot

Authors: Salima Hacini, Haoua Cheribi, Zizette Boufaïda

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

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

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

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

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

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Authors: Shafiq Ur Rehman, Jane-Lisa Coughlan

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

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

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Authors: Tsubasa Seto, Kentaro Nagata, Kazushige Magatani

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SEMG (Surface Electromyogram) is one of the bio-signals and is generated from the muscle. And there are many research results that use forearm EMG to detect hand motions. In this paper, we will talk about our developed the robot hand system that can control grasping power by SEMG. In our system, we suppose that muscle power is proportional to the amplitude of SEMG. The power is estimated and the grip power of a robot hand is able to be controlled using estimated muscle power in our system. In addition, to perform a more precise control can be considered to build a closed loop feedback system as an object to a subject to pressure from the edge of hand. Our objectives of this study are the development of a method that makes perfect detection of the hand grip force possible using SEMG patterns, and applying this method to the man-machine interface.

Keywords: SEMG, multi electrode, robot hand, power control

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Authors: Prasansha Kumari

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

Keywords: Compatibility, complexity, mobile banking, risk.

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Authors: M. Sarrab, M. Elbasir

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

Keywords: Instruction design, mobile learning, mobile application.

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Authors: Eugen Pop, Mihai Barbos, Razvan Lupu

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

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

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Authors: Seung You Na, Daejung Shin, Jin Young Kim, Bae-Ho Lee, Ji-Sung Lee

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There has been a growing interest in the field of bio-mimetic robots that resemble the shape of an insect or an aquatic animal, among many others. One bio-mimetic robot serves the purpose of exploring pipelines, spotting any troubled areas or malfunctions and reporting its data. Moreover, the robot is able to prepare for and react to any abnormal routes in the pipeline. In order to move effectively inside a pipeline, the robot-s movement will resemble that of a lizard. When situated in massive pipelines with complex routes, the robot places fixed sensors in several important spots in order to complete its monitoring. This monitoring task is to prevent a major system failure by preemptively recognizing any minor or partial malfunctions. Areas uncovered by fixed sensors are usually impossible to provide real-time observation and examination, and thus are dependant on periodical offline monitoring. This paper provides the Monitoring System that is able to monitor the entire area of pipelines–with and without fixed sensors–by using the bio-mimetic robot.

Keywords: Bio-mimetic robots, Plant pipes monitoring, Mobileand active monitoring.

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

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

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

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Authors: G.Mehdiyeva, M.Imanova, V.Ibrahimov

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Beginning from the creator of integro-differential equations Volterra, many scientists have investigated these equations. Classic method for solving integro-differential equations is the quadratures method that is successfully applied up today. Unlike these methods, Makroglou applied hybrid methods that are modified and generalized in this paper and applied to the numerical solution of Volterra integro-differential equations. The way for defining the coefficients of the suggested method is also given.

Keywords: Integro-differential equations, initial value problem, hybrid methods, predictor-corrector method

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Authors: Boguslaw Schreyer

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The paper investigates the application of the Kohonen’s Self-Organizing Map (SOM) to the wheeled robot starting and braking dynamic states. In securing wheeled robot stability as well as minimum starting and braking time, it is important to ensure correct torque distribution as well as proper slope of braking and driving moments. In this paper, a correct movement distribution has been formulated, securing optimum adhesion coefficient and good transversal stability of a wheeled robot. A neural tuner has been proposed to secure the above properties, although most of the attention is attached to the SOM network application. If the delay of the torque application or torque release is not negligible, it is important to change the rising and falling slopes of the torque. The road/surface condition is also paramount in robot dynamic states control. As the road conditions may randomly change in time, application of the SOM network has been suggested in order to classify the actual road conditions.

Keywords: SOM network, torque distribution, torque slope, wheeled robots.

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Authors: Esad Kadušić, Petar Bojović, Amela Žgalj

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

Keywords: Consumer Adoption, Mobile Banking, Risk

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

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

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

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Authors: António J. R. Neves, Rui Garcia, Paulo Dias, Alina Trifan

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With the aging of the world population and the continuous growth in technology, service robots are more and more explored nowadays as alternatives to healthcare givers or personal assistants for the elderly or disabled people. Any service robot should be capable of interacting with the human companion, receive commands, navigate through the environment, either known or unknown, and recognize objects. This paper proposes an approach for object recognition based on the use of depth information and color images for a service robot. We present a study on two of the most used methods for object detection, where 3D data is used to detect the position of objects to classify that are found on horizontal surfaces. Since most of the objects of interest accessible for service robots are on these surfaces, the proposed 3D segmentation reduces the processing time and simplifies the scene for object recognition. The first approach for object recognition is based on color histograms, while the second is based on the use of the SIFT and SURF feature descriptors. We present comparative experimental results obtained with a real service robot.

Keywords: Service Robot, Object Recognition, 3D Sensors, Plane Segmentation.

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Authors: M. Sarrab, H. Bourdoucen

Abstract:

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

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

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Authors: Vahid Rostami, Omid sojodishijani , Saeed Ebrahimijam, Ali MohsenizanjaniNejad

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This paper is described one of the intelligent control method in Autonomous systems, which is called fuzzy control to correct the three wheel omnidirectional robot movement while it make mistake to catch the target. Fuzzy logic is especially advantageous for problems that can not be easily represented by mathematical modeling because data is either unavailable, incomplete or the process is too complex. Such systems can be easily up grated by adding new rules to improve performance or add new features. In many cases , fuzzy control can be used to improve existing traditional controller systems by adding an extra layer of intelligence to the current control method. The fuzzy controller designed here is more accurate and flexible than the traditional controllers. The project is done at MRL middle size soccer robot team.

Keywords: Robocup , omnidirectional , fuzzy control, soccer robot , intelligent control.

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Authors: N.M Abdul Ghani, L.K. Haur, T.P.Yon, F Naim

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This project relates to a two-wheeled self balancing robot for transferring loads on different locations along a path. This robot specifically functions as a dual mode navigation to navigate efficiently along a desired path. First, as a plurality of distance sensors mounted at both sides of the body for collecting information on tilt angle of the body and second, as a plurality of speed sensors mounted at the bottom of the body for collecting information of the velocity of the body in relative to the ground. A microcontroller for processing information collected from the sensors and configured to set the path and to balance the body automatically while a processor operatively coupled to the microcontroller and configured to compute change of the tilt and velocity of the body. A direct current motor operatively coupled to the microcontroller for controlling the wheels and characterized in that a remote control is operatively coupled to the microcontroller to operate the robot in dual navigation modes.

Keywords: Two-Wheeled Balancing Robot, Dual Mode Navigation, Remote Control, Desired Path.

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

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

Keywords: Awareness, MEEFLS, mobile learning, readiness.

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Authors: Jingwen Shan

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In order to explore the key factors affecting the robot program learning intention of school students, this study takes the technology acceptance model as the theoretical basis and invites 167 students from Jiading District of Shanghai as the research subjects. In the robot course, the model of school students on their learning behavior is constructed. By verifying the causal path relationship between variables, it is concluded that teachers can enhance students’ perceptual usefulness to robotics courses by enhancing subjective norms, entertainment perception, and reducing technical anxiety, such as focusing on the gradual progress of programming and analyzing learner characteristics. Students can improve perceived ease of use by enhancing self-efficacy. At the same time, robot hardware designers can optimize in terms of entertainment and interactivity, which will directly or indirectly increase the learning intention of the robot course. By changing these factors, the learning behavior of primary and secondary school students can be more sustainable.

Keywords: TAM, learning behavior intentions, robot courses, primary and secondary school students.

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Authors: A. Naga Rajesh, S. Chandralingam, T. Anjaneyulu, K. Satyanarayana

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Assistive robotics are playing a vital role in advancing the quality of life for disable people. There exist wide range of systems that can control and guide autonomous mobile robots. The objective of the control system is to guide an autonomous mobile robot using the movement of eyes by means of EOG signal. The EOG signal is acquired using Ag/AgCl electrodes and this signal is processed by a microcontroller unit to calculate the eye gaze direction. Then according to the guidance control strategy, the control commands of the wheelchair are sent. The classification of different eye movements allows us to generate simple code for controlling the wheelchair. This work was aimed towards developing a usable and low-cost assistive robotic wheel chair system for disabled people. To live more independent life, the system can be used by the handicapped people especially those with only eye-motor coordination.

Keywords: Electrooculography, Microcontroller, Motors, Wheelchair.

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Authors: Soofiyan Atar, Adil Shaikh, Sahil Rajpurkar, Pragnesh Bhalala, Aniket Desai, Irfan Siddavatam

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Deep reinforcement learning (deep RL) algorithms leverage the symbolic power of complex controllers by automating it by mapping sensory inputs to low-level actions. Deep RL eliminates the complex robot dynamics with minimal engineering. Deep RL provides high-risk involvement by directly implementing it in real-world scenarios and also high sensitivity towards hyperparameters. Tuning of hyperparameters on a pneumatic quadruped robot becomes very expensive through trial-and-error learning. This paper presents an automated learning control for a pneumatic quadruped robot using sample efficient deep Q learning, enabling minimal tuning and very few trials to learn the neural network. Long training hours may degrade the pneumatic cylinder due to jerk actions originated through stochastic weights. We applied this method to the pneumatic quadruped robot, which resulted in a hopping gait. In our process, we eliminated the use of a simulator and acquired a stable gait. This approach evolves so that the resultant gait matures more sturdy towards any stochastic changes in the environment. We further show that our algorithm performed very well as compared to programmed gait using robot dynamics.

Keywords: model-based reinforcement learning, gait stability, supervised learning, pneumatic quadruped

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Authors: Ming Cong, Yinghua Wu, Dong Liu, Haiying Wen, Junfa Yu

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In order to improve control performance and eliminate steady, a coupling compensation for 6-DOF parallel robot is presented. Taking dynamic load Tank Simulator as the research object, this paper analyzes the coupling of 6-DOC parallel robot considering the degree of freedom of the 6-DOF parallel manipulator. The coupling angle and coupling velocity are derived based on inverse kinematics model. It uses the mechanism-model combined method which takes practical moving track that considering the performance of motion controller and motor as its input to make the study. Experimental results show that the coupling compensation improves motion stability as well as accuracy. Besides, it decreases the dither amplitude of dynamic load Tank Simulator.

Keywords: coupling compensation, screw theory, parallel robot, mechanism-model combined motion

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Authors: Wassila Kiamouche, Malek Benslama

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

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

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Authors: Jae-Kyung LEE, Byung-Hak CHO, Kyung-Nam Jang, Sun-Chul Jung, Ki-Yong OH, Joon-Young PARK, Jong-Seog Kim

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The cables in a nuclear power plant are designed to be used for about 40 years in safe operation environment. However, the heat and radiation in the nuclear power plant causes the rapid performance deterioration of cables in nuclear vessels and heat exchangers, which requires cable lifetime estimation. The most accurate method of estimating the cable lifetime is to evaluate the cables in a laboratory. However, removing cables while the plant is operating is not allowed because of its safety and cost. In this paper, a robot system to estimate the cable lifetime in nuclear power plants is developed and tested. The developed robot system can calculate a modulus value to estimate the cable lifetime even when the nuclear power plant is in operation.

Keywords: Autonomous robot, Cable Inspection, Indenter, Nuclear Power Plant

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Authors: Gunther Reinhart, Marwan Radi

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Since the 1940s, many promising telepresence research results have been obtained. However, telepresence technology still has not reached industrial usage. As human intelligence is necessary for successful execution of most manual assembly tasks, the ability of the human is hindered in some cases, such as the assembly of heavy parts of small/medium lots or prototypes. In such a case of manual assembly, the help of industrial robots is mandatory. The telepresence technology can be considered as a solution for performing assembly tasks, where the human intelligence and haptic sense are needed to identify and minimize the errors during an assembly process and a robot is needed to carry heavy parts. In this paper, preliminary steps to integrate the telepresence technology into industrial robot systems are introduced. The system described here combines both, the human haptic sense and the industrial robot capability to perform a manual assembly task remotely using a force feedback joystick. Mapping between the joystick-s Degrees of Freedom (DOF) and the robot-s ones are introduced. Simulation and experimental results are shown and future work is discussed.

Keywords: Assembly, Force Feedback, Industrial Robot, Teleassembly, Telepresence.

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Authors: Bekim Fetaji, Majlinda Fetaji

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The development and use of mobile devices as well as its integration within education systems to deliver electronic contents and to support real-time communications was the focus of this research. In order to investigate the software engineering issues in using mobile devices a research on electronic content was initiated. The Developed MP3 mobile software solution was developed as a prototype for testing and developing a strategy for designing a usable m-learning environment. The mobile software solution was evaluated using mobile device using the link: http://projects.seeu.edu.mk/mlearn. The investigation also tested the correlation between the two mobile learning indicators: electronic content and attention, based on the Task Based learning instructional method. The mobile software solution ''M-Learn“ was developed as a prototype for testing the approach and developing a strategy for designing usable m-learning environment. The proposed methodology is about what learning modeling approach is more appropriate to use when developing mobile learning software.

Keywords: M-learning, mobile software development, mobiledevices, learning instructions, task based learning.

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Authors: Hataitep Wongsuwarn, Djitt Laowattana

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This paper summaries basic principles and concepts of intelligent controls, implemented in humanoid robotics as well as recent algorithms being devised for advanced control of humanoid robots. Secondly, this paper presents a new approach neuro-fuzzy system. We have included some simulating results from our computational intelligence technique that will be applied to our humanoid robot. Subsequently, we determine a relationship between joint trajectories and located forces on robot-s foot through a proposed neuro-fuzzy technique.

Keywords: Biped Robot, Computational Intelligence, Static and Dynamic Walking, Gait Synthesis, Neuro-Fuzzy System.

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Authors: Saeed Mohammed Baneamoon, Rosalina Abdul Salam, Abdullah Zawawi Hj. Talib

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Designing a simulated system and training it to optimize its tasks in simulated environment helps the designers to avoid problems that may appear when designing the system directly in real world. These problems are: time consuming, high cost, high errors percentage and low efficiency and accuracy of the system. The proposed system will investigate and improve the efficiency and accuracy of a simulated robot to choose correct behavior to perform its task. In this paper, machine learning, which uses genetic algorithm, is adopted. This type of machine learning is called genetic-based machine learning in which a distributed classifier system is used to improve the efficiency and accuracy of the robot. Consequently, it helps the robot to achieve optimal action.

Keywords: Machine Learning, Genetic-Based MachineLearning, Learning Classifier System, Behaviors.

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Authors: Lien Fa Lin, Yung Ming Li, Hsin Chen Hsieh

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The rise of smartphones brings new concept So-Lo-Mo (social-local-mobile) in mobile commerce area in recent years. However, current So-Lo-Mo services only focus on individual users but not a group of users, and the development of group commerce is not enough to satisfy the demand of real-time group buying and less to think about the social relationship between customers. In this research, we integrate mobile intelligence with group commerce and consider customers' preference, real-time context, and social influence as components in the mechanism. With the support of this mechanism, customers are able to gather near customers with the same potential purchase willingness through mobile devices when he/she wants to purchase products or services to have a real-time group-buying. By matching the demand and supply of mobile group-buying market, this research improves the business value of mobile commerce and group commerce further.

Keywords: Group formation, group commerce, mobile commerce, So-Lo-Mo, social influence.

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Authors: A. Won-Yong Chae, B. Hyung-Nam Kim, C. Kyoung-Jun Lee, D. Hee-Je Kim

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The renewable energy has been attracting attention as a new alternative energy due to the problem of environmental pollution and resource depletion. In particular, daylighting and PV system are regarded as the solutions. In this paper, the hybrid dimming control system supplied by solar cell and daylighting system was designed. Daylighting system is main source and PV system is spare source. PV system operates the LED lamp which supports daylighting system because daylighting system is unstable due to the variation of irradiance. In addition, PV system has a role charging batteries. Battery charging has a benefit that PV system operate LED lamp in the bad weather. However, LED lamp always can`t turn on that-s why dimming control system was designed. In particular, the solar charging robot was designed to check the interior irradiance intensity. These systems and the application of the solar charging robot are expected to contribute developing alternative energy in the near future.

Keywords: Daylighting system, PV system, LED lamp, Suntracking robot.

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