Search results for: error metrics

Authors: Sandeep Khimta, Parvinder S. Sandhu, Amanpreet Singh Brar

Abstract:

The traditional software product and process metrics are neither suitable nor sufficient in measuring the complexity of software components, which ultimately is necessary for quality and productivity improvement within organizations adopting CBSE. Researchers have proposed a wide range of complexity metrics for software systems. However, these metrics are not sufficient for components and component-based system and are restricted to the module-oriented systems and object-oriented systems. In this proposed study it is proposed to find the complexity of the JavaBean Software Components as a reflection of its quality and the component can be adopted accordingly to make it more reusable. The proposed metric involves only the design issues of the component and does not consider the packaging and the deployment complexity. In this way, the software components could be kept in certain limit which in turn help in enhancing the quality and productivity.

Keywords: JavaBean Components, Complexity, Metrics, Validation.

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Authors: Marzieh Asgarnezhad, Ramin Nasiri, Abdollah Shahidi

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The successful implementation of Service-Oriented Architecture (SOA) is not confined to Information Technology systems and required changes of the whole enterprise. In order to adapt IT and business, the enterprise requires adequate and measurable methods. The adoption of SOA creates new problem with regard to measuring and analysis the performance. In fact the enterprise should investigate to what extent the development of services will increase the value of business. It is required for every business to measure the extent of SOA adaptation with the goals of enterprise. Moreover, precise performance metrics and their combination with the advanced evaluation methodologies as a solution should be defined. The aim of this paper is to present a systematic methodology for designing a measurement system at the technical and business levels, so that: (1) it will determine measurement metrics precisely (2) the results will be analysed by mapping identified metrics to the measurement tools.

Keywords: Service-oriented architecture, metrics, performance, evaluation.

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Authors: Arun Sharma, Rajesh Kumar, P. S. Grover

Abstract:

The last decade has shown that object-oriented concept by itself is not that powerful to cope with the rapidly changing requirements of ongoing applications. Component-based systems achieve flexibility by clearly separating the stable parts of systems (i.e. the components) from the specification of their composition. In order to realize the reuse of components effectively in CBSD, it is required to measure the reusability of components. However, due to the black-box nature of components where the source code of these components are not available, it is difficult to use conventional metrics in Component-based Development as these metrics require analysis of source codes. In this paper, we survey few existing component-based reusability metrics. These metrics give a border view of component-s understandability, adaptability, and portability. It also describes the analysis, in terms of quality factors related to reusability, contained in an approach that aids significantly in assessing existing components for reusability.

Keywords: Components, Customizability, Reusability, and Observability.

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Authors: Yung-Yuan Hsu

Abstract:

The primary objective of this paper was to construct a “kinematic parameter-independent modeling of three-axis machine tools for geometric error measurement" technique. Improving the accuracy of the geometric error for three-axis machine tools is one of the machine tools- core techniques. This paper first applied the traditional method of HTM to deduce the geometric error model for three-axis machine tools. This geometric error model was related to the three-axis kinematic parameters where the overall errors was relative to the machine reference coordinate system. Given that the measurement of the linear axis in this model should be on the ideal motion axis, there were practical difficulties. Through a measurement method consolidating translational errors and rotational errors in the geometric error model, we simplified the three-axis geometric error model to a kinematic parameter-independent model. Finally, based on the new measurement method corresponding to this error model, we established a truly practical and more accurate error measuring technique for three-axis machine tools.

Keywords: Three-axis machine tool, Geometric error, HTM, Error measuring

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Authors: V. K. Ananthashayana, Jyothirmayi M.

Abstract:

This paper addresses the problem of source separation in images. We propose a FastICA algorithm employing a modified Gaussian contrast function for the Blind Source Separation. Experimental result shows that the proposed Modified Gaussian FastICA is effectively used for Blind Source Separation to obtain better quality images. In this paper, a comparative study has been made with other popular existing algorithms. The peak signal to noise ratio (PSNR) and improved signal to noise ratio (ISNR) are used as metrics for evaluating the quality of images. The ICA metric Amari error is also used to measure the quality of separation.

Keywords: Amari error, Blind Source Separation, Contrast function, Gaussian function, Independent Component Analysis.

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Authors: M. T. Anwar, P. K. Lala, P. Thenappan

Abstract:

This paper presents the decoder design for the single error correcting and double error detecting code proposed by the authors in an earlier paper. The speed of error detection and correction of a code is largely dependent upon the associated encoder and decoder circuits. The complexity and the speed of such circuits are determined by the number of 1?s in the parity check matrix (PCM). The number of 1?s in the parity check matrix for the code proposed by the authors are fewer than in any currently known single error correcting/double error detecting code. This results in simplified encoding and decoding circuitry for error detection and correction.

Keywords: Decoder, Hsiao code, Parity Check Matrix, Syndrome Pattern.

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Authors: Danni Cong, Meiping Wu, Xiaofeng He, Junxiang Lian, Juliang Cao, Shaokuncai, Hao Qin

Abstract:

Gravity gradient instrument (GGI) is the core of the gravity gradiometer, so the structural error of the sensor has a great impact on the measurement results. In order not to affect the aimed measurement accuracy, limit error is required in the installation of the accelerometer. In this paper, based on the established measuring principle model, the radial installation limit error is calibrated, which is taken as an example to provide a method to calculate the other limit error of the installation under the premise of ensuring the accuracy of the measurement result. This method provides the idea for deriving the limit error of the geometry structure of the sensor, laying the foundation for the mechanical precision design and physical design.

Keywords: Gravity gradient sensor, radial installation limit error, accelerometer, uniaxial rotational modulation.

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Authors: O. P. Sharma, V. Janyani, S. Sancheti

Abstract:

Data rate, tolerable bit error rate or frame error rate and range & coverage are the key performance requirement of a communication link. In this paper performance of MFSK link is analyzed in terms of bit error rate, number of errors and total number of data processed. In the communication link model proposed, which is implemented using MATLAB block set, an improvement in BER is observed. Different parameters which effects and enables to keep BER low in M-ary communication system are also identified.

Keywords: Additive White Gaussian Noise (AWGN), Bit Error Rate (BER), Frequency Shift Keying (FSK), Orthogonal Signaling.

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Authors: Mario Mastriani, Juliana Gambini

Abstract:

In this work, we present a comparison between two techniques of image compression. In the first case, the image is divided in blocks which are collected according to zig-zag scan. In the second one, we apply the Fast Cosine Transform to the image, and then the transformed image is divided in blocks which are collected according to zig-zag scan too. Later, in both cases, the Karhunen-Loève transform is applied to mentioned blocks. On the other hand, we present three new metrics based on eigenvalues for a better comparative evaluation of the techniques. Simulations show that the combined version is the best, with minor Mean Absolute Error (MAE) and Mean Squared Error (MSE), higher Peak Signal to Noise Ratio (PSNR) and better image quality. Finally, new technique was far superior to JPEG and JPEG2000.

Keywords: Fast Cosine Transform, image compression, JPEG, JPEG2000, Karhunen-Loève Transform, zig-zag scan.

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Authors: Hae-Yeoun Lee

Abstract:

Reversible watermarking that not only protects the copyright but also preserve the original quality of the digital content have been intensively studied. In particular, the demand for reversible watermarking has increased. In this paper, we propose a reversible watermarking scheme based on interpolation-error shifting and error pre-compensation. The intensity of a pixel is interpolated from the intensities of neighboring pixels, and the difference histogram between the interpolated and the original intensities is obtained and modified to embed the watermark message. By restoring the difference histogram, the embedded watermark is extracted and the original image is recovered by compensating for the interpolation error. The overflow and underflow are prevented by error pre-compensation. To show the performance of the method, the proposed algorithm is compared with other methods using various test images.

Keywords: Reversible watermarking, High capacity, High quality, Interpolated error shifting, Error pre-compensation.

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Authors: Heesung Lee, Joonkyung Sung, Euntai Kim

Abstract:

This paper proposes a method which reduces power consumption in single-error correcting, double error-detecting checker circuits that perform memory error correction code. Power is minimized with little or no impact on area and delay, using the degrees of freedom in selecting the parity check matrix of the error correcting codes. The genetic algorithm is employed to solve the non linear power optimization problem. The method is applied to two commonly used SEC-DED codes: standard Hamming and odd column weight Hsiao codes. Experiments were performed to show the performance of the proposed method.

Keywords: Error correcting codes, genetic algorithm, non-linearpower optimization, Hamming code, Hsiao code.

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Authors: Parvinder Singh Sandhu, Dalwinder Singh Salaria, Hardeep Singh

Abstract:

Software Reusability is primary attribute of software quality. There are metrics for identifying the quality of reusable components but the function that makes use of these metrics to find reusability of software components is still not clear. These metrics if identified in the design phase or even in the coding phase can help us to reduce the rework by improving quality of reuse of the component and hence improve the productivity due to probabilistic increase in the reuse level. In this paper, we have devised the framework of metrics that uses McCabe-s Cyclometric Complexity Measure for Complexity measurement, Regularity Metric, Halstead Software Science Indicator for Volume indication, Reuse Frequency metric and Coupling Metric values of the software component as input attributes and calculated reusability of the software component. Here, comparative analysis of the fuzzy, Neuro-fuzzy and Fuzzy-GA approaches is performed to evaluate the reusability of software components and Fuzzy-GA results outperform the other used approaches. The developed reusability model has produced high precision results as expected by the human experts.

Keywords: Software Reusability, Software Metrics, Neural Networks, Genetic Algorithm, Fuzzy Logic.

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Authors: T. Hirner, J. Polec

Abstract:

This paper describes a new method of unequal error protection (UEP) for region of interest (ROI) with embedded zerotree wavelet algorithm (EZW). ROI technique is important in applications with different parts of importance. In ROI coding, a chosen ROI is encoded with higher quality than the background (BG). Unequal error protection of image is provided by different coding techniques. In our proposed method, image is divided into two parts (ROI, BG) that consist of more important bytes (MIB) and less important bytes (LIB). The experimental results verify effectiveness of the design. The results of our method demonstrate the comparison of the unequal error protection (UEP) of image transmission with defined ROI and the equal error protection (EEP) over multiple noisy channels.

Keywords: embedded zerotree wavelet (EZW), equal error protection (EEP), region of interest (ROI), RS code, unequal error protection (UEP)

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Authors: Yu-Sheng Lee, Qi An

Abstract:

Offset mismatch, gain mismatch, and time-skew error between time-interleaved channels limit the performance of time-interleaved analog-to-digital converters (TIADC). This paper focused on the time-skew error. A new technique for calibrating time-skew error in M-channels TIADC is described, and simulation results are also presented.

Keywords: Calibration, time-skew error, time-interleavedanalog-to-digital converters.

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Authors: Konstantinos Metaxiotis, Konstantinos Liagkouras

Abstract:

The objective of this study is to examine the performance of three well-known multiobjective evolutionary algorithms for solving optimization problems. The first algorithm is the Non-dominated Sorting Genetic Algorithm-II (NSGA-II), the second one is the Strength Pareto Evolutionary Algorithm 2 (SPEA-2), and the third one is the Multiobjective Evolutionary Algorithms based on decomposition (MOEA/D). The examined multiobjective algorithms are analyzed and tested on the ZDT set of test functions by three performance metrics. The results indicate that the NSGA-II performs better than the other two algorithms based on three performance metrics.

Keywords: MOEAs, Multiobjective optimization, ZDT test functions, performance metrics.

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Authors: Cuiran Li, Jianli Xie, Chengshu Li

Abstract:

In the paper, the performance of quasi-synchronous CDMA (QS-CDMA) system, which can allow an increased timing error in synchronized access, is discussed. Average BER performance of the system is analyzed in the condition of different access timing error and different asynchronous users by simulation in AWGN channel. The results show that QS-CDMA system is shown to have great performance gain over the asynchronous system when access timing error is within a few chips and asynchronous users is tolerable. However, with access timing error increasing and asynchronous users increasing, the performance of QS-CDMA will degrade. Also, we can determine the number of tolerable asynchronous users for different access timing error by simulation figures.

Keywords: Code-division multiple access, Quasi-SynchronousCDMA, Access timing error

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Authors: Rabiˆı DARITI, El Mamoun SOUIDI

Abstract:

Linear error-block codes are a natural generalization of linear error correcting codes. The purpose of this paper is to generalize some results on the packing and the covering radii to the error-block case. We study their properties when a code undergoes some specific modifications and combinations with another code. We give a few bounds on the packing and the covering radii of these codes.

Keywords: Linear error-block codes, π-distance, Correction capacity, Packing radius, Covering radius.

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Authors: Wenlong Feng, Zhenchun Du, Jianguo Yang

Abstract:

To decrease the grating scale thermal expansion error, a novel method which based on multiple temperature detection is proposed. Several temperature sensors are installed on the grating scale and the temperatures of these sensors are recorded. The temperatures of every point on the grating scale are calculated by interpolating between adjacent sensors. According to the thermal expansion principle, the grating scale thermal expansion error model can be established by doing the integral for the variations of position and temperature. A novel compensation method is proposed in this paper. By applying the established error model, the grating scale thermal expansion error is decreased by 90% compared with no compensation. The residual positioning error of the grating scale is less than 15μm/10m and the accuracy of the machine tool is significant improved.

Keywords: Thermal expansion error of grating scale, error compensation, machine tools, integral method.

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Authors: Pratik Dhabal Deo, Manoj P.

Abstract:

With the increasing number of social media users, the amount of video content available has also significantly increased. Currently, the number of smartphone users is at its peak, and many are increasingly using their smartphones as their main photography and recording devices. There have been a lot of developments in the field of video quality assessment in since the past years and more research on various other aspects of video and image are being done. Datasets that contain a huge number of videos from different high-end devices make it difficult to analyze the performance of the metrics on the content from most used devices even if they contain contents taken in poor lighting conditions using lower-end devices. These devices face a lot of distortions due to various factors since the spectrum of contents recorded on these devices is huge. In this paper, we have presented an analysis of the objective Video Quality Analysis (VQA) metrics on contents taken only from most used devices and their performance on them, focusing on full-reference metrics. To carry out this research, we created a custom dataset containing a total of 90 videos that have been taken from three most commonly used devices, and Android smartphone, an iOS smartphone and a Digital Single-Lens Reflex (DSLR) camera. On the videos taken on each of these devices, the six most common types of distortions that users face have been applied in addition to already existing H.264 compression based on four reference videos. These six applied distortions have three levels of degradation each. A total of the five most popular VQA metrics have been evaluated on this dataset and the highest values and the lowest values of each of the metrics on the distortions have been recorded. Finally, it is found that blur is the artifact on which most of the metrics did not perform well. Thus, in order to understand the results better the amount of blur in the data set has been calculated and an additional evaluation of the metrics was done using High Efficiency Video Coding (HEVC) codec, which is the next version of H.264 compression, on the camera that proved to be the sharpest among the devices. The results have shown that as the resolution increases, the performance of the metrics tends to become more accurate and the best performing metric among them is VQM with very few inconsistencies and inaccurate results when the compression applied is H.264, but when the compression is applied is HEVC, Structural Similarity (SSIM) metric and Video Multimethod Assessment Fusion (VMAF) have performed significantly better.

Keywords: Distortion, metrics, recording, frame rate, video quality assessment.

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Authors: Murat Ayyıldız, Oya Kalıpsız, Sırma Yavuz

Abstract:

Software project effort estimation is frequently seen as complex and expensive for individual software engineers. Software production is in a crisis. It suffers from excessive costs. Software production is often out of control. It has been suggested that software production is out of control because we do not measure. You cannot control what you cannot measure. During last decade, a number of researches on cost estimation have been conducted. The metric-set selection has a vital role in software cost estimation studies; its importance has been ignored especially in neural network based studies. In this study we have explored the reasons of those disappointing results and implemented different neural network models using augmented new metrics. The results obtained are compared with previous studies using traditional metrics. To be able to make comparisons, two types of data have been used. The first part of the data is taken from the Constructive Cost Model (COCOMO'81) which is commonly used in previous studies and the second part is collected according to new metrics in a leading international company in Turkey. The accuracy of the selected metrics and the data samples are verified using statistical techniques. The model presented here is based on Multi-Layer Perceptron (MLP). Another difficulty associated with the cost estimation studies is the fact that the data collection requires time and care. To make a more thorough use of the samples collected, k-fold, cross validation method is also implemented. It is concluded that, as long as an accurate and quantifiable set of metrics are defined and measured correctly, neural networks can be applied in software cost estimation studies with success

Keywords: Software Metrics, Software Cost Estimation, Neural Network.

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Authors: E. Ardil, Erdem Uçar, Parvinder S. Sandhu

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As the majority of faults are found in a few of its modules so there is a need to investigate the modules that are affected severely as compared to other modules and proper maintenance need to be done on time especially for the critical applications. In this paper, we have explored the different predictor models to NASA-s public domain defect dataset coded in Perl programming language. Different machine learning algorithms belonging to the different learner categories of the WEKA project including Mamdani Based Fuzzy Inference System and Neuro-fuzzy based system have been evaluated for the modeling of maintenance severity or impact of fault severity. The results are recorded in terms of Accuracy, Mean Absolute Error (MAE) and Root Mean Squared Error (RMSE). The results show that Neuro-fuzzy based model provides relatively better prediction accuracy as compared to other models and hence, can be used for the maintenance severity prediction of the software.

Keywords: Software Metrics, Fuzzy, Neuro-Fuzzy, SoftwareFaults, Accuracy, MAE, RMSE.

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Authors: Sonia Manhas, Parvinder S. Sandhu, Vinay Chopra, Nirvair Neeru

Abstract:

The cost of developing the software from scratch can be saved by identifying and extracting the reusable components from already developed and existing software systems or legacy systems [6]. But the issue of how to identify reusable components from existing systems has remained relatively unexplored. We have used metric based approach for characterizing a software module. In this present work, the metrics McCabe-s Cyclometric Complexity Measure for Complexity measurement, Regularity Metric, Halstead Software Science Indicator for Volume indication, Reuse Frequency metric and Coupling Metric values of the software component are used as input attributes to the different types of Neural Network system and reusability of the software component is calculated. The results are recorded in terms of Accuracy, Mean Absolute Error (MAE) and Root Mean Squared Error (RMSE).

Keywords: Software reusability, Neural Networks, MAE, RMSE, Accuracy.

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Authors: Parvinder S. Sandhu, Satish Kumar Dhiman, Anmol Goyal

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Fault-proneness of a software module is the probability that the module contains faults. A correlation exists between the fault-proneness of the software and the measurable attributes of the code (i.e. the static metrics) and of the testing (i.e. the dynamic metrics). Early detection of fault-prone software components enables verification experts to concentrate their time and resources on the problem areas of the software system under development. This paper introduces Genetic Algorithm based software fault prediction models with Object-Oriented metrics. The contribution of this paper is that it has used Metric values of JEdit open source software for generation of the rules for the classification of software modules in the categories of Faulty and non faulty modules and thereafter empirically validation is performed. The results shows that Genetic algorithm approach can be used for finding the fault proneness in object oriented software components.

Keywords: Genetic Algorithms, Software Fault, Classification, Object Oriented Metrics.

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Authors: Hadi Taghvafard

Abstract:

We present a new quadrature rule based on the spline interpolation along with the error analysis. Moreover, some error estimates for the reminder when the integrand is either a Lipschitzian function, a function of bounded variation or a function whose derivative belongs to Lp are given. We also give some examples to show that, practically, the spline rule is better than the trapezoidal rule.

Keywords: Quadrature, Spline interpolation, Trapezoidal rule, Numericalintegration, Error analysis.

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Authors: Simon Brown

Abstract:

Glomerular filtration rate (GFR) is a measure of kidney function. It is usually estimated from serum concentrations of cystatin C or creatinine although there has been considerable debate in the literature about (i) the best equation to use and (ii) the variability in the correlation between the concentrations of creatinine and cystatin C. The equations for GFR can be written in a general form and from these I calculate the error of the GFR estimates associated with analyte measurement error. These show that the error of the GFR estimates is such that it is not possible to distinguish between the equations over much of the concentration range of either analyte. The general forms of the equations are also used to derive an expression for the concentration of cystatin C as a function of the concentration of creatinine. This equation shows that these analyte concentrations are not linearly related. Clinical reports of cystatin C and creatinine concentration are consistent with the expression derived.

Keywords: creatinine, cystatin C, error analysis, glomerularfiltration rate, measurement error.

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Authors: Ankush Agrawal, Nadia Bhuiyan

Abstract:

The new product development (NPD) literature emphasizes the importance of introducing new products on the market for continuing business success. New products are responsible for employment, economic growth, technological progress, and high standards of living. Therefore, the study of NPD and the processes through which they emerge is important. The goal of our research is to propose a framework of critical success factors, metrics, and tools and techniques for implementing metrics for each stage of the new product development (NPD) process. An extensive literature review was undertaken to investigate decades of studies on NPD success and how it can be achieved. These studies were scanned for common factors for firms that enjoyed success of new products on the market. The paper summarizes NPD success factors, suggests metrics that should be used to measure these factors, and proposes tools and techniques to make use of these metrics. This was done for each stage of the NPD process, and brought together in a framework that the authors propose should be followed for complex NPD projects. While many studies have been conducted on critical success factors for NPD, these studies tend to be fragmented and focus on one or a few phases of the NPD process. 

Keywords: New product development, performance, critical success factors, framework.

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Authors: Silvio R. R. Sanches, Bianca C. Barbosa, Beatriz R. Brum, Cléber G.Corrêa

Abstract:

In order to evaluate the quality of a segmentation algorithm, the researchers use subjective or objective metrics. Although subjective metrics are more accurate than objective ones, objective metrics do not require user feedback to test an algorithm. Objective metrics require subjective experiments only during their development. Subjective experiments typically display to users some videos (generated from frames with segmentation errors) that simulate the environment of an application domain. This user feedback is crucial information for metric definition. In the subjective experiments applied to develop some state-of-the-art metrics used to test segmentation algorithms, the videos displayed during the experiments did not contain audio. Audio is an essential component in applications such as videoconference and augmented reality. If the audio influences the user’s perception, using only videos without audio in subjective experiments can compromise the efficiency of an objective metric generated using data from these experiments. This work aims to identify if the audio influences the user’s perception of segmentation quality in background substitution applications with audio. The proposed approach used a subjective method based on formal video quality assessment methods. The results showed that audio influences the quality of segmentation perceived by a user.

Keywords: Background substitution, influence of audio, segmentation evaluation, segmentation quality.

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Authors: Phornpat Chewasoonthorn, Surat Kwanmuang

Abstract:

Indoor positioning technologies have been evolved rapidly. They augment the Global Positioning System (GPS) which requires line-of-sight to the sky to track the location of people or objects. In this study, we developed an error correction method for an indoor real-time location system (RTLS) based on an ultra-wideband (UWB) sensor from Decawave. Multiple stationary nodes (anchor) were installed throughout the workspace. The distance between stationary and moving nodes (tag) can be measured using a two-way-ranging (TWR) scheme. The result has shown that the uncorrected ranging error from the sensor system can be as large as 1 m. To reduce ranging error and thus increase positioning accuracy, we present an online correction algorithm using the Kalman filter. The results from experiments have shown that the system can reduce ranging error down to 5 cm.

Keywords: Indoor positioning, ultra-wideband, error correction, Kalman filter.

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Authors: Anju Shri, Parvinder S. Sandhu, Vikas Gupta, Sanyam Anand

Abstract:

In literature, there are metrics for identifying the quality of reusable components but the framework that makes use of these metrics to precisely predict reusability of software components is still need to be worked out. These reusability metrics if identified in the design phase or even in the coding phase can help us to reduce the rework by improving quality of reuse of the software component and hence improve the productivity due to probabilistic increase in the reuse level. As CK metric suit is most widely used metrics for extraction of structural features of an object oriented (OO) software; So, in this study, tuned CK metric suit i.e. WMC, DIT, NOC, CBO and LCOM, is used to obtain the structural analysis of OO-based software components. An algorithm has been proposed in which the inputs can be given to K-Means Clustering system in form of tuned values of the OO software component and decision tree is formed for the 10-fold cross validation of data to evaluate the in terms of linguistic reusability value of the component. The developed reusability model has produced high precision results as desired.

Keywords: CK-Metric, Desicion Tree, Kmeans, Reusability.

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Authors: M. S. Kang, D. H. Kim, J. S. Yoon, B. S. Park, J. K. Lee

Abstract:

Since straightness error of linear motor stage is hardly dependent upon machining accuracy and assembling accuracy, there is limit on maximum realizable accuracy. To cope with this limitation, this paper proposed a servo system to compensate straightness error of a linear motor stage. The servo system is mounted on the slider of the linear motor stage and moves in the direction of the straightness error so as to compensate the error. From position dependency and repeatability of the straightness error of the slider, a feedforward compensation control is applied to the platform servo control. In the consideration of required fine positioning accuracy, a platform driven by an electro-magnetic actuator is suggested and a sliding mode control was applied. The effectiveness of the sliding mode control was verified along with some experimental results.

Keywords: Linear Motor Stage, Straightness Error, Friction, Sliding Mode Control.

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