Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 1376

Search results for: path loss

1376 Experimental Investigation of On-Body Channel Modelling at 2.45 GHz

Authors: Hasliza A. Rahim, Fareq Malek, Nur A. M. Affendi, Azuwa Ali, Norshafinash Saudin, Latifah Mohamed

Abstract:

This paper presents the experimental investigation of on-body channel fading at 2.45 GHz considering two effects of the user body movement; stationary and mobile. A pair of body-worn antennas was utilized in this measurement campaign. A statistical analysis was performed by comparing the measured on-body path loss to five well-known distributions; lognormal, normal, Nakagami, Weibull and Rayleigh. The results showed that the average path loss of moving arm varied higher than the path loss in sitting position for upper-arm-to-left-chest link, up to 3.5 dB. The analysis also concluded that the Nakagami distribution provided the best fit for most of on-body static link path loss in standing still and sitting position, while the arm movement can be best described by log-normal distribution.

Keywords: On-Body channel communications, fading characteristics, statistical model.

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1375 Assessment of Path Loss Prediction Models for Wireless Propagation Channels at L-Band Frequency over Different Micro-Cellular Environments of Ekiti State, Southwestern Nigeria

Authors: C. I. Abiodun, S. O. Azi, J. S. Ojo, P. Akinyemi

Abstract:

The design of accurate and reliable mobile communication systems depends majorly on the suitability of path loss prediction methods and the adaptability of the methods to various environments of interest. In this research, the results of the adaptability of radio channel behavior are presented based on practical measurements carried out in the 1800 MHz frequency band. The measurements are carried out in typical urban, suburban and rural environments in Ekiti State, Southwestern part of Nigeria. A total number of seven base stations of MTN GSM service located in the studied environments were monitored. Path loss and break point distances were deduced from the measured received signal strength (RSS) and a practical path loss model is proposed based on the deduced break point distances. The proposed two slope model, regression line and four existing path loss models were compared with the measured path loss values. The standard deviations of each model with respect to the measured path loss were estimated for each base station. The proposed model and regression line exhibited lowest standard deviations followed by the Cost231-Hata model when compared with the Erceg Ericsson and SUI models. Generally, the proposed two-slope model shows closest agreement with the measured values with a mean error values of 2 to 6 dB. These results show that, either the proposed two slope model or Cost 231-Hata model may be used to predict path loss values in mobile micro cell coverage in the well-considered environments. Information from this work will be useful for link design of microwave band wireless access systems in the region.

Keywords: Break-point distances, path loss models, path loss exponent, received signal strength.

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1374 Decomposition of Graphs into Induced Paths and Cycles

Authors: I. Sahul Hamid, Abraham V. M.

Abstract:

A decomposition of a graph G is a collection ψ of subgraphs H1,H2, . . . , Hr of G such that every edge of G belongs to exactly one Hi. If each Hi is either an induced path or an induced cycle in G, then ψ is called an induced path decomposition of G. The minimum cardinality of an induced path decomposition of G is called the induced path decomposition number of G and is denoted by πi(G). In this paper we initiate a study of this parameter.

Keywords: Path decomposition, Induced path decomposition, Induced path decomposition number.

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1373 Coverage Probability Analysis of WiMAX Network under Additive White Gaussian Noise and Predicted Empirical Path Loss Model

Authors: Chaudhuri Manoj Kumar Swain, Susmita Das

Abstract:

This paper explores a detailed procedure of predicting a path loss (PL) model and its application in estimating the coverage probability in a WiMAX network. For this a hybrid approach is followed in predicting an empirical PL model of a 2.65 GHz WiMAX network deployed in a suburban environment. Data collection, statistical analysis, and regression analysis are the phases of operations incorporated in this approach and the importance of each of these phases has been discussed properly. The procedure of collecting data such as received signal strength indicator (RSSI) through experimental set up is demonstrated. From the collected data set, empirical PL and RSSI models are predicted with regression technique. Furthermore, with the aid of the predicted PL model, essential parameters such as PL exponent as well as the coverage probability of the network are evaluated. This research work may assist in the process of deployment and optimisation of any cellular network significantly.

Keywords: WiMAX, RSSI, path loss, coverage probability, regression analysis.

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1372 The Same or Not the Same - On the Variety of Mechanisms of Path Dependence

Authors: Jürgen Beyer

Abstract:

In association with path dependence, researchers often talk of institutional “lock-in", thereby indicating that far-reaching path deviation or path departure are to be regarded as exceptional cases. This article submits the alleged general inclination for stability of path-dependent processes to a critical review. The different reasons for path dependence found in the literature indicate that different continuity-ensuring mechanisms are at work when people talk about path dependence (“increasing returns", complementarity, sequences etc.). As these mechanisms are susceptible to fundamental change in different ways and to different degrees, the path dependence concept alone is of only limited explanatory value. It is therefore indispensable to identify the underlying continuity-ensuring mechanism as well if a statement-s empirical value is to go beyond the trivial, always true “history matters".

Keywords: path dependence, increasing returns, historicalinstitutionalism, lock-in.

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1371 Using Multi-Thread Technology Realize Most Short-Path Parallel Algorithm

Authors: Chang-le Lu, Yong Chen

Abstract:

The shortest path question is in a graph theory model question, and it is applied in many fields. The most short-path question may divide into two kinds: Single sources most short-path, all apexes to most short-path. This article mainly introduces the problem of all apexes to most short-path, and gives a new parallel algorithm of all apexes to most short-path according to the Dijkstra algorithm. At last this paper realizes the parallel algorithms in the technology of C # multithreading.

Keywords: Dijkstra algorithm, parallel algorithms, multi-thread technology, most short-path, ratio.

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1370 Loop-free Local Path Repair Strategy for Directed Diffusion

Authors: Basma M. Mohammad El-Basioni, Sherine M. Abd El-kader, Hussein S. Eissa

Abstract:

This paper proposes an implementation for the directed diffusion paradigm aids in studying this paradigm-s operations and evaluates its behavior according to this implementation. The directed diffusion is evaluated with respect to the loss percentage, lifetime, end-to-end delay, and throughput. From these evaluations some suggestions and modifications are proposed to improve the directed diffusion behavior according to this implementation with respect to these metrics. The proposed modifications reflect the effect of local path repair by introducing a technique called Loop-free Local Path Repair (LLPR) which improves the directed diffusion behavior especially with respect to packet loss percentage by about 92.69%. Also LLPR improves the throughput and end-to-end delay by about 55.31% and 14.06% respectively, while the lifetime decreases by about 29.79%.

Keywords: Attribute-value based naming scheme, data gathering, data-centric routing, energy-efficiency, locality, wireless sensor network.

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1369 An UML Statechart Diagram-Based MM-Path Generation Approach for Object-Oriented Integration Testing

Authors: Ruilian Zhao, Ling Lin

Abstract:

MM-Path, an acronym for Method/Message Path, describes the dynamic interactions between methods in object-oriented systems. This paper discusses the classifications of MM-Path, based on the characteristics of object-oriented software. We categorize it according to the generation reasons, the effect scope and the composition of MM-Path. A formalized representation of MM-Path is also proposed, which has considered the influence of state on response method sequences of messages. .Moreover, an automatic MM-Path generation approach based on UML Statechart diagram has been presented, and the difficulties in identifying and generating MM-Path can be solved. . As a result, it provides a solid foundation for further research on test cases generation based on MM-Path.

Keywords: MM-Path, Message Sequence, Object-Oriented Integration Testing, Response Method Sequence, UML Statechart Diagram.

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1368 Bandwidth allocation in ATM Network for different QOS Requirements

Authors: H. El-Madbouly

Abstract:

For future Broad band ISDN, Asynchronous Transfer Mode (ATM) is designed not only to support a wide range of traffic classes with diverse flow characteristics, but also to guarantee the different quality of service QOS requirements. The QOS may be measured in terms of cell loss probability and maximum cell delay. In this paper, ATM networks in which the virtual path (VP) concept is implemented are considered. By applying the Markov Deterministic process method, an efficient algorithm to compute the minimum capacity required to satisfy the QOS requirements when multiple classes of on-off are multiplexed on to a single VP. Using the result, we then proposed a simple algorithm to determine different combinations of VP to achieve the optimum of the total capacity required for satisfying the individual QOS requirements (loss- delay).

Keywords: Bandwidth allocation, Quality of services, ATMNetwork, virtual path.

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1367 Induced Acyclic Path Decomposition in Graphs

Authors: Abraham V. M., I. Sahul Hamid

Abstract:

A decomposition of a graph G is a collection ψ of graphs H1,H2, . . . , Hr of G such that every edge of G belongs to exactly one Hi. If each Hi is either an induced path in G, then ψ is called an induced acyclic path decomposition of G and if each Hi is a (induced) cycle in G then ψ is called a (induced) cycle decomposition of G. The minimum cardinality of an induced acyclic path decomposition of G is called the induced acyclic path decomposition number of G and is denoted by ¤Çia(G). Similarly the cyclic decomposition number ¤Çc(G) is defined. In this paper we begin an investigation of these parameters.

Keywords: Cycle decomposition, Induced acyclic path decomposition, Induced acyclic path decomposition number.

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1366 A Feasible Path Selection QoS Routing Algorithm with two Constraints in Packet Switched Networks

Authors: P.S.Prakash, S.Selvan

Abstract:

Over the past several years, there has been a considerable amount of research within the field of Quality of Service (QoS) support for distributed multimedia systems. One of the key issues in providing end-to-end QoS guarantees in packet networks is determining a feasible path that satisfies a number of QoS constraints. The problem of finding a feasible path is NPComplete if number of constraints is more than two and cannot be exactly solved in polynomial time. We proposed Feasible Path Selection Algorithm (FPSA) that addresses issues with pertain to finding a feasible path subject to delay and cost constraints and it offers higher success rate in finding feasible paths.

Keywords: feasible path, multiple constraints, path selection, QoS routing

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1365 Module and Comodule Structures on Path Space

Authors: Lili Chen, Chao Yuan

Abstract:

On path space kQ, there is a trivial kQa-module structure determined by the multiplication of path algebra kQa and a trivial kQc-comodule structure determined by the comultiplication of path coalgebra kQc. In this paper, on path space kQ, a nontrivial kQa-module structure is defined, and it is proved that this nontrivial left kQa-module structure is isomorphic to the dual module structure of trivial right kQc-comodule. Dually, on path space kQ, a nontrivial kQc-comodule structure is defined, and it is proved that this nontrivial right kQc-comodule structure is isomorphic to the dual comodule structure of trivial left kQa-module. Finally, the trivial and nontrivial module structures on path space are compared from the aspect of submodule, and the trivial and nontrivial comodule structures on path space are compared from the aspect of subcomodule.

Keywords: Quiver, path space, module, comodule, dual.

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1364 A Review on Comparative Analysis of Path Planning and Collision Avoidance Algorithms

Authors: Divya Agarwal, Pushpendra S. Bharti

Abstract:

Autonomous mobile robots (AMR) are expected as smart tools for operations in every automation industry. Path planning and obstacle avoidance is the backbone of AMR as robots have to reach their goal location avoiding obstacles while traversing through optimized path defined according to some criteria such as distance, time or energy. Path planning can be classified into global and local path planning where environmental information is known and unknown/partially known, respectively. A number of sensors are used for data collection. A number of algorithms such as artificial potential field (APF), rapidly exploring random trees (RRT), bidirectional RRT, Fuzzy approach, Purepursuit, A* algorithm, vector field histogram (VFH) and modified local path planning algorithm, etc. have been used in the last three decades for path planning and obstacle avoidance for AMR. This paper makes an attempt to review some of the path planning and obstacle avoidance algorithms used in the field of AMR. The review includes comparative analysis of simulation and mathematical computations of path planning and obstacle avoidance algorithms using MATLAB 2018a. From the review, it could be concluded that different algorithms may complete the same task (i.e. with a different set of instructions) in less or more time, space, effort, etc.

Keywords: Autonomous mobile robots, obstacle avoidance, path planning, and processing time.

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1363 Vector Control Using Series Iron Loss Model of Induction, Motors and Power Loss Minimization

Authors: Kheldoun Aissa, Khodja Djalal Eddine

Abstract:

The iron loss is a source of detuning in vector controlled induction motor drives if the classical rotor vector controller is used for decoupling. In fact, the field orientation will not be satisfied and the output torque will not truck the reference torque mostly used by Loss Model Controllers (LMCs). In addition, this component of loss, among others, may be excessive if the vector controlled induction motor is driving light loads. In this paper, the series iron loss model is used to develop a vector controller immune to iron loss effect and then an LMC to minimize the total power loss using the torque generated by the speed controller.

Keywords: Field Oriented Controller, Induction Motor, Loss ModelController, Series Iron Loss.

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1362 The Problem of Using the Calculation of the Critical Path to Solver Instances of the Job Shop Scheduling Problem

Authors: Marco Antonio Cruz-Chávez, Juan Frausto-Solís, Fernando Ramos-Quintana

Abstract:

A procedure commonly used in Job Shop Scheduling Problem (JSSP) to evaluate the neighborhoods functions that use the non-deterministic algorithms is the calculation of the critical path in a digraph. This paper presents an experimental study of the cost of computation that exists when the calculation of the critical path in the solution for instances in which a JSSP of large size is involved. The results indicate that if the critical path is use in order to generate neighborhoods in the meta-heuristics that are used in JSSP, an elevated cost of computation exists in spite of the fact that the calculation of the critical path in any digraph is of polynomial complexity.

Keywords: Job Shop, CPM, critical path, neighborhood, meta-heuristic.

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1361 An Improved Transfer Logic of the Two-Path Algorithm for Acoustic Echo Cancellation

Authors: Chang Liu, Zishu He

Abstract:

Adaptive echo cancellers with two-path algorithm are applied to avoid the false adaptation during the double-talk situation. In the two-path algorithm, several transfer logic solutions have been proposed to control the filter update. This paper presents an improved transfer logic solution. It improves the convergence speed of the two-path algorithm, and allows the reduction of the memory elements and computational complexity. Results of simulations show the improved performance of the proposed solution.

Keywords: Acoustic echo cancellation, Echo return lossenhancement (ERLE), Two-path algorithm, Transfer logic

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1360 Three-Dimensional Off-Line Path Planning for Unmanned Aerial Vehicle Using Modified Particle Swarm Optimization

Authors: Lana Dalawr Jalal

Abstract:

This paper addresses the problem of offline path planning for Unmanned Aerial Vehicles (UAVs) in complex threedimensional environment with obstacles, which is modelled by 3D Cartesian grid system. Path planning for UAVs require the computational intelligence methods to move aerial vehicles along the flight path effectively to target while avoiding obstacles. In this paper Modified Particle Swarm Optimization (MPSO) algorithm is applied to generate the optimal collision free 3D flight path for UAV. The simulations results clearly demonstrate effectiveness of the proposed algorithm in guiding UAV to the final destination by providing optimal feasible path quickly and effectively.

Keywords: Obstacle Avoidance, Particle Swarm Optimization, Three-Dimensional Path Planning Unmanned Aerial Vehicles.

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1359 Performance of Soft Handover Algorithm in Varied Propagation Environments

Authors: N. P. Singh, Brahmjit Singh

Abstract:

CDMA cellular networks support soft handover, which guarantees the continuity of wireless services and enhanced communication quality. Cellular networks support multimedia services under varied propagation environmental conditions. In this paper, we have shown the effect of characteristic parameters of the cellular environments on the soft handover performance. We consider path loss exponent, standard deviation of shadow fading and correlation coefficient of shadow fading as the characteristic parameters of the radio propagation environment. A very useful statistical measure for characterizing the performance of mobile radio system is the probability of outage. It is shown through numerical results that above parameters have decisive effect on the probability of outage and hence the overall performance of the soft handover algorithm.

Keywords: CDMA, Correlation coefficient, Path loss exponent, Probability of outage, Soft handover.

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1358 Induced Graphoidal Covers in a Graph

Authors: K. Ratan Singh, P. K. Das

Abstract:

An induced graphoidal cover of a graph G is a collection ψ of (not necessarily open) paths in G such that every path in ψ has at least two vertices, every vertex of G is an internal vertex of at most one path in ψ, every edge of G is in exactly one path in ψ and every member of ψ is an induced cycle or an induced path. The minimum cardinality of an induced graphoidal cover of G is called the induced graphoidal covering number of G and is denoted by ηi(G) or ηi. Here we find induced graphoidal cover for some classes of graphs.

Keywords: Graphoidal cover, Induced graphoidal cover, Induced graphoidal covering number.

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1357 Loss of P16/INK4A Protein Expression is a Common Abnormality in Hodgkin's Lymphoma

Authors: Fawzi Irshaid, Fatiha Dilmi, Khaled Tarawneh, Raji Hadeth, Adnan Jaran, Ahad Al-Khatib

Abstract:

P16/INK4A is tumor suppressor protein that plays a critical role in cell cycle regulation. Loss of P16 protein expression has been implicated in pathogenesis of many cancers, including lymphoma. Therefore, we sought to investigate if loss of P16 protein expression is associated with lymphoma and/or any specific lymphoma subtypes (Hodgkin-s lymphoma (HL) and nonHodgkin-s lymphoma (NHL)). Fifty-five lymphoma cases consisted of 30 cases of HL and 25 cases of NHL, with an age range of 3 to 78 years, were examined for loss of P16 by immunohistochemical technique using a specific antibody reacting against P16. In total, P16 loss was seen in 33% of all lymphoma cases. P16 loss was identified in 47.7% of HL cases. In contrast, only 16% of NHL showed loss of P16. Loss of P16 was seen in 67% of HL patients with 50 years of age or older, whereas P16 loss was found in only 42% of HL patients with less than 50 years of age. P16 loss in HL is somewhat higher in male (55%) than in female (30%). In subtypes of HL, P16 loss was found exclusively in all cases of lymphocyte depletion, lymphocyte predominance and unclassified cases, whereas P16 loss was seen in 39% of mixed cellularity and 29% of nodular sclerosis cases. In low grade NHL patients, P16 loss was seen in approximately one-third of cases, whereas no or very rare of P16 loss was found in intermediate and high grade cases. P16 loss did not show any correlation with age or gender of NHL patients. In conclusion, the high rate of P16 loss seen in our study suggests that loss of P16 expression plays a critical role in the pathogenesis of lymphoma, particularly with HL.

Keywords: B-cells, immunostaining, P16 protein, Reed-Sternberg cells, tumors.

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1356 An Approach to the Solving Non-Steiner Minimum Link Path Problem

Authors: V. Tereshchenko, A. Tregubenko

Abstract:

In this study we survey the method for fast finding a minimum link path between two arbitrary points within a simple polygon, which can pass only through the vertices, with preprocessing.

Keywords: Minimum link path, simple polygon, Steiner points, optimal algorithm.

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1355 Memetic Algorithm Based Path Planning for a Mobile Robot

Authors: Neda Shahidi, Hadi Esmaeilzadeh, Marziye Abdollahi, Caro Lucas

Abstract:

In this paper, the problem of finding the optimal collision free path for a mobile robot, the path planning problem, is solved using an advanced evolutionary algorithm called memetic algorithm. What is new in this work is a novel representation of solutions for evolutionary algorithms that is efficient, simple and also compatible with memetic algorithm. The new representation makes it possible to solve the problem with a small population and in a few generations. It also makes the genetic operator simple and allows using an efficient local search operator within the evolutionary algorithm. The proposed algorithm is applied to two instances of path planning problem and the results are available.

Keywords: Path planning problem, Memetic Algorithm, Representation.

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1354 Long Term Evolution Multiple-Input Multiple-Output Network in Unmanned Air Vehicles Platform

Authors: Ashagrie Getnet Flattie

Abstract:

Line-of-sight (LOS) information, data rates, good quality, and flexible network service are limited by the fact that, for the duration of any given connection, they experience severe variation in signal strength due to fading and path loss. Wireless system faces major challenges in achieving wide coverage and capacity without affecting the system performance and to access data everywhere, all the time. In this paper, the cell coverage and edge rate of different Multiple-input multiple-output (MIMO) schemes in 20 MHz Long Term Evolution (LTE) system under Unmanned Air Vehicles (UAV) platform are investigated. After some background on the enormous potential of UAV, MIMO, and LTE in wireless links, the paper highlights the presented system model which attempts to realize the various benefits of MIMO being incorporated into UAV platform. The performances of the three MIMO LTE schemes are compared with the performance of 4x4 MIMO LTE in UAV scheme carried out to evaluate the improvement in cell radius, BER, and data throughput of the system in different morphology. The results show that significant performance gains such as bit error rate (BER), data rate, and coverage can be achieved by using the presented scenario.

Keywords: BER, LTE, MIMO, path loss, UAV.

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1353 Thermal Analysis of the Current Path from Circuit Breakers Using Finite Element Method

Authors: Adrian T. Plesca

Abstract:

This paper describes a three-dimensional thermal model of the current path included in the low voltage power circuit breakers. The model can be used to analyse the thermal behaviour of the current path during both steady-state and transient conditions. The current path lengthwise temperature distribution and timecurrent characteristic of the terminal connections of the power circuit breaker have been obtained. The influence of the electric current and voltage drop on main electric contact of the circuit breaker has been investigated. To validate the three-dimensional thermal model, some experimental tests have been done. There is a good correlation between experimental and simulation results.

Keywords: Current path, power circuit breakers, temperature distribution, thermal analysis.

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1352 Induced Acyclic Graphoidal Covers in a Graph

Authors: K. Ratan Singh, P. K. Das

Abstract:

An induced acyclic graphoidal cover of a graph G is a collection ψ of open paths in G such that every path in ψ has atleast two vertices, every vertex of G is an internal vertex of at most one path in ψ, every edge of G is in exactly one path in ψ and every member of ψ is an induced path. The minimum cardinality of an induced acyclic graphoidal cover of G is called the induced acyclic graphoidal covering number of G and is denoted by ηia(G) or ηia. Here we find induced acyclic graphoidal cover for some classes of graphs.

Keywords: Graphoidal cover, Induced acyclic graphoidal cover, Induced acyclic graphoidal covering number.

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1351 Transmission Loss Allocation via Loss Function Decomposition and Current Projection Concept

Authors: M.R. Ebrahimi, Z. Ghofrani, M. Ehsan

Abstract:

One of the major problems in liberalized power markets is loss allocation. In this paper, a different method for allocating transmission losses to pool market participants is proposed. The proposed method is fundamentally based on decomposition of loss function and current projection concept. The method has been implemented and tested on several networks and one sample summarized in the paper. The results show that the method is comprehensive and fair to allocating the energy losses of a power market to its participants.

Keywords: Transmission loss, loss allocation, current projectionconcept, loss function decomposition.

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1350 Path Planning of a Robot Manipulator using Retrieval RRT Strategy

Authors: K. Oh, J. P. Hwang, E. Kim, H. Lee

Abstract:

This paper presents an algorithm which extends the rapidly-exploring random tree (RRT) framework to deal with change of the task environments. This algorithm called the Retrieval RRT Strategy (RRS) combines a support vector machine (SVM) and RRT and plans the robot motion in the presence of the change of the surrounding environment. This algorithm consists of two levels. At the first level, the SVM is built and selects a proper path from the bank of RRTs for a given environment. At the second level, a real path is planned by the RRT planners for the given environment. The suggested method is applied to the control of KUKA™,, a commercial 6 DOF robot manipulator, and its feasibility and efficiency are demonstrated via the cosimulatation of MatLab™, and RecurDyn™,.

Keywords: Path planning, RRT, 6 DOF manipulator, SVM.

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1349 Optimal Path Planning under Priori Information in Stochastic, Time-varying Networks

Authors: Siliang Wang, Minghui Wang, Jun Hu

Abstract:

A novel path planning approach is presented to solve optimal path in stochastic, time-varying networks under priori traffic information. Most existing studies make use of dynamic programming to find optimal path. However, those methods are proved to be unable to obtain global optimal value, moreover, how to design efficient algorithms is also another challenge. This paper employs a decision theoretic framework for defining optimal path: for a given source S and destination D in urban transit network, we seek an S - D path of lowest expected travel time where its link travel times are discrete random variables. To solve deficiency caused by the methods of dynamic programming, such as curse of dimensionality and violation of optimal principle, an integer programming model is built to realize assignment of discrete travel time variables to arcs. Simultaneously, pruning techniques are also applied to reduce computation complexity in the algorithm. The final experiments show the feasibility of the novel approach.

Keywords: pruning method, stochastic, time-varying networks, optimal path planning.

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1348 Optimizing Network Latency with Fast Path Assignment for Incoming Flows

Authors: Qing Lyu, Hang Zhu

Abstract:

Various flows in the network require to go through different types of middlebox. The improper placement of network middlebox and path assignment for flows could greatly increase the network latency and also decrease the performance of network. Minimizing the total end to end latency of all the ows requires to assign path for the incoming flows. In this paper, the flow path assignment problem in regard to the placement of various kinds of middlebox is studied. The flow path assignment problem is formulated to a linear programming problem, which is very time consuming. On the other hand, a naive greedy algorithm is studied. Which is very fast but causes much more latency than the linear programming algorithm. At last, the paper presents a heuristic algorithm named FPA, which takes bottleneck link information and estimated bandwidth occupancy into consideration, and achieves near optimal latency in much less time. Evaluation results validate the effectiveness of the proposed algorithm.

Keywords: Latency, Fast path assignment, Bottleneck link.

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1347 Mobile Robot Path Planning Utilizing Probability Recursive Function

Authors: Ethar H. Khalil, Bahaa I. Kazem

Abstract:

In this work a software simulation model has been proposed for two driven wheels mobile robot path planning; that can navigate in dynamic environment with static distributed obstacles. The work involves utilizing Bezier curve method in a proposed N order matrix form; for engineering the mobile robot path. The Bezier curve drawbacks in this field have been diagnosed. Two directions: Up and Right function has been proposed; Probability Recursive Function (PRF) to overcome those drawbacks. PRF functionality has been developed through a proposed; obstacle detection function, optimization function which has the capability of prediction the optimum path without comparison between all feasible paths, and N order Bezier curve function that ensures the drawing of the obtained path. The simulation results that have been taken showed; the mobile robot travels successfully from starting point and reaching its goal point. All obstacles that are located in its way have been avoided. This navigation is being done successfully using the proposed PRF techniques.

Keywords: Mobile robot, path planning, Bezier curve.

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