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Object Following Design for a Mobile Robot using Neural Network 基于神经网络的移动机器人对象跟踪设计
Pub Date : 2017-02-27 DOI: 10.18495/COMENGAPP.V6I1.189
Neta Larasati, T. Dewi, Y. Oktarina
Deciding the best method for robot navigation is the most important tasks in mobile robot design, defined as the robot's ability to reach the target or/and move around its environment safely using the installed sensors and/or predefined map. To achieve this objective, wall or object detection can be considered. It is common to derive kinematics and dynamics to design the controls system of the robot, however by giving intelligence system to the robot, the control system will provide better performance for robot navigation. One of the most applied artificial intelligence is neural networks, a good approach for sensors of mobile robot system that is difficult to be modeled with an accurate mathematical equations. Mostly discussed basic navigation of a mobile robot is wall following. Wall following robot has been used for many application not only in industrial as a transport robot but also in domestic or hospital. Two behaviors are designed in this paper, wall following and object following. Object following behavior is developed from wall following by utilizing data from 4 installed distance sensors. The leader robot as the target for the follower robot, therefore the follower robot will keep on trying reaching for the leader in a safe distance. The novelty of this research is in the sense of the simplicity of proposed method. The feasibility of our proposed design is proven by simulation where all the results shows the effectiveness of the proposed method.
确定机器人导航的最佳方法是移动机器人设计中最重要的任务,它的定义是机器人使用安装的传感器和/或预定义的地图安全到达目标或/并在其环境中移动的能力。为了实现这一目标,可以考虑墙壁或物体检测。通常通过运动学和动力学推导来设计机器人的控制系统,但通过赋予机器人智能系统,控制系统将为机器人导航提供更好的性能。神经网络是应用最广泛的人工智能之一,对于难以用精确数学方程建模的移动机器人传感器系统来说,神经网络是一种很好的方法。讨论最多的是移动机器人的基本导航。墙体跟随机器人不仅在工业上作为运输机器人,而且在家庭和医院中得到了广泛的应用。本文设计了墙体跟随和对象跟随两种行为。物体跟踪行为是利用安装的4个距离传感器的数据从墙壁跟踪发展而来的。由于领导机器人是跟随机器人的目标,因此跟随机器人会不断尝试在安全距离内接近领导机器人。这项研究的新颖之处在于所提出方法的简单性。仿真结果表明了所提方法的有效性,验证了所提方法的可行性。
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引用次数: 14
Priority based computation: “An Initial study result of paradigm shift on real time computation” 基于优先级的计算:“实时计算范式转换的初步研究成果”
Pub Date : 2017-02-26 DOI: 10.18495/comengapp.v6i1.198
S. Sukemi, R. Riyanto
This research is purposed to increase computer function into a time driven to support real time system. This purposed would the processor can work according to determined time variable and can work optimally in a certained deadline. The first approachment to design some of processor that has a different bit space 64, 32, 16 and 8 bits. Each processor will be separated by selector/arbiter priority of a task. In addition, the design of the above processors are designed as a counter with varying levels of accuracy (variable precision computing). The selection is also done by using statistical control in the task are observed by the appearance of controller mounted on the front of the architecture bit space the second approach above. The last approach to ‘add’ certainty in the form of interval arithmetic precision cutting task that can be the upper bound and lower bound of the area (bounds). These four approachment can be structured orthogonally into a processor/several processors by introducing a new classifier that serves as a selector or a task arbiter. The results of the four approaches to prove that the processor is prepared by incorporating a variable bitspace adder selectors can provide optimality of 0.43%.
本研究旨在增加电脑功能,使之成为一个以时间为导向、支援实时的系统。目的是使处理器能够根据确定的时间变量工作,并在一定的期限内达到最佳工作状态。第一种方法是设计一些具有不同位空间的64位、32位、16位和8位的处理器。每个处理器将由任务的选择器/仲裁器优先级分隔。此外,上述处理器的设计被设计为具有不同精度级别(可变精度计算)的计数器。选择也是通过在任务中使用统计控制来完成的,通过安装在架构位空间前面的控制器的外观来观察上述第二种方法。最后一种方法以区间算术精确切割任务的形式来“添加”确定性,即可以是区域的上界和下界(边界)。通过引入作为选择器或任务仲裁器的新分类器,可以将这四种方法正交地构建为一个或多个处理器。四种方法的结果证明,采用可变位空间加法器选择器制备的处理器可以提供0.43%的最优性。
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引用次数: 3
Multicast Energy Aware Routing in Wireless Networks 无线网络中的组播能量感知路由
Pub Date : 2016-10-29 DOI: 10.18495/COMENGAPP.V5I3.184
A. Karimi
Multicasting is a service for disseminating data to a group of hostsand it is of paramount importance in applications with a close collabo-ration of network hosts. Due to limited energy available in the wirelessdevices, energy management is one of the most important problems inwireless networks. Energy aware routing strategies help us to mini-mize the energy costs for communication as much as possible and toincrease the network lifetime. In this paper, we address the problemof energy efficient routing to increase the lifetime of the network. Wepresent three new strategies for online multicast energy aware routingin wireless networks to increase the network lifetime.
多播是一种将数据传播到一组主机的服务,它在网络主机紧密协作的应用程序中至关重要。由于无线设备的可用能量有限,因此能量管理是无线网络中最重要的问题之一。能源感知路由策略帮助我们尽可能地减少通信的能源成本,并增加网络的生命周期。在本文中,我们解决了节能路由的问题,以增加网络的生命周期。提出了三种新的无线网络在线组播能量感知路由策略,以提高网络生存期。
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引用次数: 0
Object Reconstruction from 2D Drawing sketch to 3D Object 对象重建从2D绘图草图到3D对象
Pub Date : 2016-10-26 DOI: 10.18495/COMENGAPP.V5I3.183
Rossi Passarella, Osvari Arsalan
Design engineer in the early phase of building up another product is  typically using a freehand sketching to communicate or illustrate the idea in the form of orthographic projection. This orthographic projection is based on viewpoint. A translation from 2D drawing  view point to 3D models is needed to help engineer to imagine the product preview in 3D. This procedure includes a tedious, so that automation is needed. The way to deal with this reproduction issue begin straightforwardly from 2D freehand portraying, by using the camera, the 2D drawing is captured and then transferred to a Personal Computer. Inside the computer, the image is processed with  filtering to find the view point zones. The view point zone than separate to 3 zones, each zone consists of the pixel coordinate. This coordinates are used to generated and processing of 3D voxel Image according to the form of geometries. A case study is presented in order to emphasize and discuss the proposed method
设计工程师在构建另一种产品的早期阶段通常使用手绘草图以正射投影的形式来交流或说明想法。这种正射影是基于视点的。从2D绘图视角到3D模型的转换需要帮助工程师在3D中想象产品预览。这一过程包含了繁琐,因此需要自动化。处理这种复制问题的方法直接从2D徒手描绘开始,通过使用相机,2D绘图被捕获,然后转移到个人电脑。在计算机内部,对图像进行滤波处理以找到视点区域。将视点区比分开为3个区,每个区由像素坐标组成。该坐标用于根据几何形状生成和处理三维体素图像。为了强调和讨论所提出的方法,给出了一个案例研究
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引用次数: 2
Dual Band Fractal Antenna Design for Wireless Application 无线应用双波段分形天线设计
Pub Date : 2016-10-12 DOI: 10.18495/COMENGAPP.V5I3.175
B. O. Sadiq
The objective of this paper was to design and analyze a dual wide band compact antenna for wireless application. Microstrip patch antenna limitation was overcome by using fractal geometry. The proposed antenna was designed with a radius of 15mm on a FR4 lossy substrate with relative permittivity of 4.4 and loss factor of 0.025. Measurement result showed that the antenna has a dual band of operation with bandwidth for return loss below -10dB of 1.84GHz (2.2GHz-4.07GHz) and 2GHz (6GHz-8GHz) which can be applied to wireless local area network (WLAN) and Ultra wide band applications.
本文的目的是设计和分析一种适用于无线应用的双宽带紧凑型天线。利用分形几何克服了微带贴片天线的局限性。天线设计半径为15mm,相对介电常数为4.4,损耗因子为0.025。测量结果表明,该天线具有1.84GHz (2.2GHz-4.07GHz)和2GHz (6GHz-8GHz)的双频段工作,回波损耗低于-10dB,可应用于无线局域网(WLAN)和超宽带应用。
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引用次数: 7
Exploration based Genetic Algorithm for Job Scheduling on Grid Computing 基于探索的网格作业调度遗传算法
Pub Date : 2016-10-12 DOI: 10.18495/COMENGAPP.V5I3.181
H. Abdelrahman, M. Bashir, A. Yousif
Grid computing presents a new trend to distribute and Internet computing to coordinate large scale heterogeneous resources providing sharing and problem solving in dynamic, multi- institutional virtual organizations. Scheduling is one of the most important problems in computational grid to increase the performance. Genetic Algorithm is adaptive method that can be used to solve optimization problems, based on the genetic process of biological organisms. The objective of this research is to develop a job scheduling algorithm using genetic algorithm with high exploration processes. To evaluate the proposed scheduling algorithm this study conducted a simulation using GridSim Simulator and a number of different workload. The research found that genetic algorithm get best results when increasing the mutation and these result directly proportional with the increase in the number of job. The paper concluded that, the mutation and exploration process has a good effect on the final execution time when we have large number of jobs. However, in small number of job mutation has no effects.
网格计算是分布式计算和互联网计算在动态、多机构的虚拟组织中协调大规模异构资源提供共享和问题解决的新趋势。调度是计算网格中提高性能的重要问题之一。遗传算法是一种基于生物有机体遗传过程的自适应求解优化问题的方法。本研究的目的是开发一种具有高探索过程的遗传算法的作业调度算法。为了评估所提出的调度算法,本研究使用GridSim模拟器和许多不同的工作负载进行了仿真。研究发现,遗传算法在增加变异数时得到的结果最好,且变异数与作业数的增加成正比。研究表明,在作业数量较大的情况下,突变和勘探过程对最终执行时间有很好的影响。然而,在少数工作突变没有影响。
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引用次数: 0
Boosting diagnosis accuracy of Alzheimer's disease using statistical and kernel-based feature selection techniques 利用统计和基于核的特征选择技术提高阿尔茨海默病的诊断准确性
Pub Date : 2016-10-12 DOI: 10.18495/COMENGAPP.V5I3.173
M. Balafar, Rouya Norzadeh
Alzheimer's disease (AD) is the most common type of dementia in the elderly. Approximately, 26 million people worldwide are affected by AD. Among the various diagnostic methods for Alzheimer's disease, MRI brain imaging can display sharp changes in brain tissues. It can be used as a method for early diagnosis of Alzheimer's disease. Considering the high volume of features related to brain tissue thickness, requires the using feature reduction methods. For this purpose, statistical tests pair sample test and Independent sample test was used. After careful selection of key features, for reducing the number of features, SAS which is a kernel-based feature selection algorithm is used in linear and nonlinear mode. At the end, neural network classification, decision trees, nearest neighbor and Naive Bayes algorithms are used for modeling. Results show that the classification accuracy of obtained feature subsets have better results compare to the original data set.
阿尔茨海默病(AD)是老年人中最常见的痴呆类型。全世界大约有2600万人患有AD。在阿尔茨海默病的各种诊断方法中,MRI脑成像可以显示脑组织的急剧变化。可作为阿尔茨海默病早期诊断的一种方法。考虑到与脑组织厚度相关的大量特征,需要使用特征约简方法。为此,采用统计检验、配对样本检验和独立样本检验。在仔细选择关键特征后,为了减少特征的数量,在线性和非线性模式下分别使用了基于核的特征选择算法SAS。最后利用神经网络分类、决策树、最近邻和朴素贝叶斯算法进行建模。结果表明,与原始数据集相比,得到的特征子集具有更好的分类精度。
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引用次数: 0
Peak to Average Power Ratio Reduction in OFDM Using Pulse Shaping Technique 利用脉冲整形技术降低OFDM的峰值平均功率比
Pub Date : 2016-06-23 DOI: 10.18495/COMENGAPP.V5I2.169
D. Das
Orthogonal Frequency Division Multiplexing (OFDM) is a special type of multicarrier modulation in which a signal is split into several narrowband channels at different frequencies. Here data is divided into parallel data streams each transmitted on a separate band. One of the major drawbacks of multicarrier transmission is the high peak-to-average power ratio (PAPR) of the transmit signal. Nyquist filters provide ISI-free transmission. In this paper we are going to propose some new filters which can formulated in an effort to reduce the peak-to-average power ratio (PAPR) of the baseband signal. While maintaining the same excess bandwidth and the zero inter-symbol interference condition. The proposed filters contain various parameters which gives an additional degree of freedom to minimize PAPR for a given roll-off factor α .
正交频分复用(OFDM)是一种特殊类型的多载波调制,它将一个信号在不同的频率上分成几个窄带信道。在这里,数据被分成并行的数据流,每个数据流在单独的频带上传输。多载波传输的主要缺点之一是发射信号的峰值平均功率比(PAPR)高。奈奎斯特过滤器提供无isi传输。在本文中,我们将提出一些新的滤波器,可以制定努力降低基带信号的峰均功率比(PAPR)。同时保持相同的多余带宽和零码间干扰条件。所提出的滤波器包含各种参数,这些参数提供了额外的自由度,以最小化给定滚转因子α的PAPR。
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引用次数: 1
High Load Control Mechanism for SIP Servers SIP服务器的高负载控制机制
Pub Date : 2016-06-23 DOI: 10.18495/COMENGAPP.V5I2.167
Ahmadreza Montazerolghaem, S. Hosseini-Seno, M. Yaghmaee, R. Budiarto
To start voice, image, instant messaging, and generally multimedia communication, session communication must begin between two participants. SIP (session initiation protocol) that is an application layer control induces management and terminates this kind of sessions. As far as the independence of SIP from transport layer protocols is concerned, SIP messages can be transferred on a variety of transport layer protocols including TCP or UDP. Mechanism of Retransmission that is embedded in SIP could compensate for the missing packet loss, in case of need. This mechanism is applied when SIP messages are transmitted on an unreliable transmission layer protocol like UDP. Also, while facing SIP proxy with overload, it could cause excessive filling of proxy queue, postpone increase of other contacts, and add to the amount of the proxy overload. In the present work, while using UDP as transport layer protocol, invite retransmission timer (T 1 ) was appropriately regulated and SIP functionality was improved. Therefore, by proposing an adaptive timer of invite message retransmission, attempts were made to improve the time of session initiation and consequently improve the performance. Performance of the proposed SIP was implemented and evaluated by SIP P software in a real network environment and its accuracy and performance were demonstrated.
要启动语音、图像、即时消息和一般的多媒体通信,必须在两个参与者之间开始会话通信。SIP(会话发起协议)是应用层控制、诱导管理和终止这类会话的协议。就SIP与传输层协议的独立性而言,SIP消息可以在各种传输层协议(包括TCP或UDP)上传输。SIP协议中嵌入的重传机制可以在需要时补偿丢失的数据包。当SIP消息在不可靠的传输层协议(如UDP)上传输时,应用此机制。同时,在面对SIP代理过载时,可能会导致代理队列被过度填充,延迟其他联系人的增加,增加代理过载的数量。在采用UDP作为传输层协议的情况下,适当调节邀请重传定时器(t1),改进SIP功能。因此,通过提出邀请消息重传的自适应定时器,试图改善会话发起时间,从而提高性能。在实际网络环境中,利用SIP协议软件对所提出的SIP协议的性能进行了实现和评估,验证了其准确性和性能。
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引用次数: 0
Smart Home: Controlling and Monitoring Households Appliances using GSM Network 智能家居:使用GSM网络控制和监控家用电器
Pub Date : 2016-06-23 DOI: 10.18495/COMENGAPP.V5I2.171
Budi Rahmadya, Fahrul Ghazi, Derisma Derisma
This study discussed about using the smart home automation systems for household appliances such as lights and fans, by utilizing the GSM network as a communication medium to control and monitor the household appliances. In this study, the simulations were performed by the two following modes 1). Self-automated and 2). Manually-automated. In controlling the lamp, the light intensity that values less than 280 lux will give response of turned ON the lamp, while if the value of light intensity is more than 280 lux, it will give a response of turned OFF the lamp. To control the fan, a room temperature value of more than or equal to 30 ° C will turn ON the fan, while the room temperature value which is less than 30 ° C will turn OFF the fan. Simulations were performed by placing the devices in the room and operating it for three days. The test and simulation results were recorded in the form of log files or history files. The self-automated operations mode controlled the system using a sensor (Light Dependent Resistor and LM35 Sensor) unit to detect the environmental condition and take actions according to detected environmental condition. In the manually-automated operation mode, user could control the household appliances according to the user’s intention. The light intensity values obtained in the morning were equal to 280 lux, so it will turn off the lights. The room temperature obtained was in the range of 28oC - 33oC; the fan will turn on if the temperature value is equal to or more than 30oC.
本研究讨论了如何将智能家居自动化系统应用于灯具、风扇等家用电器,利用GSM网络作为通信媒介对家用电器进行控制和监控。在本研究中,模拟采用了两种模式:1). Self-automated和2). manual -automated。在控制灯时,小于280勒克斯的光强响应为开灯,大于280勒克斯的光强响应为关灯。当室温大于或等于30 Â℃时,风扇开启;当室温小于30 Â℃时,风扇关闭。模拟是通过将设备放置在房间里并运行三天来进行的。将测试和仿真结果以日志文件或历史文件的形式记录下来。自动操作模式利用传感器(光依赖电阻和LM35传感器)单元控制系统检测环境条件,并根据检测到的环境条件采取行动。在手动-自动操作模式下,用户可以根据用户的意图控制家用电器。早上得到的光强值等于280勒克斯,所以它会关闭灯。得到的室温范围为28℃~ 33℃;当温度值大于等于30℃时,风扇开启。
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引用次数: 0
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