Pub Date : 2018-10-01DOI: 10.1109/ICOASE.2018.8548816
Eman Abdulaziz Abdullah, Ibrahim Ahmed Saleh, Omar Ibrahim Al Saif
Particle swarm optimization (PSO) has become universal due to its simplicity and effectiveness in solving many problems in various applications with low computational cost. This algorithm consumes time as dealing with large tasks programs. The main goal of this paper is to introduce a parallel particle swarm optimization (PPSO) on multi-core processing kernel to decrease the determination. In order to ease transfer information among particles of shared area and exchange information by switching randomly. Most of serial PSO algorithms allow updating information among particles which takes a long time during the implementation period. The algorithm was applied to the standard optimization test set CEC (Congress on Evolutionary Computation) 2014 and gave good results compared to the previous algorithm. The empirical results show the execution time of Shared-PSO is more efficient than the serial PSO’s. The proposed algorithm using a multicore CPU technique to improve it via parallelization and enhanced the efficiency of an algorithm by increase the range of PSO application.
粒子群算法以其简单、有效、计算成本低的特点在各种应用中得到广泛应用。该算法在处理大型任务程序时消耗大量时间。本文的主要目的是在多核处理内核上引入并行粒子群优化算法(PPSO)，以减少决策的确定性。为了方便共享区域内粒子间的信息传递，通过随机切换来交换信息。大多数串行粒子群算法允许粒子间的信息更新，但在实现过程中需要花费较长的时间。将该算法应用于2014年CEC (Congress on Evolutionary Computation)标准优化测试集，与之前的算法相比，取得了较好的效果。实验结果表明，共享粒子群算法的执行时间比串行粒子群算法的执行时间更短。该算法采用多核CPU技术，通过并行化对算法进行改进，并通过增加粒子群的应用范围来提高算法的效率。
{"title":"Performance Evaluation of Parallel Particle Swarm Optimization for Multicore Environment","authors":"Eman Abdulaziz Abdullah, Ibrahim Ahmed Saleh, Omar Ibrahim Al Saif","doi":"10.1109/ICOASE.2018.8548816","DOIUrl":"https://doi.org/10.1109/ICOASE.2018.8548816","url":null,"abstract":"Particle swarm optimization (PSO) has become universal due to its simplicity and effectiveness in solving many problems in various applications with low computational cost. This algorithm consumes time as dealing with large tasks programs. The main goal of this paper is to introduce a parallel particle swarm optimization (PPSO) on multi-core processing kernel to decrease the determination. In order to ease transfer information among particles of shared area and exchange information by switching randomly. Most of serial PSO algorithms allow updating information among particles which takes a long time during the implementation period. The algorithm was applied to the standard optimization test set CEC (Congress on Evolutionary Computation) 2014 and gave good results compared to the previous algorithm. The empirical results show the execution time of Shared-PSO is more efficient than the serial PSO’s. The proposed algorithm using a multicore CPU technique to improve it via parallelization and enhanced the efficiency of an algorithm by increase the range of PSO application.","PeriodicalId":144020,"journal":{"name":"2018 International Conference on Advanced Science and Engineering (ICOASE)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122704934","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-10-01DOI: 10.1109/ICOASE.2018.8548884
L. Jamil, S. A. Rahim
A spectrophotometric method for determination of Ca in aqueous solution using 1-(2-pyridylazo)-2-naphthol (PAN) as color reagent based on the formation of Ca-PAN Complex at pH 12 and measuring absorbance at 550nm, with molar absorptivity of 1.70×104 L.mol-1cm-1 has been modified to a flow injection-spectrophotometric (FI) method. The modified FI method is rapid, accurate, precise, and with low operation cost. The linear range of 1-8ppm was obtained with average recovery of 103.46 and precision of 1.5-3.4%. The proposed FI method using PAN as a color reagent was applied satisfactorily for the assay of Ca in natural water, milk, yogurt and human serum.
{"title":"Flow-Injection Specrophotomemic Determination of Calcium Using PAN as a Color Agent","authors":"L. Jamil, S. A. Rahim","doi":"10.1109/ICOASE.2018.8548884","DOIUrl":"https://doi.org/10.1109/ICOASE.2018.8548884","url":null,"abstract":"A spectrophotometric method for determination of Ca in aqueous solution using 1-(2-pyridylazo)-2-naphthol (PAN) as color reagent based on the formation of Ca-PAN Complex at pH 12 and measuring absorbance at 550nm, with molar absorptivity of 1.70×104 L.mol-1cm-1 has been modified to a flow injection-spectrophotometric (FI) method. The modified FI method is rapid, accurate, precise, and with low operation cost. The linear range of 1-8ppm was obtained with average recovery of 103.46 and precision of 1.5-3.4%. The proposed FI method using PAN as a color reagent was applied satisfactorily for the assay of Ca in natural water, milk, yogurt and human serum.","PeriodicalId":144020,"journal":{"name":"2018 International Conference on Advanced Science and Engineering (ICOASE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133374011","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-10-01DOI: 10.1109/ICOASE.2018.8548870
E. Abbas, Mohammed E. Safi, M. Jaber
this paper introduces a modified management system for smart electrical energy meter. The proposed smart meter has feature to inform the consumer about energy consumption, this feature serves energy consumption reduction by self-awareness of real consumption. The other important feature is to eliminating the difficulties by direct contact by employee and consumer to getting the reading of the conventional meter and also reduction of error in bill. The proposal system consists of two parts: client’s side part (the prepaid meters in consumer houses) and server side (electrical sub-station). The client part consists of an RFID reader, credit cards, GSM network, Arduino microcontroller and electronic meter. The system operates with high accuracy which could tell the user the amount of energy consumed at any moment and these results the user will be urged to rationalize energy consumption.
{"title":"Design and Implementation Prepaid Energy Meter Supported by RFID and GSM Technologies","authors":"E. Abbas, Mohammed E. Safi, M. Jaber","doi":"10.1109/ICOASE.2018.8548870","DOIUrl":"https://doi.org/10.1109/ICOASE.2018.8548870","url":null,"abstract":"this paper introduces a modified management system for smart electrical energy meter. The proposed smart meter has feature to inform the consumer about energy consumption, this feature serves energy consumption reduction by self-awareness of real consumption. The other important feature is to eliminating the difficulties by direct contact by employee and consumer to getting the reading of the conventional meter and also reduction of error in bill. The proposal system consists of two parts: client’s side part (the prepaid meters in consumer houses) and server side (electrical sub-station). The client part consists of an RFID reader, credit cards, GSM network, Arduino microcontroller and electronic meter. The system operates with high accuracy which could tell the user the amount of energy consumed at any moment and these results the user will be urged to rationalize energy consumption.","PeriodicalId":144020,"journal":{"name":"2018 International Conference on Advanced Science and Engineering (ICOASE)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130657389","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-10-01DOI: 10.1109/ICOASE.2018.8548874
A. M. Abdulwahab, Nabil T. Ismael, SaadFawzi Al-Nuaimi
One of the most important pillars of sustainable development in all sectors is governance and decision-making. The transport sector in Iraq suffers from inefficiency and efficiency in its performance and development of other sectors. It is considered the biggest source of environmental pollution and the deterioration of the local and regional climate of Iraq because of traditional transport and traffic plans. The need for role of governance and decision-making in the Iraqi transport sector and make it sustainable need to develop an institutional framework through which the roles of different institutions and stakeholders in terms of financial management and decision-making, as well as adoption of the labor market approach that encourages the work of the private sector. The research concluded that governance and decision-making should be activated in all sectors; the transport sector is part of the overall system. The research recommended that the proposed framework be adopted as the starting point for a sustainable transport system to be applied in all Iraqi cities.
{"title":"Institutional Framework Sustainable Transportation for Iraq","authors":"A. M. Abdulwahab, Nabil T. Ismael, SaadFawzi Al-Nuaimi","doi":"10.1109/ICOASE.2018.8548874","DOIUrl":"https://doi.org/10.1109/ICOASE.2018.8548874","url":null,"abstract":"One of the most important pillars of sustainable development in all sectors is governance and decision-making. The transport sector in Iraq suffers from inefficiency and efficiency in its performance and development of other sectors. It is considered the biggest source of environmental pollution and the deterioration of the local and regional climate of Iraq because of traditional transport and traffic plans. The need for role of governance and decision-making in the Iraqi transport sector and make it sustainable need to develop an institutional framework through which the roles of different institutions and stakeholders in terms of financial management and decision-making, as well as adoption of the labor market approach that encourages the work of the private sector. The research concluded that governance and decision-making should be activated in all sectors; the transport sector is part of the overall system. The research recommended that the proposed framework be adopted as the starting point for a sustainable transport system to be applied in all Iraqi cities.","PeriodicalId":144020,"journal":{"name":"2018 International Conference on Advanced Science and Engineering (ICOASE)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134362206","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-10-01DOI: 10.1109/ICOASE.2018.8548931
Tamara Z. Fadhil, A. Mandeel
A rising line of research that endeavors to uncover implicit mechanisms of Autism Spectrum Disorder (ASD). Children with ASD can't express their feelings unequivocally; this makes it troublesome for the parents and overseers related with these youngsters to comprehend their conductance, Causing a noteworthy difficulty in the child's initial formative stages. In this paper, a system was implemented to monitor children with autism remotely to help specialists follow their patients’ progress and analyzing the collecting data. The system consists of NodeMCU ESP8266, galvanic skin response (GSR) sensor, broker (server) and a smartphone or personal computer. NodeMCU (ESP8266) reads the data from the GSR sensor and publishes it on the server. This system observes the subjects’ reactions to different emotions like sadness, happiness, nervous, hunger, relaxation and trepidation, and then records the data. Message Queuing Telemetry Transport (MQTT) protocol had been used to publish the data online. Finally, a comparison had been made between the obtained data for children with autism and without autism.
{"title":"Live Monitoring System for Recognizing Varied Emotions of Autistic Children","authors":"Tamara Z. Fadhil, A. Mandeel","doi":"10.1109/ICOASE.2018.8548931","DOIUrl":"https://doi.org/10.1109/ICOASE.2018.8548931","url":null,"abstract":"A rising line of research that endeavors to uncover implicit mechanisms of Autism Spectrum Disorder (ASD). Children with ASD can't express their feelings unequivocally; this makes it troublesome for the parents and overseers related with these youngsters to comprehend their conductance, Causing a noteworthy difficulty in the child's initial formative stages. In this paper, a system was implemented to monitor children with autism remotely to help specialists follow their patients’ progress and analyzing the collecting data. The system consists of NodeMCU ESP8266, galvanic skin response (GSR) sensor, broker (server) and a smartphone or personal computer. NodeMCU (ESP8266) reads the data from the GSR sensor and publishes it on the server. This system observes the subjects’ reactions to different emotions like sadness, happiness, nervous, hunger, relaxation and trepidation, and then records the data. Message Queuing Telemetry Transport (MQTT) protocol had been used to publish the data online. Finally, a comparison had been made between the obtained data for children with autism and without autism.","PeriodicalId":144020,"journal":{"name":"2018 International Conference on Advanced Science and Engineering (ICOASE)","volume":"256 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133013816","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-10-01DOI: 10.1109/ICOASE.2018.8548903
Ramadhan A. Mohammed
By applying a new approach to concepts of both soft belonging which is called soft element and two distinct soft elements, we success to introduce and study the concepts of ${T_0}left( {X,tilde tau ,A} right)$, ${T_1}left( {X,tilde tau ,A} right)$, ${T_2}left( {X,tilde tau ,A} right)$ (soft hausdorff), ${T_3}left( {X,tilde tau ,A} right)$, (soft regularity), ${T_4}left( {X,tilde tau ,A} right)$ (soft normality) soft separation axioms in fuzzifying soft topology, and give some of their equivalents as well as the relation with each other of the five axioms.
通过对软隶属(即软元)和两个不同的软元概念的新方法，成功地引入和研究了软拓扑模糊化中${T_0}left( {X,tilde tau ,A} right)$、${T_1}left( {X,tilde tau ,A} right)$、${T_2}left( {X,tilde tau ,A} right)$(软豪斯多夫)、${T_3}left( {X,tilde tau ,A} right)$、(软正则性)、${T_4}left( {X,tilde tau ,A} right)$(软正态性)等软分离公理的概念，并给出了它们的一些等价概念以及这五个公理之间的相互关系。
{"title":"On Soft Separation Axioms in Fuzzifying Soft Topological Spaces","authors":"Ramadhan A. Mohammed","doi":"10.1109/ICOASE.2018.8548903","DOIUrl":"https://doi.org/10.1109/ICOASE.2018.8548903","url":null,"abstract":"By applying a new approach to concepts of both soft belonging which is called soft element and two distinct soft elements, we success to introduce and study the concepts of ${T_0}left( {X,tilde tau ,A} right)$, ${T_1}left( {X,tilde tau ,A} right)$, ${T_2}left( {X,tilde tau ,A} right)$ (soft hausdorff), ${T_3}left( {X,tilde tau ,A} right)$, (soft regularity), ${T_4}left( {X,tilde tau ,A} right)$ (soft normality) soft separation axioms in fuzzifying soft topology, and give some of their equivalents as well as the relation with each other of the five axioms.","PeriodicalId":144020,"journal":{"name":"2018 International Conference on Advanced Science and Engineering (ICOASE)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133648568","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-10-01DOI: 10.1109/ICOASE.2018.8548892
S. Omran, Ibrahim A. Amory
Cache memory is an important part in computer systems. In set associative cache memory each incoming memory block from the main memory into cache memory should be placed in one of many specific cache lines according to the degree of associativity. In case of all ways lines are fill, a replacement policy should be designed to indicate which line of that cache memory ways will be replaced. In this paper a LRU (Least Recently Used) replacement policy has been implemented in two different methods for reconfigurable cache memory using FPGA (Field-Programmable Gate Array) and programmed using VHDL (Very high speed IC Hardware Description Language). The tree based pseudo LRU replacement policy is much simple and requires less LRU array size than Conventional LRU because it needs only 7 bits for each cache line. While the conventional LRU is easier in implemented and also require only one unit to managing the LRU replacement policy.
{"title":"Implementation of LRU Replacement Policy for Reconfigurable Cache Memory Using FPGA","authors":"S. Omran, Ibrahim A. Amory","doi":"10.1109/ICOASE.2018.8548892","DOIUrl":"https://doi.org/10.1109/ICOASE.2018.8548892","url":null,"abstract":"Cache memory is an important part in computer systems. In set associative cache memory each incoming memory block from the main memory into cache memory should be placed in one of many specific cache lines according to the degree of associativity. In case of all ways lines are fill, a replacement policy should be designed to indicate which line of that cache memory ways will be replaced. In this paper a LRU (Least Recently Used) replacement policy has been implemented in two different methods for reconfigurable cache memory using FPGA (Field-Programmable Gate Array) and programmed using VHDL (Very high speed IC Hardware Description Language). The tree based pseudo LRU replacement policy is much simple and requires less LRU array size than Conventional LRU because it needs only 7 bits for each cache line. While the conventional LRU is easier in implemented and also require only one unit to managing the LRU replacement policy.","PeriodicalId":144020,"journal":{"name":"2018 International Conference on Advanced Science and Engineering (ICOASE)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124263852","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-10-01DOI: 10.1109/ICOASE.2018.8548847
L. Al-Swidi, Fatima S. S. Awad
We introduce and discuss the properties of the soft bench point. Which reinforcing the theoretical found to soft ideal topological spaces. We introduce several new types of soft ideal. We study the relationship between the types of soft idea which are $mathcal{C}$_soft ideal, $2^{tilde {tilde x}}$_soft ideal, $mathcal{S}$_soft ideal and ℬ _soft ideal with soft bench points. We also study the relationship between the soft bench points and soft turning points with soft compactness.
{"title":"Analysis on the Soft Bench Points","authors":"L. Al-Swidi, Fatima S. S. Awad","doi":"10.1109/ICOASE.2018.8548847","DOIUrl":"https://doi.org/10.1109/ICOASE.2018.8548847","url":null,"abstract":"We introduce and discuss the properties of the soft bench point. Which reinforcing the theoretical found to soft ideal topological spaces. We introduce several new types of soft ideal. We study the relationship between the types of soft idea which are $mathcal{C}$_soft ideal, $2^{tilde {tilde x}}$_soft ideal, $mathcal{S}$_soft ideal and ℬ _soft ideal with soft bench points. We also study the relationship between the soft bench points and soft turning points with soft compactness.","PeriodicalId":144020,"journal":{"name":"2018 International Conference on Advanced Science and Engineering (ICOASE)","volume":"99 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122536568","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The amount of digitized application is growing fast and continuously. As the result of such growth, professional, reliable and secure techniques for identifying people inside both real and virtual worlds are mandatory. In this paper, we present a fully automatic ear-based biometric system which needs no human intervention and can be used in a real-time manner. The proposed system aims to recognize people based on their ear shape extracted from a profile facial image which usually suffers from partial occlusion caused by hair and/or earrings. First, a cascaded classifier-based ear detection approach that uses Haar-like features is used to detect ears in profile images. Later, the process is followed by a novel ear recognition technique based on Shape Context descriptor. The results of testing the proposed approach on some of the standard datasets show promising results; for non-occluded images 100% recognition achieved while for the images where the ear was occluded by both hair and earring, the accuracy was 57%.
{"title":"A Novel Approach for Occluded Ear Recognition Based on Shape Context","authors":"Rizhin Nuree Othman, Fattah Alizadeh, Alistair Sutherland","doi":"10.1109/ICOASE.2018.8548856","DOIUrl":"https://doi.org/10.1109/ICOASE.2018.8548856","url":null,"abstract":"The amount of digitized application is growing fast and continuously. As the result of such growth, professional, reliable and secure techniques for identifying people inside both real and virtual worlds are mandatory. In this paper, we present a fully automatic ear-based biometric system which needs no human intervention and can be used in a real-time manner. The proposed system aims to recognize people based on their ear shape extracted from a profile facial image which usually suffers from partial occlusion caused by hair and/or earrings. First, a cascaded classifier-based ear detection approach that uses Haar-like features is used to detect ears in profile images. Later, the process is followed by a novel ear recognition technique based on Shape Context descriptor. The results of testing the proposed approach on some of the standard datasets show promising results; for non-occluded images 100% recognition achieved while for the images where the ear was occluded by both hair and earring, the accuracy was 57%.","PeriodicalId":144020,"journal":{"name":"2018 International Conference on Advanced Science and Engineering (ICOASE)","volume":"137 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116043413","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-10-01DOI: 10.1109/ICOASE.2018.8548846
Z. A. Karam, Aymen M. Al-Kadhimi, Elaf A. Saeed
This work involves the design and implementation of a robotic hand controlled wirelessly to emulate human hand fingers motion. The design includes two circuits: transmitting and receiving. A glove and flex sensors are placed at the transmitting side while a robotic hand is sitting at the receiving side. Motion control signals are being exchanged wirelessly between the transmitting and receiving circuits via Bluetooth modules. Also, Arduino cards are implemented on both sides to control the servomotor of each robot finger. The robotic hand consists of five fingers designed using three-dimension 3D printer. Each finger has three degree of freedom (3-DOF) and it is controlled by one servomotor for actuating with angle of rotation from 0° to 180°. The forward and inverse kinematics for the index figure is derived mathematically for 3-DOF robot finger, and the third order polynomial trajectory motion is simulated to test the robot kinematics by using MATLAB Simulink. The physical tests show that the hand motion serves concisely for catching objects with a maximum distance range for connection of 37 meters. Also, the simulation results show exact inverse kinematic using the equations derived from the forward kinematic. This robotic hand can be applied in the areas where the intervention of humans may cause danger on their health due to chemical, biological and radiological nature.
{"title":"Design and Implementation of a Wireless Robotic Human Hand Motion-Controlled Using Arduino","authors":"Z. A. Karam, Aymen M. Al-Kadhimi, Elaf A. Saeed","doi":"10.1109/ICOASE.2018.8548846","DOIUrl":"https://doi.org/10.1109/ICOASE.2018.8548846","url":null,"abstract":"This work involves the design and implementation of a robotic hand controlled wirelessly to emulate human hand fingers motion. The design includes two circuits: transmitting and receiving. A glove and flex sensors are placed at the transmitting side while a robotic hand is sitting at the receiving side. Motion control signals are being exchanged wirelessly between the transmitting and receiving circuits via Bluetooth modules. Also, Arduino cards are implemented on both sides to control the servomotor of each robot finger. The robotic hand consists of five fingers designed using three-dimension 3D printer. Each finger has three degree of freedom (3-DOF) and it is controlled by one servomotor for actuating with angle of rotation from 0° to 180°. The forward and inverse kinematics for the index figure is derived mathematically for 3-DOF robot finger, and the third order polynomial trajectory motion is simulated to test the robot kinematics by using MATLAB Simulink. The physical tests show that the hand motion serves concisely for catching objects with a maximum distance range for connection of 37 meters. Also, the simulation results show exact inverse kinematic using the equations derived from the forward kinematic. This robotic hand can be applied in the areas where the intervention of humans may cause danger on their health due to chemical, biological and radiological nature.","PeriodicalId":144020,"journal":{"name":"2018 International Conference on Advanced Science and Engineering (ICOASE)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130210723","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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