Pub Date : 2015-12-01DOI: 10.1109/ICET.2015.7389211
Aunsa Shah, Au Koo
Hard decision combination is bandwidth-efficient but unreliable while soft-decision combination provides reliability but at the cost of much bandwidth consumption. Reporting quantized information from CR users achieves a trade-off between hard and soft decision combination. In this paper optimal quantization scheme which quantizes the local information in a way that ensures maximum probability of detection while restraining probability of false alarm is proposed. The optimal scheme is based on energy detection and search iteratively for local quantization thresholds. Moreover Smith-Waterman algorithm (SWA), a string matching algorithm widely used in bioinformatics for aligning biological sequences, is used for comparing reports of all CR users to each other and computing similarity index for each CR user. Robust mean and robust standard deviation are calculated of the similarity indexes and a threshold is found. CR users who have similarity index below this threshold are excluded from global decision combination and their reports are discarded. The local decisions of rest of users are combined using modified rules of decision combination to take a global decision. The optimal quantization scheme is compared with other schemes. Simulation results show that the optimal scheme with quantization thresholds performs better than the other schemes.
{"title":"Optimal quantization and efficient cooperative spectrum sensing in cognitive radio networks","authors":"Aunsa Shah, Au Koo","doi":"10.1109/ICET.2015.7389211","DOIUrl":"https://doi.org/10.1109/ICET.2015.7389211","url":null,"abstract":"Hard decision combination is bandwidth-efficient but unreliable while soft-decision combination provides reliability but at the cost of much bandwidth consumption. Reporting quantized information from CR users achieves a trade-off between hard and soft decision combination. In this paper optimal quantization scheme which quantizes the local information in a way that ensures maximum probability of detection while restraining probability of false alarm is proposed. The optimal scheme is based on energy detection and search iteratively for local quantization thresholds. Moreover Smith-Waterman algorithm (SWA), a string matching algorithm widely used in bioinformatics for aligning biological sequences, is used for comparing reports of all CR users to each other and computing similarity index for each CR user. Robust mean and robust standard deviation are calculated of the similarity indexes and a threshold is found. CR users who have similarity index below this threshold are excluded from global decision combination and their reports are discarded. The local decisions of rest of users are combined using modified rules of decision combination to take a global decision. The optimal quantization scheme is compared with other schemes. Simulation results show that the optimal scheme with quantization thresholds performs better than the other schemes.","PeriodicalId":166507,"journal":{"name":"2015 International Conference on Emerging Technologies (ICET)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130797890","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 : 2015-12-01DOI: 10.1109/ICET.2015.7389197
S. A. Kazmi, Sheroz Khan, Othman Omran Khalifa, M. Shah
This paper investigates the impact of physiological maneuvers on the frequency component of photoplethysmograpy signal. Here, we have taken four different physiological states of sitting, standing, jogging and laying. Two groups of 5 to 10 healthy volunteers males and females are formed. The PPG signal acquisition is performed by Easy Pulse analyzer sensor module. Each sample for each state was taken for one-minute duration at stopwatch keeping the consolidated state of volunteer prior to fetching of PPG signal. The Easy pulse analyzer module implicates the pulse oximetry working principle and get the signal from the finger tip of subjects, which determines the oxygen saturation in blood and passes the signal by the optical sensor via a sequential high and low pass op-amp filters and ultimately produces the conditioned PPG signal. The interfacing between the easy pulse analyzer and computing machine was done with the help of Arduino processing board. The Kubios HRV software was utilized in order to execute and manipulate PPG data (numerical values) samples in required format. The report sheet was generated which pertains the frequency and time domain paradigms and was analyzed for respective PPG signal according to the physiological conditions. The results for each data set among four physical states define the co-relation between the physical state and corresponding PPG signal. Moreover, the variation in frequency components is observed during the change in physiological condition.
{"title":"Spectrum analysis of physiological signals of human activities","authors":"S. A. Kazmi, Sheroz Khan, Othman Omran Khalifa, M. Shah","doi":"10.1109/ICET.2015.7389197","DOIUrl":"https://doi.org/10.1109/ICET.2015.7389197","url":null,"abstract":"This paper investigates the impact of physiological maneuvers on the frequency component of photoplethysmograpy signal. Here, we have taken four different physiological states of sitting, standing, jogging and laying. Two groups of 5 to 10 healthy volunteers males and females are formed. The PPG signal acquisition is performed by Easy Pulse analyzer sensor module. Each sample for each state was taken for one-minute duration at stopwatch keeping the consolidated state of volunteer prior to fetching of PPG signal. The Easy pulse analyzer module implicates the pulse oximetry working principle and get the signal from the finger tip of subjects, which determines the oxygen saturation in blood and passes the signal by the optical sensor via a sequential high and low pass op-amp filters and ultimately produces the conditioned PPG signal. The interfacing between the easy pulse analyzer and computing machine was done with the help of Arduino processing board. The Kubios HRV software was utilized in order to execute and manipulate PPG data (numerical values) samples in required format. The report sheet was generated which pertains the frequency and time domain paradigms and was analyzed for respective PPG signal according to the physiological conditions. The results for each data set among four physical states define the co-relation between the physical state and corresponding PPG signal. Moreover, the variation in frequency components is observed during the change in physiological condition.","PeriodicalId":166507,"journal":{"name":"2015 International Conference on Emerging Technologies (ICET)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129036418","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 : 2015-12-01DOI: 10.1109/ICET.2015.7389196
Maryam Iqbal, A. Mahmood
In the rich repertoire of biomechanical systems bond graph is a proper choice for the modeling, analysis and simulation of biomechanical models. In this paper, we present the study of optimal robust control of a biomechanical model of reflexive movement of human ring finger when the little finger is bent. This is a 12th order model for movement simulation of two fingers. We developed H2/H∞ robust feedback controllers for the model in order to synthesize by combining a full information controller with an estimator to achieve stabilizing results. We later included parametric uncertainties of the model as modeling noise and exogenous inputs of the model. Furthermore, we tuned the controller performance to minimize the effects of the disturbances and the impact of the measurement noise and modeling errors. We simulated the model in MATLAB/Simulink for study of stability analysis and performance comparison. Our simulation results demonstrate the applicability of the model towards active prosthetic, and help to understand central nervous system in physiologically coordinated movement and constraint on motor functions.
{"title":"H2 and H∞ optimal control of coordinated fingers movement","authors":"Maryam Iqbal, A. Mahmood","doi":"10.1109/ICET.2015.7389196","DOIUrl":"https://doi.org/10.1109/ICET.2015.7389196","url":null,"abstract":"In the rich repertoire of biomechanical systems bond graph is a proper choice for the modeling, analysis and simulation of biomechanical models. In this paper, we present the study of optimal robust control of a biomechanical model of reflexive movement of human ring finger when the little finger is bent. This is a 12th order model for movement simulation of two fingers. We developed H2/H∞ robust feedback controllers for the model in order to synthesize by combining a full information controller with an estimator to achieve stabilizing results. We later included parametric uncertainties of the model as modeling noise and exogenous inputs of the model. Furthermore, we tuned the controller performance to minimize the effects of the disturbances and the impact of the measurement noise and modeling errors. We simulated the model in MATLAB/Simulink for study of stability analysis and performance comparison. Our simulation results demonstrate the applicability of the model towards active prosthetic, and help to understand central nervous system in physiologically coordinated movement and constraint on motor functions.","PeriodicalId":166507,"journal":{"name":"2015 International Conference on Emerging Technologies (ICET)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128616668","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 : 2015-12-01DOI: 10.1109/ICET.2015.7389226
A. Joyo, Kaziq Yaqub, N. Madamopoulos
Traffic light control and coordination is a critical function in today's busy roadways. Typical traffic lights have been shifting from fixed timing to ones that are based on a variety of sensors. Several shortcomings have been identified when considering these different approaches. In this paper, we propose smart dynamic traffic lights that can adapt their signaling times (e.g., changes from green to red and vice versa) according to the traffic density, exploiting Direction of Arrival and Timing Advance information transmitted from cell-phones, carried by the car drivers, to smart antennas installed on cellular base stations. The simulation analysis shows that the proposed system has the potential to reduce the queuing delay by 92%. Consequently, such an approach would reduce fuel consumption and pollution by 92% by avoiding queue on traffic signal lights.
{"title":"Managing traffic-light-duration by exploiting smart antenna technology (MATSAT) for coordinated multiple-intersections (CMI)","authors":"A. Joyo, Kaziq Yaqub, N. Madamopoulos","doi":"10.1109/ICET.2015.7389226","DOIUrl":"https://doi.org/10.1109/ICET.2015.7389226","url":null,"abstract":"Traffic light control and coordination is a critical function in today's busy roadways. Typical traffic lights have been shifting from fixed timing to ones that are based on a variety of sensors. Several shortcomings have been identified when considering these different approaches. In this paper, we propose smart dynamic traffic lights that can adapt their signaling times (e.g., changes from green to red and vice versa) according to the traffic density, exploiting Direction of Arrival and Timing Advance information transmitted from cell-phones, carried by the car drivers, to smart antennas installed on cellular base stations. The simulation analysis shows that the proposed system has the potential to reduce the queuing delay by 92%. Consequently, such an approach would reduce fuel consumption and pollution by 92% by avoiding queue on traffic signal lights.","PeriodicalId":166507,"journal":{"name":"2015 International Conference on Emerging Technologies (ICET)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129171985","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 : 2015-12-01DOI: 10.1109/ICET.2015.7389225
J. Muhammad, S. Mahmud
A Mobile Ad-hoc Network (MANET) is a non centralized and self configuring network of nodes with a facility of immediate deployment in any part of the world. In these kind of networks, nodes are connected through wireless links with an auxiliary topology and without any pre-existing infrastructure. However due to mobility of nodes and un-centralized control, routes in MANET are unstable in nature. For which range of different routing protocols (AODV, DSR, DSDV, etc) and different routing schemes have been proposed, the major focus of which have been laid in changing routing metric and saving power sources. We changed the route cost calculation method in AODV routing protocol and analyzed it in different routing scenarios through changing number of nodes as well as nodes mobility. Through evaluation of performance comparison it is observed that effectively of a certain routing technique depends on location of nodes as well as their modes whether they are static or mobile.
{"title":"Analyzing the relationship between route stability and calculation methods of routing metrics","authors":"J. Muhammad, S. Mahmud","doi":"10.1109/ICET.2015.7389225","DOIUrl":"https://doi.org/10.1109/ICET.2015.7389225","url":null,"abstract":"A Mobile Ad-hoc Network (MANET) is a non centralized and self configuring network of nodes with a facility of immediate deployment in any part of the world. In these kind of networks, nodes are connected through wireless links with an auxiliary topology and without any pre-existing infrastructure. However due to mobility of nodes and un-centralized control, routes in MANET are unstable in nature. For which range of different routing protocols (AODV, DSR, DSDV, etc) and different routing schemes have been proposed, the major focus of which have been laid in changing routing metric and saving power sources. We changed the route cost calculation method in AODV routing protocol and analyzed it in different routing scenarios through changing number of nodes as well as nodes mobility. Through evaluation of performance comparison it is observed that effectively of a certain routing technique depends on location of nodes as well as their modes whether they are static or mobile.","PeriodicalId":166507,"journal":{"name":"2015 International Conference on Emerging Technologies (ICET)","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122974217","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 : 2015-12-01DOI: 10.1109/ICET.2015.7389221
K. Zeb, Farhana, C. A. Mehmood, B. Khan, S. M. Ali, Ayesha, A. Jadoon, W. Uddin
This paper successfully develops and investigates the implementation of Artificial Neural Network (ANN) based robust speed control strategy for Indirect Vector Control (IVC) three phase Induction Motor (IM) drive. The IM is modeled in terms of dq in synchronously rotating reference frame for IVC in Matlab/Simulink. The main purpose of the proposed design is to accomplish robustness for load disturbances, speed variation, parameter uncertainties, and electrical faults. The performance of aforesaid control technique is compared with that of conventional tuned PI control scheme. Simulation results of the ANN guarantee effectiveness and robustness regarding overshoot, undershoot, rise time, fall time and chattering for different operating condition in comparison to traditional PI control scheme.
{"title":"Fault tolerant speed regulation of Induction Motor using Artifical Neural Network","authors":"K. Zeb, Farhana, C. A. Mehmood, B. Khan, S. M. Ali, Ayesha, A. Jadoon, W. Uddin","doi":"10.1109/ICET.2015.7389221","DOIUrl":"https://doi.org/10.1109/ICET.2015.7389221","url":null,"abstract":"This paper successfully develops and investigates the implementation of Artificial Neural Network (ANN) based robust speed control strategy for Indirect Vector Control (IVC) three phase Induction Motor (IM) drive. The IM is modeled in terms of dq in synchronously rotating reference frame for IVC in Matlab/Simulink. The main purpose of the proposed design is to accomplish robustness for load disturbances, speed variation, parameter uncertainties, and electrical faults. The performance of aforesaid control technique is compared with that of conventional tuned PI control scheme. Simulation results of the ANN guarantee effectiveness and robustness regarding overshoot, undershoot, rise time, fall time and chattering for different operating condition in comparison to traditional PI control scheme.","PeriodicalId":166507,"journal":{"name":"2015 International Conference on Emerging Technologies (ICET)","volume":"117 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120940215","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 : 2015-12-01DOI: 10.1109/ICET.2015.7389212
Sarmad Ullah Khan, Rafiullah Khan, A. Ali
Content Centric Network (CCN) is a proposed future internet architecture that is based on the concept of contents name instead of the hosts name followed in the traditional internet architecture. CCN architecture might do changes in the existing internet architecture or might replace it completely. In this paper, we present modifications to the existing Domain Name System (DNS) based on the CCN architecture requirements without changing the existing routing architecture. Hence the proposed solution achieves the benefits of both CCN and existing network infrastructure (i.e. content based routing, independent of host location, caching and content delivery protocols).
{"title":"Implementation of Content Centric Networks through Domain Name System","authors":"Sarmad Ullah Khan, Rafiullah Khan, A. Ali","doi":"10.1109/ICET.2015.7389212","DOIUrl":"https://doi.org/10.1109/ICET.2015.7389212","url":null,"abstract":"Content Centric Network (CCN) is a proposed future internet architecture that is based on the concept of contents name instead of the hosts name followed in the traditional internet architecture. CCN architecture might do changes in the existing internet architecture or might replace it completely. In this paper, we present modifications to the existing Domain Name System (DNS) based on the CCN architecture requirements without changing the existing routing architecture. Hence the proposed solution achieves the benefits of both CCN and existing network infrastructure (i.e. content based routing, independent of host location, caching and content delivery protocols).","PeriodicalId":166507,"journal":{"name":"2015 International Conference on Emerging Technologies (ICET)","volume":"95 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126701968","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 : 2015-12-01DOI: 10.1109/ICET.2015.7389180
Saghir Ahmad, L. Khan
This research work proposes an adaptive feedback linearization control strategy for nonlinear identification and control of power system oscillations through HVDC link. The supplementary control scheme is based on real-time optimized NeuroFuzzy identification of power system dynamics. A self-tuned Feedback Linearization Control (FBLC) is employed to derive appropriate control law to modulate the real power flow through HVDC link and improve the damping assistance provided by HVDC system during perturbed operating conditions. Validation of the performance of control scheme is carried out through different contingency conditions of two-area test power system. The performance of the proposed control system is bench-marked against the conventional control scheme. The simulation results obtained from the proposed control strategy exhibit significant stability improvement of power system in transient and steady-state conditions.
{"title":"Intelligent Feedback Linearization based adaptive control paradigm for damping power system oscillations","authors":"Saghir Ahmad, L. Khan","doi":"10.1109/ICET.2015.7389180","DOIUrl":"https://doi.org/10.1109/ICET.2015.7389180","url":null,"abstract":"This research work proposes an adaptive feedback linearization control strategy for nonlinear identification and control of power system oscillations through HVDC link. The supplementary control scheme is based on real-time optimized NeuroFuzzy identification of power system dynamics. A self-tuned Feedback Linearization Control (FBLC) is employed to derive appropriate control law to modulate the real power flow through HVDC link and improve the damping assistance provided by HVDC system during perturbed operating conditions. Validation of the performance of control scheme is carried out through different contingency conditions of two-area test power system. The performance of the proposed control system is bench-marked against the conventional control scheme. The simulation results obtained from the proposed control strategy exhibit significant stability improvement of power system in transient and steady-state conditions.","PeriodicalId":166507,"journal":{"name":"2015 International Conference on Emerging Technologies (ICET)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131081513","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 : 2015-12-01DOI: 10.1109/ICET.2015.7389165
R. Alhumaima, M. Khan, H. Al-Raweshidy
Cellular network performance is measured by its spectral and energy efficiency, with power consumption an important key to success for the upcoming heterogeneous (HetNet) communication system generations. The proposed models presented in this paper, component, linear, and parameterized power models, analyse and evaluate the power consumption participants in both Cloud Radio Access Network (C-RAN) and the State of the art (SotA) Base stations i.e.(Macro, Pico, Femto) when all participants interface in the area of interest, collectively called Heterogeneous-Cloud Radio Access Network (H-CRAN), in a proposal to enhance both energy and spectral efficiencies. Results showed that a C-RAN network reduced the cooling power consumption to about 87%, which reduced the overall power consumption compared to MBS deployment. Finally, H-CRAN cooling and total power consumption is evaluated by integrating C-RAN and the SotA BSs power consumption models.
{"title":"Modelling the energy efficiency of Heterogeneous Cloud Radio Access Networks","authors":"R. Alhumaima, M. Khan, H. Al-Raweshidy","doi":"10.1109/ICET.2015.7389165","DOIUrl":"https://doi.org/10.1109/ICET.2015.7389165","url":null,"abstract":"Cellular network performance is measured by its spectral and energy efficiency, with power consumption an important key to success for the upcoming heterogeneous (HetNet) communication system generations. The proposed models presented in this paper, component, linear, and parameterized power models, analyse and evaluate the power consumption participants in both Cloud Radio Access Network (C-RAN) and the State of the art (SotA) Base stations i.e.(Macro, Pico, Femto) when all participants interface in the area of interest, collectively called Heterogeneous-Cloud Radio Access Network (H-CRAN), in a proposal to enhance both energy and spectral efficiencies. Results showed that a C-RAN network reduced the cooling power consumption to about 87%, which reduced the overall power consumption compared to MBS deployment. Finally, H-CRAN cooling and total power consumption is evaluated by integrating C-RAN and the SotA BSs power consumption models.","PeriodicalId":166507,"journal":{"name":"2015 International Conference on Emerging Technologies (ICET)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132542598","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 : 2015-12-01DOI: 10.1109/ICET.2015.7389202
M. Nazreen Bin Zainal Abidin, S. Ali, Syed Hasan Adil
This paper presents a simple approach to mimic human motion. The objective of this research is to mimic the human motions using visual feedback and convert it into robotic motion. A 3 degree-of-freedom robotic arm is developed that utilizes visual feedback capturing the human hand motion. The motion of the robotic arm is governed by converting the workspace configuration into configuration space using inverse kinematics. The proposed approach is applied to freehand drawing and is implemented in real-time. The real-time human hand following robot arm shows that it can be used for environments endangered for humans effectively.
{"title":"3-degree-of-freedom real-time human hand following robot arm using visual feedback","authors":"M. Nazreen Bin Zainal Abidin, S. Ali, Syed Hasan Adil","doi":"10.1109/ICET.2015.7389202","DOIUrl":"https://doi.org/10.1109/ICET.2015.7389202","url":null,"abstract":"This paper presents a simple approach to mimic human motion. The objective of this research is to mimic the human motions using visual feedback and convert it into robotic motion. A 3 degree-of-freedom robotic arm is developed that utilizes visual feedback capturing the human hand motion. The motion of the robotic arm is governed by converting the workspace configuration into configuration space using inverse kinematics. The proposed approach is applied to freehand drawing and is implemented in real-time. The real-time human hand following robot arm shows that it can be used for environments endangered for humans effectively.","PeriodicalId":166507,"journal":{"name":"2015 International Conference on Emerging Technologies (ICET)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124451340","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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