Pub Date : 2021-11-09DOI: 10.37394/23205.2021.20.32
E. Emad, O. Alaa, M. Hossam, Mohamed Ashraf, Mohamed A. Shamseldin
This paper presents a practical design and control for a delta robot based on a low-cost microcontroller. The main purpose of the proposed delta robot is to improve and enhance industrial productivity such as fast pick-and-place tasks and fully autonomous production lines. Additionally, during a global pandemic similar to (COVID-19), some medical and food products suffer from a sudden increase and demand. Moreover, kinematics, workspace dynamics analysis took into consideration an optimized approach to achieve a viable yet efficient model representing them. Furthermore, stress analysis and material selection have been applied, targeting to achieve high customizability of the manipulator linages. Taking availability into considerations, most components are available locally for ease of manufacturing. To add a touch of machine vision to the robot, a camera module is mounted in an optimized fashion to optimize the robot's performance and increase its accuracy. Finally, various interchangeable end effectors can be mounted including a magnetic gripper, vacuum suction cup, soft-robotics grippers, and other types to suit our requirements and needs.
{"title":"Design and Implementation of a Low-Cost Microcontroller-Based an Industrial Delta Robot","authors":"E. Emad, O. Alaa, M. Hossam, Mohamed Ashraf, Mohamed A. Shamseldin","doi":"10.37394/23205.2021.20.32","DOIUrl":"https://doi.org/10.37394/23205.2021.20.32","url":null,"abstract":"This paper presents a practical design and control for a delta robot based on a low-cost microcontroller. The main purpose of the proposed delta robot is to improve and enhance industrial productivity such as fast pick-and-place tasks and fully autonomous production lines. Additionally, during a global pandemic similar to (COVID-19), some medical and food products suffer from a sudden increase and demand. Moreover, kinematics, workspace dynamics analysis took into consideration an optimized approach to achieve a viable yet efficient model representing them. Furthermore, stress analysis and material selection have been applied, targeting to achieve high customizability of the manipulator linages. Taking availability into considerations, most components are available locally for ease of manufacturing. To add a touch of machine vision to the robot, a camera module is mounted in an optimized fashion to optimize the robot's performance and increase its accuracy. Finally, various interchangeable end effectors can be mounted including a magnetic gripper, vacuum suction cup, soft-robotics grippers, and other types to suit our requirements and needs.","PeriodicalId":332148,"journal":{"name":"WSEAS TRANSACTIONS ON COMPUTERS","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131778945","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 : 2021-10-27DOI: 10.37394/23205.2021.20.31
C. Voloşencu
The study in the paper is placed in the broad context of research for increasing the efficiency of motion control. The purpose of the paper is to make a comparative analysis of the state feedback fuzzy control with the linear control for angular positioning of mechanical parts. The structure of the fuzzy control system and its design is presented. Transient characteristics obtained are compared from the point of view of their control efficiency criteria. The differences in performance criteria between the control methods studied are small
{"title":"Study of the Angular Positioning of a Rotating Object with Fuzzy Control by State Feedback","authors":"C. Voloşencu","doi":"10.37394/23205.2021.20.31","DOIUrl":"https://doi.org/10.37394/23205.2021.20.31","url":null,"abstract":"The study in the paper is placed in the broad context of research for increasing the efficiency of motion control. The purpose of the paper is to make a comparative analysis of the state feedback fuzzy control with the linear control for angular positioning of mechanical parts. The structure of the fuzzy control system and its design is presented. Transient characteristics obtained are compared from the point of view of their control efficiency criteria. The differences in performance criteria between the control methods studied are small","PeriodicalId":332148,"journal":{"name":"WSEAS TRANSACTIONS ON COMPUTERS","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132338457","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 : 2021-10-23DOI: 10.37394/23205.2021.20.30
Inna Samuilik, F. Sadyrbaev
Leukemia is a cancer that can be treated in a variety of ways: chemotherapy, radiation therapy and stem cell transplant. Recovery rates for this disease are relatively high, the treatment itself has a painful effect on the body and is accompanied by numerous side effects that can persist years after the patient is cured. For this reason, efforts are underway worldwide to develop more selective therapies that will only affect leukemia cells and not healthy cells. Knowledge of developmental GRN is yet scarce, and it is early for a systematic comparative effort. We consider mathematical model of genetic regulatory networks. This model consists of a nonlinear system of ordinary differential equations. We describe the changes that system undergoes if the entries of the regulatory matrix are perturbed in some way. We discuss, how attractors for high-dimensional systems can be constructed, using known attractors of low-dimensional systems. Examples and visualizations are provided.
{"title":"Mathematical Modelling of Leukemia Treatment","authors":"Inna Samuilik, F. Sadyrbaev","doi":"10.37394/23205.2021.20.30","DOIUrl":"https://doi.org/10.37394/23205.2021.20.30","url":null,"abstract":"Leukemia is a cancer that can be treated in a variety of ways: chemotherapy, radiation therapy and stem cell transplant. Recovery rates for this disease are relatively high, the treatment itself has a painful effect on the body and is accompanied by numerous side effects that can persist years after the patient is cured. For this reason, efforts are underway worldwide to develop more selective therapies that will only affect leukemia cells and not healthy cells. Knowledge of developmental GRN is yet scarce, and it is early for a systematic comparative effort. We consider mathematical model of genetic regulatory networks. This model consists of a nonlinear system of ordinary differential equations. We describe the changes that system undergoes if the entries of the regulatory matrix are perturbed in some way. We discuss, how attractors for high-dimensional systems can be constructed, using known attractors of low-dimensional systems. Examples and visualizations are provided.","PeriodicalId":332148,"journal":{"name":"WSEAS TRANSACTIONS ON COMPUTERS","volume":"110 16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120979484","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 : 2021-10-23DOI: 10.37394/23205.2021.20.23
Moshe Davidian, Yotam Lurie, S. Mark
The term "software quality" is widely used, and although it has many definitions, no one definition is universally accepted. Often, the definition refers to specific phases of the software development process and not to software as a whole. In our article, in order to improve the quality of the software, we decided to improve the quality of the phases. To do that, we will focus attention on the drivers that advance quality value and use a new concept called QVD - quality value drivers. We focused on the requirements phase of software development, which probably ranks as the crucial first step. Hence, as a QVD we present the idea of "User Story" (US), a short and simple description of a functionality valuable to a user of a system. In the study, a comparison is made between requirements written by the US method and requirements that are not. After analyzing the results, we concluded that requirements written by the US method have been better understood and evaluated as less difficult to develop. The overall quality rating of their writing is higher than previously. In addition, learning the US method gives the person the ability to better assess the quality of requirements. Finally, improving the writing of the requirements using the US method as QVD improves the quality of the development process, eventually improving the software quality.
{"title":"QVD: Improving Quality – User Story as a Quality Value Driver (QVD) in Software Development","authors":"Moshe Davidian, Yotam Lurie, S. Mark","doi":"10.37394/23205.2021.20.23","DOIUrl":"https://doi.org/10.37394/23205.2021.20.23","url":null,"abstract":"The term \"software quality\" is widely used, and although it has many definitions, no one definition is universally accepted. Often, the definition refers to specific phases of the software development process and not to software as a whole. In our article, in order to improve the quality of the software, we decided to improve the quality of the phases. To do that, we will focus attention on the drivers that advance quality value and use a new concept called QVD - quality value drivers. We focused on the requirements phase of software development, which probably ranks as the crucial first step. Hence, as a QVD we present the idea of \"User Story\" (US), a short and simple description of a functionality valuable to a user of a system. In the study, a comparison is made between requirements written by the US method and requirements that are not. After analyzing the results, we concluded that requirements written by the US method have been better understood and evaluated as less difficult to develop. The overall quality rating of their writing is higher than previously. In addition, learning the US method gives the person the ability to better assess the quality of requirements. Finally, improving the writing of the requirements using the US method as QVD improves the quality of the development process, eventually improving the software quality.","PeriodicalId":332148,"journal":{"name":"WSEAS TRANSACTIONS ON COMPUTERS","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133218705","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 : 2021-10-23DOI: 10.37394/23205.2021.20.24
Annibal Parracho SantAnna
An agile system of multiple criteria decision analysis is proposed here. Its main component avoids the collection of field direct information about the importance of the criteria and of the interaction between criteria. This is replaced by a derivation of Choquet capacities to the sets of criteria from the preferences they assign to the alternatives evaluated. This indirect derivation is made possible by a rule to assess importance and interaction based on a principle of preference concentration. The agile applicability of the system is enhanced by the admission of the sampling of initial assessments by pairwise trichotomic comparisons. This possibility reduces the need to precisely measure distances and the care about transitivity. Finally, an ordering of the decision rules based on the facility of explanation of their results provides agility for the final step of the decision. An example of application of the system is given by the study of a case of supplier evaluation.
{"title":"Agile Multicriteria Decision Analysis considering Interaction","authors":"Annibal Parracho SantAnna","doi":"10.37394/23205.2021.20.24","DOIUrl":"https://doi.org/10.37394/23205.2021.20.24","url":null,"abstract":"An agile system of multiple criteria decision analysis is proposed here. Its main component avoids the collection of field direct information about the importance of the criteria and of the interaction between criteria. This is replaced by a derivation of Choquet capacities to the sets of criteria from the preferences they assign to the alternatives evaluated. This indirect derivation is made possible by a rule to assess importance and interaction based on a principle of preference concentration. The agile applicability of the system is enhanced by the admission of the sampling of initial assessments by pairwise trichotomic comparisons. This possibility reduces the need to precisely measure distances and the care about transitivity. Finally, an ordering of the decision rules based on the facility of explanation of their results provides agility for the final step of the decision. An example of application of the system is given by the study of a case of supplier evaluation.","PeriodicalId":332148,"journal":{"name":"WSEAS TRANSACTIONS ON COMPUTERS","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121827933","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 : 2021-10-23DOI: 10.37394/23205.2021.20.25
C. Voloşencu
The study in the paper is placed in the broad context of research for increasing the efficiency of motion control. The purpose of the paper is to make a comparative analysis of the neural predictive control technic with the linear control for angular positioning of mechanical parts. The structure of the neural predictive control system and its design are presented. Transient characteristics obtained are compared from the point of view of their control efficiency criteria. The differences in performance criteria between the control methods studied are small.
{"title":"Study of the Angular Positioning of a Rotating Object with Neural Predictive Control","authors":"C. Voloşencu","doi":"10.37394/23205.2021.20.25","DOIUrl":"https://doi.org/10.37394/23205.2021.20.25","url":null,"abstract":"The study in the paper is placed in the broad context of research for increasing the efficiency of motion control. The purpose of the paper is to make a comparative analysis of the neural predictive control technic with the linear control for angular positioning of mechanical parts. The structure of the neural predictive control system and its design are presented. Transient characteristics obtained are compared from the point of view of their control efficiency criteria. The differences in performance criteria between the control methods studied are small.","PeriodicalId":332148,"journal":{"name":"WSEAS TRANSACTIONS ON COMPUTERS","volume":"126 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117343476","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 : 2021-10-23DOI: 10.37394/23205.2021.20.28
J. D. González-San Román, J. Liceaga-Castro, I. Siller-Alcalá, R. Ramírez
This work presents two control strategies, with the objective of reducing the undesirable effects of ripple and dead zone in the speed response of a switched reluctance motor (SRM) 8/6. The first strategy aims to reduce the dead zone by applying a double integrator classical controller, while the second strategy proposes a new strategy to reduce the speed ripple, which works in conjunction with a classic PI controller. The strategy, based on digital simulations shows a reduction on the dead zone effect and speed ripple, the simulations were performed using the Matlab® / Simulink software and are based on a simplified non-linear model that has the non-linearity of Coulomb friction plus viscous friction, as well as an ideal inverter circuit.
{"title":"Speed Ripple and Dead Zone Effects Reduction in an 8/6 Switched Reluctance Motor Based on Classical Control Strategies","authors":"J. D. González-San Román, J. Liceaga-Castro, I. Siller-Alcalá, R. Ramírez","doi":"10.37394/23205.2021.20.28","DOIUrl":"https://doi.org/10.37394/23205.2021.20.28","url":null,"abstract":"This work presents two control strategies, with the objective of reducing the undesirable effects of ripple and dead zone in the speed response of a switched reluctance motor (SRM) 8/6. The first strategy aims to reduce the dead zone by applying a double integrator classical controller, while the second strategy proposes a new strategy to reduce the speed ripple, which works in conjunction with a classic PI controller. The strategy, based on digital simulations shows a reduction on the dead zone effect and speed ripple, the simulations were performed using the Matlab® / Simulink software and are based on a simplified non-linear model that has the non-linearity of Coulomb friction plus viscous friction, as well as an ideal inverter circuit.","PeriodicalId":332148,"journal":{"name":"WSEAS TRANSACTIONS ON COMPUTERS","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128278805","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 : 2021-10-23DOI: 10.37394/23205.2021.20.26
E. Menshov
A method is proposed for constructing a fast-computable mathematical model of a family of energy characteristics based on its comparison with a family of integral curves in the class of linear differential equations. The method uses an affine transformation and takes into account the two-level structure of the mathematical model of a family of characteristics (differential operator and boundary conditions). It allows reducing the number of approximating summands and increasing the adequacy by including additional information of a systemic nature about the object under study.
{"title":"Approximation of Families of Characteristics of Energy Objects in the Class of Linear Differential Equations","authors":"E. Menshov","doi":"10.37394/23205.2021.20.26","DOIUrl":"https://doi.org/10.37394/23205.2021.20.26","url":null,"abstract":"A method is proposed for constructing a fast-computable mathematical model of a family of energy characteristics based on its comparison with a family of integral curves in the class of linear differential equations. The method uses an affine transformation and takes into account the two-level structure of the mathematical model of a family of characteristics (differential operator and boundary conditions). It allows reducing the number of approximating summands and increasing the adequacy by including additional information of a systemic nature about the object under study.","PeriodicalId":332148,"journal":{"name":"WSEAS TRANSACTIONS ON COMPUTERS","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129228470","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 : 2021-10-23DOI: 10.37394/23205.2021.20.29
C. Voloşencu
The study in the paper is placed in the broad context of research for increasing the efficiency of motion control. The purpose of the paper is to make a comparative analysis of the state feedback fuzzy control with the linear control for angular positioning of mechanical parts. The structure of the fuzzy control system is presented. Transient characteristics obtained are compared from the point of view of their control efficiency criteria. The differences in performance criteria between the control methods studied are small
{"title":"Angular Positioning Based on State Feedback Fuzzy Control","authors":"C. Voloşencu","doi":"10.37394/23205.2021.20.29","DOIUrl":"https://doi.org/10.37394/23205.2021.20.29","url":null,"abstract":"The study in the paper is placed in the broad context of research for increasing the efficiency of motion control. The purpose of the paper is to make a comparative analysis of the state feedback fuzzy control with the linear control for angular positioning of mechanical parts. The structure of the fuzzy control system is presented. Transient characteristics obtained are compared from the point of view of their control efficiency criteria. The differences in performance criteria between the control methods studied are small","PeriodicalId":332148,"journal":{"name":"WSEAS TRANSACTIONS ON COMPUTERS","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130313790","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 : 2021-10-23DOI: 10.37394/23205.2021.20.27
L. Caligiuri, A. Manzalini
Today, like never before, we are witnessing a pervasive diffusion of ultra-broadband fixed-mobile connectivity, the deployment of 5G infrastructures and its integration with Cloud-Edge Computing. Moreover, Artificial Intelligence (AI) is at the center of this Digital Transformation. Sustainability of future scenarios will have to face several techno-economic challenges: the transmission and processing of enormous quantity of data with ultra-low latencies, automation of management processes, strict requirements of resilience, security and privacy, optimization of resources and energy, new markets dynamics. This is requiring a rethinking of the ways of doing computation and communications. As a matter of fact, a second revolution is underway with a growing interest - and several investments from Industries worldwide – and expected potential exploitations for meeting said evolutionary requirements and the sustainability. This paper provides a description of an innovative approach based on evanescent, electromagnetic waves and tunneling photons, for developing quantum computing systems, so called Quantum Hypercomputing. Some examples of potential applications are also provided.
{"title":"Quantum Hypercomputing and Communications: Overview and Future Applications","authors":"L. Caligiuri, A. Manzalini","doi":"10.37394/23205.2021.20.27","DOIUrl":"https://doi.org/10.37394/23205.2021.20.27","url":null,"abstract":"Today, like never before, we are witnessing a pervasive diffusion of ultra-broadband fixed-mobile connectivity, the deployment of 5G infrastructures and its integration with Cloud-Edge Computing. Moreover, Artificial Intelligence (AI) is at the center of this Digital Transformation. Sustainability of future scenarios will have to face several techno-economic challenges: the transmission and processing of enormous quantity of data with ultra-low latencies, automation of management processes, strict requirements of resilience, security and privacy, optimization of resources and energy, new markets dynamics. This is requiring a rethinking of the ways of doing computation and communications. As a matter of fact, a second revolution is underway with a growing interest - and several investments from Industries worldwide – and expected potential exploitations for meeting said evolutionary requirements and the sustainability. This paper provides a description of an innovative approach based on evanescent, electromagnetic waves and tunneling photons, for developing quantum computing systems, so called Quantum Hypercomputing. Some examples of potential applications are also provided.","PeriodicalId":332148,"journal":{"name":"WSEAS TRANSACTIONS ON COMPUTERS","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130208009","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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