Pub Date : 2013-10-01DOI: 10.1109/ICAT.2013.6684084
M. Doosthoseini, B. K. Elyaderani, M. Korayem, A. M. Shafei
Trying to record vibration of an elastic arm for identifying behavior of robot, is one of important case studies in mechatronic science. So in this paper designing an electrical interface with a six channel strain gage data logger, is presented. The high speed vibration of a flexible robotic arm compared to the low speed of software and hardware interface between the computer and experimental setup is one of the most important obstacles for measuring and control of such a systems. In this paper, a combination of using high speed digital to analog convertor (DAC) components on an electrical interface board and using National Instrument's LABVIEW software package is proposed as a solution for this problem. Dynamic modeling of the system is developed based on Gibbs-Appell (G-A) formulation and Assumed Mode Method (AMM). An experimental setup of a Two-link elastic robotic arm is prepared and the electrical interface board works between this experimental setup, user and computer. The input data by the electrical interface board are the number of mode shapes up to 4 for one-link elastic arm and 2 for two-link elastic arm and the profile of the input torque via time. Then these data transferred to the Elastic arm robotic system. Finally user can see the vibration of the elastic link in graphical interface environment and model validation carried out by comparing both experimental and theoretical results.
{"title":"An experimental electronic interface design for a two-link elastic robotic arm","authors":"M. Doosthoseini, B. K. Elyaderani, M. Korayem, A. M. Shafei","doi":"10.1109/ICAT.2013.6684084","DOIUrl":"https://doi.org/10.1109/ICAT.2013.6684084","url":null,"abstract":"Trying to record vibration of an elastic arm for identifying behavior of robot, is one of important case studies in mechatronic science. So in this paper designing an electrical interface with a six channel strain gage data logger, is presented. The high speed vibration of a flexible robotic arm compared to the low speed of software and hardware interface between the computer and experimental setup is one of the most important obstacles for measuring and control of such a systems. In this paper, a combination of using high speed digital to analog convertor (DAC) components on an electrical interface board and using National Instrument's LABVIEW software package is proposed as a solution for this problem. Dynamic modeling of the system is developed based on Gibbs-Appell (G-A) formulation and Assumed Mode Method (AMM). An experimental setup of a Two-link elastic robotic arm is prepared and the electrical interface board works between this experimental setup, user and computer. The input data by the electrical interface board are the number of mode shapes up to 4 for one-link elastic arm and 2 for two-link elastic arm and the profile of the input torque via time. Then these data transferred to the Elastic arm robotic system. Finally user can see the vibration of the elastic link in graphical interface environment and model validation carried out by comparing both experimental and theoretical results.","PeriodicalId":348701,"journal":{"name":"2013 XXIV International Conference on Information, Communication and Automation Technologies (ICAT)","volume":"35 20","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131839861","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 : 2013-10-01DOI: 10.1109/ICAT.2013.6684094
Dinko Osmankovic, J. Velagić
Recent developments in environment sensing and virtual modelling enabled the construction of virtual models of indoor environments with added thermal information. In this paper we present the methods for heat sources extraction from the 3D thermal model of an indoor environment. They are based on known image segmentation techniques but adjusted to work with 3D models with added thermal information. All data are acquired using an autonomous mobile robot platform equipped with 3D laser scanner and thermal imaging camera.
{"title":"Detecting heat sources from 3D thermal model of indoor environment","authors":"Dinko Osmankovic, J. Velagić","doi":"10.1109/ICAT.2013.6684094","DOIUrl":"https://doi.org/10.1109/ICAT.2013.6684094","url":null,"abstract":"Recent developments in environment sensing and virtual modelling enabled the construction of virtual models of indoor environments with added thermal information. In this paper we present the methods for heat sources extraction from the 3D thermal model of an indoor environment. They are based on known image segmentation techniques but adjusted to work with 3D models with added thermal information. All data are acquired using an autonomous mobile robot platform equipped with 3D laser scanner and thermal imaging camera.","PeriodicalId":348701,"journal":{"name":"2013 XXIV International Conference on Information, Communication and Automation Technologies (ICAT)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131821675","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 : 2013-10-01DOI: 10.1109/ICAT.2013.6684092
Hajrudin Efendic, L. Re
This paper discusses the Model-on-Demand algorithm for fault isolation in large and complex technical systems. The main objective of the proposed algorithm is to improve fault isolation performance metrics by applying a structural analysis approach which targets the isolability problem in structurally time-invariant systems. This objective is achieved by the utilization of a reverse modeling approach in order to modify the structural matrix of the system in such a way to improve its isolability property. The proposed algorithm was tested in a real technical system and an overview of the experimental results is given here.
{"title":"Fault isolation using Model-on-Demand algorithm","authors":"Hajrudin Efendic, L. Re","doi":"10.1109/ICAT.2013.6684092","DOIUrl":"https://doi.org/10.1109/ICAT.2013.6684092","url":null,"abstract":"This paper discusses the Model-on-Demand algorithm for fault isolation in large and complex technical systems. The main objective of the proposed algorithm is to improve fault isolation performance metrics by applying a structural analysis approach which targets the isolability problem in structurally time-invariant systems. This objective is achieved by the utilization of a reverse modeling approach in order to modify the structural matrix of the system in such a way to improve its isolability property. The proposed algorithm was tested in a real technical system and an overview of the experimental results is given here.","PeriodicalId":348701,"journal":{"name":"2013 XXIV International Conference on Information, Communication and Automation Technologies (ICAT)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133406767","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 : 2013-10-01DOI: 10.1109/ICAT.2013.6684079
M. Kokorus, K. Sokolija
This paper presents solution to Laplace differential equation by using Markov chains in Monte Carlo method. Considered here was a two-dimensional model that satisfies Dirichlet and Neumann conditions. In particular, electrostatic field was observed in case of homogeneous Neumann condition at one of the domain boundaries.
{"title":"Solving Laplace differential equation using Markov chains in Monte Carlo method","authors":"M. Kokorus, K. Sokolija","doi":"10.1109/ICAT.2013.6684079","DOIUrl":"https://doi.org/10.1109/ICAT.2013.6684079","url":null,"abstract":"This paper presents solution to Laplace differential equation by using Markov chains in Monte Carlo method. Considered here was a two-dimensional model that satisfies Dirichlet and Neumann conditions. In particular, electrostatic field was observed in case of homogeneous Neumann condition at one of the domain boundaries.","PeriodicalId":348701,"journal":{"name":"2013 XXIV International Conference on Information, Communication and Automation Technologies (ICAT)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130346356","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 : 2013-10-01DOI: 10.1109/ICAT.2013.6684096
Vedran Ljubovic, H. Supic
The resource usage in Content-Based Image Retrieval is a frequently neglected issue. This paper describes a novel compact feature vector based on image color histograms in the HSL color space. The images are represented using only 10 bytes per image. It is shown that, in the context of Query-by-Example (QbE) usage scenarios, the method described achieves retrieval performance close to the state of the art image retrieval methods that use considerably more memory. It is also shown that the described method outperforms other methods with similar memory usage.
{"title":"A compact color descriptor for image retrieval","authors":"Vedran Ljubovic, H. Supic","doi":"10.1109/ICAT.2013.6684096","DOIUrl":"https://doi.org/10.1109/ICAT.2013.6684096","url":null,"abstract":"The resource usage in Content-Based Image Retrieval is a frequently neglected issue. This paper describes a novel compact feature vector based on image color histograms in the HSL color space. The images are represented using only 10 bytes per image. It is shown that, in the context of Query-by-Example (QbE) usage scenarios, the method described achieves retrieval performance close to the state of the art image retrieval methods that use considerably more memory. It is also shown that the described method outperforms other methods with similar memory usage.","PeriodicalId":348701,"journal":{"name":"2013 XXIV International Conference on Information, Communication and Automation Technologies (ICAT)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114200034","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 : 2013-10-01DOI: 10.1109/ICAT.2013.6684035
S. Manfredi
Today great attention it has been posed on the consensus protocols that allow every agent automatically converge to a common consensus state using only local information received from its one hop neighboring agents. We consider the problem of reaching a consensus in multi-hop networked systems where each agent can access to the state of its m-hops neighboring agents. Additionally the presence of heterogeneous time delays affecting the communication through the multi-hop path is considered. Multi-hop and link time delay are unavoidable features of realistic networked system architectures based on wireless sensor networks. In this scenario, we derive condition to reach a consensus which is an explicit function of the system parameters including the delay bound, network topology, number of hop. Also a tradeoff between the convergence speed and the time delay is discussed.
{"title":"Consensus over multi-hop networked systems subject to heterogeneous time delays","authors":"S. Manfredi","doi":"10.1109/ICAT.2013.6684035","DOIUrl":"https://doi.org/10.1109/ICAT.2013.6684035","url":null,"abstract":"Today great attention it has been posed on the consensus protocols that allow every agent automatically converge to a common consensus state using only local information received from its one hop neighboring agents. We consider the problem of reaching a consensus in multi-hop networked systems where each agent can access to the state of its m-hops neighboring agents. Additionally the presence of heterogeneous time delays affecting the communication through the multi-hop path is considered. Multi-hop and link time delay are unavoidable features of realistic networked system architectures based on wireless sensor networks. In this scenario, we derive condition to reach a consensus which is an explicit function of the system parameters including the delay bound, network topology, number of hop. Also a tradeoff between the convergence speed and the time delay is discussed.","PeriodicalId":348701,"journal":{"name":"2013 XXIV International Conference on Information, Communication and Automation Technologies (ICAT)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122975542","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 : 2013-10-01DOI: 10.1109/ICAT.2013.6684073
Alma Husagic-Selman, R. Köker, S. Selman
Intrusion detection plays an important role in todays computer and communication technology. As such it is very important to design time efficient Intrusion Detection System (IDS) low in both, False Positive Rate (FPR) and False Negative Rate (FNR), but high in attack detection precision. To achieve that, this paper proposes Neural Network Committee Machine (NNCM) IDS. NNCM IDS consists of Input Reduction System based on Principal Component Analysis (PCA) and Intrusion Detection System, which is represented by three levels committee machine, each based on Back-Propagation Neural Network. To reduce the FNR, the system uses offline System Update, which retrains the networks when new attacks are introduced. The system shows the overall attack detection success of 99.8%.
{"title":"Intrusion detection using neural network committee machine","authors":"Alma Husagic-Selman, R. Köker, S. Selman","doi":"10.1109/ICAT.2013.6684073","DOIUrl":"https://doi.org/10.1109/ICAT.2013.6684073","url":null,"abstract":"Intrusion detection plays an important role in todays computer and communication technology. As such it is very important to design time efficient Intrusion Detection System (IDS) low in both, False Positive Rate (FPR) and False Negative Rate (FNR), but high in attack detection precision. To achieve that, this paper proposes Neural Network Committee Machine (NNCM) IDS. NNCM IDS consists of Input Reduction System based on Principal Component Analysis (PCA) and Intrusion Detection System, which is represented by three levels committee machine, each based on Back-Propagation Neural Network. To reduce the FNR, the system uses offline System Update, which retrains the networks when new attacks are introduced. The system shows the overall attack detection success of 99.8%.","PeriodicalId":348701,"journal":{"name":"2013 XXIV International Conference on Information, Communication and Automation Technologies (ICAT)","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115059713","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 : 2013-10-01DOI: 10.1109/ICAT.2013.6684043
A. Sprague, Adam Rhodes, Gary Warner
The static analysis of malwares at UAB starts with the receipt of about 5000 malwares each day. One of our goals is to cluster these malwares into families. Each malware is an executable. For processing, we represent each malware by the set of printable strings that it contains. A method we have pursued to cluster malwares into families starts with the data mining technique of generating frequent itemsets. It is difficult to generate frequent itemsets at low support thresholds, which is what our application demands. This paper discusses our successful efforts to overcome this barrier of low support threshold.
{"title":"Using closed frequent sets to cluster malwares","authors":"A. Sprague, Adam Rhodes, Gary Warner","doi":"10.1109/ICAT.2013.6684043","DOIUrl":"https://doi.org/10.1109/ICAT.2013.6684043","url":null,"abstract":"The static analysis of malwares at UAB starts with the receipt of about 5000 malwares each day. One of our goals is to cluster these malwares into families. Each malware is an executable. For processing, we represent each malware by the set of printable strings that it contains. A method we have pursued to cluster malwares into families starts with the data mining technique of generating frequent itemsets. It is difficult to generate frequent itemsets at low support thresholds, which is what our application demands. This paper discusses our successful efforts to overcome this barrier of low support threshold.","PeriodicalId":348701,"journal":{"name":"2013 XXIV International Conference on Information, Communication and Automation Technologies (ICAT)","volume":"89 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132087529","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 : 2013-10-01DOI: 10.1109/ICAT.2013.6684036
S. Manfredi
In this paper we validate the recent introduced cooperative load balancing algorithm ([6]) in a multiple bottleneck scenario. The controller at each router (server or switch) regulates the rates of the heterogeneous sources leveraging on the cooperation of neighboring bottlenecks. The proposed approach guarantees good performance in terms of link utilization, packet loss and fairness. Additionally it is guaranteed queue balancing without requiring rerouting or hop by hop operation differently from the existing approaches. A validation is carried out by a discrete packet experiment simulator in a realistic multi-bottleneck scenario to demonstrate the effectiveness of the key idea of the paper.
{"title":"Cooperative load balancing algorithm in multiple bottleneck networks","authors":"S. Manfredi","doi":"10.1109/ICAT.2013.6684036","DOIUrl":"https://doi.org/10.1109/ICAT.2013.6684036","url":null,"abstract":"In this paper we validate the recent introduced cooperative load balancing algorithm ([6]) in a multiple bottleneck scenario. The controller at each router (server or switch) regulates the rates of the heterogeneous sources leveraging on the cooperation of neighboring bottlenecks. The proposed approach guarantees good performance in terms of link utilization, packet loss and fairness. Additionally it is guaranteed queue balancing without requiring rerouting or hop by hop operation differently from the existing approaches. A validation is carried out by a discrete packet experiment simulator in a realistic multi-bottleneck scenario to demonstrate the effectiveness of the key idea of the paper.","PeriodicalId":348701,"journal":{"name":"2013 XXIV International Conference on Information, Communication and Automation Technologies (ICAT)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114311988","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 : 2013-10-01DOI: 10.1109/ICAT.2013.6684071
B. Munyazikwiye, H. Karimi, K. Robbersmyr
This paper presents development of a mathematical model to represent the real vehicle frontal crash scenario. The vehicle is modeled by a double spring-mass-damper system. The front mass m1 represents the chassi of the vehicle and rear mass m2 represents the passenger compartment. The physical parameters of the model (Stiffness and dampers) are estimated using Nonlinear least square method (Levenberg-Marquart algorithm) by curve fitting the response of a double spring-mass-damper system to the experimental displacement data from the real vehicle crash. The model is validated by comparing the results from the model with the experimental results from real crash tests available.
{"title":"Mathematical modeling of vehicle frontal crash by a double spring-mass-damper model","authors":"B. Munyazikwiye, H. Karimi, K. Robbersmyr","doi":"10.1109/ICAT.2013.6684071","DOIUrl":"https://doi.org/10.1109/ICAT.2013.6684071","url":null,"abstract":"This paper presents development of a mathematical model to represent the real vehicle frontal crash scenario. The vehicle is modeled by a double spring-mass-damper system. The front mass m1 represents the chassi of the vehicle and rear mass m2 represents the passenger compartment. The physical parameters of the model (Stiffness and dampers) are estimated using Nonlinear least square method (Levenberg-Marquart algorithm) by curve fitting the response of a double spring-mass-damper system to the experimental displacement data from the real vehicle crash. The model is validated by comparing the results from the model with the experimental results from real crash tests available.","PeriodicalId":348701,"journal":{"name":"2013 XXIV International Conference on Information, Communication and Automation Technologies (ICAT)","volume":"107 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122407272","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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