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Real Time System Design for a Mobile Manipulator 移动机械手的实时系统设计
Pub Date : 2018-12-23 DOI: 10.3991/IJOE.V14I12.9225
O. F. Avilés-Sánchez, M. Monroy, Oscar Gerardo Ribiano, A. Valencia
A mobile manipulator is defined as a mechanism composed by a serial manipulator located just above robotic platform. Besides, is a system with kinematic restrictions determined by an independent movement of the wheels and the degrees of freedom of the manipulator arm. The combination of the previous systems increases the advantages in terms of maneuverability, efficiency, range, between others. Another advantage of manipulator robot is the larger working space when it moves over a mobile platform allowing to reach different position on XY cartesian plane. Therefore, the design of a real-time system for a mobile manipulator will be shown in this paper.
移动机械手是由位于机器人平台上方的一系列机械手组成的机构。此外,是由车轮的独立运动和机械臂的自由度决定的具有运动学约束的系统。先前系统的组合增加了在机动性、效率、射程等方面的优势。机械手机器人的另一个优点是在移动平台上移动时工作空间更大,可以到达XY直角平面上的不同位置。因此,本文将展示一个移动机械手实时系统的设计。
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引用次数: 0
WSN Optimization Algorithm for Traffic Environmental Monitoring 交通环境监测的WSN优化算法
Pub Date : 2018-12-23 DOI: 10.3991/IJOE.V14I12.9495
Li Zhu, Jianwu Li
In accordance with the features of variety and disparity of traffic information, using wireless sensor network to monitor traffic environment, this paper proposes an optimization algorithm of applying wireless sensor to monitor traffic environment. In this paper, to optimize the coverage, we analyze the irregularity of network sensing areas based on environmental factors and propose a wireless sensor network optimization algorithm. According to the irregularity of network node sensing areas, we build an irregular network coverage model, divide the node monitoring area to improve the network coverage and make corrections to the coverage according to the network coverage connectivity and other features. The simulation test proves that the method proposed in this paper can avoid too many redundant nodes - it only requires a reasonable number of network nodes. This will reduce network energy costs and increase network connectivity without affecting the coverage, thus improving the network performance. the algorithm can satisfy the requirements of real-time acquisition, processing and remote supervision of traffic information.
针对交通信息多样性和差异性的特点,利用无线传感器网络对交通环境进行监控,提出了一种应用无线传感器对交通环境进行监控的优化算法。为了优化覆盖,本文基于环境因素分析了网络感知区域的不规则性,提出了一种无线传感器网络优化算法。根据网络节点感知区域的不规则性,建立不规则网络覆盖模型,划分节点监控区域,提高网络覆盖,并根据网络覆盖连通性等特征对覆盖进行修正。仿真测试证明,本文提出的方法可以避免过多的冗余节点,只需要合理数量的网络节点。这样可以在不影响网络覆盖的情况下,降低网络能源成本,增加网络连通性,从而提高网络性能。该算法能够满足交通信息的实时采集、处理和远程监控的要求。
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引用次数: 1
Path Planning for Unmanned Underwater Vehicle Based on Improved Particle Swarm Optimization Method 基于改进粒子群优化方法的无人潜航器路径规划
Pub Date : 2018-12-23 DOI: 10.3991/IJOE.V14I12.9227
Jianhua Xu, Hao Gu, Hongtao Liang
Path planning of Unmanned Underwater Vehicle (UUV) is of considerable significance for the underwater navigation, the objective of the path planning is to find an optimal collision-free and the shortest trajectory from the start to the destination. In this paper, a new improved particle swarm optimization (IPSO) was proposed to process the global path planning in a static underwater environment for UUV. Firstly, the path planning principle for UUV was established, in which three cost functions, path length, exclusion potential field between the UUV and obstacle, and attraction potential field between UUV and destination, were considered and developed as an optimization objective. Then, on the basis of analysis traditional particle swarm optimization (PSO), the time-varying acceleration coefficients and slowly varying function were employed to improve performance of PSO, time-varying acceleration coefficients was utilized to balance the local optimum and global optimum, and slowly varying function was introduced into the updating formula of PSO to expand search space and maintain particle diversity. Finally, numerical simulations verify that, the proposed approach can fulfill path planning problems for UUN successfully.
无人潜航器(UUV)的路径规划对于水下导航具有重要意义,路径规划的目标是从起点到终点寻找一条无碰撞且最短的最优轨迹。提出了一种新的改进粒子群优化算法(IPSO),用于水下静态环境下UUV的全局路径规划。首先,建立了无人潜航器的路径规划原则,将路径长度、无人潜航器与障碍物之间的排斥势场、无人潜航器与目的地之间的吸引势场三个代价函数作为优化目标。然后,在分析传统粒子群优化算法的基础上,采用时变加速度系数和慢变函数来提高粒子群优化算法的性能,利用时变加速度系数平衡局部最优和全局最优,并在粒子群优化算法的更新公式中引入慢变函数来扩大搜索空间和保持粒子多样性。最后,通过数值仿真验证了该方法能够成功地解决UUN的路径规划问题。
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引用次数: 1
Computer Assisted E-Laboratory using LabVIEW and Internet-of-Things Platform as Teaching Aids in the Industrial Instrumentation Course 以LabVIEW和物联网平台作为工业仪器仪表课程教学辅助的计算机辅助电子实验室
Pub Date : 2018-12-23 DOI: 10.3991/IJOE.V14I12.8992
M. A. Hairuddin, Nur Dalila Khirul Ashar, Y. ZakiahM., A. F. Z. Abidin, T. NooritawatiM.
Nowadays, the emerging trend of utilizing the internet technology to improve teaching methods has caught the attention of many researchers. The education sector is the particular sector which has been getting the influence to implement more advanced teaching methods, and this can be seen through the application of the monitoring system, remote control, and even data acquisition through the Internet. Therefore, this study demonstrates the development of the interactive system via the Internet for the remote access to the equipment known as LD-Didactic temperature system which is used in the laboratory. This particular system is developed using an Arduino-Espresso8266 and LabVIEW platform which is integrated with Blynk software in order to remotely control the Proportional, Integral, and Derivative (PID) setting. Furthermore, the proposed framework is specifically focused on the PID temperature control system, which allows students to learn and simulate the concept of the control scheme by adjusting suitable parameter gains. Moreover, the system evaluation demonstrates the functionality and ability of direct controlling, monitoring, and tracking in order to achieve the targeted temperature control. These three strategies ensure the reproducibility of the experiment for the implementation in different systems. Last but not least, the designed system illustrates that full integration of the system with the internet platform provides students with the underlying knowledge of fundamentals, graphic visualization, and simulation practices. These will subsequently facilitate the learning process of the students.
目前,利用网络技术改进教学方法的新趋势引起了许多研究者的关注。教育部门是一个特殊的部门,它已经获得了实施更先进的教学方法的影响,这可以通过监控系统的应用,远程控制,甚至通过互联网获取数据来看出。因此,本研究演示了交互式系统的开发,通过互联网远程访问实验室中使用的被称为ld -说教温度系统的设备。这个特殊的系统是使用Arduino-Espresso8266和LabVIEW平台开发的,该平台集成了Blynk软件,以便远程控制比例,积分和导数(PID)设置。此外,所提出的框架特别关注PID温度控制系统,它允许学生通过调整适当的参数增益来学习和模拟控制方案的概念。此外,系统评估证明了直接控制,监测和跟踪的功能和能力,以实现目标温度控制。这三种策略确保了实验在不同系统中实现的可重复性。最后但并非最不重要的是,设计的系统说明了系统与互联网平台的充分集成,为学生提供了基础知识,图形可视化和模拟实践。这些将随后促进学生的学习过程。
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引用次数: 16
Application of Game Theory to Optimize Wireless System Resource Allocation 博弈论在无线系统资源优化分配中的应用
Pub Date : 2018-12-23 DOI: 10.3991/ijoe.v14i12.8069
Sara Riahi, Azzeddine Riahi
Currently, wireless technologies are becoming more complex all the time, and parameter management becomes an increasingly difficult task. The optimization aims at automating the choice of the parameters according to the evolution of the environment. Furthermore, the steady increase in volumes of data that pass through wireless systems tend to saturate. It is therefore necessary to establish strategies in order, for example, to distribute the load on the various wireless access points. Currently, this is achieved by static policies in which mobile are primarily connect via WiFi access points. This takes no account of the quality of service required by the mobile nor the overall state, which changes over time, other systems that the mobile can connect.
当前,无线技术日趋复杂,参数管理成为一项日益艰巨的任务。优化的目的是根据环境的变化自动选择参数。此外,通过无线系统的数据量的稳步增长趋于饱和。因此,有必要制定策略,以便例如在各种无线接入点上分配负载。目前,这是通过静态策略实现的,其中移动设备主要通过WiFi接入点连接。这既不考虑移动设备所需的服务质量,也不考虑移动设备可以连接的其他系统的整体状态(随着时间的推移而变化)。
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引用次数: 7
Towards Simulation Aided Online Teaching: Material Design for Applied Fluid Mechanics 面向模拟辅助在线教学:应用流体力学材料设计
Pub Date : 2018-12-23 DOI: 10.3991/IJOE.V14I12.8630
Gonca Altuger-Genc, Yue Han, Y. Genc
Learning is shifting from synchronous in-class settings to asynchronous online platforms in an attempt to make education accessible to wider audience. However, certain vital components of engineering education, such as laboratory work and hands-on practices, are harder to conduct online. Understanding how technology can help offering such components online can impact the quality of online education a great deal. The goal of this study is to improve the effectiveness of online courses in engineering. Particularly, we aim to transform some of the hands-on practices that are fundamental for engineering education into online setting. We first explored existing literature and found that real-time experimentation can be carried out with the help of online modules. We then designed two simulations for a fluid mechanics lab. We expect these simulations to be used to support teaching and evaluation of fluid mechanics through various assignments that utilize these simulations.  This study surveys how online modules have been studied in effort to relax the time and location constraints of in-class education. Drawing upon the literature review it proposes a novel approach to incorporate simulations to ground learning of abstract concepts such as buoyancy.
学习正在从同步的课堂环境转向异步的在线平台,以使更广泛的受众能够接受教育。然而,工程教育的某些重要组成部分,如实验室工作和动手实践,很难在网上进行。了解技术如何帮助在线提供这些组件可以极大地影响在线教育的质量。本研究的目的是提高在线工程课程的有效性。特别是,我们的目标是将工程教育基础的一些动手实践转变为在线设置。我们首先查阅了已有的文献,发现可以借助在线模块进行实时实验。然后,我们为流体力学实验室设计了两个模拟。我们期望这些模拟能通过各种使用这些模拟的作业来支持流体力学的教学和评价。本研究调查了如何研究在线模块,以努力放松课堂教育的时间和地点限制。根据文献综述,它提出了一种新的方法,将模拟纳入抽象概念的地面学习,如浮力。
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引用次数: 2
Integrated Production and Logistics Planning 综合生产和物流计划
Pub Date : 2018-12-23 DOI: 10.3991/ijoe.v14i12.9068
Yassine El Khayyam, Brahim Herrou
Industrial planning systems have undergone considerable evolution in recent decades, starting from MRP, then ERP, and finally advanced planning and scheduling systems (APS). This evolution took place by dint of the evolution of information and communication technologies, and also due to industrial stakeholder integration tendency forming global supply chains in order to optimize costs and lead times. The purpose of this article is to present a new integrated short and medium term planning approach for upstream logistics (necessary for procurement) and production, this new approach is the MLRP "Manufacturing and Logistic Requirement Planning ". We introduce in this paper a new bill of materials structure that is adapted to the MLRP, and then we present the proposed algorithm which allows determining production and logistics needs for all bills of materials components. Finally, we present the proposed information system that implements the MLRP.
近几十年来,工业规划系统经历了相当大的演变,从MRP开始,然后是ERP,最后是高级计划和调度系统(APS)。这种演变是由于信息和通信技术的发展,也是由于行业利益相关者的整合趋势形成全球供应链,以优化成本和交货时间。本文的目的是为上游物流(采购所必需的)和生产提出一种新的综合中短期规划方法,这种新方法是MLRP“制造和物流需求计划”。本文介绍了一种适用于MLRP的新型物料清单结构,并提出了一种能够确定所有物料清单部件的生产和物流需求的算法。最后,我们提出了实现MLRP的信息系统。
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引用次数: 2
Infrared-based Short-Distance FSO Sensor Network System 基于红外的短距离FSO传感器网络系统
Pub Date : 2018-12-23 DOI: 10.3991/IJOE.V14I12.9493
Jinyong Huang, Zhe Li
Energy consumption is one of the major problems in the development of Wireless Sensor Network (WSN). Under certain application conditions, Free Space Optical (FSO) communication can effectively reduce system energy consumption. Combining the need of the short-distance communication in the cooperative control of the mobile robot, this paper focuses on the study for the infrared FSO communication method and devices. Eight infrared-transmitting and receiving modules with the angular spacing 45° were deployed to realize the omnidirectional communication. The systematic measurement shows that the designed communication system can effectively carry out data transmission within a distance of 14 meters when the bit error ratio (BER) is 0%. Through the link budget analysis, the theoretical transmission distance of the design system is about 24 meters, only accounting for 60% of the communication module data manual, and the BER rises rapidly as the distance increases. The analysis of the oscilloscope observation results indicates that due to the attenuation caused by each medium (mainly moisture, dust, etc.) in the propagation path, the BER rapidly increases when the distance increases. Therefore, based on the test results, this system is applicable for constructing a short-distance wireless sensor network to meet the needs of cooperative control of mobile robots, without involving the complicated pointing process.
能量消耗是无线传感器网络(WSN)发展的主要问题之一。在一定的应用条件下,自由空间光通信可以有效地降低系统能耗。本文结合移动机器人协同控制中短距离通信的需要,重点研究了红外FSO通信方法及设备。部署8个角间距为45°的红外发射和接收模块,实现全向通信。系统测试表明,在误码率为0%的情况下,所设计的通信系统可以有效地实现14米范围内的数据传输。通过链路预算分析,设计系统的理论传输距离约为24米,仅占通信模块数据手册的60%,并且误码率随着距离的增加而迅速上升。对示波器观测结果的分析表明,由于传播路径中各介质(主要是湿气、粉尘等)的衰减,随着距离的增加,误码率迅速增加。因此,根据测试结果,该系统适用于构建一个短距离无线传感器网络,以满足移动机器人的协同控制需求,而无需涉及复杂的指向过程。
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引用次数: 0
New Features of User's Behavior to Distributed Denial of Service Attacks Detection in Application Layer 应用层用户行为对分布式拒绝服务攻击检测的新特征
Pub Date : 2018-12-23 DOI: 10.3991/IJOE.V14I12.9439
Silvia Bravo, D. Mauricio
Distributed Denial of Service (DDoS) attacks are a threat to the security of red. In recent years, these attacks have been directed especially towards the application layer. This phenomenon is mainly due to the large number of existing tools for the generation of this type of attack. The highest detection rate achieved by a method in the application capacity is 98.5%. Therefore, the problem of detecting DDoS attacks persists. In this work an alternative of detection based on the dynamism of the web user is proposed. To do this, evaluate the user's characteristics, mouse functions and right click. For the evaluation, a data set of 11055 requests was used, from which the characteristics were extracted and entered into a classification algorithm. To that end, it can be applied once in Java for the classification of real users and DDoS attacks. The results showed that the evaluated characteristics achieved an efficiency of 100%. Therefore, it is concluded that these characteristics show the dynamism of the user and can be used in a detection method of DDoS attacks.
分布式拒绝服务(DDoS)攻击是网络安全的一大威胁。近年来,这些攻击主要针对应用层。这种现象主要是由于大量现有的工具来生成这种类型的攻击。该方法在应用容量下的最高检出率为98.5%。因此,检测DDoS攻击的问题一直存在。在这项工作中,提出了一种基于web用户动态的替代检测方法。要做到这一点,评估用户的特点,鼠标功能和右键。为了进行评估,使用了11055个请求的数据集,从中提取特征并输入分类算法。为此,它可以在Java中应用一次,用于对真实用户和DDoS攻击进行分类。结果表明,所评价的特征达到了100%的效率。因此,这些特征显示了用户的动态性,可以用于DDoS攻击的检测方法。
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引用次数: 2
Design of an Online Monitoring System of Lithium Ion Energy Storage Batteries for a Distributed Power Station 分布式电站锂离子储能电池在线监测系统设计
Pub Date : 2018-12-23 DOI: 10.3991/ijoe.v14i12.9402
Zhai Haizhou
Aiming at the online monitoring of real-time operating of lithium-ion energy storage batteries for distributed power station, this paper studies the online monitoring system of lithium-ion energy storage batteries based on B/S network structure. The system consists of a battery status information collection unit, a centralized control unit, and a remote monitoring center. The battery status information collection unit detects the current, voltage, temperature and other parameters of the lithium ion energy storage battery in real time, transmits the data to the centralized control unit for data processing and real-time estimation of the SOC of the battery, and then the centralized control unit transmits the measurement parameters through the Internet network. The remote monitoring center monitors and analyzes the battery real-time status data, accurately calculates the battery SOC, realizes the online real-time monitoring of the lithium ion battery, prevents the lithium ion battery from overcharging, over-discharging, overheating, and promotes the safe and stable operation of the lithium-ion energy storage battery.
针对分布式电站锂离子储能电池运行实时在线监测问题,研究了基于B/S网络结构的锂离子储能电池在线监测系统。系统由电池状态信息采集单元、集中控制单元和远程监控中心三部分组成。电池状态信息采集单元实时检测锂离子储能电池的电流、电压、温度等参数,将数据传输给集中控制单元进行数据处理和对电池SOC的实时估计,再由集中控制单元通过Internet网络将测量参数传输。远程监控中心对电池实时状态数据进行监控分析,准确计算电池SOC,实现对锂离子电池的在线实时监控,防止锂离子电池过充、过放、过热,促进锂离子储能电池安全稳定运行。
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引用次数: 1
期刊
Int. J. Online Eng.
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