For advanced and skillful manipulation behaviors and dexterities, an innovative phase of robotics hands has been developed recently with Biomimeticly oriented functionalities. Within this manuscript, we shall survey in details biomimetic based dexterous robotics hands designs and implementations. In particular, the study focuses on a number of developments that have been evolving and taking place over the last decade in recent development and technologies related to this vital filed of research. In terms of bio-oriented fingers, the article, furthermore, looks in details at the complicated issue of fingertips forces computation and distribution, and how they are balanced using a knowledge based approach for BIOMIMETIC Dexterous Robotics Hands.
{"title":"Biomimetic Dexterous Hands: Human Like Multi-fingered Robotics Hand Control","authors":"E. Mattar","doi":"10.1109/UKSim.2012.35","DOIUrl":"https://doi.org/10.1109/UKSim.2012.35","url":null,"abstract":"For advanced and skillful manipulation behaviors and dexterities, an innovative phase of robotics hands has been developed recently with Biomimeticly oriented functionalities. Within this manuscript, we shall survey in details biomimetic based dexterous robotics hands designs and implementations. In particular, the study focuses on a number of developments that have been evolving and taking place over the last decade in recent development and technologies related to this vital filed of research. In terms of bio-oriented fingers, the article, furthermore, looks in details at the complicated issue of fingertips forces computation and distribution, and how they are balanced using a knowledge based approach for BIOMIMETIC Dexterous Robotics Hands.","PeriodicalId":405479,"journal":{"name":"2012 UKSim 14th International Conference on Computer Modelling and Simulation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-03-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115170389","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}
A more and more competitive environment and constantly changing customers' favors have forced producers to enhance quality, efficiency and flexibility. The cellular manufacturing system (CMS) which is a manufacturing application of the group technology (GT) theory, has been known as one of the recent technological innovations for providing more productivity and flexibility. Different aspects of CMS have been continuously investigated in the recent years. In the previous studies, minimizing the total number of intercellular movement or exceptional parts has been considered as an objective. In this paper, a multi-objective mathematical model for solving the group technology problem with process route flexibility has been developed and described. The objective functions are minimizing the total intercellular movement, machines' idle time and the total required setup time while satisfying a number of constraints. A solver based on genetic algorithm (GA) has been created and validated using the Visual Studio C# programming language. Finally, the created software has been utilized to solve the cell formation problem (CFP) in an industrial case company.
竞争日益激烈的环境和不断变化的客户偏好迫使生产商提高质量、效率和灵活性。元胞制造系统(CMS)是成组技术(GT)理论在制造中的应用，是近年来以提高生产效率和灵活性而闻名的技术创新之一。近年来，人们对CMS的不同方面进行了不断的研究。在以往的研究中，尽量减少细胞间运动或异常部分的总数被认为是一个目标。本文建立并描述了求解具有工艺路线柔性的成组工艺问题的多目标数学模型。目标函数是在满足若干约束条件的情况下，使总胞间运动、机器空闲时间和总所需设置时间最小化。利用Visual Studio c#编程语言创建并验证了基于遗传算法(GA)的求解器。最后，利用所开发的软件解决了一个工业案例公司的细胞形成问题(CFP)。
{"title":"A Genetic Algorithm Approach for Solving Group Technology Problem with Process Plan Flexibility","authors":"Sayedmohammadreza Vaghefinezhad, K. Wong","doi":"10.1109/UKSim.2012.16","DOIUrl":"https://doi.org/10.1109/UKSim.2012.16","url":null,"abstract":"A more and more competitive environment and constantly changing customers' favors have forced producers to enhance quality, efficiency and flexibility. The cellular manufacturing system (CMS) which is a manufacturing application of the group technology (GT) theory, has been known as one of the recent technological innovations for providing more productivity and flexibility. Different aspects of CMS have been continuously investigated in the recent years. In the previous studies, minimizing the total number of intercellular movement or exceptional parts has been considered as an objective. In this paper, a multi-objective mathematical model for solving the group technology problem with process route flexibility has been developed and described. The objective functions are minimizing the total intercellular movement, machines' idle time and the total required setup time while satisfying a number of constraints. A solver based on genetic algorithm (GA) has been created and validated using the Visual Studio C# programming language. Finally, the created software has been utilized to solve the cell formation problem (CFP) in an industrial case company.","PeriodicalId":405479,"journal":{"name":"2012 UKSim 14th International Conference on Computer Modelling and Simulation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-03-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114659951","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}
Image fusion is a proven value adding technique for image analysis. Automated image fusion aims to give the fusion system the ability to select, analyze and evaluate fusion-worthy images. This paper examines the evolution of present techniques used for assessing quality of image fusion operators. It also presents an algorithm that objectively evaluates the realism of saliency functions used in image fusion quality measures. Most image fusion quality metrics depend on estimating the amount of information transferred from each source image into the fused image. This algorithm rebuilds the fused image using the estimated information from each source image and compares it to the original fused image.
{"title":"An Evaluation Mechanism for Saliency Functions Used in Localized Image Fusion Quality Metrics","authors":"M. Hossny, S. Nahavandi, D. Creighton","doi":"10.1109/UKSim.2012.63","DOIUrl":"https://doi.org/10.1109/UKSim.2012.63","url":null,"abstract":"Image fusion is a proven value adding technique for image analysis. Automated image fusion aims to give the fusion system the ability to select, analyze and evaluate fusion-worthy images. This paper examines the evolution of present techniques used for assessing quality of image fusion operators. It also presents an algorithm that objectively evaluates the realism of saliency functions used in image fusion quality measures. Most image fusion quality metrics depend on estimating the amount of information transferred from each source image into the fused image. This algorithm rebuilds the fused image using the estimated information from each source image and compares it to the original fused image.","PeriodicalId":405479,"journal":{"name":"2012 UKSim 14th International Conference on Computer Modelling and Simulation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-03-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121132319","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}
James Zhang, V. Le, Michael Johnstone, S. Nahavandi, D. Creighton
Emulation facilitates the testing of control systems through the use of a simulation model. Typically emulation has focused on low level control, to ensure that resources within a system are commissioned correctly. Higher level control that deals with complex issues such as throughput, in-system time and stacking, has not received as much attention. In this paper, a higher level agent-based emulation framework was proposed. Then an emulation model for a distribution centre is described that can test distribution centre level algorithms directly. This methodology also allows playback of real world operations, making it an ideal tool to analyse problems with performance of commissioned systems.
{"title":"Discrete Event Simulation Enabled High Level Emulation of a Distribution Centre","authors":"James Zhang, V. Le, Michael Johnstone, S. Nahavandi, D. Creighton","doi":"10.1109/UKSim.2012.120","DOIUrl":"https://doi.org/10.1109/UKSim.2012.120","url":null,"abstract":"Emulation facilitates the testing of control systems through the use of a simulation model. Typically emulation has focused on low level control, to ensure that resources within a system are commissioned correctly. Higher level control that deals with complex issues such as throughput, in-system time and stacking, has not received as much attention. In this paper, a higher level agent-based emulation framework was proposed. Then an emulation model for a distribution centre is described that can test distribution centre level algorithms directly. This methodology also allows playback of real world operations, making it an ideal tool to analyse problems with performance of commissioned systems.","PeriodicalId":405479,"journal":{"name":"2012 UKSim 14th International Conference on Computer Modelling and Simulation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-03-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126036860","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The development of wireless networks, mobile devices and sensor technology during the past 20 years has continually affected the creation of new applications based on emergent technologies. By combining the advantages of established technologies with these new approaches and furthermore adapting those criteria to different user needs and application scenarios, including the location of users, we are able to extend existing applications with new mobile components and services. This paper presents a teaching methodology for a course of Near Field Communication for a master degree program and some examples of research projects in this area. The course "Near Field Communication" was introduced at the University of Applied Sciences Berlin in 2009 and has been taught by Professors from HTW Berlin and ONPU Odessa. Additionally, this paper presents two different approaches to visualise information from culture, media and creative industries by using RFID-based tracking and identification and NFC technology. In particular, the differences in the processing of system events, delivery of required information and the implemented infrastructure will be discussed and evaluated.
{"title":"Near Field Communication - Research, Teachings and Training","authors":"J. Sieck, V. Brovkov","doi":"10.1109/UKSim.2012.121","DOIUrl":"https://doi.org/10.1109/UKSim.2012.121","url":null,"abstract":"The development of wireless networks, mobile devices and sensor technology during the past 20 years has continually affected the creation of new applications based on emergent technologies. By combining the advantages of established technologies with these new approaches and furthermore adapting those criteria to different user needs and application scenarios, including the location of users, we are able to extend existing applications with new mobile components and services. This paper presents a teaching methodology for a course of Near Field Communication for a master degree program and some examples of research projects in this area. The course \"Near Field Communication\" was introduced at the University of Applied Sciences Berlin in 2009 and has been taught by Professors from HTW Berlin and ONPU Odessa. Additionally, this paper presents two different approaches to visualise information from culture, media and creative industries by using RFID-based tracking and identification and NFC technology. In particular, the differences in the processing of system events, delivery of required information and the implemented infrastructure will be discussed and evaluated.","PeriodicalId":405479,"journal":{"name":"2012 UKSim 14th International Conference on Computer Modelling and Simulation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-03-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121973367","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}
Studying the dynamic behaviour of patterns whose frequency changes over time is of recent interest. Such patterns are named as transitional patterns [1] and were found only upon mining the frequent patterns in a transaction database. In this paper, a partition-based algorithm is proposed to find a variation of transitional patterns. Our approach do not require a set of frequent patterns mined over the database to initiate the process of finding transitional patterns and thus reduces the number of scans over the database. In [1] the range of Tξ was fixed, whereas we expressed it in terms of support so as it varies with the sizes of the databases and minimum pattern support value.
{"title":"Partition-Based Approach for Fast Mining of Transitional Patterns","authors":"R. Subramanyam, S. Suvvari","doi":"10.1109/UKSim.2012.29","DOIUrl":"https://doi.org/10.1109/UKSim.2012.29","url":null,"abstract":"Studying the dynamic behaviour of patterns whose frequency changes over time is of recent interest. Such patterns are named as transitional patterns [1] and were found only upon mining the frequent patterns in a transaction database. In this paper, a partition-based algorithm is proposed to find a variation of transitional patterns. Our approach do not require a set of frequent patterns mined over the database to initiate the process of finding transitional patterns and thus reduces the number of scans over the database. In [1] the range of Tξ was fixed, whereas we expressed it in terms of support so as it varies with the sizes of the databases and minimum pattern support value.","PeriodicalId":405479,"journal":{"name":"2012 UKSim 14th International Conference on Computer Modelling and Simulation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-03-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121978776","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The accurate simulation of anatomical joint models is becoming increasingly important for both medical diagnosis and realistic animation applications. Quaternion algebra has been increasingly applied to model rotations providing a compact representation while avoiding singularities. We propose the use of Artificial Neural Networks to accurately simulate joint constraints, by learning mappings in unit quaternion space. This paper describes the application of Genetic Algorithm approaches to neural network training in order to model corrective piece-wise linear/discontinuous functions required to maintain valid joint configurations. The results show that Artificial Neural Networks are capable of modeling constraints on the rotation of and around a virtual limb.
{"title":"Evolved Topology Generalized Multi-layer Perceptron (GMLP) for Anatomical Joint Constraint Modelling","authors":"Glenn L. Jenkins, Michael E. Dacey","doi":"10.1109/UKSim.2012.25","DOIUrl":"https://doi.org/10.1109/UKSim.2012.25","url":null,"abstract":"The accurate simulation of anatomical joint models is becoming increasingly important for both medical diagnosis and realistic animation applications. Quaternion algebra has been increasingly applied to model rotations providing a compact representation while avoiding singularities. We propose the use of Artificial Neural Networks to accurately simulate joint constraints, by learning mappings in unit quaternion space. This paper describes the application of Genetic Algorithm approaches to neural network training in order to model corrective piece-wise linear/discontinuous functions required to maintain valid joint configurations. The results show that Artificial Neural Networks are capable of modeling constraints on the rotation of and around a virtual limb.","PeriodicalId":405479,"journal":{"name":"2012 UKSim 14th International Conference on Computer Modelling and Simulation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-03-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129959558","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}
This parallel computer proposal is based on a three dimensional architecture that is inseparable from the software stored in each of its basic components. The software in each basic component (cell) is an equivalent of cellular DNA, and as it deals with all possible situations in the cell's local environment, it would not need to be replaced frequently. All the "cells" at a given level have the same software, and different software at different levels. The system is asynchronous with fixed connections between levels. Only one module is described, but it is structured so that its output can be used as input to an equivalent module, whose software can be adapted to the needs of the user. The 3D modular architecture permits for creation of sufficiently complex modular system that permits simulation of the modular structure of the brain. It permits autonomous learning and feature extraction necessary for formation of the internal "model of the world", used for comparison with incoming sensory data. As autonomous learning machine needs to function on an internal model of the world, something that this system allows for, the research and development based on this system can help in the creation of a "commonsense-machine".
{"title":"Proposal for Parallel Computer Architecture of a Cellular Type Aimed at Development of an Autonomous Learning Machine","authors":"Neven Dragojlovic","doi":"10.1109/UKSim.2012.80","DOIUrl":"https://doi.org/10.1109/UKSim.2012.80","url":null,"abstract":"This parallel computer proposal is based on a three dimensional architecture that is inseparable from the software stored in each of its basic components. The software in each basic component (cell) is an equivalent of cellular DNA, and as it deals with all possible situations in the cell's local environment, it would not need to be replaced frequently. All the \"cells\" at a given level have the same software, and different software at different levels. The system is asynchronous with fixed connections between levels. Only one module is described, but it is structured so that its output can be used as input to an equivalent module, whose software can be adapted to the needs of the user. The 3D modular architecture permits for creation of sufficiently complex modular system that permits simulation of the modular structure of the brain. It permits autonomous learning and feature extraction necessary for formation of the internal \"model of the world\", used for comparison with incoming sensory data. As autonomous learning machine needs to function on an internal model of the world, something that this system allows for, the research and development based on this system can help in the creation of a \"commonsense-machine\".","PeriodicalId":405479,"journal":{"name":"2012 UKSim 14th International Conference on Computer Modelling and Simulation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-03-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128573338","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The estimation of State Of Charge (SOC) of battery pack attracts wide attention in battery manufacture and application, which is a key issue in Battery Management System (BMS). A practical three-layer BP neural network is proposed and used to estimate the SOC of LiFePO4 lithium-ion battery pack, which consists of three series groups with each group of 8 series modules. Sample data are obtained with different discharging scenarios to train the network with different training functions. And the trained neural networks are used to estimate the SOC. Results of experiments show that the performances of neural networks trained by different training functions differ in estimation accuracy and training speed. The Levenberg-Marquardt (L-M) algorithm achieves the best performance compared with the other two algorithms.
{"title":"Comparison of SOC Estimation Performance with Different Training Functions Using Neural Network","authors":"Wei Jian, Xuehuan Jiang, Jinliang Zhang, Zhengtao Xiang, Yubing Jian","doi":"10.1109/UKSim.2012.69","DOIUrl":"https://doi.org/10.1109/UKSim.2012.69","url":null,"abstract":"The estimation of State Of Charge (SOC) of battery pack attracts wide attention in battery manufacture and application, which is a key issue in Battery Management System (BMS). A practical three-layer BP neural network is proposed and used to estimate the SOC of LiFePO4 lithium-ion battery pack, which consists of three series groups with each group of 8 series modules. Sample data are obtained with different discharging scenarios to train the network with different training functions. And the trained neural networks are used to estimate the SOC. Results of experiments show that the performances of neural networks trained by different training functions differ in estimation accuracy and training speed. The Levenberg-Marquardt (L-M) algorithm achieves the best performance compared with the other two algorithms.","PeriodicalId":405479,"journal":{"name":"2012 UKSim 14th International Conference on Computer Modelling and Simulation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-03-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129895078","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}
Sadik Armagan, Enda Fallon, Yuansong Qiao, Brian Lee
The introduction of remote sensor technologies has improved the standard of living for cardiovascular patients who require continuous monitoring of vital signs. In this paper, an infrastructure mode based approach is proposed in which the sensor itself communicates directly with a wireless access network. In infrastructure mode it is critical that the sensor seamlessly migrates between host access points. Our investigation therefore focuses on optimizing the switchover performance of the body sensor using a Cross Layer Algorithm for Smoothed Switchover (CLASS) which defines a Quality of Service (QoS) switchover trigger. We propose that the CLASS algorithm should be utilized within the newly standardized Media Independent Handover (MIH) framework. Results presented illustrate that our approach has a significant performance improvement over the currently suggested approach for the mobility technology Stream Control Transmission Protocol (SCTP).
{"title":"CLASS - A Cross Layer Algorithm for Smoothed Switchover in Multi-homed Body Sensor Networks","authors":"Sadik Armagan, Enda Fallon, Yuansong Qiao, Brian Lee","doi":"10.1109/UKSim.2012.95","DOIUrl":"https://doi.org/10.1109/UKSim.2012.95","url":null,"abstract":"The introduction of remote sensor technologies has improved the standard of living for cardiovascular patients who require continuous monitoring of vital signs. In this paper, an infrastructure mode based approach is proposed in which the sensor itself communicates directly with a wireless access network. In infrastructure mode it is critical that the sensor seamlessly migrates between host access points. Our investigation therefore focuses on optimizing the switchover performance of the body sensor using a Cross Layer Algorithm for Smoothed Switchover (CLASS) which defines a Quality of Service (QoS) switchover trigger. We propose that the CLASS algorithm should be utilized within the newly standardized Media Independent Handover (MIH) framework. Results presented illustrate that our approach has a significant performance improvement over the currently suggested approach for the mobility technology Stream Control Transmission Protocol (SCTP).","PeriodicalId":405479,"journal":{"name":"2012 UKSim 14th International Conference on Computer Modelling and Simulation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-03-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123492619","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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