Because of its ease of implementation,a linear PID controller is generally used to control robotic manipulators.Linear controllers cannot effectively cope with uncertainties and variations in the parameters;therefore,...Because of its ease of implementation,a linear PID controller is generally used to control robotic manipulators.Linear controllers cannot effectively cope with uncertainties and variations in the parameters;therefore,nonlinear controllers with robust performance which can cope with these are recommended.The sliding mode control(SMC)is a robust state feedback control method for nonlinear systems that,in addition having a simple design,efficiently overcomes uncertainties and disturbances in the system.It also has a very fast transient response that is desirable when controlling robotic manipulators.The most critical drawback to SMC is chattering in the control input signal.To solve this problem,in this study,SMC is used with a boundary layer(SMCBL)to eliminate the chattering and improve the performance of the system.The proposed SMCBL was compared with inverse dynamic control(IDC),a conventional nonlinear control method.The kinematic and dynamic equations of the IRB-120 robot manipulator were initially extracted completely and accurately,and then the control of the robot manipulator using SMC was evaluated.For validation,the proposed control method was implemented on a 6-DOF IRB-120 robot manipulator in the presence of uncertainties.The results were simulated,tested,and compared in the MATLAB/Simulink environment.To further validate our work,the results were tested and confirmed experimentally on an actual IRB-120 robot manipulator.展开更多
The Internet of Things (IoT) is a technological revolution that has changed everything we do and given us a new perspective on our daily lives, but despite the fact that numerous publications have focused on character...The Internet of Things (IoT) is a technological revolution that has changed everything we do and given us a new perspective on our daily lives, but despite the fact that numerous publications have focused on characterizing the many edges and technologies that make up an IoT system, the IoT ecosystem is still seen as too complex to be recognized as a stand-alone environment due to its significant diversity;hence, the objective of this research is to address such a complex environment in a way that highlights its components and distinguishes them both individually and in relation to their broader context. Therefore, the definition of IoT and its emergence were discussed and organized around the timeline of Internet development phases demonstrating that IoT has been a need that has accompanied the presence of the Internet since its early stages, and then its growth and impact were discussed and highlighted with estimates and numbers. On the technical side, each of the following groups, IoT components, protocols, and architectures, was defined, discussed, and grouped in such a way that their intergroup organization, as well as their placement and contribution to the overall ecosystem, was highlighted. This, in addition to the various examples mentioned throughout the discussion, will provide the reader with a better understanding of the Internet of Things and how deeply it has become entwined in our daily lives and routines as a result of its numerous applications.展开更多
In this paper, a routing protocol for wireless sensor network, baptized energy based protocol (EBP) is proposed. Wireless sensor network presents many challenges and constraints, and one of the major constraints is th...In this paper, a routing protocol for wireless sensor network, baptized energy based protocol (EBP) is proposed. Wireless sensor network presents many challenges and constraints, and one of the major constraints is the routing problem. Due to the limited energy of sensor nodes, routing in this type of network shall perform efficiently to maximize the network lifetime. One of the proposed algorithms is the directional source aware routing protocol (DSAP) which, after simulation, showed a lot of limitations and drawbacks. The modified directional source aware routing protocol (MDSAP) was proposed by the authors of this paper to address some of the DSAP’s limitations but remains limited to a fixed topology, fixed source and stationary nodes. So EBP is proposed and operated under different scenarios and showed, after its simulation using TinyOS, many advantages in terms of load balancing, free looping, minimizing packet error rate and maximizing network lifetime.展开更多
One of the many problems that are considered to be NP-Hard is the Multiple Sequence Alignment one that initially requires, as for any other of its siblings, a specific encoding schema and design of the main functional...One of the many problems that are considered to be NP-Hard is the Multiple Sequence Alignment one that initially requires, as for any other of its siblings, a specific encoding schema and design of the main functionalities of the heuristics algorithm being implemented and executed. This paper intends to discuss our proposed generic implementation of the Simulated Annealing, inspired for the procedure of cooling and shaping methods of metals. In our algorithm, we attempted to add some executions tracing functionalities in order to help later analysis for initial parameters tuning. On another hand, we also tried to get closer in our attempt to mimic the cooling of metals, but giving it an option to run under different cooling schedules. We proposed a few schedules that seemed to be studied and/or used in many algorithm implementations.展开更多
The Multiple Sequence Alignment problem is considered to be an NP-Hard problem, requiring initially a specific encoding schema and design, as for any other of its siblings, to implement and run any of the main categor...The Multiple Sequence Alignment problem is considered to be an NP-Hard problem, requiring initially a specific encoding schema and design, as for any other of its siblings, to implement and run any of the main categories of heuristic. This paper intends to discuss our proposed generic implementation of the Tabu Search algorithm, a heuristic procedure proposed by Fred Glover to solve discrete combinatorial optimization problems. In this research, we try to coordinate and synchronize different designs/implementations discussed in many literatures, with some of the references mentioned in this paper. The basic idea is to avoid that the search for best solutions stops when a local optimum is found, by maintaining a list of non-acceptable or forbidden (taboo) solutions/costs, called Tabu list or Short-Term Memory (STM). In our algorithm, we attempt to add some executions tracing functionalities in order to help later analysis for initial parameters tuning. On the other hand, we propose to include the concept of a list called Long-Term Memory (LTM), so that some of the best solutions found so far can be saved, for search diversification.展开更多
文摘Because of its ease of implementation,a linear PID controller is generally used to control robotic manipulators.Linear controllers cannot effectively cope with uncertainties and variations in the parameters;therefore,nonlinear controllers with robust performance which can cope with these are recommended.The sliding mode control(SMC)is a robust state feedback control method for nonlinear systems that,in addition having a simple design,efficiently overcomes uncertainties and disturbances in the system.It also has a very fast transient response that is desirable when controlling robotic manipulators.The most critical drawback to SMC is chattering in the control input signal.To solve this problem,in this study,SMC is used with a boundary layer(SMCBL)to eliminate the chattering and improve the performance of the system.The proposed SMCBL was compared with inverse dynamic control(IDC),a conventional nonlinear control method.The kinematic and dynamic equations of the IRB-120 robot manipulator were initially extracted completely and accurately,and then the control of the robot manipulator using SMC was evaluated.For validation,the proposed control method was implemented on a 6-DOF IRB-120 robot manipulator in the presence of uncertainties.The results were simulated,tested,and compared in the MATLAB/Simulink environment.To further validate our work,the results were tested and confirmed experimentally on an actual IRB-120 robot manipulator.
文摘The Internet of Things (IoT) is a technological revolution that has changed everything we do and given us a new perspective on our daily lives, but despite the fact that numerous publications have focused on characterizing the many edges and technologies that make up an IoT system, the IoT ecosystem is still seen as too complex to be recognized as a stand-alone environment due to its significant diversity;hence, the objective of this research is to address such a complex environment in a way that highlights its components and distinguishes them both individually and in relation to their broader context. Therefore, the definition of IoT and its emergence were discussed and organized around the timeline of Internet development phases demonstrating that IoT has been a need that has accompanied the presence of the Internet since its early stages, and then its growth and impact were discussed and highlighted with estimates and numbers. On the technical side, each of the following groups, IoT components, protocols, and architectures, was defined, discussed, and grouped in such a way that their intergroup organization, as well as their placement and contribution to the overall ecosystem, was highlighted. This, in addition to the various examples mentioned throughout the discussion, will provide the reader with a better understanding of the Internet of Things and how deeply it has become entwined in our daily lives and routines as a result of its numerous applications.
文摘In this paper, a routing protocol for wireless sensor network, baptized energy based protocol (EBP) is proposed. Wireless sensor network presents many challenges and constraints, and one of the major constraints is the routing problem. Due to the limited energy of sensor nodes, routing in this type of network shall perform efficiently to maximize the network lifetime. One of the proposed algorithms is the directional source aware routing protocol (DSAP) which, after simulation, showed a lot of limitations and drawbacks. The modified directional source aware routing protocol (MDSAP) was proposed by the authors of this paper to address some of the DSAP’s limitations but remains limited to a fixed topology, fixed source and stationary nodes. So EBP is proposed and operated under different scenarios and showed, after its simulation using TinyOS, many advantages in terms of load balancing, free looping, minimizing packet error rate and maximizing network lifetime.
文摘One of the many problems that are considered to be NP-Hard is the Multiple Sequence Alignment one that initially requires, as for any other of its siblings, a specific encoding schema and design of the main functionalities of the heuristics algorithm being implemented and executed. This paper intends to discuss our proposed generic implementation of the Simulated Annealing, inspired for the procedure of cooling and shaping methods of metals. In our algorithm, we attempted to add some executions tracing functionalities in order to help later analysis for initial parameters tuning. On another hand, we also tried to get closer in our attempt to mimic the cooling of metals, but giving it an option to run under different cooling schedules. We proposed a few schedules that seemed to be studied and/or used in many algorithm implementations.
文摘The Multiple Sequence Alignment problem is considered to be an NP-Hard problem, requiring initially a specific encoding schema and design, as for any other of its siblings, to implement and run any of the main categories of heuristic. This paper intends to discuss our proposed generic implementation of the Tabu Search algorithm, a heuristic procedure proposed by Fred Glover to solve discrete combinatorial optimization problems. In this research, we try to coordinate and synchronize different designs/implementations discussed in many literatures, with some of the references mentioned in this paper. The basic idea is to avoid that the search for best solutions stops when a local optimum is found, by maintaining a list of non-acceptable or forbidden (taboo) solutions/costs, called Tabu list or Short-Term Memory (STM). In our algorithm, we attempt to add some executions tracing functionalities in order to help later analysis for initial parameters tuning. On the other hand, we propose to include the concept of a list called Long-Term Memory (LTM), so that some of the best solutions found so far can be saved, for search diversification.
