INTERACT-2010最新文献

{"title":"Simulation and performance study of 3 — DOF parallel manipulator units","authors":"A. Arockia Selvakumar, R. Sathish Pandian, R. Sivaramakrishnan, K. Kalaichelvan","doi":"10.1109/INTERACT.2010.5706219","DOIUrl":"https://doi.org/10.1109/INTERACT.2010.5706219","url":null,"abstract":"In the area of parallel robots, the use of lower-mobility parallel manipulators for many tasks re quiring fewer than six degrees of freedom has drawn a lot of interest. This paper work focuses on the modeling and simulation of 3 - UPS (Universal - Prismatic - Spherical), 3 - RPS (Revolute - Prismatic - Spherical) and 3 - RPR Tripod Parallel Manipulator units. This tripod mechanism consists of base platform and movable platform, which are connected by means of three links or limbs. Spherical joints / revolute joints are used to connect one end of the link and the moving platform and the other end of the link is connected by universal joint to the half nut. This tripod type Parallel Manipulator is having two orientation freedoms and one translation freedom, which is actuated by means of screw pair, which in turn is operated by a stepper motor. The Parallel Manipulator is modeled and simulated by using ADAMS®. The simulation results are obtained by considering the geometrical parameters, Transmission angle of the link and Singularity of the mechanism. From the simulation results a comparative study is carried out based on torque at the joints, angular tilt, positional accuracy and performance of the parallel manipulator.","PeriodicalId":201931,"journal":{"name":"INTERACT-2010","volume":"57 1‐2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120861668","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}

{"title":"Implementation of performance analysis of 18-pulse AC-DC converter fed switched reluctance motor drives to robotics","authors":"M. R. Subbamma, P. B. Chakravarthy, M. Dwarakanath, V. Madhusudhan","doi":"10.1109/INTERACT.2010.5706215","DOIUrl":"https://doi.org/10.1109/INTERACT.2010.5706215","url":null,"abstract":"In this paper, design of auto transformer based 18 Step AC-DC converter fed vector controlled Switched Reluctance motor drive is presented and its Matlab /Simulink model is given. The design procedure for proposed autotransformers shows the flexibility in the design for making it a cost effective replacement suitable for retrofit applications, where presently a six pulse diode bridge rectifier is used. Using 18-pulse configuration of the vector controlled Switched Reluctance motor drive (VCSMD) the higher order harmonics (even 13) is being suppressed. Simulation results of SRMD were obtained in MATLAB & SIMULINK with NO LOAD & ON LOAD.","PeriodicalId":201931,"journal":{"name":"INTERACT-2010","volume":"101 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121456344","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}

{"title":"Developing a flight control strategy for a four-rotor under-actuated UAV","authors":"S. Akash, S. Sridhar, Bibek Kabi, N. Chellammal","doi":"10.1109/INTERACT.2010.5706181","DOIUrl":"https://doi.org/10.1109/INTERACT.2010.5706181","url":null,"abstract":"This paper provides a theoretical approach in the stabilization of a four rotor UAV using a dynamics model. We performed various simulations in open and closed loop platforms and implemented several experiments on the miniature VTOL system. The vehicle feedback system uses an Inertial Measurement Unit (IMU).A state space variable model of the vehicle dynamics is presented here in the literature. In order to explain this system, we have developed a simulink based model for the PID controller. Also various control techniques like Neural Networks which will enhance the system performance are proposed.","PeriodicalId":201931,"journal":{"name":"INTERACT-2010","volume":"20 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115600248","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}

{"title":"Design, development and implementation of neurologically controlled prosthetic limb capable of performing rotational movement","authors":"P. Aravinthan, N. Gopalakrishnan, P. Srinivas, N. Vigneswaran","doi":"10.1109/INTERACT.2010.5706148","DOIUrl":"https://doi.org/10.1109/INTERACT.2010.5706148","url":null,"abstract":"Prosthetic limbs are commonly used by people with limb loss (acquired amputation) and limb absence (congenital deficiency) to restore or imbue some of the function and/or cosmesis of an anatomical limb. Prosthesis is part of the field of biomechatronics, the science of using mechanical devices with human muscle, skeleton, and nervous systems to assist or enhance motor control lost by trauma, disease, or defect. Ionomeric Polymer-Metal Composites (IPMC) are attractive type of electroactive polymer actuation materials because of their characteristics of large electrically induced bending, mechanical flexibility, low excitation voltage, low density, and ease of fabrication. The diffusion of ions between the electrodes causes the material to bend. IPMC material acts as the artificial muscle in prosthetic limb. Nerve signals obtained from the natural damaged muscle will be read and amplified so that the IPMC connected to the lost limb will work as per the characteristics of this signal. Electrodes will be attached between the patient limb and the microprocessor, which will analyze nerve signals to be processed and provide the appropriate output to the IPMC. Once nerve signals characteristics are read and reaction from the IPMC is achieved an arm chassis will be constructed. The advantages of IPMC in requiring low activation voltage and the induced large bending strain led to its consideration for various prosthetic applications. IPMC reacts to a changing voltage. When voltage is applied the material will bend, but if the voltage applied remains constant the material will slowly retract back to its neutral state. As the frequency of electrical impulses rises, so does the degree of fluctuation of the IPMC. Using this phenomenon of variation of degree of fluctuation with frequency of impulses, we can provide a 360 degree rotational arm by appropriately selecting the motor and impulse sequence. In major present prosthesis only vertical or horizontal movement of the prosthetic arm is possible. In this analysis, a rotational prosthetic arm using IPMC and controlled by nerve signal will be produced.","PeriodicalId":201931,"journal":{"name":"INTERACT-2010","volume":"114 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131622707","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}

{"title":"A hybrid method for improving GPS accuracy for land vehicle navigation system","authors":"K. Venkatraman, B. Amutha, Sasi Rekha Sankar","doi":"10.1109/INTERACT.2010.5706204","DOIUrl":"https://doi.org/10.1109/INTERACT.2010.5706204","url":null,"abstract":"Generally, the extended Kalman filter (EKF) is used for sensor fusion in a land vehicle navigation system. However, defects of the first-order linearization of the nonlinear model in the EKF can introduce large estimated errors, and may lead to sub-optimal performance. In order to yield higher accuracy of navigation, in this paper, a novel particle filter (PF) for sensor fusion is proposed and the sampling importance resampling particle filter (SIR-PF) is applied to address the nonlinear measurement model and it shows better performances when compared with the EKF. The basic theories and application of the general PF and the SIR-PF for a global position system/dead reckoning (GPS/DR) integrated navigation system are discussed. This familiar question is asked countless times each day by mobile phone users attempting to improve their signal. Terrain, buildings, and foliage can block or seriously impede the propagation of cell-phone signals. Users of GPS receivers suffer the same problems. While there have been some advances in improving the sensitivity of GPS receivers and developing techniques such as assisted GPS that permit a GPS receiver to use attenuated signals, the antenna of a conventional receiver must have a direct line of sight to the GPS satellites. In urban canyons, it may not be able to \"see\" a sufficient number of satellites with good geometry to determine a three-dimensional position fix. And in tunnels or in parking garages, the receiver will see no satellites at all. Consequently, continuous navigation in many cities is impossible for conventional GPS-only navigation systems.","PeriodicalId":201931,"journal":{"name":"INTERACT-2010","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116907440","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}

{"title":"Precise state estimation for tracking trajectory motion of a trajectile","authors":"A. D. Sheema","doi":"10.1109/INTERACT.2010.5706168","DOIUrl":"https://doi.org/10.1109/INTERACT.2010.5706168","url":null,"abstract":"Control of trajectile and other systems requires reliable real-time estimates of the system state. The design procedure is the mathematical formulation of the state observer by vector calculus possible by different variants of the observer, the determination of its rectro position, attitude and the dynamic system behavior. State Estimation takes all the telemetry seen so far and uses it to determine the underlying behavior of the system at any point of time. It includes fault detection and isolation and continuous system parameter estimation.","PeriodicalId":201931,"journal":{"name":"INTERACT-2010","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116957344","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}

{"title":"Nanorobotics as medicament: (Perfect solution for cancer)","authors":"R. Hariharan, J. Manohar","doi":"10.1109/INTERACT.2010.5706153","DOIUrl":"https://doi.org/10.1109/INTERACT.2010.5706153","url":null,"abstract":"“If you and I were to exchange an apple Neither would have two But if we were to exchange ideas Each would have two ideas” When we enter the enchanting world of electronics we have pleasant routes. The path we have chosen is the union of robotics & medicine. The integration of nanotechnology into medicine is likely to bring some new challenges in medical treatment. Let us peep inside the real world of NANOTECHNOLOGY. Nanorobot is a wonderful vision of medicine in the future. The most advanced nanomedicine involves the use of nanorobots as miniature surgeons. Advancement in nanotechnology may allow us to build artificial red blood cells called Respirocytes capable of carrying oxygen and carbon dioxide molecules (i.e, functions of natural blood cells). Respirocytes are nanorobots, tiny mechanical devices designed to operate on the molecular level. Respirocytes can provide a temporary replacement for natural blood cells in the case of an emergency. Thus respirocytes will literally change the treatment of heart disease. We can envision a day when you could inject billions of these nanorobots that would float around in your body. One of the most realistic and nearly feasible achievements is the cure for cancer which is one of the main focuses of this work. Nanorobots could carry and deliver large amounts of anti-cancer drugs into cancerous cells without harming healthy cells, reducing the side effects related to current therapies. These nanorobots will be able to repair tissues, clean blood vessels and airways, transform our physiological capabilities, and even potentially counteract the aging process.","PeriodicalId":201931,"journal":{"name":"INTERACT-2010","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117288148","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}

{"title":"Robotic Brain Development: Automation and navigation","authors":"Anees Ahmad, S. Hilal, A. Chawla","doi":"10.1109/INTERACT.2010.5706170","DOIUrl":"https://doi.org/10.1109/INTERACT.2010.5706170","url":null,"abstract":"Robotic Brain Development is a term that relates the ‘Development’ to both the ‘Robotics’ and the ‘Brain’. It includes the areas that try to find answers to a number of things related to brain including how brain decides, controls actions, remembers and likes or dislikes things. There are two different views — Robotics for Brain Development and Brain Development for Robotics. In the first view fall mostly the studies that are related to the field of Medicine, Rehabilitation and Surgery. In the second view, are included the studies that are being done to form the brain of Robotic Systems. There are two different approaches, one to make fully automatic robotic systems and the other to make semi-automatic robotic systems where the brain control is provided to the robot externally. These studies are categorized into three types: (1.) where Robot is controlled by the Real Brain, (2.) where Artificial Brain is developed for the Robot and (3.) where Animal Brain is integrated with the Robotic System. This paper presents a review of different studies related to Robotic Brain Development.","PeriodicalId":201931,"journal":{"name":"INTERACT-2010","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124757720","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}

{"title":"Automated leukemia detection using hausdorff dimension in blood microscopic images","authors":"Subrajeet Mohapatra, D. Patra","doi":"10.1109/INTERACT.2010.5706196","DOIUrl":"https://doi.org/10.1109/INTERACT.2010.5706196","url":null,"abstract":"A cute lymphocytic leukemia (ALL) is a malignant disease characterized by the accumulation of lymphoblast in the bone marrow. An improved scheme for ALL detection in blood microscopic images is presented here. In this study features i.e. hausdorff dimension and contour signature are employed to classify a lymphocytic cell in the blood image into normal lymphocyte or lymphoblast (blasts). In addition shape and texture features are also extracted for better classification. Initial segmentation is done using K-means clustering which segregates leukocytes or white blood cells (WBC) from other blood components i.e. erythrocytes and platelets. The results of K-means are used for evaluating individual cell shape, texture and other features for final detection of leukemia. Fractal features i.e. hausdorff dimension is implemented for measuring perimeter roughness and hence classifying a lymphocytic cell nucleus. A total of 108 blood smear images were considered for feature extraction and final performance evaluation is validated with the results of a hematologist.","PeriodicalId":201931,"journal":{"name":"INTERACT-2010","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128991502","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}

{"title":"A novel pruning approach using expert knowledge","authors":"A. M. Mahmood, M. Kuppa","doi":"10.1109/INTERACT.2010.5706189","DOIUrl":"https://doi.org/10.1109/INTERACT.2010.5706189","url":null,"abstract":"Many traditional pruning methods assume that all the datasets are equally probable and equally important. Thus, they apply equal pruning to all the datasets. However, in real-world classification problems, all the datasets are not equal. Consequently, considering equal pruning rate tends to generate inefficient and large size decision trees. Therefore, we propose a practical algorithm to deal with the data specific classification problem when there are datasets with different properties. In this paper, First, we computed the data specific pruning values for each dataset. Then, we used expert knowledge to find inexact pruning value. Finally, we integrated those values in a well established pruning technique to form Expert Knowledge based Pruning (EKBP). We empirically validated the analysis with publicly available 40 datasets from UCI on four existing techniques. Both the analytical and experimental results have shown that our proposed method achieves reduction of tree size and retains equal or better accuracy.","PeriodicalId":201931,"journal":{"name":"INTERACT-2010","volume":"136 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121380014","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}