{"title":"Motion planning and redundancy resolution of a rover manipulator","authors":"R. Raja, B. Dasgupta, A. Dutta","doi":"10.1109/WIECON-ECE.2015.7444006","DOIUrl":"https://doi.org/10.1109/WIECON-ECE.2015.7444006","url":null,"abstract":"This paper proposes a cooperative motion planning and redundancy resolution technique for a rover manipulator working on rough terrain in a 3-dimensional workspace. The primary motion requirement is accomplished by the manipulator to cover a prescribed trajectory, whereas the rover moves to augment its workspace. The proposed approach involves formulating the trajectory planning as non-linear constrained optimization problem, in which the pose of the platform is computed to achieve the desired trajectory by satisfying joint angle constraints and manipulability measure of the manipulator. The method generates a natural optimized motion for the rover manipulator by solving the constrained optimization problem using the Augmented Lagrangian Method (ALM). Several simulations have been conducted and a number of test cases have been presented to establish the efficacy of the proposed method in providing acceptable path.","PeriodicalId":224903,"journal":{"name":"2015 IEEE International WIE Conference on Electrical and Computer Engineering (WIECON-ECE)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121760790","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}
S. Sabrin, K. M. Morshed, Md. Mostafizur Rahman, D. Karmokar
{"title":"A compact, wide-beam, high gain antenna for wearable medical body-area network devices","authors":"S. Sabrin, K. M. Morshed, Md. Mostafizur Rahman, D. Karmokar","doi":"10.1109/WIECON-ECE.2015.7443914","DOIUrl":"https://doi.org/10.1109/WIECON-ECE.2015.7443914","url":null,"abstract":"A compact and low-profile wearable antenna for wireless body area network devices operating at 5.8 GHz ISM band is presented. The dimensions of the antenna are 9.5 mm × 16 mm with a wide impedance bandwidth of 650 MHz (5.42-6.07 GHz). Dimensions of the antenna are optimized using CST Microwave Studio. The antenna has a high directive gain of 6.9 dBi with less than 0.15 dB gain variation, having radiation in broadside, i.e. towards out of the body. Maximum allowed power to the antenna is 2.21 mW and 26.11 mW at 1-g and 10-g, respectively. Input power limited by the average SAR to the antenna are almost constant within the operating bandwidth. The antenna has wide radiation beamwidth, half power beamwidth, of 114.10 and 91.60 with a very low side lobe level of -9.7 dB and -12.5 dB in YZ and XZ plane, respectively.","PeriodicalId":224903,"journal":{"name":"2015 IEEE International WIE Conference on Electrical and Computer Engineering (WIECON-ECE)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131742101","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}
Islam Md Rafiqul, M. L. Altajjar, M. Habib, K. Abdullah, M. Rashid, K. L. Bashar
{"title":"Frequency diversity improvement factor for rain fade mitigation in Malaysia","authors":"Islam Md Rafiqul, M. L. Altajjar, M. Habib, K. Abdullah, M. Rashid, K. L. Bashar","doi":"10.1109/WIECON-ECE.2015.7443886","DOIUrl":"https://doi.org/10.1109/WIECON-ECE.2015.7443886","url":null,"abstract":"Microwave communication systems in tropical region like Malaysia, operating at higher frequency ranges, are degraded its performance severely during rains. Hence, the rain fade must be taken in consideration for the MW link design to track the service outage and quality. This paper aims to develop and propose frequency diversity Improvement Factor prediction model for rain fade mitigation from 5-40 GHz. The rain attenuation is predicted based on ITU-R rain attenuation prediction method using measured rain rate in Malaysia. The predicted data are analysed to develop and propose a prediction for the improvement factor. The proposed improvement factor model is investigated according to the fade margin where the frequency separation is set to 5 GHz only.","PeriodicalId":224903,"journal":{"name":"2015 IEEE International WIE Conference on Electrical and Computer Engineering (WIECON-ECE)","volume":"217 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131847427","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":"Complete solution of eight puzzle problem using BFS in CUDA environment","authors":"M. Sultana, R. Dutta, S. Setua","doi":"10.1109/WIECON-ECE.2015.7443931","DOIUrl":"https://doi.org/10.1109/WIECON-ECE.2015.7443931","url":null,"abstract":"The eight puzzle problem is the largest completely solvable problem of n×n sliding puzzle problems. It is combinatorial in nature, but there is a large problem space of 9! /2. Objective of this work is to find the complete solution of eight puzzle problem i.e. examining all the permutations for solvability. Using Breadth First search (BFS) graph traversal we can reach the solution for a definite goal. The parallel algorithm is capable of providing us with much more faster solution using Compute Unified Device Architecture (CUDA). CUDA facility enables us to use best possible available computation power of GPU (Graphics Processing Unit). In this paper, we present fast implementation of common graph operation like breadth-first search to find out complete solution of eight puzzle problem on the GPU using the CUDA programming model. Our implementations exhibit better performance. The availability and spread of GPUs to desktops and laptops make them ideal candidates to accelerate graph operations over the CPU-only implementations.","PeriodicalId":224903,"journal":{"name":"2015 IEEE International WIE Conference on Electrical and Computer Engineering (WIECON-ECE)","volume":"145 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133714283","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}
Sakila Alam, T. A. Siddique, Sushmita Joardar, Md. Hossam-E.-Haider
{"title":"Modified precise point positioning with ambiguity validation for better performance","authors":"Sakila Alam, T. A. Siddique, Sushmita Joardar, Md. Hossam-E.-Haider","doi":"10.1109/WIECON-ECE.2015.7443996","DOIUrl":"https://doi.org/10.1109/WIECON-ECE.2015.7443996","url":null,"abstract":"For successful GNSS transmission, determination of precise positioning is very important. For better accuracy, two very important concerns are resolving the ambiguities and then improving the precise point positioning algorithm with proper modification. Ambiguities have to be resolved because wrong integer ambiguity estimation may lead us to a fixed positioning solution which will be worse than their float estimates. Then the precise point positioning algorithm for better accuracy has to be modified. In this paper at first a model driven approach for ambiguity resolution which is linked to the theory of integer estimation has been presented and then the basic precise point positioning algorithm aided by three modifications (ionospheric correction, multipath correction, satellite clock correction) has been discussed.","PeriodicalId":224903,"journal":{"name":"2015 IEEE International WIE Conference on Electrical and Computer Engineering (WIECON-ECE)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116014623","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":"Palm vein recognition system based on corner point detection","authors":"S. D. Raut, V. Humbe","doi":"10.1109/WIECON-ECE.2015.7443978","DOIUrl":"https://doi.org/10.1109/WIECON-ECE.2015.7443978","url":null,"abstract":"Nowadays, the biometric palm vein is leading trait for person recognition. The biometric is formed on the basis of physiological and behavioral characteristic of human being. The blood vascular structure of each and every individual is unique and distinct. The blood vessel carries oxygenated or deoxygenated blood and found under the skin. The near infrared light illumination visualizes a palm vein pattern. The blood vessel is a superior trait, as it lies beneath a skin that makes it very hard to duplicate, forge or fake. This paper discuss about development of the new recognition technique. The paper also discusses a use of Gabor and canny edge detector to form a basis of vascular structure and thereafter using corner point detection algorithm for efficient extraction of features. The work was focused on the palm vein analysis, its feature extraction and finally identification.","PeriodicalId":224903,"journal":{"name":"2015 IEEE International WIE Conference on Electrical and Computer Engineering (WIECON-ECE)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115244602","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}
M. Darshana, Kaustubh Karnataki, G. Shankar, K. Sheela
{"title":"A practical implementation of energy harvesting, monitoring and analysis system for solar photo voltaic terrestrial vehicles in Indian scenarios: A case of pilot implementation in the Indian Railways","authors":"M. Darshana, Kaustubh Karnataki, G. Shankar, K. Sheela","doi":"10.1109/WIECON-ECE.2015.7443989","DOIUrl":"https://doi.org/10.1109/WIECON-ECE.2015.7443989","url":null,"abstract":"The use of fossil fuels for energy leads to emission of carbon dioxide, thus causing global warming which may lead to drastic climatic changes, extinction of living species, rising sea level and extreme natural disasters. The new non-conventional renewable energy resources such as solar energy, wind energy etc. are increasingly relevant energy sources in today's times to the limited fossil fuel based energy. In India, the energy requirement is increasing day by day and among many energy consuming sectors, the transport sector poses a high demand. Utilizing the free space available on rooftops of terrestrial vehicles in India for solar power harvesting could be a significant move in reducing dependence on fossil fuels and reduce global warming. Since the type of terrain, weather, and other environmental conditions can have a significant impact on the design, performance and reliability of a solar rooftop energy harvesting system for terrestrial vehicles, a prototype implementation providing adequate field data would be a valuable asset for the feasibility study and design of such a system. As a case study, this paper discusses the implementation of a data acquisition, monitoring and analysis control system for a Linke Hofmann Busch (LHB) coach of a train in India. This pilot project serves as a proof of concept for a roof-top solar energy harvesting system with an objective to contribute to the electrical power requirement of LHB coaches of a train. Data collected by this system will be used to design a low cost, commercial version of this technology and can also be considered for various other ground based transportation.","PeriodicalId":224903,"journal":{"name":"2015 IEEE International WIE Conference on Electrical and Computer Engineering (WIECON-ECE)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124444151","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}
P. Vasantha, Shubham Dehankar, M. Raman, Kaustubh Karnataki, G. Shankar
{"title":"Space optimization and backtracking for dual axis solar photovoltaic tracker","authors":"P. Vasantha, Shubham Dehankar, M. Raman, Kaustubh Karnataki, G. Shankar","doi":"10.1109/WIECON-ECE.2015.7443965","DOIUrl":"https://doi.org/10.1109/WIECON-ECE.2015.7443965","url":null,"abstract":"Amidst the world which runs on the limited non-renewable resources, alternative sources of energy are gaining the center stage. Solar energy, the primary source of energy, can be harnessed by employing photovoltaic modules. Developing a dual axis tracking mechanism that traces the sun's path in two degrees of freedom will produce higher electrical yields when compared to single axis trackers and fixed tilt structures. Dual axis solar tracker employs two motors which are independently controlled such that one directs the panel to follow the sun's zenith angle variation and other the sun's azimuth angle variation. It is ensured that solar radiation is perpendicular to the panel during the solar window. When elevation angle is low, shading is a grave concern as it drastically decreases the efficiency of power generation. This paper suggests a proficient approach to eliminate mutual shading without using sensors but by employing mathematical strategy called backtracking. Taking into consideration the increasing cost of land, this paper presents a novel model of space optimization between array of panels and distance between panels of same array for a dual axis tracker. The mathematical modeling ensures the effective usage of area for the installation thereby maximizing the energy output and minimizing the cost.","PeriodicalId":224903,"journal":{"name":"2015 IEEE International WIE Conference on Electrical and Computer Engineering (WIECON-ECE)","volume":"187 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115906344","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":"FPGA based wheelchair autonavigation for people with mobility issues","authors":"R. K. Megalingam, Meera Pillai","doi":"10.1109/WIECON-ECE.2015.7443977","DOIUrl":"https://doi.org/10.1109/WIECON-ECE.2015.7443977","url":null,"abstract":"About 65 million people out of 650 million with disabilities in the world require wheelchairs for mobility. Only a minority of them have access to electric wheelchairs in developing and underdeveloped nations. The count is even less when it comes to sophisticated wheelchairs. These electric wheelchairs come with joystick control which is not suitable for people with stroke and spinal cord injury. In this research work we propose a FPGA based solution for automatic navigation of electric wheelchairs in indoor navigation. The house floor is divided into virtual grids with specific co-ordinates assigned to each grid. As a predefined path is fed into the system to reach a destination from a source the system works faster compared to the specific path finding algorithms for path calculation. The Matlab implementation and the Verilog HDL implementation, analysis, synthesis are discussed detailed in this paper.","PeriodicalId":224903,"journal":{"name":"2015 IEEE International WIE Conference on Electrical and Computer Engineering (WIECON-ECE)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130853962","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 of a multistage 0.1/12 kV DC-DC matrix converter using Cockcroft-Walton voltage multiplier topology","authors":"M. Razzak, Sajib Chakraborty, Zaima Tasneem","doi":"10.1109/WIECON-ECE.2015.7443925","DOIUrl":"https://doi.org/10.1109/WIECON-ECE.2015.7443925","url":null,"abstract":"A transformer-less high-performance step-up DC-DC converter based on the Cockcroft-Walton (CW) voltage multiplier is presented in this paper. The proposed converter is suitable for low-input DC generation systems application. A low input DC voltage is boosted up in the DC-DC converter and then inverted through the proposed circuit. An n-stage CW voltage multiplier then converts the obtained AC voltage to a high DC output voltage. This circuit provides continuous input current with low ripple, high voltage gain, low switching losses, low stress on the switches, diodes and capacitors as well as improves the efficiency. The proposed circuit has two power switches which operate at two independent frequencies. One operates at high frequency to enable the use of smaller inductor while the other operates at relatively low frequency according to the desired output voltage ripple. A prototype of the proposed converter has been simulated in PSIM and finally the results are presented and discussed to confirm the effectiveness of this proposed converter.","PeriodicalId":224903,"journal":{"name":"2015 IEEE International WIE Conference on Electrical and Computer Engineering (WIECON-ECE)","volume":"191 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124226515","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}