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In this paper, we introduce a novel performance analysis of the η-μ generalized radio fading channels with integer value of the μ fading parameter, i.e. with even number of multipath clusters. This fading model includes other fading models as special cases such as the Nakagami-rn, the Hoyt, and the Rayleigh. We obtain novel unified and generic simple closed-form expressions for the average bit error...
Haptic refers to feedback of a physical signal to a human user through touch. A haptic system realizes this feedback. In most of the applications today, the physical signal refers to force but not necessary. Virtual environment haptic systems refers to the situation where the force to be feedback from the objects in a virtual environment or computer. Virtual environment haptic robotic systems are...
This paper proposes an adaptive nonlinear sliding mode control for feed drive systems. The aim is to increase precision by minimizing tracking errors of each feed drive axis without additional energy consumption. The proposed adaptive sliding mode control law is used to adjust controller gains based on the tracking error at each sampling time. Therefore, an appropriate control input can be generated...
Pure analytical and numerical approaches are found undesirable for solving inverse kinematics of redundant robots. This is due to huge iterative procedures required to determine efficient joint configuration(s) for given target. In this paper, a new geometric method is presented for solving the inverse kinematics of snake robots ideal for real-time teleoperated surgery of internal organs. The method...
Re-entry vehicles are space analogue of aircraft. It is the unanimous solution to achieve low cost, reliable and on-demand space access since they are used for multiple missions. Integrated adaptive guidance and control methodologies can be investigated to improve the safety and operability of these vehicles. In this paper, the state of the art adaptive control design called State Dependent Riccati...
Home Energy Management System (HEMS) is acknowledged as a promised approach to explore household appliances dynamic energy usage. The availability of an appropriate dataset is indispensable to evaluate the performance of HEMS operations in the designing phase. In this paper, we develop a tool capable of generating long-term semi-synthetic data to avoid deficiency of available datasets particularly,...
This paper provides an open switch fault diagnosis method for a voltage oriented controlled AC/DC line side converter. The technique is based on rectifier phase voltage errors calculations. For the faulted transistors localization, the average voltage errors of the rectifier are computed and their values and signs are analyzed. The proposed method is valid under the rectifier as well as the regenerative...
In-motion Wireless Power Transfer (IM-WPT) is the ability of charging the battery of an EV while it is in motion. This paper introduces a review of IM-WPT charging. The main issuses relatted to; the technology associated, infrastructure and current challenges faced in research and the market scenario are addressed along the paper.
High tech strategies such as Industry 4.0 and Smart Manufacturing require industrial devices to be connected to the Internet. This movement towards interconnected industrial devices poses significant security risks as confidential data must be transferred and stored using untrustworthy channels and cloud servers. End-to-end private key cryptography is suitable to protect the confidentiality, integrity,...
This paper deals with the “SETTLE code”, which is a 2D code that provides camera image based 6-dof self-localization in 3-D space. In the authors' previous works, they proposes the preceding idea of the SETTLE code. However, there were several problems mainly in precision and usability. Then, in this paper, the authors re-defines their landmark code as the Settle code and re-implements it as an app...
In recent years, many kinds of humanoid robots have been developed. A disadvantage of a simple robot is a lack of movements unlike some humanoid robots have arms. The authors test simple robots could realize fluent communication as well as humanoid robots. What kind of motion should do as basic communication movements for a simple robot was researched in pre-experiments. Based on the results of pre-experiments,...
Accurate ranging or localization in non-line of sight conditions is still an open research problem. Non-line of sight conditions usually introduce a positive bias in the ranging measurement that has to be corrected before accurate localization can be achieved. In order to correct this bias, the non-line of sight channel (or path) has to be characterized and known a priori. In this paper, we characterize...
The purpose of this study is to develop the soft robotic arms for human life assistant robots by using a pneumatic system. To activate the arm, we consider the joint to be the active part. Therefore, in this paper, the structure of the joint is the focus. This joint has a helical structure outside to higher rigidity, and two pairs of air tubes inside. By controlling the air pressure in the tubes,...
In order to connect existing electronic devices that are equipped with fieldbus communication capabilities into the emerging Cyber Physical Systems (CPS), new models that combine live data from the underlying devices together with the metadata information that describes them have to be created. The new solutions should be based on widely accepted communication standards and should be easy to implement...
Physical layer key agreement is a new kind of schemes used to generate a shared key between pervasive and resource constrained devices. These schemes utilize the characteristics of the wireless channel to generate the shared key. As all characteristics are time-depend and location-depend, it is hard for eavesdroppers to get the key. But it lacks research on active attacks which aim at manipulating...
In this brief, a model predictive control (MPC) is developed for the first time to solve the optimal energy management problem in tracked bulldozers equipped with advanced series hybrid powertrains. Hybrid bulldozers use two distinct power sources for propulsion, and their complex powertrain architecture requires the coordination of all subsystems to achieve target performances in terms of fuel economy,...
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