Advanced Materials Research Vols. 984-985

Abstract: Optimal path planning is considered to be the key area, which gives much attention to researchers in the field of robotic research community. In this paper, a comprehensive simulation study was made on applying heuristic based optimal path planning algorithm of a mobile robot agent in an dynamic environment. This study aims on the behavioural aspects, exploration and navigational aspects along with optimal path analysis of a mobile robot agent. The behaviour selection of a mobile robot agent is considered to be the key challenge for designing a control architecture system, in which it is highly suitable for dynamically changing environment. A mobile robot agent participating for mission critical application will explore into an known environment without any discrepancy, but exploring into an unknown environment will be a challenging criterion, considering its constraints such as time, cost, energy, exploration distance etc., This paper aims on navigational study of the mobile robot agent participating in dynamically changing environments, using heuristic approach. The System evaluation is validated using Graphical User Interface (GUI) based test-bed for Robots called RoboSim and the efficiency of the system is measured, via Simulation Results. Simulation results prove that applying A* algorithm in an unknown environment explores much faster than other path planning algorithms.

Abstract: The main objective of this paper is to design and develop an assistive leg for the paralyzed patients, which supports them, by changing their paralyzed gait pattern to normal gait pattern. The normal gait pattern is achieved by reflex action. Two angle measurement sensors are mounted in the normal leg and two servo motors are mounted in the paralytic leg-at the hip and ankle. The principle is that as the person takes a step in his normal leg, the sensors detect the amount of leg movement and sent the data to microcontroller. Then the servo motors in the paralytic leg are actuated based on the commands from the microcontroller depending on the type of gait suitable for the person. It is observed in such patients that they follow three kinds of gait. Depending on the amount of normal leg movement the gait pattern is decided and the servo motors rotate to move the paralytic leg. During all these, the person still takes the help from the walking aid.

Abstract: Designing a humanoid robot is a complex issue and the exact resemblance of human arm movements has not been achieved in many of the previously developed robots. This paper is going to be much focused on the design of a humanoid robot arm which has a unique approach which has never been developed earlier. Even though all the robots that have been developed using 6-Degrees of Freedom (DOF) and 7-DOF can reach any point in the space, some of the orientation cannot be reached by the end effector plane effectively. So an 8-DOF freedom based robotic arm has been specially designed and developed to resemble the exact movements of the human being. This robot has 3-DOF for shoulder joint, 2-DOF for the elbow joint, and 3-DOF for the wrist with fingers as the end effector. Almost all the robots have only 1-DOF to the elbow joint but here 2-DOF has been proposed to resemble the exact movements of the human being (2-DOF at elbow) to solve the above mentioned problem. Literature reviews and design model are discussed in detail to support the proposal that has been made. Forward and inverse Kinematic relationships are also obtained for the joint link parameter. This humanoid robot arm which has been designed and developed is one of the modules of a human size humanoid robot RALA (Robot based on Autonomous Learning Algorithm).

Abstract: Watermarking is process of hiding digital information into another object/signal. To attain robustness information based on image data is transformed in multiple resolution using Wavelet based image watermarking methods. Embedding watermark bits in middle frequency sub images in the wavelet domain is done using Multiband Wavelet Transform (MWT). At this juncture an attempt is made to analyze robustness for different test images. To resist various attacks Empirical Mode Decomposition (EMD) is used. Performance evaluation of an Image watermarking includes robustness, imperceptibility, watermark capacity and security. Index Terms Image enhancement Empirical mode decomposition, Multiband wavelets transformation

Abstract: This paper presents multi objective vehicle routing problem in which the total distance travelled by the vehicles and total number of vehicles used are minimized. In general, fitness assignment procedure, as one of the important operators, influences the effectiveness of multi objective genetic algorithms. In this paper genetic algorithm with different fitness assignment approach and specialized crossover called Fitness Aggregated Genetic Algorithm (FAGA) is introduced for solving the problem. The suggested algorithm is investigated on large number of popular benchmarks for vehicle routing problem. It is observed from the results that the suggested new algorithm is very effective and the solutions are competitive with the best known results.

Abstract: Users interested to use the Internet from anywhere and at any time. For this purpose, the Internet Engineering Task Force proposed the concept of network mobility. But the IETF’s mobile Virtual Private Network does not support for real time applications. In this paper, the user’s communication between public networks and the private networks can be secured by using Virtual Private Network gateway. This secured user’s communication is based on Session Initiation Protocol and AES algorithm. The security impact is computed analytically and the performance is simulated. The signaling cost can also be reduced in this approach. Cryptographic mechanism like encryption and decryption is applied through the AES algorithm, so that the data transmitted through the VPN gateway is quality and secured.

Abstract: Recently many new algorithms for image compression based on wavelets have been developed.This paper gives a detailed explanation of SPIHT algorithm with the combination of Lempel Ziv Welch compression technique for image compression by MATLAB implementation. Set partitioning in Hierarchical trees (SPIHT) is one of the most efficient algorithm known today. Pyramid structures have been created by the SPIHT algorithm based on a wavelet decomposition of an image. Lempel Ziv Welch is a universal lossless data compression algorithm guarantees that the original information can be exactly reproduced from the compressed data.The proposed methods have better compression ratio, computational speed and good reconstruction quality of the image. To analysis the proposed lossless methods here, calculate the performance metrics as Compression ratio, Mean square error, Peak signal to Noise ratio. Key Words-LempelZivWelch (LZW),SPIHT,Wavelet

Abstract: In this paper we have introduced a new approach called Clock Gating and Voltage Scaling (CGVS), which is the combination of two existing techniques i.e. Clock gating and Voltage Scaling. Our aim is to design a low power Devnagari Unicode Checker (DUC) using CGVS technique. This design is implemented on Kintex-7 FPGA families, XC7K70T device, -3 speed grade and FBG676 package. From our analysis, it is observed that, with the use of clock gated technique in our target circuit and with the scaling of voltage from 1.0V to 0.1V, we are achieving clock power reduction of 98.98% on 10GHz and 1THz operating frequencies. Under same voltage scaling scheme, there is 6.66%, 10.38%, 10.64% and 10.62% less reduction in IO power, when the target circuit is operating on 1GHz, 10GHz, 100GHz and 1THz operating frequencies.

Abstract: This paper presents a graphical user interface (GUI) uses Particle Swarm Optimization (PSO), which is used to find the optimal locations and sizing parameters of multi type Flexible AC transmission systems (FACTS) devices in complex power systems. The GUI toolbox, offers user to choose a power system network, PSO settings and the type and number of FACTS devices for the selected network. In this paper, three different FACTS devices are implemented: SVC, TCSC and TCPST. FACTS devices are used to increase the system loadability, by reducing power flow on overloaded lines, transmission line losses, improving system stability and security. With this can make the transmission system more energy-efficient. PSO used here for optimally allocating and sizing the multiple type FACTS in a standardized power network (IEEE 30 bus system) in order to improve voltage profile, minimizing power system total losses and maximizing system loadability with respect to the size of FACTS.

Abstract: This paper deals with solution of economic dispatch problem with smooth and non smooth cost function. With practical consideration, ED will have non smooth cost functions with equality and inequality constraints that make the problem, a large-scale highly constrained nonlinear optimization problem. Here particle swarm optimization (PSO) technique is used to solve economic dispatch. PSO based algorithm is easy to implement and it performs well on optimization problem. To demonstrate the effectiveness of the proposed method it is being applied to test ED problems, with smooth and non smooth cost functions. Comparison with lagrangian relaxation method showed the superiority of the proposed approach to check the efficiency, studies have been performed for 6 generating unit with smooth cost function. Numerical simulations indicate an improvement in total fuel cost savings.