17,126 research outputs found
Link stability estimation based on link connectivity changes in mobile ad-hoc networks
No full textDear Wang,
Re: Link Stability Estimation Based on Link Connectivity Changes in Mobile Ad-hoc Networks
I have not been able to assess if this is an author version peer-reviewed or is it an author version non peer reviewed. Could you please clarify this so I can proceed to add your paper to Spiral. Spiral digital repository only accept peer-reviewed papers.
30/11/12 author has confirmed peer reviewe
James Lee Sanders v. Kristin S. Ahlstrom : Petition for Rehearing
No full textJAMES LEE SANDERS, EUGENE P. SANDERS, ELISE SANDERS and JAMES P. and ELISE SANDERS as guardians ad litem for EUGENE P. SANDERS, JR., CHELISE SANDERS and JERRY HERMANSON, minors, Plaintiffs and Appellant, vs. KRISTIN S. AHLSTROM, Defendant and Respondent. Case No. 860088-C
Introducing AI into MEMS can lead us to brain-computer interfaces and super-human intelligence
No full textSimple rules to modify pre-planned paths and improve gross robot motions associated with pick & place assembly tasks
No full textPurposeThis paper aims to describe real time improvements to the performance and trajectories of robots for which paths had already been planned by some means, automatic or otherwise. The techniques are applied to industrial robots during the gross motions associated with pick and place tasks. Simple rules for path improvement are described.Design/methodology/approachThe dynamics of the manipulator in closed form Lagrange equations are used to represent the dynamics by a set of second‐order coupled non‐linear differential equations. The form of these equations is exploited in an attempt to establish some simple rules. Sub‐optimal paths are improved by considering simple rules developed from the model of the machinery dynamics. By considering the physical limitations of the manipulator, performance was improved by refining pre‐calculated paths. Experiments were performed with a prototype robot and an old Puma 560 robot in a laboratory environment. Once the method had been tested successfully then experiments were conducted with a Kuka KR125 Robot at Ford Motor Company. The measured quantities for all the robots were drive currents to the motors (which represented the torques) and the joint angular positions.FindingsThe method of path refinement presented in this paper uses a simplified model of the robot dynamics to successfully improve the gross motions associated with a pick and place task. The advantage of using the input‐output form described was that intermediate non‐linearities (such as gear friction) and the motor characteristics were directly incorporated into the model.Research limitations/implicationsEven though many of the theoretical problems in manipulator dynamics have been solved, the question of how to best apply the theories to industrial manipulators is still being debated. In the work presented in this paper, information on system dynamics is used to produce simple rules for “path improvement”.Practical implicationsMost fast algorithms are for mobile robots and algorithms are scarcer for manipulators with revolute joints (the most popular type of industrial robot). This work presents real time methods that allow the robot to continue working while new global paths are automatically planned and improved as necessary.Originality/valueMotion planning for manipulators with many degrees of freedom is a complex task and research in this area has been mostly restricted to static environments, offline simulation or virtual environments. This research is applied in real time to industrial robots with revolute joints.</jats:sec
Cerebral atrophy in mild cognitive impairment and Alzheimer disease: rates and acceleration.
No full textOBJECTIVE: To quantify the regional and global cerebral atrophy rates and assess acceleration rates in healthy controls, subjects with mild cognitive impairment (MCI), and subjects with mild Alzheimer disease (AD). METHODS: Using 0-, 6-, 12-, 18-, 24-, and 36-month MRI scans of controls and subjects with MCI and AD from the Alzheimer's Disease Neuroimaging Initiative (ADNI) database, we calculated volume change of whole brain, hippocampus, and ventricles between all pairs of scans using the boundary shift integral. RESULTS: We found no evidence of acceleration in whole-brain atrophy rates in any group. There was evidence that hippocampal atrophy rates in MCI subjects accelerate by 0.22%/year2 on average (p = 0.037). There was evidence of acceleration in rates of ventricular enlargement in subjects with MCI (p = 0.001) and AD (p < 0.001), with rates estimated to increase by 0.27 mL/year2 (95% confidence interval 0.12, 0.43) and 0.88 mL/year2 (95% confidence interval 0.47, 1.29), respectively. A post hoc analysis suggested that the acceleration of hippocampal loss in MCI subjects was mainly driven by the MCI subjects that were observed to progress to clinical AD within 3 years of baseline, with this group showing hippocampal atrophy rate acceleration of 0.50%/year2 (p = 0.003). CONCLUSIONS: The small acceleration rates suggest a long period of transition to the pathologic losses seen in clinical AD. The acceleration in hippocampal atrophy rates in MCI subjects in the ADNI seems to be driven by those MCI subjects who concurrently progressed to a clinical diagnosis of AD
Dynamic neighbour aware power-controlled MAC for multi-hop ad hoc networks
No full textIn Ad Hoc networks, resources in terms of bandwidth and battery life are limited; so using a fixed high transmission power limits the durability of a battery life and causes unnecessary high interference while communicating with closer nodes leading to lower overall network throughput. Thus, this paper proposes a new cross layer MAC called Dynamic Neighbour Aware Power-controlled MAC (Dynamic NA -PMAC) for multi-hop Ad Hoc networks that adjust the transmission power by estimating the communication distance based on the overheard signal strength. By dynamically controlling the transmission power based on the receivable signal strength, the probability of concurrent transmission, durability of battery life and bandwidth utilization increases. Moreover, in presence of multiple overlapping signals with different strengths, an optimal transmission power is estimated dynamically to maintain fairness and avoid hidden node issues at the same time. In a given area, since power is controlled, the chances of overlapping the sensing ranges of sources and next hop relay nodes or destination node decreases, so it enhances the probability of concurrent transmission and hence an increased overall throughput. In addition, this paper uses a variable backoff algorithm based on the number of active neighbours, which saves energy and increases throughput when the density of active neighbours is less. The designed mechanism is tested with various random network scenarios using different traffic including CBR, Exponential and TCP in both scenarios (stationary and mobile with high speed) for single as well as multi-hop. Moreover, the proposed model is benchmarked against two variants of power-controlled mechanisms namely Min NA-PMAC and MaxRC-MinDA NA-PMAC to prove that using a fixed minimum transmission power may lead to unfair channel access and using different transmission power for RTS/CTS and Data/ACK leads to lower probability of concurrent transmission respectively
A Fair and Secure Cluster Formation Process for Ad Hoc Networks
No full textAn efficient approach for organizing large ad hoc networks is to divide the nodes
into multiple clusters and designate, for each cluster, a clusterhead which is responsible for
holding intercluster control information. The role of a clusterhead entails rights and duties.
On the one hand, it has a dominant position in front of the others because it manages the
connectivity and has access to other node¿s sensitive information. But on the other hand, the
clusterhead role also has some associated costs. Hence, in order to prevent malicious nodes
from taking control of the group in a fraudulent way and avoid selfish attacks from suitable
nodes, the clusterhead needs to be elected in a secure way. In this paper we present a novel
solution that guarantees the clusterhead is elected in a cheat-proof manner
Energy efficiency in ad-hoc wireless networks
No full textIn ad-hoc wireless networks, nodes are typically battery-powered, therefore energy limitations are among the critical constraints in ad-hoc wireless networks' development. The approaches investigated in this thesis to achieve energy efficient performance in wireless networks
can be grouped into three main categories.
1. Each wireless network node has four energy consumption states: transmitting, receiving, listening and sleeping states. The power consumed in the listening state is less than the power consumed in the transmitting and receiving states, but significantly greater than that in the sleeping state. Energy efficiency is achieved if as many nodes as possible are put into the sleeping states.
2) Since energy is consumed for transmission nonlinearly in terms of the transmission range, transmission range adjustment is another energy saving approach. In this work, the optimal transmission range is derived and applied to achieve energy efficient performance in a number of scenerios.
3) Since energy can be saved properly arranging the communication algorithms, network topology management or network routing is the third approach which can be utilised in combination with the above two approaches. In this work, Geographical Adaptive Fidelity (GAF) algorithms, clustering algorithms and Geographic Routing (GR) algorithms are all utilised to reduce the energy consumption of wireless networks, such as Sensor Networks and Vehicular Networks.
These three approaches are used in this work to reduce the energy consumption of wireless networks. With the GAF algorithm. We derived the optimal transmission range and optimal grid size in both linear and rectangular networks and as a result we show how the network energy consumptions can be reduced and how the network lifetime can be prolonged. With Geographic Routing algorithms the author
proposed the Optimal Range Forward (ORF) algorithm and Optimal Forward with Energy Balance (OFEB) algorithm to reduce the energy consumption and to prolong the network lifetime. The results show that compared to the traditional GR algorithms (Most Forward within Radius, Nearest Forward Progress), the network lifetime is prolonged. Other approaches have also been considered to improve the networks's energy efficient operation utilising Genetic Algorithms to find the optimal size of the grid or cluster. Furthermore realistic physical layer models, Rayleigh fading and LogNormal fading, are considered in evaluating energy efficiency in a realistic network environment
The impact of mobility models on the performance of mobile Ad Hoc network routing protocol
No full textA mobility model represents nodes distribution and movement over the network. Several research works have shown that a selection of mobility model can affect the outcome of routing performance simulation in Mobile Ad Hoc Networks. Thus, a routing protocol may only be effective in a particular mobility model or scenario but performs inferiorly in another. As a result, analyses of routing protocol performance are often based on inadequate information leading to inaccurate argument and conclusion. In this paper, three different mobility models have been selected, where each of them is highly distinctive in terms of nodes movement behavior. In addition, a new measurement technique called probability of route connectivity is introduced. The technique is used to quantify the success rate of route established by a routing protocol. Extensive simulation runs are done and results are compared between each mobility model
Internet connection method for mobile ad hoc wireless networks
No full textIn recent years, wireless networks with Internet services have become more and
more popular. Technologies which integrate Internet and wireless networks have
extended traditional Internet applications into a more flexible and dynamic
environment. This research work investigates the technology that supports the
connection between a Mobile Ad Hoc Wireless Network (MANET) and the
Internet, which enables the current wireless Internet technologies to provide a
ubiquitous wireless life style.
With detailed analysis of the existing wireless Internet technologies and
MANETs regarding their features and applications, the demand and lack of
research work for an application to provide Internet connection to MANET is
indicated. The primary difficulty for MANET and Internet connection is that the
dynamic features of MANET do not suit the traditional connection methods used
in infrastructure wireless networks. This thesis introduces new concept of the
'Gateway Awareness' (GAW) to the wireless devices in the MANET. GAW is a
new routing protocol designed by the author of this thesis, at the University of
Warwick. Based on GAW, an inclusive definition for the connection method,
which supports the Internet connection and keeps the independency of routing in
MANET, is addressed. Unlike other research work, this method supports the
MANET and Internet communication in both directions. Furthermore, it explores
possible ways of using the Internet as an extension for wireless communications.
The GAW routing method is developed from destination sequenced distance
vector (DSDV) routing protocol. However, it defines a layer of wireless nodes
(known as GAWNs) with exclusive functions for the Internet connection task.
The layer of GAWNs brings a new set of route update and route selection
method. Simulations show that the GAW routing method provides quality
Internet connection performance in different scenarios compared with other
methods. In particular, the connection is completed with minimum effect on the
independent MANET while the routing efficiency and accuracy is guaranteed
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