A New Mobile Robot Toolbox for Matlab

In this study, a wheeled mobile robot navigation toolbox for Matlab is presented. The toolbox includes algorithms for 3D map design, static and dynamic path planning, point stabilization, localization, gap detection and collision avoidance. One can use the toolbox as a test platform for developing custom mobile robot navigation algorithms. The toolbox allows users to insert/remove obstacles to/from the robot’s workspace, upload/save a customized map and configure simulation parameters such as robot size, virtual sensor position, Kalman filter parameters for localization, speed controller and collision avoidance settings. It is possible to simulate data from a virtual laser imaging detection and ranging (LIDAR) sensor providing a map of the mobile robot’s immediate surroundings. Differential drive forward kinematic equations and extended Kalman filter (EKF) based localization scheme is used to determine where the robot will be located at each simulation step. The LIDAR data and the navigation process are visualized on the developed virtual reality interface. During the navigation of the robot, gap detection, dynamic path planning, collision avoidance and point stabilization procedures are implemented. Simulation results prove the efficacy of the algorithms implemented in the toolbox.     

MMSE estimator for speech enhancement considering the constructive and destructive interference of noise

A new minimum mean square error (MMSE) estimator for discrete cosine transform (DCT) domain speech enhancement considering the two state possibilities of signal and noise DCT coefficients, the constructive and destructive interference, is proposed. Given proper identification of these events are possible, an optimum non-linear MMSE estimator can be derived considering the conditional events. Compared to the previously reported dual-gain multiplicative filters, the proposed estimator demonstrates superior theoretical and experimental performance with respect to mean square error (MSE) improvement and other objective quality measures.     

Adaptive device-to-device communication using Wi-Fi Direct in smart cities

Wi-Fi Direct has become vastly popular in the last few years. Due to its fast network setup and the provision of high transmission rates, it is expected to be the piggyback technology for high speed device-to-device communications in smart cities. The increasing demand on Wi-Fi Direct networks and its co-location in the same band with other Wi-Fi ad-hoc and infrastructure networks have entailed the need for developing new adaptive techniques to utilize the wireless spectrum efficiently. In this paper, we introduce, analyze and implement a self-organizing algorithm designed specifically for pop-up Wi-Fi Direct networks. The algorithm dynamically changes the operating channels of pop-up Wi-Fi Direct networks according to their performance in a non-cooperative manner. It utilizes the spectrum efficiently, reduces congestion and enhances performance. Moreover, the modified Wi-Fi Direct network running the proposed algorithm is interoperable with all other Wi-Fi network modes and setups and does not affect their functionalities. On the contrary, it enhances their performance implicitly. We implement the algorithm using the driver of RTL8188CUS chipset in a Linux environment and conduct experiments to evaluate its performance. The obtained results illustrate the benefits of using the proposed algorithm.     

Destructive and non-destructive evaluation of concrete for optimum sand to aggregate volume ratio

Aggregates are the biggest contributor to concrete volume and are a crucial parameter in dictating its mechanical properties. As such, a detailed experimental investigation was carried out to evaluate the effect of sand-to-aggregate volume ratio (s/a) on the mechanical properties of concrete utilizing both destructive and non-destructive testing (employing UPV (ultrasonic pulse velocity) measurements). For investigation, standard cylindrical concrete samples were made with different s/a (0.36, 0.40, 0.44, 0.48, 0.52, and 0.56), cement content (340 and 450 kg/m³), water-to-cement ratio (0.45 and 0.50), and maximum aggregate size (12 and 19 mm). The effect of these design parameters on the 7, 14, and 28 d compressive strength, tensile strength, elastic modulus, and UPV of concrete were assessed. The careful analysis demonstrates that aggregate proportions and size need to be optimized for formulating mix designs; optimum ratios of s/a were found to be 0.40 and 0.44 for the maximum aggregate size of 12 and 19 mm, respectively, irrespective of the W/C (water-to-cement) and cement content.     

Design of Alkaline/Surfactant/Polymer (ASP) Slug and its use in Enhanced Oil Recovery

Abstract

Studies have been done to design an optimum composition of alkali/surfactant/polymer (ASP) slug and its application in flooding to increase the additional recovery of oil. A very low concentration of alkali and surfactant is used to achieve ultra-low interfacial tension between the trapped oil and the injection water, and polymer is used to increase the viscosity of the injection water for mobility control. Based on the experimental results of physico-chemical properties of polymer, surfactant, and alkali and their mutual interaction in solution, an ASP slug of composition SDS: 0.1 wt%, SDBS: 0.075 wt%, polyacrylamide: 2,000 ppm, and NaOH: 0.7 wt% has been recommended for flooding. Two sets of core-flooding experiments have been conducted using the designed ASP slug in a tri-axial core holder to measure the additional recovery of oil. The average additional oil recovery over conventional water flooding was found to be more than 20% of the original oil in place (OOIP).     

Bio-cellular processes modeling on silicon substrate: receptor–ligand binding and Michaelis Menten reaction

Reducing transmit power is the most straightforward way towards more energy-efficient communications, but it results in lower SNRs at the receiver which can add a performance and/or complexity cost. At low SNRs, synchronization and channel estimation errors erode much of the gains achieved through powerful turbo and LDPC codes. Further expanding the turbo concept through an iterative receiver—which brings synchronization and equalization modules inside the loop—can help, but this solution is prohibitively complex and it is not clear what can and what cannot be a part of the iterative structure. This paper fills two important gaps in this field: (1) as compared to previous research which either focuses on a subset of the problem assuming perfect remaining parameters or is computationally too complex, we propose a proper partitioning of algorithm blocks in the iterative receiver for manageable delay and complexity, and (2) to the best of our knowledge, this is the first physical demonstration of an iterative receiver based on experimental radio hardware. We have found that for such a receiver to work, (1) iterative timing synchronization is impractical, iterative carrier synchronization can be avoided by using our proposed approach, while iterative channel estimation is essential, and (2) the SNR gains claimed in previous publications are validated in indoor channels. Finally, we propose a heuristic algorithm for simplifying the carrier phase synchronization in an iterative receiver such that computations of the log likelihood ratios of the parity bits can be avoided to strike a tradeoff between complexity and performance.     

A group theoretic approach to construct cryptographically strong substitution boxes

In this paper, we present a method to construct a substitution box used in encryption applications. The proposed algorithm for the construction of substitution box relies on the linear fractional transform method. The design methodology is simple, while the confusion-creating ability of the new substitution box is complex. The strength of the proposed substitution box is evaluated, and an insight is provided to quantify the confusion-creating ability. In addition, tests are performed to assess the vulnerability of the encrypted data to algebraic and statistical attacks. The substitution box is critically analyzed by strict avalanche criterion, bit independent criterion, differential approximation probability test, linear approximation probability test, non-linearity test, and majority logic criterion. The performance of the proposed substitution box is also compared with those of some of the well-known counterparts including AES, APA, Gray, S₈, Skipjack, Xyi, and prime of residue substitution boxes. It is apparent that the performance, in terms of confusion-creating ability, of the new substitution box is better than those of some of the existing non-linear components used in encryption systems. The majority logic criterion is applied to these substitution boxes to further evaluate the strength and usefulness.     

Optimization of flank wear using Zirconia Toughened Alumina (ZTA) cutting tool: Taguchi method and Regression analysis

In this study, Taguchi method and Regression analysis have been applied to assess machinability of AISI 4340 steel with newly developed Zirconia Toughened Alumina (ZTA) ceramic inserts. Several experiments have been carried out based on an orthogonal array L₉ with three parameters (depth of cut feed rate, cutting speed) at three levels (low, medium and high). Based on the mean response and signal to noise ratio (SNR), the best optimal cutting condition has been arrived at A₂B₁C₁ i.e. cutting speed is 280 m/min, depth of cut is 0.5 mm and feed rate is 0.12 mm/rev considering the condition smaller is the better approach. Analysis of Variance (ANOVA) is applied to find out the significance and percentage contribution of each parameter. It has been observed that depth of cut has maximum contribution on tool wear. The mathematical model of flank wear has been developed using regression analysis as a function of the above mentioned independent variables. The predicted value from the developed model and experimental values are found to be very close to each other justifying the significance of the model. A confirmation run has been carried out with 95% confidence level to verify the optimized result and the values obtained are within the prescribed limit.     

Comparison on efficiency factors of F and C types of fly ashes

Fly ashes are obtained from thermal power plants and they are pozzolanic materials, which can act as partial replacement material for both portland cement and fine aggregate. With their economical advantages and potential for improving fresh and hardened concrete performance, they have some benefits for using in concrete industry. In this study, the objective was to find the efficiency factors of Turkish C and F-type fly ashes and to compare their properties. Three different cement dosages were used (260, 320, 400 kg/m³), two different ratios (10% and 17%) of cement reduced from the control concretes and three different ratios (depending on cement reduction ratio) of fly ash were added into the mixtures. At the ages of 28 and 90 days, compressive strength, modulus of elasticity and ultrasound velocity tests were carried out. From the compressive strength results, the k efficiency factors of C and F-type fly ashes were obtained. As a result, it is seen that efficiency factors of the concrete produced by the replacement of F and C type fly ashes with cement increase with the increase in cement dosage and concrete age.