A virtual RV-M1 robot system

Exploring a virtual model under simulated environments is the best way to learn about a real system. This is particularly true in robotics where it is quite expensive to provide the system to each individual. The interdisciplinary area of robotics is being studied commonly in various fields like electrical, computer, mechanical engineering, nanotechnology, etc. A virtual robot system can help one fully understand the controls and working of a robot. The system may also be helpful to design the path and plan the trajectory of a robot in an industrial environment or other robotics application. Virtual model of RV-M1 robot has been developed in the MATLAB environment. The virtual system performs forward kinematics and inverse kinematics in addition to providing a simulation of the robot teachbox.     

Automated process planning method to machine A B-Spline free-form feature on a mill–turn center

In this paper, we present a methodology for automating the process planning and NC code generation for a widely encountered class of free-form features that can be machined on a 3-axis mill–turn center. The free-form feature family that is considered is that of extruded protrusions whose cross-section is a closed, periodic B-Spline curve. In this methodology, for machining a part with B-Spline protrusion located at the free end, the part is first rough turned to the maximum profile diameter of the B-Spline, followed by rough profile cutting and finish profiling with axially mounted end mill tools. The identification and sequencing of machining volumes is completely automated, as is the generation of actual NC code. The approach supports both convex and non-convex profiles. In the case of non-convex profiles, the process planning algorithm ensures that there is no gouging of the work piece by the tool. The algorithm also identifies when sections of the tool path lie outside the work piece and utilizes rapid traverses in these regions to reduce cutting time. This methodology presents an integrated turn–mill process planning where by making the process fully automated from design with no user intervention making the overall process planning efficient. The algorithm was tested on several examples and test parts using the unmodified NC code obtained from the implementation were run on a Moriseiki mill–turn center. The parts that were produced met the dimensional specifications of the desired part.     

Worst-case optimal algorithm for XPath evaluation over XML streams

We consider the XPath evaluation problem: Evaluate an XPath query Q on a streaming XML document D; i.e., determine the set Q(D) of document elements selected by Q. We mainly consider Conjunctive XPath queries that involve only the child and descendant axes. Previously known in-memory algorithms for this problem use O(|D|) space and O(|Q||D|) time. Several previously known algorithms for the streaming version use Ω(dn) space and Ω(dn|D|) time in the worst case; d denotes the depth of D, and n denotes the number of location steps in Q. Their exponential space requirement could well exceed the O(|D|) space used by the in-memory algorithms. We present an efficient algorithm that uses O(d|Q|+nc) space and O((|Q|+dn)|D|) time in the worst case; c denotes the maximum number of elements of D that can be candidates for output, at any one instant. For some worst case Q and D, the memory space used by our algorithm matches our lower bound proved in a different paper; so, our algorithm uses optimal memory space in the worst case.     

A survey and taxonomy on energy efficient resource allocation techniques for cloud computing systems

In a cloud computing paradigm, energy efficient allocation of different virtualized ICT resources (servers, storage disks, and networks, and the like) is a complex problem due to the presence of heterogeneous application (e.g., content delivery networks, MapReduce, web applications, and the like) workloads having contentious allocation requirements in terms of ICT resource capacities (e.g., network bandwidth, processing speed, response time, etc.). Several recent papers have tried to address the issue of improving energy efficiency in allocating cloud resources to applications with varying degree of success. However, to the best of our knowledge there is no published literature on this subject that clearly articulates the research problem and provides research taxonomy for succinct classification of existing techniques. Hence, the main aim of this paper is to identify open challenges associated with energy efficient resource allocation. In this regard, the study, first, outlines the problem and existing hardware and software-based techniques available for this purpose. Furthermore, available techniques already presented in the literature are summarized based on the energy-efficient research dimension taxonomy. The advantages and disadvantages of the existing techniques are comprehensively analyzed against the proposed research dimension taxonomy namely: resource adaption policy, objective function, allocation method, allocation operation, and interoperability.     

An analytic algorithm for the space–time fractional advection–dispersion equation

Fractional advection–dispersion equation (FADE) is a generalization of the classical ADE in which the first order time derivative and first and second order space derivatives are replaced by Caputo derivatives of orders 0<α?1, 0<β?1 and 1<γ?2, respectively. We use Caputo definition to avoid (i) mass balance error, (ii) hyper-singular improper integral, (iii) non-zero derivative of constant, and (iv) fractional derivative involved in the initial condition which is often ill-defined. We present an analytic algorithm to solve FADE based on homotopy analysis method (HAM) which has the advantage of controlling the region and rate of convergence of the solution series via the auxiliary parameter ? over the variational iteration method (VIM) and homotopy perturbation method (HPM). We find that the proposed method converges to the numerical/exact solution of the ADE as the fractional orders α, β, γ tend to their integral values. Numerical examples are given to illustrate the proposed algorithm. Example 5 describes the intermediate process between advection and dispersion via Caputo fractional derivative.     

A novel bacterial foraging technique for edge detection

A new approach for edge detection using a combination of bacterial foraging algorithm (BFA) and probabilistic derivative technique derived from Ant Colony Systems, is presented in this paper. The foraging behavior of some species of bacteria like Escherichia coli can be hypothetically modeled as an optimization process. A group of bacteria search for nutrients in a way that maximizes the energy obtained per unit time spent during the foraging. The proposed approach aims at driving the bacteria through the edge pixels. The direction of movement of the bacteria is found using a direction probability matrix, computed using derivatives along the possible directions. Rules defining the derivatives are devised to ensure that the variation of intensity due to noise is discarded. Quantitative analysis of the feasibility of the proposed approach and its comparison with other standard edge detection operators in terms of kappa and entropy are given. The effect of initial values of parameters of BFA on the edge detection is discussed.     

Adaptive simulation for system reliability analysis of large structures

This article proposes an efficient simulation-based methodology to estimate the system reliability of large structures. The proposed method uses a hybrid approach: first, a probabilistic enumeration technique is used to identify a significant system failure sequence. This provides an initial sampling domain for an adaptive importance sampling procedure. As further simulations are performed, information about other significant sequences is incorporated to refine the sampling domain and to estimate the failure probability of the system. The adaptive sampling overcomes the restrictive assumptions of analytical techniques, yet achieves the robustness and accuracy of basic Monte Carlo simulation in an efficient manner. In this article, the proposed method is implemented using the ANSYS finite element software, and is applied to the system reliability estimation of two redundant structural systems, a six-story building frame and a transmission tower. Both ductile and brittle failure modes are considered. The method is structured in a modular form such that it can be easily applied to different types of problems and commercial software, thus facilitating practical application.     

Distributed Symbolic Bounded Property Checking

In this paper we describe an algorithm for distributed, BDD-based bounded property checking and its implementation in the verification tool SymC. The distributed algorithm verifies larger models and returns results faster than the sequential version.The core algorithm distributes partitions of the state set to computation nodes after reaching a threshold size. The nodes proceed with image computation on the nodes asynchronously. The main scalability problem of this scheme is the overlap of state set partitions. We present static and dynamic overlap reduction techniques.