Digital Commons Network^™

Implementing Namebers Using Microchip Implants: The Black Box Beneath The Skin, Katina Michael, M.G. Michael

Associate Professor Katina Michael

The use of electronic-based physical access cards to secure premises such as government buildings and large corporate offices has been in operation since the inception of bar code and magnetic-stripe cards in the 1970s. Over time, for secure access control, these first generation card technologies based on optical character recognition (OCR) and magnetic ink character recognition (MICR) were replaced by more sophisticated technologies such as smart cards and biometrics, containing encrypted data and techniques which were more difficult to dupe or to replicate \cite{michael2003a}.

An employee today wanting to gain access to their place of work, typically carries a photo …

The Social And Behavioral Implications Of Location-Based Services, Katina Michael, M.G. Michael

Associate Professor Katina Michael

The social and behavioral implications of location-based services (LBS) are only now beginning to come to light in advanced markets where the services have been adopted by just a little over half the market (Microsoft 2011). Depending on one’s definition of what constitutes location-based services, statistics on the level of adoption differ considerably. While it is helpful to provide as broad a list of applications as possible in what constitutes LBS (e.g. everything from in-vehicle navigation systems to downloading a map using a computer), it can also cloud the real picture forming behind this emerging technology. Emerging not in the …

T-S Fuzzy H Tracking Control Of Input Delayed Robotic Manipulators, Haiping Du, Weihua Li

Faculty of Informatics - Papers (Archive)

Time delays are often encountered by practical control systems while they are acquiring, processing, communicating, and sending signals. Time delays may affect the system stability and degrade the control system performance if they are not properly dealt with. Taking the classical robot control problem as an example, the significant effect of time delay on the closed-loop system stability has been highlighted in the bilateral teleoperation, where the communication delay transmitted through a network medium has been received widespread attention and different approaches have been proposed to address this problem (Hokayem and Spong, 2006). In addition, examples like processing delays in …

A Singularity Free Trajectory Tracking Method For The Cooperative Working Of Multi-Arm Robots Using Screw Theory, Emre Sariyildiz, Hakan Temeltas

Faculty of Engineering and Information Sciences - Papers: Part A

In this paper we present a singularity free trajectory tracking method for the cooperative working of multi-arm robot manipulators. It is based on an inverse kinematic transformation which determines the manipulator's joint angles corresponding to the end-effector trajectory given in the task space. The kinematic problem of multi-arm robot system is solved by using screw theory and quaternion algebra. Screw theory is an effective way to establish a global description of rigid body and avoids singularities due to the use of the local coordinates. Dual-quaternion is the most compact and efficient dual operator to express screw displacement. Inverse kinematic solutions …

Performance Analysis Of Numerical Integration Methods In The Trajectory Tracking Application Of Redundant Robot Manipulators, Emre Sariyildiz, Hakan Temeltas

Faculty of Engineering and Information Sciences - Papers: Part A

Differential kinematic is one of the most important solution methods in robot kinematics. The main advantage of the differential kinematic method is that it can be easily implemented any kind of mechanisms. Also, an accurate and efficient kinematic based trajectory tracking application can be easily implemented by using this method. In differential kinematic method, we use Jacobian as a mapping operator in the velocity space. Inversion of Jacobian matrix transforms the desired trajectory velocities, which are the linear and angular velocities of the end effector, into the joint velocities. The joint velocities are required to be integrated to obtain the …

A Comparison Study Of The Numerical Integration Methods In The Trajectory Tracking Application Of Redundant Robot Manipulators, Emre Sariyildiz, Hakan Temeltas

Faculty of Engineering and Information Sciences - Papers: Part A

Differential kinematic has a wide range application area in robot kinematics. The main advantage of the differential kinematic is that it can be easily implemented any kind of mechanisms. In differential kinematic method, Jacobian is used as a mapping operator in the velocity space. The joint velocities are required to be integrated to obtain the pose of the robot manipulator. This integration can be evaluated by using numerical integration methods, since the inverse kinematic equations are highly complex and nonlinear. Thus, the performances of the numerical integration methods affect the trajectory tracking application. This paper compares the performances of numerical …