It can be said that the system of sensing the tilt angle and speed of a multi-rotor copter come in the first rank among all the other sensors on the multi-rotor copters and all other planes due to its important roles for stabilization. The MPU6050 sensor is one of the most popular sensors in this field. It has an embedded 3-axis accelerometer and a 3-axis gyroscope. It is a simple sensor in dealing with it and extracting accurate data. Everything changes when this sensor is placed on the plane. It becomes very complicated to deal with it due to vibration of the motors on the multirotor copter. In this study, two main problems were diagnosed was solved that appear in most sensors when they are applied to a high-frequency vibrating environment. The first problem is how to get a precise angle of the sensor despite the presence of vibration. The second problem is how to overcome the errors that appear when the multirotor copter revolves around its vertical axis during the tilting in either direction x or y or both. The first problem was solved in two steps. The first step involves mixing data of the gyroscope sensor with the data of auxetometer sensor by a mathematical equation based on optimized complementary filter using gray wolf optimization algorithm GWO. The second step involves designing a suitable FIR filter for data. The second problem was solved by finding a non-linear mathematical relationship between the angles of the copter in both X and Y directions, and the rotation around the vertical axis of multirotor copter frame.
In this paper, we develop an analytical energy efficiency model using dual switched branch diversity receiver in wireless sensor networks in fading environments. To adapt energy efficiency of sensor node to channel variations, the optimal packet length at the data link layer is considered. Within this model, the energy efficiency can be effectively improved for switch-and-stay combiner (SSC) receiver with optimal switching threshold. Moreover, to improve energy efficiency, we use error control of Bose-Chaudhuri-Hochquengh (BCH) coding for SSC-BPSK receiver node compared to one of non-diversity NCFSK receiver of sensor node. The results show that the BCH code for channel coding can improve the energy efficiency significantly for long link distance and various values of high energy consumptions over Rayleigh fading channel.
A wireless sensor network consists of spatially distributed autonomous sensors to cooperatively monitor physical or environmental conditions, such as temperature, sound, vibration, pressure, motion or pollutants. Different approaches have used for simulation and modeling of SN (Sensor Network) and WSN. Traditional approaches consist of various simulation tools based on different languages such as C, C++ and Java. In this paper, MATLAB (7.6) Simulink was used to build a complete WSN system. Simulation procedure includes building the hardware architecture of the transmitting nodes, modeling both the communication channel and the receiving master node architecture. Bluetooth was chosen to undertake the physical layer communication with respect to different channel parameters (i.e., Signal to Noise ratio, Attenuation and Interference). The simulation model was examined using different topologies under various conditions and numerous results were collected. This new simulation methodology proves the ability of the Simulink MATLAB to be a useful and flexible approach to study the effect of different physical layer parameters on the performance of wireless sensor networks.
In this paper we present the details of methodology pursued in implementation of an HMI and Demo Temperature Monitoring application for wireless sensor-based distributed control systems. The application of WSN for a temperature monitoring and control is composed of a number of sensor nodes (motes) with a networking capability that can be deployed for monitoring and control purposes. The temperature is measured in the real time by the sensor boards that sample and send the data to the monitoring computer through a base station or gateway. This paper proposes how such monitoring system can be setup emphasizing on the aspects of low cost, energy-efficient, easy ad-hoc installation and easy handling and maintenance. This paper focuses on the overall potential of wireless sensor nodes and networking in industrial applications. A specific case study is given for the measurement of temperature (with thermistor or thermocouple), humidity, light and the health of the WSN. The focus was not on these four types of measurements and analysis but rather on the design of a communication protocol and building of an HMI software for monitoring. So, a set of system design requirements are developed that covered the use of the wireless platforms, the design of sensor network, the capabilities for remote data access and management, the connection between the WSN and an HMI software designed with MATLAB.
Wireless Multimedia Sensor Networks (WMSNs) are being extensively utilized in critical applications such as envi- ronmental monitoring, surveillance, and healthcare, where the reliable transmission of packets is indispensable for seamless network operation. To address this requirement, this work presents a pioneering Distributed Dynamic Coop- eration Protocol (DDCP) routing algorithm. The DDCP algorithm aims to enhance packet reliability in WMSNs by prioritizing reliable packet delivery, improving packet delivery rates, minimizing end-to-end delay, and optimizing energy consumption. To evaluate its performance, the proposed algorithm is compared against traditional routing protocols like Ad hoc On-Demand Distance Vector (AODV) and Dynamic Source Routing (DSR), as well as proactive routing protocols such as Optimized Link State Routing (OLSR). By dynamically adjusting the transmission range and selecting optimal paths through cooperative interactions with neighboring nodes, the DDCP algorithm offers effective solutions. Extensive simulations and experiments conducted on a wireless multimedia sensor node testbed demonstrate the superior performance of the DDCP routing algorithm compared to AODV, DSR, and OLSR, in terms of packet delivery rate, end-to-end delay, and energy efficiency. The comprehensive evaluation of the DDCP algorithm against multiple routing protocols provides valuable insights into its effectiveness and efficiency in improving packet reliability within WMSNs. Furthermore, the scalability and applicability of the proposed DDCP algorithm for large-scale wireless multimedia sensor networks are confirmed. In summary, the DDCP algorithm exhibits significant potential to enhance the performance of WMSNs, making it a suitable choice for a wide range of applications that demand robust and reliable data transmission.
The reluctance of industry to allow wireless paths to be incorporated in process control loops has limited the potential applications and benefits of wireless systems. The challenge is to maintain the performance of a control loop, which is degraded by slow data rates and delays in a wireless path. To overcome these challenges, this paper presents an application–level design for a wireless sensor/actuator network (WSAN) based on the “automated architecture”. The resulting WSAN system is used in the developing of a wireless distributed control system (WDCS). The implementation of our wireless system involves the building of a wireless sensor network (WSN) for data acquisition and controller area network (CAN) protocol fieldbus system for plant actuation. The sensor/actuator system is controlled by an intelligent digital control algorithm that involves a controller developed with velocity PID- like Fuzzy Neural Petri Net (FNPN) system. This control system satisfies two important real-time requirements: bumpless transfer and anti-windup, which are needed when manual/auto operating aspect is adopted in the system. The intelligent controller is learned by a learning algorithm based on back-propagation. The concept of petri net is used in the development of FNN to get a correlation between the error at the input of the controller and the number of rules of the fuzzy-neural controller leading to a reduction in the number of active rules. The resultant controller is called robust fuzzy neural petri net (RFNPN) controller which is created as a software model developed with MATLAB. The developed concepts were evaluated through simulations as well validated by real-time experiments that used a plant system with a water bath to satisfy a temperature control. The effect of disturbance is also studied to prove the system's robustness.
Gas or liquefied petroleum gas (LPG) is a chemical substance resultant from petroleum and could be dangerous in industrial places or those that deal with this substance. Gas leakage causes many health issues. So, to prevent such catastrophes and in order to maintain a clean air environment, the workspace atmosphere should be frequently monitored and controlled. The proposed monitoring gas leakage detector system is based on Internet of Things (IoT) technology. NodeMCU ESP8266 Wi-Fi is used to be the microcontroller for the whole system. The combustible gas sensor (MQ2) is used in order to detect the presence of methane (CH4) and carbon monoxide gas (CO). MQ2 sensor will detect the concentration of the gas according to the voltage output of the sensor and the ESP8266 will send the data reading from the gas sensor to Blynk IoT platform over an IOS phone; data visualization is done using Thingspeak IoT Platform. Besides, a fan will immediately work upon the leakage occurs along with an alarming buzzer.
Linearization sensors characteristics becomes very interest field for researchers due to the importance in enhance the system performance, measurement accuracy, system design simplicity (hardware and software), reduce system cost, ..etc. in this paper, two approaches has been introduced in order to linearize the sensor characteristics; first is signal condition circuit based on lock up table (LUT) which this method performed for linearize NTC sensor characteristic. Second is ratiometric measurement equation which this method performed for linearize LVDT sensor characteristic. The proposed methods has been simulated by MATLAB, and then implemented by using Anadigm AN221E04 Field Programmable Analog Array (FPAA) development kit which several experiments performed in order to improve the performance of these approaches.
In this paper, we have analyzed the full width-half maximum (FWHM) response of a uniform fiber Bragg grating (FBG) for petroleum sensor applications numerically. The analysis; which is depending on parameters such as the gratings length (Lg) and the amplitude of an induced index profile (Δn) change have successfully investigated using MATHCAD software. From the numerical simulation, there is an effect of the Lg and the Δn on the FWHM response. Results show the Lg value that effect the FWHM response is ≤7 mm. In contrast, results show that there is no effect of temperature on the FWHM response. In light of the increasing demand for a wide FWHM band within the applications of optical sensor technology, the results obtained are very important, especially in the field of petroleum industry.
This work presents a healthcare monitoring system that can be used in an intensive care room. Biological information represented by ECG signals is achieved by ECG acquisition part . AD620 Instrumentation Amplifier selected due to its low current noise. The ECG signals of patients in the intensive care room are measured through wireless nodes. A base node is connected to the nursing room computer via a USB port , and is programmed with a specific firmware. The ECG signals are transferred wirelessly to the base node using nRF24L01+ wireless module. So, the nurse staff has a real time information for each patient available in the intensive care room. A star Wireless Sensor Network is designed for collecting ECG signals . ATmega328 MCU in the Arduino Uno board used for this purpose. Internet for things used For transferring ECG signals to the remote doctor, a Virtual Privet Network is established to connect the nursing room computer and the doctor computer . So, the patients information kept secure. Although the constructed network is tested for ECG monitoring, but it can be used to monitor any other signals. INTRODUCTION For elderly people, or the patient suffering from the cardiac disease it is very vital to perform accurate and quick diagnosis. Putting such person under continuous monitoring is very necessary. (ECG) is one of the critical health indicators that directly bene ¿ t from long-term monitoring. ECG signal is a time-varying signal representing the electrical activity of the heart. It is an effective, non- invasive diagnostic tool for cardiac monitoring[1]. In this medical field, a big improvement has been achieved in last few years. In the past, several remote monitoring systems using wired communications were accessible while nowadays the evolution of wireless communication means enables these systems to operate everywhere in the world by expanding internet benefits, applications, and services [2]. Wireless Sensor Networks (WSNs), as the name suggests consist of a network of wireless nodes that have the capability to sense a parameter of interest like temperature, humidity, vibration etc[3,4]. The health care application of wireless sensory network attracts many researches nowadays[ 5-7] . Among these applications ECG monitoring using smart phones[6,8], wearable Body sensors[9], remote patient mentoring[10],...etc. This paper presents wireless ECG monitoring system for people who are lying at intensive care room. At this room ECG signals for every patient are measured using wireless nodes then these signals are transmitted to the nursing room for remote monitoring. The nursing room computer is then connected to the doctors computer who is available at any location over the word by Virtual Privet Network (VPN) in such that the patients information is kept secure and inaccessible from unauthorized persons. II. M OTE H ARDWARE A RCHITECTURE The proposed mote as shown in Fig.1 consists of two main sections : the digital section which is represented by the Arduino UNO Board and the wireless module and the analog section. The analog section consists of Instrumentation Amplifier AD620 , Bandpass filter and an operational amplifier for gain stage, in addition to Right Leg Drive Circuit. The required power is supplied by an internal 3800MAH Lithium-ion (Li-ion) battery which has 3.7V output voltage.
In this study, Dielectric Barrier Discharge plasma irradiation (DBD) is applied to treatment and improve the properties of the ZnO thin film deposited on the glass substrate as a sensor for glucose detection. The ZnO is prepared via a sol-gel method in this work. ZnO is irradiated by the DBD high voltage plasma to improve of its sensitivity. The optical properties, roughness and surface morphology of the waveguide coated ZnO thin films before and after DBD plasma irradiation are studied in this work. The results showed a significant improvement in the performance of the sensor in the detection of concentrations of glucose solution after plasma irradiation. Where the largest value in sensitivity was equal to 62.7 when the distance between electrodes was 5 cm compared to the sensitivity before irradiation, which was equal to 92. The high response showed in results demonstrating that the fabricated waveguide coated ZnO after plasma irradiation has the excellent potential application as a sensor to detect small concentration of glucose solution.
This paper provides a two algorithms for designing robust formation control of multiple robots called Leader- Neighbor algorithm and Neighbor-Leader algorithm in unknown environment. The main function of the robot group is to use the RP lidar sensor attached to each robot to form a static geometric polygon. The algorithms consist of two phases implemented to investigate the formation of polygon shape. In the leading- neighbor algorithm, the first stage is the leader alignment and the adjacent alignment is the second stage. The first step uses the information gathered by the main RP Lidar sensor to determine and compute the direction of each adjacent robot. The adjacent RP Lidar sensors are used to align the adjacent robots of the leader by transferring these adjacent robots to the leader. By performing this stage, the neighboring robots will be far from the leader. The second stage uses the information gathered by adjacent RP sensors to reposition the robots so that the distance between them is equal. On the other hand, in the neighbor-leader algorithm, the adjacent robots are rearranged in a regular distribution by moving in a circular path around the leader, with equal angles between each of the two neighbor robots. A new distribution will be generated in this paper by using one leader and four adjacent robots to approve the suggested leader neighbor algorithm and neighbor-leader algorithm .
Energy constraint has become the major challenge for designing wireless sensor networks. Network lifetime is considered as the most substantial metric in these networks. Routing technique is one of the best choices for maintaining network lifetime. This paper demonstrates implementation of new methodology of routing in WSN using firefly swarm intelligence. Energy consumption is the dominant issue in wireless sensor networks routing. For network cutoff avoidance while maximize net lifetime energy exhaustion must be balanced. Balancing energy consumption is the key feature for rising nets lifetime of WSNs. This routing technique involves determination of optimal route from node toward sink to make energy exhaustion balance in network and in the same time maximize network throughput and lifetime. The proposed technique show that it is better than other some routing techniques like Dijkstra routing, Fuzzy routing, and ant colony (ACO) routing technique. Results demonstrate that the proposed routing technique has beat the three routing techniques in throughput and extend net lifetime.
This paper focuses on designing distributed wireless sensor network gateways armed with Intrusion Detection System (IDS). The main contribution of this work is the attempt to insert IDS functionality into the gateway node (UBICOM IP2022 network processor chip) itself. This was achieved by building a light weight signature based IDS based on the famous open source SNORT IDS. Regarding gateway nodes, as they have limited processing and energy constrains, the addition of further tasks (the IDS program) may affects seriously on its performance, so that, the current design takes these constrains into consideration as a priority and use a special protocol to achieve this goal. In order to optimize the performance of the gateway nodes, some of the preprocessing tasks were offloaded from the gateway nodes to a suggested classification and processing server and a new searching algorithm was suggested. Different measures were taken to validate the design procedure and a detailed simulation model was built to discover the behavior of the system in different environments.
Wireless sensor networks have many limitations such as power, bandwidth, and memory, which make the routing process very complicated. In this research, a wireless sensor network containing three moving sink nodes is studied according to four network scenarios. These scenarios differ in the number of sensor nodes in the network. The RPL (Routing Protocol for low power and lossy network) protocol was chosen as the actual routing protocol for the network based on some routing standards by using the Wsnet emulator. This research aims to increase the life of the network by varying the number of nodes forming it. By using different primitive energy of these nodes, this gives the network to continue working for the longest possible period with low and fair energy consumption between the nodes. In this work, the protocol was modified to make the sink node move to a specific node according to the node’s weight, which depends on the number of neighbors of this node, the number of hops from this node to the sink node, the remaining energy in this node, and the number of packets generated in this node. The simulation process of the RPL protocol showed good results and lower energy consumption compared to previous researches.
Nowadays, the Wireless Sensor Network (WSN) has materialized its working areas, including environmental engineering, agriculture sector, industrial, business applications, military, intelligent buildings, etc. Sensor networks emerge as an attractive technology with great promise for the future. Indeed, issues remain to be resolved in the areas of coverage and deployment, scalability, service quality, size, energy consumption and security. The purpose of this paper is to present the integration of WSNs for IoT networks with the intention of exchanging information, applying security and configuration. These aspects are the challenges of network construction in which authentication, confidentiality, availability, integrity, network development. This review sheds some light on the potential integration challenges imposed by the integration of WSNs for IoT, which are reflected in the difference in traffic features.
Clustering is one of the most energy-efficient techniques for extending the lifetime of wireless sensor networks (WSNs). In a clustered WSN, each sensor node transmits the data acquired from the sensing field to the leader node (cluster head). The cluster head (CH) is in charge of aggregating and routing the collected data to the Base station (BS) of the deployed network. Thereby, the selection of the optimum CH is still a crucial issue to reduce the consumed energy in each node and extend the network lifetime. To determine the optimal number of CHs, this paper proposes an Enhanced Fuzzy-based LEACH (E-FLEACH) protocol based on the Fuzzy Logic Controller (FLC). The FLC system relies on three inputs: the residual energy of each node, the distance of each node from the base station (sink node), as well as the node's centrality. The proposed protocol is implemented using the Castalia simulator in conjunction with OMNET++, and simulation results indicate that the proposed protocol outperforms the traditional LEACH protocol in terms of network lifetime, energy consumption, and stability.
Navigational sensors are evolving both on a commercial and research level. However, the limitation still lies in the accuracy of the respective sensors. For a navigation system to reach a certain accuracy, multi sensors or fusion sensors are used. In this paper, a framework of fuzzy sensor data fusing is proposed to obtain an optimised navigational system. Different types of sensors without a known state of inaccuracy can be fused using the same method proposed. This is demonstrated by fusing compass/accelerometer and GPS signal. GPS is prone to inaccuracies due to environmental factors. These inaccuracies are available in the extracted NMEA protocols as SNR and HDOP. Dead reckoning sensors on the other hand do not depend on external radio signal coverage and can be used in areas with low coverage, but the errors are unbounded and have an accumulative effect over time.
In this work, a healthcare monitoring system-based Internet of Medical Things (IoMT) is proposed, implemented, analyze it by artificial intelligence using fuzzy logic. Atmega microcontroller was used to achieve the function of the proposed work and provide the area for monitoring and Analytic(decision) to the caretakers or doctors through putting the results in the platform. In this paper, the heart rate pulse sensor and infrared temperature sensor are chosen, which give skin temperature and room temperature to provide their results to the caretaker. The decision that gives the patient is in a normal state, or the fuzzy logic does an abnormal state or risk state. The fuzzy logic is used for it accurate and fast in processing data and gives a result very closer to the reality in smart health services. IoMT enables the doctors and caretakers to monitor the patient easily at any time and any place by using their intelligent laptops, tablets, and phones. Finally, the proposed system can contribute to the construction of a wide healthcare monitoring system in the unit or in the department that follows on for the hospital. Therefore, Doctors can improve the accuracy of the diagnosis, as they receive all the patient data necessary.
In this paper, a new method is proposed for people tracking using the human skeleton provided by the Kinect sensor, Our method is based on skeleton data, which includes the coordinate value of each joint in the human body. For data classification, the Support Vector Machine (SVM) and Random Forest techniques are used. To achieve this goal, 14 classes of movements are defined, using the Kinect Sensor to extract data containing 46 features and then using them to train the classification models. The system was tested on 12 subjects, each of whom performed 14 movements in each experiment. Experiment results show that the best average accuracy is 90.2 % for the SVM model and 99 % for the Random forest model. From the experiments, we concluded that the best distance between the Kinect sensor and the human body is one meter.
A new algorithm for the localization and identification of multi-node systems has been introduced in this paper; this algorithm is based on the idea of using a beacon provided with a distance sensor and IR sensor to calculate the location and to know the identity of each visible node during scanning. Furthermore, the beacon is fixed at middle of the frame bottom edge for a better vision of nodes. Any detected node will start to communicate with the neighboring nodes by using the IR sensors distributed on its perimeter; that information will be used later for the localization of invisible nodes. The performance of this algorithm is shown by the implementation of several simulations .
Today, the trends are the robotics field since it is used in too many environments that are very important in human life. Covid 19 disease is now the deadliest disease in the world, and most studies are being conducted to find solutions and avoid contracting it. The proposed system senses the presence according to a specific injury to warn of it and transfer it to the specialist doctor. This system is designed to work in service departments such as universities, institutes, and all state departments serving citizens. This system consists of two parts: the first is fixed and placed on the desk and the other is mobile within a special robot that moves to perform the required task. This system was tested at the University of Basrah within the college of engineering, department of electrical Engineering, on teaching staff, students, and staff during the period of final academic exams. The presence of such a device is considered a warning according to a specific condition and isn’t a treatment for it, as the treatment is prescribed by the specialist doctor. It is found that the average number of infected cases is about 3% of the total number of students and the teaching staff and the working staff. The results were documented in special tables that go to the dean of the college with the attendance tables to know the daily health status of the students.
The gyroscope and accelerometer are the basic sensors used by most Unmanned Aerial Vehicle (UAV) like quadcopter to control itself. In this paper, the fault detection of measured angular and linear states by gyroscope and accelerometer sensors are present. Uncertainties in measurement and physical sensors itself are the main reasons that lead to generate noise and cause the fault in measured states. Most previous solutions are process angular or linear states to improving the performance of quadcopter. Also, in most of the previous solutions, KF and EKF filters are used, which are inefficient in dealing with high nonlinearity systems such as quadcopter. The proposed algorithm is developed by the robust nonlinear filter, Unscented Kalman Filter (UKF), as an angular and linear estimation filter. Simulation results show that the proposed algorithm is efficient to decrease the effect of sensors noise and estimate accurate angular and linear states. Also, improving the stability and performance properties of the quadcopter. In addition, the new algorithm leads to increasing the range of nonlinearity movements that quadcopter can perform it.
Many assistive devices have been developed for visually impaired (VI) person in recent years which solve the problems that face VI person in his/her daily moving. Most of researches try to solve the obstacle avoidance or navigation problem, and others focus on assisting VI person to recognize the objects in his/her surrounding environment. However, a few of them integrate both navigation and recognition capabilities in their system. According to above needs, an assistive device is presented in this paper that achieves both capabilities to aid the VI person to (1) navigate safely from his/her current location (pose) to a desired destination in unknown environment, and (2) recognize his/her surrounding objects. The proposed system consists of the low cost sensors Neato XV-11 LiDAR, ultrasonic sensor, Raspberry pi camera (CameraPi), which are hold on a white cane. Hector SLAM based on 2D LiDAR is used to construct a 2D-map of unfamiliar environment. While A* path planning algorithm generates an optimal path on the given 2D hector map. Moreover, the temporary obstacles in front of VI person are detected by an ultrasonic sensor. The recognition system based on Convolution Neural Networks (CNN) technique is implemented in this work to predict object class besides enhance the navigation system. The interaction between the VI person and an assistive system is done by audio module (speech recognition and speech synthesis). The proposed system performance has been evaluated on various real-time experiments conducted in indoor scenarios, showing the efficiency of the proposed system.
Due to the last increase in data and information technology, the need to use robots in many life areas is increased. There is a great diversity in this field, depending on the type of task required, as the robot enters the parcels of air, land, and water. In this paper, a robot's mission designed to move things is concentrated, relying on line-tracing technology that makes it easy to track its path safely, the RFID is distributed in its approach. When the robot reads the RFID tag, it stops until it raises the load from above, the robot continues its path toward the target. When an obstacle obstructs the robot path, the robot deviates and returns after a while to its previous approach. All this technology is implemented using a new algorithm which is programmed using the visual basic program. The robot designed to transfer the stored material is used according to a site known as an identifier that is identified by the RFID value, where the robot is programmed through a microcontroller and a unique store program that determines the current location and the desired location, then is given the task for the robot to do it as required. The robot is controlled using an ATmega controller to control other parts connected to the electronic circuit, the particular infrared sensor, and ultrasound to avoid potential obstacles within the robot's path to reach the target safely. In addition to this, the robot is made up of an RFID sensor to give unique to each desired target site. Through the console, it is possible to know the link indicated by the target. The H-bridge is also used to obtain a particular command and guide the robot as needed to move freely in all directions and a DC motor which is unique for moving wheels at the desired speed, and Bluetooth for programmable and secure wireless transmission and reception with all these parts through a unique program that also uses application inventory. The robot has proven to be a great success in performing the required task through several tests that have been practically performed.
There are many serious accidents on human life caused by electric current columns, and it is possible for the Internet of Things to find solutions to prevent the risks that occur, as in many fields such as medicine, agriculture, industry and others. In this paper, we will show monitoring and tracking of the current that passes through the electrical poles and the possible leakage, in addition to monitoring the temperature and humidity in the area, and knowing the condition of the light in the column according to morning and evening, this proposed system that will perform a general purpose added to the region. using Open source NODE MCU board, GPS positioning, current sensor, temperature and humidity sensor that provide desired data via open source platforms that we have chosen to be ThingSpeak that easily to handle.
In this paper, a new technique for multi-robot localization in an unknown environment, called the leader-follower localization algorithm is presented. The framework utilized here is one robot that goes about as a leader and different robots are considered as followers distributed randomly in the environment. Every robot equipped with RP lidar sensors to scan the environment and gather information about every robot. This information utilized by the leader to distinguish and confine every robot in the environment. The issue of not noticeable robots is solved by contrasting their distances with the leader. Moreover, the equivalent distance robot issue is unraveled by utilizing the permutation algorithm. Several simulation scenarios with different positions and orientations are implemented on (3- 7) robots to show the performance of the introduced technique.
Obstacle avoidance in mobile robot path planning represents an exciting field of robotics systems. There are numerous algorithms available, each with its own set of features. In this paper a Witch of Agnesi curve algorithm is proposed to prevent a collision by the mobile robot’s orientation beyond the obstacles which represents an important problem in path planning, further, to achieve a minimum arrival time by following the shortest path which leads to minimizing power loss. The proposed approach considers the mobile robot’s platform equipped with the LIDAR 360o sensor to detect obstacle positions in any environment of the mobile robot. Obstacles detected in the sensing range of the mobile robot are dealt with by using the Witch of Agnesi curve algorithm, this establishes the obstacle’s apparent vertices’ virtual minimum bounding circle with minimum error. Several Scenarios are implemented and considered based on the identification of obstacles in the mobile robot environment. The proposed system has been simulated by the V-REP platform by designing several scenarios that emulate the behavior of the robot during the path planning model. The simulation and experimental results show the optimal performance of the mobile robot during navigation is obtained as compared to the other methods with minimum power loss and also with minimum error. It’s given 96.3 percent in terms of the average of the total path while the Bezier algorithm gave 94.67 percent. While in experimental results the proposed algorithm gave 93.45 and the Bezier algorithm gave 92.19 percent.
This paper presents a low-cost Brushless DC (BLDC) motor drive system with fewer switches. BLDC motors are widely utilized in variable speed drives and industrial applications due to their high efficiency, high power factor, high torque, low maintenance, and ease of control. The proposed control strategy for robust speed control is dependent on two feedback signals which are speed sensor loop which is regulated by Sliding Mode Controller (SMC) and current sensor loop which is regulated by Proportional-Integral (PI) for boosting the drive system adaptability. In this work, the BLDC motor is driven by a four-switch three-phase inverter emulating a three-phase six switch inverter, to reduce switching losses with a low complex control strategy. In order to reach a robust performance of the proposed control strategy, the Lévy Flight Distribution (LFD) technique is used to tune the gains of PI and SMC parameters. The Integral Time Absolute Error (ITAE) is used as a fitness function. The simulation results show the SMC with LFD technique has superiority over conventional SMC and optimization PI controller in terms of fast-tracking to the desired value, reduction speed error to the zero value, and low overshoot under sudden change conditions.
In maze maneuvering, it is needed for a mobile robot to feasibly plan the shortest path from its initial posture to the desired destination in a given environment. To achieve that, the mobile robot is combined with multiple distance sensors to assist the navigation while avoiding obstructing obstacles and following the shortest path toward the target. Additionally, a vision sensor is used to detect and track colored objects. A new algorithm is proposed based on different type of utilized sensors to aid the maneuvering of differential drive mobile robot in an unknown environment. In the proposed algorithm, the robot has the ability to traverse surrounding hindrances and seek for a particular object based on its color. Six infrared sensors are used to detect any located obstacles and one color detection sensor is used to locate the colored object. The Mobile Robotics Simulation Toolbox in Matlab is used to test the proposed algorithm. Three different scenarios are studied to prove the efficiency of the proposed algorithm. The simulation results demonstrate that the mobile robot has successfully accomplished the tracking and locating of a colored object without collision with hurdles.
The Internet of Things (IoT) has become a major enabler for sustainable development and has begun to have an impact on society as a whole. Marshes are significant ecosystems for the environment that are essential to biodiversity support and ecological equilibrium. However, environmental changes and human activity are posing an increasing threat to these fragile ecosystems. An Internet of Things (IoT)-based marsh monitoring system was created and put into operation to gather data in real-time on a variety of environmental factors, such as wind speed, CO2 and hydrogen levels, temperature, humidity, voltage, and current. The system makes use of a network of sensors spread out throughout the marsh, which may promote sustainable development. send data to a central node for processing before sending it to a platform hosted in the cloud. After that, an interactive online application is used to visualize the data, giving stakeholders important information about the condition and health of the marsh. Because the suggested system makes it possible to monitor and manage marsh ecosystems effectively, it may promote sustainable development.
A new algorithm for multi-object recognition and localization is introduced in this paper. This algorithm deals with objects which have different reflectivity factors and distinguish color with respect to the other objects. Two beacons scan multi-color objects using long distance IR sensors to estimate their absolute locations. These two beacon nodes are placed at two corners of the environment. The recognition of these objects is estimated by matching the locations of each object with respect to the two beacons. A look-up table contains the distances information about different color objects is used to convert the reading of the long distance IR sensor from voltage to distance units. The locations of invisible objects are computed by using absolute locations of invisible objects method. The performance of introduced algorithm is tested with several experimental scenarios that implemented on color objects.
A wireless body area network (WBAN) connects separate sensors in many places of the human body, such as clothes, under the skin. WBAN can be used in many domains such as health care, sports, and control system. In this paper, a scheme focused on managing a patient’s health care is presented based on building a WBAN that consists of three components, biometric sensors, mobile applications related to the patient, and a remote server. An excellent scheme is proposed for the patient’s device, such as a mobile phone or a smartwatch, which can classify the signal coming from a biometric sensor into two types, normal and abnormal. In an abnormal signal, the device can carry out appropriate activities for the patient without requiring a doctor as a first case. The patient does not respond to the warning message in a critical case sometimes, and the personal device sends an alert to the patient’s family, including his/her location. The proposed scheme can preserve the privacy of the sensitive data of the patient in a protected way and can support several security features such as mutual authentication, key management, anonymous password, and resistance to malicious attacks. These features have been proven depending on the Automated Validation of Internet Security Protocols and Applications. Moreover, the computation and communication costs are efficient compared with other related schemes.
Energy consumption problems in wireless sensor networks are an essential aspect of our days where advances have been made in the sizes of sensors and batteries, which are almost very small to be placed in the patient's body for remote monitoring. These sensors have inadequate resources, such as battery power that is difficult to replace or recharge. Therefore, researchers should be concerned with the area of saving and controlling the quantities of energy consumption by these sensors efficiently to keep it as long as possible and increase its lifetime. In this paper energy-efficient and fault-tolerance strategy is proposed by adopting the fault tolerance technique by using the self-checking process and sleep scheduling mechanism for avoiding the faults that may cause an increase in power consumption as well as energy-efficient at the whole network. this is done by improving the LEACH protocol by adding these proposed strategies to it. Simulation results show that the recommended method has higher efficiency than the LEACH protocol in power consumption also can prolong the network lifetime. In addition, it can detect and recover potential errors that consume high energy.
In recent years, increased importance of Smart Grid, which includes monitoring and control the consumption of customers of electric power. In this paper, Wireless Smart Electrical Power Meter has been designed and implemented which ZigBee wireless sensor network (WSN) will be used for wireless electrical power meter communication supported by PIC microcontroller which used for power unit measurements. PIC microcontroller will be used for evaluating all electric power parameters at costumer side like V rms , I rms , KWh, and PF, and then all these parameters will be send to base station through wireless network in order to be calibrated and monitored.
A robot is a smart machine that can help people in their daily lives and keep everyone safe. the three general sequences to accomplish any robot task is mapping the environment, the localization, and the navigation (path planning with obstacle avoidance). Since the goal of the robot is to reach its target without colliding, the most important and challenging task of the mobile robot is the navigation. In this paper, the robot navigation problem is solved by proposed two algorithms using low-cost IR receiver sensors arranged as an array, and a robot has been equipped with one IR transmitter. Firstly, the shortest orientation algorithm is proposed, the robot direction is corrected at each step of movement depending on the angle calculation. secondly, an Active orientation algorithm is presented to solve the weakness in the preceding algorithm. A chain of the active sensors in the environment within the sensing range of the virtual path is activated to be scan through the robot movement. In each algorithm, the initial position of the robot is detected using the modified binary search algorithm, various stages are used to avoid obstacles through suitable equations focusing on finding the shortest and the safer path of the robot. Simulation results with multi-resolution environment explained the efficiency of the algorithms, they are compatible with the designed environment, it provides safe movements (without hitting obstacles) and a good system control performance. A Comparison table is also provided.
Energy limitations have become fundamental challenge for designing WSNs. Network lifetime is the most interested and important metric in WSNs. Many works have been developed for prolonging networks lifetime, in which one of the important work is the control of transmission power. This paper proposes a new fuzzy transmission power control technique that operate together with routing protocols for prolonging WSNs lifetime. Dijkstra shortest path routing is considered as the main routing protocol in this work. This paper mainly focuses on transmission power control scheme for prolonging WSNs lifetime. A performance comparison is depicted for maximum and controlled transmission power. Simulation results show an increase in network lifetime equals to 3.4776 for the proposed fuzzy control. The performance of the proposed fuzzy control technique involves a good improvement and contribution in the field of prolonging networks lifetime by using transmission power control.
Over the previous decade, significant research has been conducted in the field of healthcare services and their technological advancement. To be more precise, the Internet of Things (IoT) has demonstrated potential for connecting numerous medical devices, sensors, and healthcare professionals in order to deliver high-quality medical services in remote locations. This has resulted in an increase in patient safety, a decrease in healthcare expenses, an increase in the healthcare services' accessibility, and an increase in the industry's healthcare operational efficiency. This paper provides an overview of the possible healthcare uses of Internet of Things (IoT)-based technologies. The evolution of the HIoT application has been discussed in this article in terms of enabling technology, services of healthcare, and applications for resolving different healthcare challenges. Additionally, effort difficulties and drawbacks with the HIoT system are explored. In summary, this study provides a complete source of information on the many applications of HIoT together the purpose is to help future academics who are interested in working in the field and making advances gain knowledge into the issue.
Hand gesture recognition is a quickly developing field with many uses in human-computer interaction, sign language recognition, virtual reality, gaming, and robotics. This paper reviews different ways to model hands, such as vision-based, sensor-based, and data glove-based techniques. It emphasizes the importance of accurate hand modeling and feature extraction for capturing and analyzing gestures. Key features like motion, depth, color, shape, and pixel values and their relevance in gesture recognition are discussed. Challenges faced in hand gesture recognition include lighting variations, complex backgrounds, noise, and real-time performance. Machine learning algorithms are used to classify and recognize gestures based on extracted features. The paper emphasizes the need for further research and advancements to improve hand gesture recognition systems’ robustness, accuracy, and usability. This review offers valuable insights into the current state of hand gesture recognition, its applications, and its potential to revolutionize human-computer interaction and enable natural and intuitive interactions between humans and machines. In simpler terms, hand gesture recognition is a way for computers to understand what people are saying with their hands. It has many potential applications, such as allowing people to control computers without touching them or helping people with disabilities communicate. The paper reviews different ways to develop hand gesture recognition systems and discusses the challenges and opportunities in this area.
Wavelet-based algorithms are increasingly used in the source coding of remote sensing, satellite and other geospatial imagery. At the same time, wavelet-based coding applications are also increased in robust communication and network transmission of images. Although wireless multimedia sensors are widely used to deliver multimedia content due to the availability of inexpensive CMOS cameras, their computational and memory resources are still typically very limited. It is known that allowing a low-cost camera sensor node with limited RAM size to perform a multi-level wavelet transform, will in return limit the size of the acquired image. Recently, fractional wavelet filter technique became an interesting solution to reduce communication energy and wireless bandwidth, for resource-constrained devices (e.g. digital cameras). The reduction in the required memory in these fractional wavelet transforms is achieved at the expense of the image quality. In this paper, an adaptive fractional artifacts reduction approach is proposed for efficient filtering operations according to the desired compromise between the effectiveness of artifact reduction and algorithm simplicity using some local image features to reduce boundaries artifacts caused by fractional wavelet. Applying such technique on different types of images with different sizes using CDF 9/7 wavelet filters results in a good performance.
In a counterfeit clever control procedure, another productive methodology for an indoor robot localization framework is arranged. In this paper, a new mathematic calculation for the robot confinement framework utilizing light sensors is proposed. This procedure takes care of the issue of localization (position recognizing) when utilizing a grid of LEDs distributed uniformly in the environment, and a multi- portable robot outfitted with a multi-LDRs sensor and just two of them activate the visibility robot. The proposed method is utilized to assess the robot's situation by drawing two virtual circles for each two LDR sensors; one of them is valid and the other is disregarded according to several suggested equations. The midpoint of this circle is assumed to be the robot focus. The new framework is simulated on a domain with (n*n) LEDs exhibit. The simulation impact of this framework shows great execution in the localization procedure.
In different modern and future wireless communication networks, a large number of low-power user equipment (UE) devices like Internet of Things, sensor terminals, and smart modules have to be supported over constrained power and bandwidth resources. Therefore, wireless-powered communication (WPC) is considered a promising technology for varied applications in which the energy harvesting (EH) from radio frequency radiations is exploited for data transmission. This requires efficient resource allocation schemes to optimize the performance of WPC and prolong the network lifetime. In this paper, harvest-then-transmit-based WP non-orthogonal multiple access (WP-NOMA) system is designed with time-split (TS) and power control (PC) allocation strategies. To evaluate the network performance, the sum rate and UEs’ rates expressions are derived considering power-domain NOMA with successive interference cancellation detection. For comparison purposes, the rate performance of the conventional WP orthogonal multiple access (WP-OMA) is derived also considering orthogonal frequency-division multiple access and time-division multiple access schemes. Intensive investigations are conducted to obtain the best TS and PC resource parameters that enable maximum EH for higher data transmission rates compared with the reference WP-OMA techniques. The achieved outcomes demonstrate the effectiveness of designed resource allocation approaches in terms of the realized sum rate, UE’s rate, rate region, and fairness without distressing the restricted power of far UEs.
This paper presents a simplified control method for three-phase active power filter by calculating the required reactive and harmonics current of the load. The active power filter needs this current to correct the power factor and eliminate the generated harmonics by nonlinear loads. This method has the advantages of using only one current sensor and effectiveness in achieving the required compensation characteristics. The proposed circuit may be operate at frequencies ranging from 40 to 60 Hz, and it also responds very fast under sudden changes in the load conditions. The considered system is analyzed and a prototype is also developed and tested to demonstrate the performance of the implemented active power filter in the power factor improvement and harmonics elimination. Finally, predicted results are verified experimentally.
In this paper, a new algorithm called table-based matching for multi-robot (node) that used for localization and orientation are suggested. The environment is provided with two distance sensors fixed on two beacons at the bottom corners of the frame. These beacons have the ability to scan the environment and estimate the location and orientation of the visible nodes and save the result in matrices which are used later to construct a visible node table. This table is used for matching with visible-robot table which is constructed from the result of each robot scanning to its neighbors with a distance sensor that rotates at 360⁰; at this point, the location and identity of all visible nodes are known. The localization and orientation of invisible robots rely on the matching of other tables obtained from the information of visible robots. Several simulations implementation are experienced on a different number of nodes to submit the performance of this introduced algorithm.
In this paper, we focus on ensuring encrypted vehicular communication using wireless controller area network performance at high node densities, by means of Dedicated Short-Range Communication (DSRC) algorithms. We analyses the effect of the vehicular communication parameters, message-rate, data-rate, transmission power and carrier sensing threshold, on the application performance. After a state-of-the-art analysis, we propose a data-rate DSRC algorithm. Simulation studies show that DSRC performs better than other decentralized vehicular communication algorithms for a wide range of application requirements and densities. Vehicular communication plays one of the most important roles for future autonomous vehicle. We have systematically investigated the impact of vehicular communication using the MATLAB application platform and achieved an accuracy of 93.74% after encrypting all the communications between the vehicles and securing them by applying the encryption on V2V communication in comparison with the existing system of Sensor Networks which stands at 92.97%. The transmission time for the encryption is 165 seconds while the rate of encryption is as low as 120 Mbps for the proposed awareness range of vehicles to vehicle using DSRC algorithm in Wireless-Controller Area Network for communication. Experimental results show that our proposed method performs 3% better than the recently developed algorithms.
In the city of Basrah, there is an urgent need to use the water for irrigation process more efficiently for many reasons: one of them, the high temperature in long summer season and the other is the lack of sources fresh water sources. In this work, a smart irrigation system based wireless sensor networks (WSNs) is implemented. This system consists of the main unit that represented by an Arduino Uno board which include an ATmega328 microcontroller, different sensors as moisture sensors, temperature sensors, humidity sensors, XBee modules and solenoid valve. Zigbee technology is used in this project for implementing wireless technology. This system has two modes one manual mode, the other is a smart mode. The set points must be changed manually according to the specified season to satisfy the given conditions for the property irrigation, and the smart operation of the system will be according to these set points.
This paper presents a numerical analysis for the effect of temperature variations on the strain response of polymer optical fiber (POF) Bragg gratings. Results show that the dependence of the Bragg wavelength (λ B ) upon strain and temperature variations for the POF Bragg gratings is lies within the range of 0.462 – 0.470 fm με -1 °C -1 compare with 0.14 – 0.15 fm με -1 °C -1 for the SOFs Bragg gratings. Also, results show that the strain response for the POF Bragg gratings changed on average by 1.034 ± 0.02fm με - important for strain sensor applications especially in the environments where the temperature change.
In this paper, the effect of the grating parameters (i.e. gratings length (Lg) and the induced index profile (Δn)); the temperature variation (T) and the applied strain change on the fiber Bragg Grating (FBG) 3dB-bandwidth (i.e. full width-half maximum (FWHM)) have successfully investigated numerically using MATHCAD software. Results show that for Lg < 7 mm, the FBG 3dB-bandwidth (i.e. full width-half maximum (FWHM)) value shows a good reliable and visible impact. Otherwise, there are no significant effects except for increasing the FBG reflectivity. Also, results show that the FWHM value has affected by the change of the Δn value. In contrast, results show that there is no significant effect of the temperature on the FWHM value. Also, results shown that the dependence of the Bragg wavelength (λB) upon both strain and temperature variations is lies within the range of 0.462 – 0.470 fm με-1 °C-1
The goal for collaborative robots has always driven advancements in robotic technology, especially in the manufacturing sector. However, this is not the case in service sectors, especially in the health sector. Thus, this lack of focus has now opened more room for the design and development of service robots that can be used in the health sector to help patients with ailments, cognitive problems, and disabilities. There is currently a global effort towards the development of new products and the use of robotic medical devices and computer-assisted systems. However, the major problem has been the lack of a thorough and systematic review of robotic research into disease and epidemiology, especially from a technology perspective. Also, medical robots are increasingly being used in healthcare to perform a variety of functions that improve patient care. This scoping review is aimed at discovering the types of robots used in healthcare and where they are deployed. Moreover, the current study is an overview of various forms of robotic technology and its uses the healthcare industry. The considered technologies are the products of a partnership between the healthcare sector and academia. They demonstrate the research and testing that are necessary for the service of robot development before they can be employed in practical applications and service scenarios. The discussion also focused on the upcoming research areas in robotic systems as well as some important technologies necessary for human-robot collaboration, such as wireless sensor networks, big data, and artificial intelligence.
the proposed design offers a complete solution to support and surveillance vehicles remotely. The offered algorithm allows a monitoring center to track vehicles; diagnoses fault remotely, control the traffic and control CO emission. The system is programmed to scan the on-board diagnostic OBD periodically or based on request to check if there are any faults and read all the available sensors, then make an early fault prediction based on the sensor readings, an experience with the vehicle type and fault history. It is so useful for people who are not familiar with fault diagnosis as well as the maintenance center. The system offers tracking the vehicle remotely, which protects it against theft and warn the driver if it exceeds the speed limit according to its location. Finally, it allows the user to report any traffic congestion and allow s a vehicle navigator to be up to date with the traffic condition based on the other system’s user feedback.
Rehabilitation robots have become one of the main technical instruments that Treat disorder patients in the biomedical engineering field. The robotic glove for the rehabilitation is basically made of specialized materials which can be designed to help the post-stroke patients. In this paper, a review of the different types of robotic glove for Rehabilitation have been discussed and summarized. This study reviews a different mechanical system of robotic gloves in previous years. The selected studies have been classified into four types according to the Mechanical Design: The first type is a tendon-driven robotic glove. The second type of robotic glove works with a soft actuator as a pneumatic which is operated by air pressure that passes through a plastic pipe, pressure valves, and air compressor. The third type is the exoskeleton robotic gloves this type consists of a wearable mechanical design that can used a finger-based sensor to measure grip strength or is used in interactive video applications. And the fourth type is the robotic glove with a liner actuator this type consists of a tape placed on the fingers and connected to linear actuators to open and close the fingers during the rehabilitation process.