Optimal trajectory and solution of the inverse kinematics of a robotic manipulator by genetic algorithms

This paper presents the generation of optimal trajectories by genetic algorithms (GA) for a planar robotic manipulator. The implemented GA considers a multi-objective function that minimizes the end-effector positioning error together with the joints angular displacement and it solves the inverse kinematics problem for the trajectory. Computer simulations results are presented to illustrate this implementation and show the efficiency of the used methodology producing soft trajectories with low computing cost. © 2011 Springer-Verlag Berlin Heidelberg.

Increasing Moodle Resources Through Cloud Computing

The increase of higher education offer is a basic need of developed and emerging countries. It requires increasing and ongoing investments. The offer of higher education, by means of Distance Learning, based on the Internet, is one of the most efficient manners for the massification of this offer, as it allows ample coverage and lower costs. In this scenario, we highlight Moodle, an open and low-cost environment for Distance Learning. Its utilization may be amplified through the adoption of an emerging Information and Communication Technology (ICT), Cloud Computing, which allows the virtualization of Moodle sites, cutting costs, facilitating management and increasing its service capacity. This article diffuses a public tool, opened and free, for automatic conversion of Moodle sites, such that these may be hosted on Azure: the Cloud Computing environment of Microsoft.

A NS-2 simulation model for DNP3 protocol over IEEE 802.15.4 wireless protocol toward low cost simulation of Smart Grid applications

Faced with an imminent restructuring of the electric power system, over the past few years many countries have invested in a new paradigm known as Smart Grid. This paradigm targets optimization and automation of electric power network, using advanced information and communication technologies. Among the main communication protocols for Smart Grids we have the DNP3 protocol, which provides secure data transmission with moderate rates. The IEEE 802.15.4 is another communication protocol also widely used in Smart Grid, especially in the so-called Home Area Network (HAN). Thus, many applications of Smart Grid depends on the interaction of these two protocols. This paper proposes modeling, in the traditional network simulator NS-2, the integration of DNP3 protocol and the IEEE 802.15.4 wireless standard for low cost simulations of Smart Grid applications.