Heavy tools manipulation by low powered direct-drive five-bar parallel robot

This paper presents a simple and available system for manipulation of heavy tools by low powered manipulator for industrial applications. In the heavy manufacturing industries, sometimes, heavy tools are employed for different types of work. But the application of robots with heavy tools is not possible due to the limited torque limits of actuators. Suspended tool systems (STS) have been proposed to manipulate heavy tools by low powered robot-arm for this purpose. A low powered five-bar direct-drive parallel manipulator is designed and constructed to manipulate heavy tools suspended from a spring balancer. The validity, usefulness, and effectiveness of the suspended tool system are shown by experimental results.

Development of DAL and DAPL languages for building distributed applications

A common characteristic among parallel/distributed programming languages is that the one language is used to specify not only the overall organisation of the distributed application, but also the functionality of the application. That is, the connectivity and functionality of processes are specified within a single program. Connectivity and functionality are independent aspects of a distributed application. This thesis shows that these two aspects can be specified separately, therefore allowing application designers to freely concentrate on either aspect in a modular fashion. Two new programming languages have been developed for specifying each aspect. These languages are for loosely coupled distributed applications based on message passing, and have been designed to simplify distributed programming by completely removing all low level interprocess communication. A suite of languages and tools has been designed and developed. It includes the two new languages, parsers, a compilation system to generate intermediate C code that is compiled to binary object modules, a run-time system to create, manage and terminate several distributed applications, and a shell to communicate with the run-tune system. DAL (Distributed Application Language) and DAPL (Distributed Application Process Language) are the new programming languages for the specification and development of process oriented, asynchronous message passing, distributed applications. These two languages have been designed and developed as part of this doctorate in order to specify such distributed applications that execute on a cluster of computers. Both languages are used to specify orthogonal components of an application, on the one hand the organisation of processes that constitute an application, and on the other the interface and functionality of each process. Consequently, these components can be created in a modular fashion, individually and concurrently. The DAL language is used to specify not only the connectivity of all processes within an application, but also a cluster of computers for which the application executes. Furthermore, sub-clusters can be specified for individual processes of an application to constrain a process to a particular group of computers. The second language, DAPL, is used to specify the interface, functionality and data structures of application processes. In addition to these languages, a DAL parser, a DAPL parser, and a compilation system have been designed and developed (in this project). This compilation system takes DAL and DAPL programs to generate object modules based on machine code, one module for each application process. These object modules are used by the Distributed Application System (DAS) to instantiate and manage distributed applications. The DAS system is another new component of this project. The purpose of the DAS system is to create, manage, and terminate many distributed applications of similar and different configurations. The creation procedure incorporates the automatic allocation of processes to remote machines. Application management includes several operations such as deletion, addition, replacement, and movement of processes, and also detection and reaction to faults such as a processor crash. A DAS operator communicates with the DAS system via a textual shell called DASH (Distributed Application SHell). This suite of languages and tools allowed distributed applications of varying connectivity and functionality to be specified quickly and simply at a high level of abstraction. DAL and DAPL programs of several processes may require a few dozen lines to specify as compared to several hundred lines of equivalent C code that is generated by the compilation system. Furthermore, the DAL and DAPL compilation system is successful at generating binary object modules, and the DAS system succeeds in instantiating and managing several distributed applications on a cluster.

Anycast services and its applications

Anycast in next generation Internet Protocol is a hot topic in the research of computer networks. It has promising potentials and also many challenges, such as architecture, routing, Quality-of-Service, anycast in ad hoc networks, application-layer anycast, etc. In this thesis, we tackle some important topics among them. The thesis at first presents an introduction about anycast, followed by the related work. Then, as our major contributions, a number of challenging issues are addressed in the following chapters. We tackled the anycast routing problem by proposing a requirement based probing algorithm at application layer for anycast routing. Compared with the existing periodical based probing routing algorithm, the proposed routing algorithm improves the performance in terms of delay. We addressed the reliable service problem by the design of a twin server model for the anycast servers, providing a transparent and reliable service for all anycast queries. We addressed the load balance problem of anycast servers by proposing new job deviation strategies, to provide a similar Quality-of-Service to all clients of anycast servers. We applied the mesh routing methodology in the anycast routing in ad hoc networking environment, which provides a reliable routing service and uses much less network resources. We combined the anycast protocol and the multicast protocol to provide a bidirectional service, and applied the service to Web-based database applications, achieving a better query efficiency and data synchronization. Finally, we proposed a new Internet based service, minicast, as the combination of the anycast and multicast protocols. Such a service has potential applications in information retrieval, parallel computing, cache queries, etc. We show that the minicast service consumes less network resources while providing the same services. The last chapter of the thesis presents the conclusions and discusses the future work.

Frame rate improvement for the VFX1 headset in virtual reality applications

Concentrates on reducing the processing time to enhance the visual component of the experience in virtual reality. Investigates the use of two co-processing cards, each with their own microprocessor providing parallel processing to the host computer. Concludes that the frame rates of a single computer running the virtual reality system could be improved by up to 35% by the use of parallel processing.

Spamcooling : a parallel heterogeneous ensemble spam filtering system based on active learning techniques

Anti-spam technology is developing rapidly in recent years. With the emerging applications of machine learning in diverse fields, researchers as well as manufacturers around the world have attempted a large number of related algorithms to prevent spam. In this paper, we designed an effective anti-spam protection system, SpamCooling, based on the mechanism of active learning and parallel heterogeneous ensemble learning techniques. The system adopts a batch method to filter spam and can be easily incorporated with existing mail clients (MUA). It can actively obtain user feedbacks for providing users with personalized spam filtering experiences. The parallel heterogeneous ensemble method can help system achieve high spam detection rate as well as low ham misclassification rate.

Parallel monotone spline interpolation and approximation on GPUs

Monotonicity preserving interpolation and approximation have received substantial attention in the last thirty years because of their numerous applications in computer aided-design, statistics, and machine learning [9, 10, 19]. Constrained splines are particularly popular because of their flexibility in modeling different geometrical shapes, sound theoretical properties, and availability of numerically stable algorithms [9,10,26]. In this work we examine parallelization and adaptation for GPUs of a few algorithms of monotone spline interpolation and data smoothing, which arose in the context of estimating probability distributions.

A novel parallel algorithm for frequent itemsets mining in massive small files datasets

In big data analysis, frequent itemsets mining plays a key role in mining associations, correlations and causality. Since some traditional frequent itemsets mining algorithms are unable to handle massive small files datasets effectively, such as high memory cost, high I/O overhead, and low computing performance, we propose a novel parallel frequent itemsets mining algorithm based on the FP-Growth algorithm and discuss its applications in this paper. First, we introduce a small files processing strategy for massive small files datasets to compensate defects of low read-write speed and low processing efficiency in Hadoop. Moreover, we use MapReduce to redesign the FP-Growth algorithm for implementing parallel computing, thereby improving the overall performance of frequent itemsets mining. Finally, we apply the proposed algorithm to the association analysis of the data from the national college entrance examination and admission of China. The experimental results show that the proposed algorithm is feasible and valid for a good speedup and a higher mining efficiency, and can meet the actual requirements of frequent itemsets mining for massive small files datasets. © 2014 ISSN 2185-2766.

Development of a novel soft parallel robot equipped with polymeric artificial muscles

This paper presents the design, analysis and fabrication of a novel low-cost soft parallel robot for biomedical applications, including bio-micromanipulation devices. The robot consists of two active flexible polymer actuator-based links, which are connected to two rigid links by means of flexible joints. A mathematical model is established between the input voltage to the polymer actuators and the robot's end effector position. The robot has two degrees-of-freedom, making it suitable for handling planar micromanipulation tasks. Moreover, a number of robots can be configured to operate in a cooperative manner for increasing micromanipulation dexterity. Finally, the experimental results demonstrate two main motion modes of the robot.

On developing efficient applications using conservative distributed simulation paradigm

This paper aims to present, using a set of guidelines, how to apply the conservative distributed simulation paradigm (CMB protocol) to develop efficient applications. Using these guidelines, even a user with little experience on distributed simulation and computer architecture can have good performance on distributed simulations using conservative synchronization protocols for parallel processes.The set of guidelines is focus on a specific application domain, the performance evaluation of computer systems, considering models with coarse granularity and few logical processes and running over two platforms: parallel (high performance communication environment) and distributed (low performance communication environment).

On Clifford subalgebras, spacetime splittings and applications

Z(2)-gradings of Clifford algebras are reviewed and we shall be concerned with an alpha-grading based on the structure of inner automorphisms, which is closely related to the spacetime splitting, if we consider the standard conjugation map automorphism by an arbitrary, but fixed, splitting vector. After briefly sketching the orthogonal and parallel components of products of differential forms, where we introduce the parallel [orthogonal] part as the space [time] component, we provide a detailed exposition of the Dirac operator splitting and we show how the differential operator parallel and orthogonal components are related to the Lie derivative along the splitting vector and the angular momentum splitting bivector. We also introduce multivectorial-induced alpha-gradings and present the Dirac equation in terms of the spacetime splitting, where the Dirac spinor field is shown to be a direct sum of two quaternions. We point out some possible physical applications of the formalism developed.

Speedup and scalability analysis of Master-Slave applications on large heterogeneous clusters

Although cluster environments have an enormous potential processing power, real applications that take advantage of this power remain an elusive goal. This is due, in part, to the lack of understanding about the characteristics of the applications best suited for these environments. This paper focuses on Master/Slave applications for large heterogeneous clusters. It defines application, cluster and execution models to derive an analytic expression for the execution time. It defines speedup and derives speedup bounds based on the inherent parallelism of the application and the aggregated computing power of the cluster. The paper derives an analytical expression for efficiency and uses it to define scalability of the algorithm-cluster combination based on the isoefficiency metric. Furthermore, the paper establishes necessary and sufficient conditions for an algorithm-cluster combination to be scalable which are easy to verify and use in practice. Finally, it covers the impact of network contention as the number of processors grow. (C) 2007 Elsevier B.V. All rights reserved.

Single-phase high power factor hybrid rectifier suitable for high-power applications

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

An Efficient Parallel Algorithm for Multiple Sequence Similarities Calculation Using a Low Complexity Method

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Recovery Tests of an Hybrid Current Limiter Composed of a SFCL in Parallel to an Air-Core Power Reactor

The resistive-type superconducting fault current limiters (RSFCL) prototypes using YBCO-coated conductors have shown current limitation for medium voltage class applications for acting time up to 80 ms. By connecting an air-core reactor in parallel with the RSFCL, thus making an hybrid current limiter, one can extend the acting time for up to 1 s. In this work, we report the performance of a hybrid current limiter subjected to an AC peak fault current of 2 kA during 1 s for which within the first 80 ms the SFCL limits the current concurrently with the air-core reactor, and for the remaining 920 ms, only the air-core reactor limits the current. In order to evaluate the actual conditions for subsequent reconnection of RSFCL to the power grid, the hybrid fault current limiter was tested varying the time interval for recovery from 900 ms and 1.2 s, followed again by the concurrent operation of the hybrid limiter during 1 s (SFCL during 80 ms). From this evaluation test, the recovery time can be measured and compared using the voltage peak generated in superconducting module from the first and second fault test. The recovery time was also determined through the pulsed current method (PCM) on short-length sample test. The results showed that the fault current was limited from 1.9 kA down to 514 A after 1 cycle of 60 Hz frequency, with recovery time lower than 1.2 s for two subsequent fault current tests.

On S-asymptotically omega-periodic functions and applications

Let (X, parallel to . parallel to) be a Banach space and omega is an element of R. A bounded function u is an element of C([0, infinity); X) is called S-asymptotically omega-periodic if lim(t ->infinity)[u(t + omega) - u(t)] = 0. In this paper, we establish conditions under which an S-asymptotically omega-periodic function is asymptotically omega-periodic and we discuss the existence of S-asymptotically omega-periodic and asymptotically omega-periodic solutions for an abstract integral equation. Some applications to partial differential equations and partial integro-differential equations are considered. (C) 2011 Elsevier Ltd. All rights reserved.