mobile robot navigation is one of the basic problems in robotics. in this paper, a new approachis proposed for autonomous mobile robot navigation in an unknown environment. the proposedapproach is based on learning virtual parallel paths that propel the mobile robot toward the trackusing a multi-layer, feed-forward neural network. for training, a human operator navigates themobile robot in some...

Abstruct-In order to use a wrist-mounted sensor (such as a camera) for a robot task, the position and orientation of the sensor with respect to the robot wrist frame must be known. We can find the sensor mounting position by moving the robot and observing the resulting motion of the sensor. This yields a homogeneous transform equation of the form A X = XB, where A is the change in the robot wri...

Sybil attacks pose a serious threat for Wireless Sensor Networks (WSN) security. They can create problems in routing, voting schemes, decision making, distributed storage and sensor re-programming. In a Sybil attack, the attacker masquerades as multiple sensor identities that are actually controlled by one or a few existing attacker nodes. Sybil identities are fabricated out of stolen keys, obt...

Clustering is an effective approach for managing nodes in Wireless Sensor Network (WSN). A new method of clustering mechanism with using Binary Gravitational Search Algorithm (BGSA) in WSN, is proposed in this paper to improve the energy consumption of the sensor nodes. Reducing the energy consumption of sensors in WSNs is the objective of this paper that is through selecting the sub optimum se...

in this study, a robust controller is designed for fuzzy network control systems (ncss) using the static output feedback. delay and data packet dropout affect on the stability of network control systems, and therefore, the asymptotic stability condition is established considering delay and data packet dropout. delay is time-varying while the lower and upper bounds for delay is defined, and the ...

In a wireless sensor network where sensors are arranged into a flat topology, sensors near the sink consume much more energy than sensors at the boundary of the network. Sensors near the sink relay many packets than far away sensors to the sink. After these sensors expire, energy holes are created near the sink. Therefore, other sensors cannot reach to the sink and the network becomes disconnec...

in this paper, we study wsn design, as a multi-objective optimization problem using ga technique. we study the effects of ga parameters including population size, selection and crossover method and mutation probability on the design. choosing suitable parameters is a trade-off between different network criteria and characteristics. type of deployment, effect of network size, radio communication...

An inspection of signal processing approach in order to estimate underwater network cardinalities is conducted in this research. A matter of key prominence for underwater network is its cardinality estimation as the number of active cardinalities varies several times due to numerous natural and artificial reasons due to harsh underwater circumstances. So, a proper estimation technique is mandat...

adulteration in milk and other dairy products not only is a serious threat to human health but also leads to the economic losses in the dairy industry. utilization of the materials reducing microbial load is a common adulteration. in this study, a machine olfaction (electronic nose) based on 8 metal oxide semiconductor (mos) sensors was fabricated and developed and its capability to formalin de...