Hüseyin Ekiz

A study of neural network based inverse kinematics solution for a three-joint robot

Abstract A neural network based inverse kinematics solution of a robotic manipulator is presented in this paper. Inverse kinematics problem is generally more complex for robotic manipulators. Many traditional solutions such as geometric, iterative and algebraic are inadequate if the joint structure of the manipulator is more complex. In this study, a three-joint robotic manipulator simulation software, developed in our previous studies, is used. Firstly, we have generated many initial and final points in the work volume of the robotic manipulator by using cubic trajectory planning. Then, all of the angles according to the real-world coordinates (x, y, z) are recorded in a file named as training set of neural network. Lastly, we have used a designed neural network to solve the inverse kinematics problem. The designed neural network has given the correct angles according to the given (x, y, z) cartesian coordinates. The online working feature of neural network makes it very successful and popular in this solution.

Discrete event modeling of swarm intelligence based routing in network systems

Simulation remains attractive for performance and scalability analysis and/or design of networks. This paper presents a biologically inspired discrete-event modeling approach for simulating alternative computer network protocols. This approach identifies and incorporates the key attributes of honeybees and their societal properties into simulation models that are formalized according to the Discrete Event System Specification (DEVS) formalism. We describe our approach with particular emphasis on how to model the individual honeybees and their cooperation. These models, collectively referred to as SwarmNet, support routing algorithms akin to honeybees searching for and foraging on food. Adaptation and probabilistic specifications are introduced into honeybee (BEE) and Routing Information Protocol (RIP) routing algorithms. A set of simulation experiments are developed to show the biologically inspired network modeling with the BEE routing algorithm, as compared with the RIP routing algorithm, offers favorable throughput and delay performance and also exhibit superior survivability against network load surges. The paper concludes with some observations on the SwarmNet modeling approach and outlines some future research directions.

Building an interconnection between PROFIBUS and ATM networks

In this paper, a method describing connection between PROcess Field BUS (PROFIBUS) and asynchronous transfer mode (ATM) systems is presented. The proposed method reveals the usage of ATM at the cell level of the CIM architecture. This leads to the fact that a new bridge based on PROFIBUS and ATM features should be designed. This study is concerned with not only PROFIBUS and ATM interconnection requiring worst-case translation and solution issues (unmatched services, flow diagram, etc.) but also the performance analysis of the model provided CACI Network II.5.

MPLS over ATM and IP over ATM methods for multimedia applications

This paper presents fundamental aspects of MPLS over ATM method, IP over ATM method and multimedia application traffics with different quality of service (QoS) requirements. Using a simulation tool, the MPLS over ATM method providing ABR, CBR and VBR QoS support, and the IP over ATM method providing a primitive UBR QoS support for transferring data, voice and video traffics are modeled. Having simulated the models under varying offered loads, obtained simulation results are presented. Comparing the average end-to-end delay and delay variation graphs, not only does the MPLS over ATM method provide improved results for all of the multimedia traffics but also overcomes the worst disadvantage of the IP over ATM method producing similar and erratic results for the data, voice and video application traffics.

Design, implementation and performance analysis of the PROFIBUS/ATM Local Bridge

Abstract PROcess Field BUS (PROFIBUS) has successfully proven itself in many thousands of applications in production, building and process automation. ATM LAN is a recently developed technology, and it is believed to be the ideal solution for B-ISDN. This type of network is so versatile that it can be used in any kinds of environment. Considering the fact that applications involving both a PROFIBUS and an ATM are to be commonly used, the need for a PROFIBUS to communicate with an ATM network attracts attentions. This leads to the fact that a new bridge based on PROFIBUS and ATM features should be designed. The new bridge is called PROFIBUS/ATM Local Bridge. This study is concerned with not only building an interface device that interconnects a PROFIBUS and an ATM LAN but also the performance analysis of the designed bridge.

Design, implementation and performance analysis of the CAN/ATM local bridge

In this paper, a method describing connection between CAN and ATM systems is presented. The proposed method reveals the usage of ATM at the cell level of the CIM architecture. This leads to the fact that a new bridge based on CAN and ATM features should be designed. The new bridge is called as CAN/ATM Local Bridge. This study is concerned with not only CAN and ATM interconnection requiring worst-case translation but also the performance analysis of the model provided CACI Network II.5.

Comparison of the beacon-less geographic routing protocols in wireless sensor networks

Geographic routing deals with delivering a message to a specific position in a wireless network. Instead of using routing tables, the routing decisions are made on the current position of sender node and the position of the destination node. Geographic routing is one of the most efficient and scalable routing algorithm for wireless sensor networks. In traditional geographic routing protocols, nodes exchange periodic position information to make a table that holds the positions of single hop neighboring nodes. This leads to unnecessary use of energy and bandwidth. Recent research showed that these beacons can create severe problems due to the highly dynamic structure of the wireless system. In this article we review some of the latest beacon-less geographic routing protocols and compare them to show their advantages and deficiencies.

Analysis of Fuzzy Logic Usage in PBHRA Routing Algorithm in Wireless Ad Hoc Networks

Mobile ad hoc networks are composed of nodes communicating with each other without any infrastructure. Position based routing algorithms used in these networks makes the decision of routing by considering the location information of wireless nodes. In this study, the effect of using fuzzy logic during the decision making about routing of nodes that are using one of the location information based algorithm PBHRA (Position Based Hybrid Routing Algorithm) in the literature has been examined. 50-noded and 100-noded networks that are using PBHRA have been subjected to routing operation with and without using fuzzy logic. The results have been given relatively. It is shown that the usage of fuzzy logic provides the effective usage of band width and battery life, which are counted as the constraints of ad hoc networks.

Evolution of the Current Telecommunications Networks and the Next Generation Optical Networks

During the years between 1995 and 2000, there had been a strong competition between IP and ATM. MPLS that was approved by IETF in 1997, seems to end this competition with combination of best features of IP and ATM. MPLmS that is the equivalent of MPLS in optical networks, was designed in 1999. Afterwards, a new version of MPLmS, that is to say GMPLS, was developed in 2000 by IETF. Routing and signalling protocols that are supported by MPLS were extended to support GMPLS. The broadband boom, specifically growing data demand in high speed, and increasing bandwidth requirements has caused the evolution of the current transport networks. As a consequence, the IP over WDM networks, that integrate the traditional WDM networks having bandwidths of terabits and IP networks on which all applications run, has been developed. This article contains information on the MPLS, MPLmS and GMPLS network architectures which started to work on network backbones as a result of the evolution of telecommunications networks and new generation IP over WDM networks