Milos Manic

Kinematics, workspace, design and accuracy analysis of RPRPR medical parallel robot

2009 2nd Conference on Human System Interactions, 2009

In recent years, parallel robots find many applications in human-systems interaction, medical rob... more In recent years, parallel robots find many applications in human-systems interaction, medical robots, rehabilitation, exoskeletons, to name a few. These applications are characterized by many imperatives, with robust precision and dynamic workspace computation as the two ultimate ones. Practical methods of kinematic's calibration make use of the linear differential error of the kinematics' model. This model is based on the Jacobian of the direct kinematics' model with respect to parameters of this model. The definition of the robot accuracy is usually related to robot positioning, so that the accuracy is defined as a measure of robot ability to attain a required position with respect to a fixed absolute reference coordinate frame. Such a definition is easily extended to trajectory tracking. Then, accuracy can be defined as a measure of robot ability to track the prescribed trajectory with respect to the absolute coordinate frame.

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Wireless Sensor Networks—Node Localization for Various Industry Problems

IEEE Transactions on Industrial Informatics, 2015

Fast, effective monitoring following airborne releases of toxic substances is critical to mitigat... more Fast, effective monitoring following airborne releases of toxic substances is critical to mitigate risks to threatened population areas. Electrically powered systems in industrial settings require monitoring of emitted electromagnetic fields to determine the status of the equipment and ensure their safe operation. In situations such as these, wireless sensor nodes at fixed predetermined locations provide monitoring to ensure safety. A challenging algorithmic problem is determining the locations to place these sensor nodes while meeting several criteria: 1) provide complete coverage of the domain, and 2) create a topology with problem dependent node densities, while 3) minimizing the number of sensor nodes. This manuscript presents a novel approach, Advancing Front mEsh generation with Constrained dElaunay Triangulation and Smoothing (AFECETS) that addresses these criteria. A unique aspect of AFECETS is the ability to determine wireless sensor node locations for areas of high interest (hospitals, schools, high population density areas) that require higher density of nodes for monitoring environmental conditions, a feature that is difficult to find in other research work. The AFECETS algorithm was tested on several arbitrary shaped domains. AFECETS simulation results show that the algorithm 1) provides significant reduction in the number of nodes, in some cases over 40%, compared to an advancing front mesh generation algorithm, 2) maintains and improves optimal spacing between nodes, and 3) produces simulation run times suitable for real-time applications.

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NFuSA - Neuro-Fuzzy Algorithm for Sparing in RAID Systems

IECON 2007 - 33rd Annual Conference of the IEEE Industrial Electronics Society, 2007

Sparing, the process of rebuilding data in case of disk failure, has been a target of research si... more Sparing, the process of rebuilding data in case of disk failure, has been a target of research since early 1990's [1]. The problem that these specific hardware/software control systems typically face in sparing is the tradeoff between serving requests-user's versus internal [2]. If the algorithm favors user requests, in the presence of heavy workloads, the internal data recovery gets preempted resulting in risky delay of the data sparing. On the other hand, favoring internal data recovery requests over the user requests can result in high response times per transaction that are unacceptable for the users of the RAID system. Intelligent, neuro-fuzzy controllers (NFCs) offer a way to improve the control process and enhance the ability of a system to achieve faster system response, while serving the internal requests at the same time. This paper presents the neuro-fuzzy enhancement of the traditional data recovery of a RAID system modeled with a Queue System with Vacations (QSV) [3]. Experimental results demonstrated better balancing between an acceptable response time for the user requests and the time for the data to be redundant again, resulting in both higher user satisfaction and better system reliability.

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Multi-robot, multi-target Particle Swarm Optimization search in noisy wireless environments

2009 2nd Conference on Human System Interactions, 2009

Multiple small robots (swarms) can work together using Particle Swarm Optimization (PSO) to perfo... more Multiple small robots (swarms) can work together using Particle Swarm Optimization (PSO) to perform tasks that are difficult or impossible for a single robot to accomplish. The problem considered in this paper is exploration of an unknown environment with the goal of finding a target(s) at an unknown location(s) using multiple small mobile robots. This work demonstrates the use of a distributed PSO algorithm with a novel adaptive RSS weighting factor to guide robots for locating target(s) in high risk environments. The approach was developed and analyzed on multiple robot single and multiple target search. The approach was further enhanced by the multi-robot-multi-target search in noisy environments. The experimental results demonstrated how the availability of radio frequency signal can significantly affect robot search time to reach a target.

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Managing processing of user requests and data replication for a mass storage system

Information-Based Algorithmic Design of a Neural Network Classifier

International Journal of Computing, 2014

An information-based design principle is presented that provides a framework for the design of bo... more An information-based design principle is presented that provides a framework for the design of both parallel and sequential algorithms. In this presentation, the notion of information (data) organization and canonical separation are examined and used in the design of an iterative line method for pattern grouping. In addition this technique is compared to the Winner Take All (WTA) method and shown to have many advantages.

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Network traffic monitoring devices and monitoring systems, and associated methods

Information-Based Algorithmic Design

Regulating power consumption of a mass storage system

Wireless Sensor Networks—Node Localization for Various Industry Problems

IEEE Transactions on Industrial Informatics, 2015

Fast, effective monitoring following airborne releases of toxic substances is critical to mitigat... more Fast, effective monitoring following airborne releases of toxic substances is critical to mitigate risks to threatened population areas. Electrically powered systems in industrial settings require monitoring of emitted electromagnetic fields to determine the status of the equipment and ensure their safe operation. In situations such as these, wireless sensor nodes at fixed predetermined locations provide monitoring to ensure safety. A challenging algorithmic problem is determining the locations to place these sensor nodes while meeting several criteria: 1) provide complete coverage of the domain, and 2) create a topology with problem dependent node densities, while 3) minimizing the number of sensor nodes. This manuscript presents a novel approach, Advancing Front mEsh generation with Constrained dElaunay Triangulation and Smoothing (AFECETS) that addresses these criteria. A unique aspect of AFECETS is the ability to determine wireless sensor node locations for areas of high interest (hospitals, schools, high population density areas) that require higher density of nodes for monitoring environmental conditions, a feature that is difficult to find in other research work. The AFECETS algorithm was tested on several arbitrary shaped domains. AFECETS simulation results show that the algorithm 1) provides significant reduction in the number of nodes, in some cases over 40%, compared to an advancing front mesh generation algorithm, 2) maintains and improves optimal spacing between nodes, and 3) produces simulation run times suitable for real-time applications.

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Control of sparing in storage systems

Fuzzy Performability Analysis of Disk Arrays

2006 IEEE International Symposium on Industrial Electronics, 2006

Abstract The performability of disk arrays systems has been studied before [1,2]. However, in th... more

Multi-robot, multi-target Particle Swarm Optimization search in noisy wireless environments

2009 2nd Conference on Human System Interactions, 2009

Multiple small robots (swarms) can work together using Particle Swarm Optimization (PSO) to perfo... more Multiple small robots (swarms) can work together using Particle Swarm Optimization (PSO) to perform tasks that are difficult or impossible for a single robot to accomplish. The problem considered in this paper is exploration of an unknown environment with the goal of finding a target(s) at an unknown location(s) using multiple small mobile robots. This work demonstrates the use of a distributed PSO algorithm with a novel adaptive RSS weighting factor to guide robots for locating target(s) in high risk environments. The approach was developed and analyzed on multiple robot single and multiple target search. The approach was further enhanced by the multi-robot-multi-target search in noisy environments. The experimental results demonstrated how the availability of radio frequency signal can significantly affect robot search time to reach a target.

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Network traffic monitoring devices and monitoring systems, and associated methods

Wireless Sensor Network Configuration—Part II: Adaptive Coverage for Decentralized Algorithms

IEEE Transactions on Industrial Informatics, 2013

This is the second of a two-part investigation of the generation of wireless sensor network (WSN)... more This is the second of a two-part investigation of the generation of wireless sensor network (WSN) configurations that: 1) maximize coverage of irregular shaped polygonal areas and 2) maintain a high degree of node connectivity. The first-part of the investigation presented centralized algorithms for the generation of mesh (wireless sensor) network configurations that maximize coverage and connectivity. In this second part, we present a decentralized and distributed approach using an Extended Virtual Spring Mesh (EVSM)-Adaptive Coverage Algorithm and Protocol (ACAP) algorithm. The EVSM-ACAP algorithm represents an extension of EVSM algorithm with the newly developed ACAP. ACAP provides adaptive coverage and configuration of the mesh network by dynamically adjusting the sensing range of sensor nodes. EVSM-ACAP is compared to centralized mesh generation algorithms (described in the part one of the investigation), as well as other decentralized algorithms from artificial physics, for the control of large numbers of physical agents in sensor networks. EVSM-ACAP is shown to produce a sensor network deployment with an average sensor spacing within 1.6% of the desired spacing, versus 5.75% for the best centralized algorithmic approach. To the best of our knowledge, this is the first time that these centralized mesh network configuration algorithms have been contrasted with the scalable, robust, decentralized algorithms of artificial physics and EVSM.

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Wireless Sensor Network Configuration—Part II: Adaptive Coverage for Decentralized Algorithms

IEEE Transactions on Industrial Informatics, 2013

This is the second of a two-part investigation of the generation of wireless sensor network (WSN)... more This is the second of a two-part investigation of the generation of wireless sensor network (WSN) configurations that: 1) maximize coverage of irregular shaped polygonal areas and 2) maintain a high degree of node connectivity. The first-part of the investigation presented centralized algorithms for the generation of mesh (wireless sensor) network configurations that maximize coverage and connectivity. In this second part, we present a decentralized and distributed approach using an Extended Virtual Spring Mesh (EVSM)-Adaptive Coverage Algorithm and Protocol (ACAP) algorithm. The EVSM-ACAP algorithm represents an extension of EVSM algorithm with the newly developed ACAP. ACAP provides adaptive coverage and configuration of the mesh network by dynamically adjusting the sensing range of sensor nodes. EVSM-ACAP is compared to centralized mesh generation algorithms (described in the part one of the investigation), as well as other decentralized algorithms from artificial physics, for the control of large numbers of physical agents in sensor networks. EVSM-ACAP is shown to produce a sensor network deployment with an average sensor spacing within 1.6% of the desired spacing, versus 5.75% for the best centralized algorithmic approach. To the best of our knowledge, this is the first time that these centralized mesh network configuration algorithms have been contrasted with the scalable, robust, decentralized algorithms of artificial physics and EVSM.

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Wireless Sensor Network Configuration—Part I: Mesh Simplification for Centralized Algorithms

IEEE Transactions on Industrial Informatics, 2013

ABSTRACT This is the first of a two-part investigation of centralized and decentralized approache... more ABSTRACT This is the first of a two-part investigation of centralized and decentralized approaches for determining the optimal configuration of a sensor network. In this first part, we present a centralized approach for the generation of mesh (wireless sensor) network configurations that provide complete sensing coverage and communication connectivity of a domain. A challenging problem in deploying wireless sensor networks is maximizing coverage in irregular shaped polygonal areas while maintaining a high degree of node connectivity. The novelties presented in this paper are: 1) a centralized mesh simplification technique, the Iterative Node Removal with Constrained Delaunay Triangulation and Smoothing (INRCDTS) algorithm, and 2) a centralized mesh generation approach with INRCDTS that may be used for any nonintersecting closed polygonal area. Additionally, we provide a comparison of two centralized mesh generation techniques. The INRCDTS was built and tested as an enhancement of two traditional mesh generation techniques: advancing front technique and Matlab partial differential equation toolbox. The INCRCDTS introduces the ability to tune the generated mesh configuration to the number of nodes and nodal spacing. The INRCDTS enhancement has proven to increase the uniformity of the mesh in an irregular shaped polygonal area relative to advancing front and MATLAB partial differential equation algorithms by 23% and 41%, respectively.

Extended Virtual Spring Mesh (EVSM): The Distributed Self-Organizing Mobile Ad Hoc Network for Area Exploration

IEEE Transactions on Industrial Electronics, 2011

Mobile Ad hoc NETworks (MANETs) are distributed self-organizing networks that can change location... more Mobile Ad hoc NETworks (MANETs) are distributed self-organizing networks that can change locations and configure themselves on the fly. This paper focuses on an algorithmic approach for the deployment of a MANET within an enclosed area, such as a building in a disaster scenario, which can provide a robust communication infrastructure for search and rescue operations. While a virtual spring mesh (VSM) algorithm provides scalable, self-organizing and fault tolerant capabilities required by a MANET, the VSM lacks the MANET's capabilities of deployment mechanisms for blanket coverage of an area and does not provide an obstacle avoidance mechanism. This paper presents a new technique, an Extended Virtual Spring Mesh (EVSM) algorithm that provides the following novelties: 1) new control laws for exploration and expansion to provide blanket coverage, 2) virtual adaptive springs enabling the mesh to expand as necessary, 3) adapts to communications disturbances by varying the density and movement of mobile nodes, and 4) new metrics to assess the performance of the EVSM algorithm. Simulation results show that EVSM provides up to 16% more coverage and is 3.5 times faster than VSM in environments with 8 obstacles.

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Wireless Indoor Location Estimation Based on Neural Network RSS Signature Recognition (LENSR)

IEEE ICIEA08, The 3rd IEEE Conference on Industrial …, 2008

This is a preprint of a paper intended for publication in a journal or proceedings. Since changes... more

Indoor Environmental Optimal Design by Using Combined DSS for Quantified and Fuzzy Values

The quality of indoor environment depends upon combined effects of architectural - constructive e... more The quality of indoor environment depends upon combined effects of architectural - constructive elements&amp;amp;#39; functions (for example: daylight level, thermal comfort, acoustical comfort, load - bearing capacity, aesthetic value, price, etc.). Those functions at the same time are defined by their parameters (geometrical parameters of the building elements, parameters of the building materials, etc.). We tried to optimize the choice

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