A Simulator for Testing Planar Upper Extremity Rehabilitation Robot Control Algorithms

In this study, we took advantage of the emergence of accurate biomechanical human hand models to develop a system in which the interaction between a human arm and a rehabilitation robot while performing a planar trajectory tracking task can be simulated. Seven biomechanical arm models were based on the 11-degree-of-freedom Dynamic Arm Simulation model and implemented in OpenSim. The model of the robot was developed in MatlabSimulink and interaction between the arm and robot models was achieved using the OpenSim API. The models were tested by simulating the performance of each model while moving the end effector of a simulated planar robot model through an elliptical trajectory with an eccentricity of 0.94. Without assistance from the robot, the average root-mean-square error (RMSE) for all subjects was 3.98 mm. With the simulated robot providing assistive torque, the average RMSE error reduced to 2.88 mm. The test was repeated after modifying the length of the robot links, and an average RMSE of 2.91 mm recorded. A single-factor ANOVA test revealed that there was no significant difference in the RMSE for the two different robot geometries (p-value = 0.479), revealing that the simulator was not sensitive to robot geometry

Steady traffic scheduler for internet video traffic across large delay networks

No AbstractKeywords: Computer Networks, Multimedia Networking, TCP and Large-Delay Network

QLREDActive Queue Management Algorithm

The Random Early Detection (RED) algorithm has not been successful in keeping the average queue size low. In this paper, we an improved RED-based algorithm called QLRED which divides the dropping probability function of the RED algorithm into two equal segments. The first segment utilises a quadratic packet dropping function while the second segment deploys a linear packet dropping function respectively so as to distinguish between light and high traffic loads. The ns-3 simulation performance evaluations clearly showed that QLRED algorithm effectively controls the average queue size under various network conditions resulting in a low delay. Replacing/upgrading the RED algorithm in Internet routers requires minimal effort since only the packet dropping probability profile needs to be adjusted

MEPLN e-learning: mesh-based peer-to-peer collaborative e-learning system for limited capacity networks

The concept of collaborative e-learning scheme facilitates users’ creativity and critical thinking abilities by creating an interactive learning environment. Although, the conventional e- learning architectures support server-based principle but the decentralized approach of peer to peer network provide better opportunity for collaboration in e-learning. In peer-to-peer (P2P) collaborative e-learning paradigm, both the trainer and the trainee can act as provider and consumer of knowledge simultaneously. Furthermore, utilization of e-learning system is very poor in most Institutions in developing countries due to poor facilities. The scalable and affordable features of P2P network make it more suitable for e-learning technology in limited capacity networks environments typical in Nigeria while maintaining quality services. To this end, we propose an effective mesh-based P2P collaborative e-learning system named MEPLN e-learning suitable for proper peer management and resource allocation in limited capacity networks using Federal University of Agriculture, Abeokuta, Nigeria as a case study. MEPLN overlay topology was formalized using temporal logic; it was further verified and validated using Simulink design verifier in MATLAB simulation tool. The MEPLN e-learning scheme was then implemented using PHP, Java and MySQL programming languages.Keywords: Collaborative e-learning, peer-to-peer networks, limited capacityNetwork