Umar Farooq — новинки

Under-actuated systems belong to the class of nonlinear systems that have fewer actuators than the degrees of freedom. The examples include mobile robots, legged robots, air crafts, helicopters and underwater robots. This work comprehensively discusses the design of linear and fuzzy logic controllers for such systems with ball on beam as the test bed. MATLAB/Simulink environment has been used to validate the designed controllers.

The aspiration of this research work is to design vision based intelligent mobile robot navigation techniques to capacitate an autonomous robot to navigate in indoor/outdoor environments. The images from mobile robot, accoutered with a camera, are preprocessed and are used for drivable region extraction. A novel weighted matrix algorithm (WMA) is used for drivable region division for, both, constructed and unconstructed scenarios. Hurdle distance, reckoned from ultrasonic sensors information, is used in conjunction with extracted drivable road to generate the motion commands for road following and hurdle avoidance behavior. Navigation controller design has been actualized in MATLAB by exerting fuzzy logic soft computing techniques to engender the sought motion commands. The designed controllers are evaluated in a simulator for assorted hurdle and environment conditions prior to real time implementation on archetype robot.

The emphasis on the theoretical study and simulation of the three phase induction motor drives is certainly due to the fact of fatal hazards associated with the high voltage and current signals present in the three phase induction motor drives. Other important feature is the cost of a full-scale drive system to test various switching, control and protection strategies. Therefore, design stage comes after a reasonable confidence and verification of the drive circuit and control strategies through simulations. In this work, a laboratory-scale low-voltage induction motor drive is designed which operates at 24 volts, accompanying with the simulations using Matlab and Simulink.

Design and implementation of fuzzy logic controller for mobile robot navigation in unknown environments is presented. The task of navigation is divided into three behaviors namely hurdle avoidance, wall following and goal seeking. The outputs from these behaviors are combined to generate collision free motion of robot amongst obstacles in reaching the target. The controllers for these behaviors are designed using Fuzzy Logic toolbox of MATLAB® and their implementation is realized with readily available and inexpensive AT89C52 microcontrollers. Finally, the robot with these controllers is tested in indoor environments containing obstacles with changing destination places and is found to reach the set targets successfully which shows the validity of the designed controllers in achieving the required task.

Different scandals around the globe during the past, in specific during the last decade, have intrigued the stakeholders to question the roles of both auditors and management. But most of the fingers since then have been raised on the role of auditors, because it is the auditors who are entrusted with the responsibility to detect any errors or frauds in the financial reports of the client-firm. Apart from this, the long-term auditor client relationship has been the center of attention in most of the discussions and debates as well. Numerous studies have been conducted by the academic researchers, financial and professional analysts, regulatory authorities and governing bodies, and in some cases by the auditors and the firms as well regarding the effects of long-term auditor-client relationship on audit quality, equity risk premium, financial reports quality, audit pricing etc. These studies provide us with different results, both with the positive and negative associations and effects of long-term auditor-client relationship on the basis of different factors and contexts. Therefore, we would be studying this relationship in between auditors and SME clients.

Testing Challenges in Web Applications This thesis research focuses specifically on testing challenges of Web-based application with respect to interoperability and integration; further research in this domain can be more beneficial for both academia and industry. Industrial survey shows that most of the companies are doing integration and interoperability testing manually. Though automated testing tools are very beneficial and helpful to speed-up the testing process but these are not being used to perform both integration and interoperability testing. Therefore this book is beneficial for the researchers and students who further wants the research in this area.

SMEs serve as a backbone to keep an economy going and to boost it up in times of difficult hours like recession, for example. They are considered as the main source of modernization, innovation and entrepreneurial spirit. Several companies irrespective of their size are bound by the statutory rules of a particular country in which they operate to prepare financial reports that conform to specified set of accounting principles. There has been much ongoing debate regarding the suitability of one set of accounting standards in a country for all its operating enterprises, regardless of their size. In July 2009 the International Accounting Standards Board (IASB) published the International Financial Reporting Standard (IFRS) for Small and Medium-sized Entities (SMEs) which is intended to be applied to the general purpose financial statements of entities that do not have public accountability. The main theme of our research is to examine the suitability difficulties and problems faced by SMEs in Sweden towards adoption of IFRS for SMEs. The analysis and results of this study would provide its readers with practical feedback from the market regarding IFRS for SMEs.