Network Security Research Paper Topics - How to Detect a Proxy Server

Network Security Research Paper Topics - How to Detect a Proxy ServerThese days, there are several networking security research paper topics for you to choose from. There are many of them, but one such paper topic that is widely favored is the one about how to detect a proxy server. You may also be interested in knowing which proxy server websites are most popular among internet users, and why.If you are already familiar with networking security research paper topics, then it would be quite easy for you to narrow down your choices. However, if you are not aware of these paper topics, then you can still find good examples to help you make a choice. One of the most popular papers on this topic is the Penetration Testing Network Security. You should make sure that you get the right version for your needs, because this can affect your online activities.This paper shows how to detect a proxy server, which is a type of internet proxy that can change its IP address for any reason. It could be for instance to prevent a hacking attack. To make things simpler, you can actually read through the whole article if you are a student or work at home.Most of the other network security research paper topics have many examples too. So, before choosing, you need to know what to choose. In this case, you may want to refer to the referenced article in order to get the right paper.In this particular paper, you will be able to find out how to detect a proxy server by identifying if the proxy's information or location is spoofed. Once you do this, you will be able to test the real proxy server that will provide you the access to the server that you want to access. By doing this, you will also be able to decide whether you should switch to a different proxy server or not.Aside from this, you may want to check out another network security research paper topics that are available online. You will be able to get some tips and tricks in determining whether or not your service provider is ge nuine or not. This is because your web host company is in fact the place where the majority of attacks take place.As a result, you will be able to know the vulnerability of your computer or network if it will not receive the specific protocol settings that are necessary. In case you want to test if your service provider is legitimate, then the aforementioned paper can be very helpful for you.

Confidential Facts on Persuasive Essay Topics Four Audiences Only the Experts Know Exist

Confidential Facts on Persuasive Essay Topics Four Audiences Only the Experts Know Exist What You Don't Know About Persuasive Essay Topics Four Audiences After all, the standard of persuasive writing is frequently a product of the topic itself. Thorough audience analysis is important for bettering your ethos. So, the best method to compose a fantastic persuasive essay is to discover a theme you're familiarized with and would like to share your experience with the reader. There's a variety of forms of essay platforms that are utilized in academic alternatives. You could need to visit the library or interview individuals who are experts on your topic. Is it true that the paparazzi help or hinder the goal of completely free press. Your talk is completed, but your effectiveness for a speaker isn't yet written in stone. Knowing your audience enables you to make decisions about what information you should include, how you should arrange that information, and what type of support ing details will be essential for the reader to see what you are presenting. Naturally, giving a terrific persuasive speech requires more than simply picking a fantastic topic. The content of an essay with a particular topic will be different based on the intended audience. Based on the event, you might have a chance to supply an author's bio to complement your speech title. If your presentation a part of a bigger event, attempt to attend as much of it as possible. Persuasive Essay Topics Four Audiences Features Persuasive essays share a good deal of resemblance with argumentative essays. Textbooks ought to be free. They are obsolete and should be replaced by iPads. As tempting as it might appear to skip past the extra info and go right to the list of persuasive essay topics, don't do it. Many students come online to discover persuasive essay topics for higher english simply to pick specific topics and get started writing about them. Maybe you thought you learned more due to the internet format. The Honest to Goodness Truth on Persuasive Essay Topics Four Audiences Some feel parents ought to be allowed to provide permission for their minor children to acquire tattoos, since they are making the decision for their own children. Parents must be at fault for providing a wholesome diet. They should talk to kids about drugs at a young age. They should talk to their children about drugs at a young age. Things You Should Know About Persuasive Essay Topics Four Audiences To be truly influential online, not only do you must be popular, but you've got to be in a position to acquire others involved with spreading your message. In such cases, you do n't wish to decide on topics that require plenty of research and preparation. Though people believe education is a correct and will make society, generally, a better place for everybody, others feel there's no genuine approach to provide a free college education as colleges would still have to be funded (likely through tax dollars). It is preferable to search online because it will conserve a plenty of time. When writing an academic paper, attempt to bear in mind that your instructor isn't the only member of your audience. Students need to be careful about posting on social networking. Every American should learn how to speak Spanish. He should learn to speak English. Schools should not have a thing to do with ads. Since you can see, a lot of the topics listed are new and handle the recent issues happening in the World today. Yearly driving tests ought to be mandatory for the initial five years after obtaining a license. They should be mandatory over a certain age. The D ebate Over Persuasive Essay Topics Four Audiences School should occur in the evenings. Students ought to be permitted to pray in school. They are used to the fact that their professors give them the assignment's topic. Students and teachers can buy balanced lunch and drinks aside from alcohol, that lets them feel nice and study far better. Up in Arms About Persuasive Essay Topics Four Audiences? If your writing is made for individuals with whom you work, you might have the ability to assume they are also knowledgeable about the special project or topic you're writing about. Below are a few of the different ones that you might see. Do not be worried about what others consider your thoughts. Quite simply, acquiring a focused topic is critical, but having a particular audience is just as important. Don't neglect to bring a strong hook at the beginning (introduction paragraph) and wind up with an impressive conclusion to earn the reader want to talk about the interesting pers uasive essay topics of your selection. The question might be part of your introduction, or it may make a good title. To develop and present a productive argument, you ought to be in a position to appeal to and address your audience. To choose which subject you're likely to discuss, it's essential to see the complete collection of good persuasive speech topics from the special area of study.

The Basics of Topics to Do My Research Paper on for Physics

The Basics of Topics to Do My Research Paper on for Physics The 30-Second Trick for Topics to Do My Research Paper on for Physics So remember, you don't actually have to suffer alone. You've searched here and there to discover an ideal topic for research but all your efforts have gone in vain. Showing awareness about recent changes in the subject you're writing on is very critical to win a superior grade. Look for a sub-topic you're interested in and try to find a fresh strategy. The topic also needs to be the one which provides the students sufficient to write on. Such topic has to be customized to the requirements of the lecturer. You will have to formulate arguments for the subject of your research too. Moreover, you've got to state the thesis statement again within this section. You can't earn any assumption that you desire. Hence, if you believe banking essays are boring just like your company studies are, then you're probably wrong here. Banking essays can be real fun to play with if you've got an exhaustive understanding about the discipline and have keen interest in writing, so should you believe that you cannot write decent banking essays than again you're incorrect. Sociology essays handle the study of human social behavior in a society, therefore, it is quite interesting for the students who want to know more about human psyche but boring for people who don't like studying their species. Research paper topics call for a lot of research work and it is pretty tough for students to write back on research paper topics brought on by unavailability of time and material. Most professors might also want to consider your tentative controversial research paper topics list prior to starting. Research papers have to be presented well to make the correct effects. Introduction to internet banking 4. Lie s You've Been Told About Topics to Do My Research Paper on for Physics To the contrary, you might not have been provided a specific topic whatsoever. Additional copying material right on the internet might lead to situations of plagiarism, which are totally prohibited in the majority of institutions. In an argumentative essay you're supposed to present arguments about either side and please so take note of important events and court rulings about the topics you're speaking about. You would be asked to present arguments for your research in a very clear and concise method. Furthermore, the tips will allow you to compose the paper efficiently without a lot of effort. Examine the blog directories. Have a look at the following advice. Prepare an outline of all the most recent information with the archived information in an outline so you can understand the circulation of events. The more information available the simpler it may appear but this is not necessarily the circumstance. It's possible to receive free research paper topics from different sources, for example, searching on databases listing possibilities. You're able to come across several websites to learn the topic for your research work. In that situation, you may want to assume the presence of God in your opening paragraph rather than spending several pages providing an argument for the presence of God. To put it differently, an ethical argument tries to demonstrate that a particular issue is either morally right or wrong. Please remember that the next examples only represent a small part of the distinct ethical arguments that philosophers have made throughout time. It ought to be a topic that's easy, interesting, and at the exact time related t o the function of the exercise. When you're writing your research paper's introduction, you ought to be building it around a particular outline that gives a general review of the paper. Some folks would say that if it has to do with writing, nobody can really claim to be a specialist. It's recommended that you just pick the topic that it is possible to deal with, for instance, if you're not t sketching the personality characteristics then you ought to better not elect for it. As a writer, you have the choice of narrowing the range of your paper.

Gentrification and how it is affected by Racism Essay

Gentrification and how it is affected by Racism - Essay Example The scenario now known as gentrification is a growing trend today and a headache for the policymakers. This entry of the rich into the urban centers is even changing the culture of these centers. Gentrification is bringing a lot of pain and even fuelling conflicts in many cities. Dimensions in which gentrification takes place are into demographics characterized by increased income and even differentiation along racial lines (Grant). A racism class cannot be complete without learning about gentrification. For years, this has been a very sensitive issue. For years, racism against the blacks and the Asian immigrants has been taking place. According to Jones (p3) gentrification is a class welfare with an aspect of racism in it. Therefore, in learning racism, there is need to learn about gentrification. This topic helps me as an art student understand what racism is all about and what forms racism takes in the society. San Francisco has long struggled to meet housing needs. Policies in San Francisco in the past have always limited the owners of the rental units from raising rents. The result in San Francisco was a low to high fault evictions. These evictions were mostly due to legitimate reason such as improving safety of the old buildings built in the World War I. In the wake of gentrification over the year, property owners are now abusing policies in order to undermine these rent control laws in order to convert the rental properties into higher valued properties. As a result, the low-income and middle-income citizens are being pushed out of the areas they have grown in and moving to other neighbour hoods in the city. (Stover, p5) Another form of gentrification has been in the form of technology. Luxury buses provided for the technology professionals of Valley companies such as Google and Apple are blocking regular buses, and this does not sit well with the locals. (Stover, p8) Another form of gentrification brought about by

Essay --

Anthony Burgess once said that â€Å"The important thing is moral choice. Evil has to exist along with good, in order that moral choice may operate. Life is sustained by the grinding opposition of moral entities.† In his dystopian novella, Burgess discusses the topic of free will and reinforces the notion of moral choice and having the freedom to choose either good or evil. Alex starts off inherently evil, committing horrendous acts of terror, only to reveal change in the final chapter of the novel when he abandons the status quo and begins searching for a new life, one with a wife and a son of his own. Alex’s personal transformation results in a newfound freedom, which is attributed to the idea that goodness is genuine only when it is chosen, and that without moral choice man ceases to be man, but instead, he is rendered into a â€Å"clockwork orange†, a deterministic mechanism. Alex, the protagonist, becomes the first subject of Ludovico’s Technique, a rehabilitation method imposed by the state that causes a person to only commit acts of goodness. In a 1986 essay, Burgess writes, â€Å"If [a person] can only perform good or only perform evil, then he is a clockwork orange- meaning that he has the appearance of an organism lovely with colour and juice but is in fact only a clockwork toy to be wound up by God or the Devil or (since this is increasingly replacing both) the Almighty State.† Alex believes that humans are born and destined to be evil, needing societal pressures and education to become good. Alex does not view his inclination for evil as a result of his environment; rather, the dystopian setting is a result of his actions and the actions of other wrongdoers. Therefore, Alex can be seen as a victim of Original Sin, the Christian idea ... ...ho has desires to overthrow the government, ultimately uses Alex, who brutality raped his wife and led to her eventual death, as a sacrificial lamb for his own political agenda. Even the cats belonging to the old cat-lady, who Alex kills in his excursion to the Manse get reimbursed by taking all of Alex’s things. Alex is imprisoned to his past, until he assumes all responsibility for his former actions, and once he has paid the price for them, he is able to discover the newfound freedom that comes with personal growth and maturity. His desire for happiness: a loving wife, a son of his own, and a role in the working-class society, culminates in his transformation from a inherently evil child to a rational, good human being. (the 21st, which is significant, as the right to vote in Britain was granted at the age of 21 and is seen as a rite of passage into adulthood).

Men vs. Men Women: Nature or Nurture Essay

It’s amazing how men ad women can be considered the same but yet be so very different. On the outside they may look alike- two eyes, two ears, a nose, mouth, hands, and so on, but they could not be more different. So the saying goes, â€Å"men are from Mars and women are from Venus†. The question is why though? Is it because of nature or because of nurture? One difference is that men are extremely more aggressive than women due to higher testosterone levels. It was believed that how your raise the child and the role of society were the main factors that determined the outcome as male or female. However, with the case of David Reimer this proved to not be true. David was going through a routine circumcision when he was eight months old that went terribly wrong. Doctors decided to turn him into a girl as an experiment, to prove that reassigning a sex was easy because nurture determined their psychological make-up. However, today being thirty-seven years old, the angry David is proof of how wrong they were. He had a tortured childhood, and has had to go through many surgeries to try to gain back his manhood. The biological sex of a child will always prevail, now matter how they are raised. Though aggression is due to testosterone in men, it is not the only reason. The aggression in men is further implied in he way they are raised and how society teaches them to act. From childhood, boys are taught to be tough- to â€Å"be a big boy† and not cry. They are taught that boys should play sports like football, wrestling, and other violent sports. Men relate to each other through physical interaction. For men, words are less important in developing relationships; they are all about taking action. Our society teaches men to think that â€Å"actions speak louder than words†. On the other hand, women do relate with words. One of the most important things to a woman in a relationship is being able to talk about problems. Women care more about the thoughts and feelings behind the action. Emotional intimacy, and closeness, is the most important goal. Being honest and open is what shows love. Though the case with David Reimer shows that you can’t change the biological sex of a child, a child could pick up some characteristics of the opposite  sex. For example, if a girl, with multiple brothers, is raised by her father with no mother figure around, things such as football and fighting would be of more interest to her, and she would be considered a ‘tomboy’. She would want to be one of the guys. Men and women are different in many more ways than the obvious physical ones. I believe that the differences are both nature and nurture, and that you can’t have one without the other. However, I do believe that a majority of the difference depends on nurture, due to the fact that society today has set so many standards as how men and women should act. â€Å"ED and Intimacy† http://www.allabouted.com/english/relationships/intimacy.html â€Å"Boys Will Be Boys: Nature vs. Nurture†. Ninemsn, 60 minutes. Copyright 1997-2003 http://sixtyminutes.ninemsn.com.au/60/stories/2000_05_07/story_158.asp

Control System Algorithm

Sample details Pages: 12 Words: 3672 Downloads: 7 Date added: 2017/06/26 Category Statistics Essay Did you like this example? Executive Summary Introduction/Background Traditionally development of microprocessor based control systems involved the following steps. The control algorithm was designed by a systems or a control engineer. The algorithm would then be coded in programming languages like assembly, C or C++ which would be implemented on a microprocessor based hardware the controller. The problem with this method was the verification of the algorithm would be possible only once the whole system was developed. Any errors in design would prove extremely costly. Also in converting control logic specification into software there is a high probability of translation errors that would lead to erroneous results. Don’t waste time! Our writers will create an original "Control System Algorithm | Engineering Dissertations" essay for you Create order mModel Based Design is a software methodology which addresses these issues and is gaining a lot of popularity currently in the industry. The scope of this project is to apply the Model Based Design methodology to develop a control algorithm that eases the parallel parking of a car problem for a novice driver. Aims and Objectives The aim of this project is to develop a parallel parking system using Model Based Design. The objectives are to understand the parallel parking problem and methods to solve it, steps involved in Model Based Design and explore the possibility of implementation of a parallel parking algorithm on a Lego Mindstorms Robotics Kit. Acheivements A fuzzy logic based parallel parking algorithm was successfully simulated. Model Based Design concepts were explored and implemented in the design. Programs developed in Simulink were successfully tested on the Lego Mindstorms KIT using Real Time Workshop Embedded Coder, EC Robot Toolbox, nxtOSEK and other associated tools. Conclusions/Recommendations The parallel parking strategy implemented did show good results. However, real life scenarios may be different than the one discussed. For example, the controller depends on wall following. This implies there has to be 3 sides closed in a gap for the parking controller to work. The development of the algorithm was with the intent of being able to execute it on a Lego Mindstorms Kit. However, there were some issues regarding this. The main being lack of a floating point unit on the NXT Brick. Though it is possible to execute floating point programs on the NXT, it causes severe performance issues. The controller developed used the fuzzy logic blockset which inherently uses a lot of floating point variables. One method to overcome this draw back could be developing a fixed point version of the fuzzy logic blockset. Other parking strategies involving classical control could be experimented with Lego Mindstorms. Complex tasks like path planning could be executed on a computer communicating with the NXT via Bluetooth and the control tasks could be implemented on the NXT using fixed point math. Introduction Problem Description The parallel parking manoeuvre of a car has been a topic of academic and industry interest. The car or a car-like mobile robot hence referred to as CLMR has inherently a constraint known as a nonholonomic constraint. This is problem can be summarised as follows (Pushkin Kachroo and Patricia Mellodge, 2004.). If a system has restrictions on its velocity, but those restrictions does not cause restrictions in its positioning the systems is said to be nonholonomically constrained. Viewed in another way, the systems local movement is restricted, but its global movement is not. Mathematically, this means that the velocity constraints cannot be integrated. For e.g. during a parallel parking manoeuvre, when a driver arrives next to a parking space, he cannot simply slide his car sideways into the spot. The car is not capable of sliding sideways and this is the velocity restriction. However by moving the car backward and forward and turning the wheels the car can be moved into the parking space. Ignoring the restrictions caused by the external objects the car can be located at any position with any orientation, despite the lack of sideways movement (Pushkin Kachroo and Patricia Mellodge, 2004.). The challenge in this project is to not only address the parallel parking problem but also to develop it using advanced software design techniques involving Model Based Design Literature Survey The parallel parking problem can be viewed as a subtask of robot motion planning and control. There is has been considerable research in this area. De Luca et al (1998) classifies all robot motion tasks into 3 subtasks as follows. Point-to-point motion: The robot must reach a desired goal configuration starting from a given initial configuration. Path following: The robot must reach and follow a geometric path in the Cartesian space starting from a given initial configuration (on or off the path). Trajectory tracking: The robot must reach and follow a trajectory in the Cartesian space (i.e., a geometric path with an associated timing law) starting from a given initial configuration (on or off the trajectory) A parallel parking problem can then considered as a point to point motion task or a path following task and a feedback control law if proposed for the same. (Dongbing and Huosheng 2000) have developed more advanced control strategies involving Generalized Predictive Control and Neural Networks based predictive control. Fuzzy Logic based controllers have also been used to solve the parallel parking problem. Shih-Jie and Tzuu-Hseng (2002) proposes a rule base based on the distance of the CLMR edges to the parking spot. Kuang-Yow et al (1999) proposes a fuzzy sliding mode controller to solve the parallel parking problem. Holve and Protzel (1996) suggest another fuzzy logic based controller and a parking algorithm based on human experience. It involves finding an appropriate space for parking, stopping at the right place, executing the parking procedure and to do so without colliding with any obstacles. Summary The classical control methods discussed above are generally more complex compared to other ones. Most of them rely on trajectory generation and then a control algorithm for trajectory tracking or path following. The success of the algorithm in a real time implementation also depends upon the accuracy of the positioning systems which increases the complexity and the hardware cost of this method. While the fuzzy logic based controllers are more intuitive and easier to design the performance is suboptimal compared to the classical controllers. But they are more robust to sensor uncertainties (Holve, R. Protzel, P. 1996). The goal of this project is to develop a parallel parking algorithm suitable for implementation on a Lego Mindstorms robotics kit. Being able to solve the parallel parking problem and take this design rapidly from concept to implementation is the motivation behind this project. Parallel Parking of a Car like Mobile Robot (CLMR) Introduction The following chapter discusses the kinematics model of a CLMR and investigates a feasible parking strategy using a fuzzy logic based controller. Kinematic Model of a CLMR The kinematic model of a CLMR is as shown (Shih-Jie and Tzuu-Hseng 2002).The model assumes that the car wheels are in contact with the ground at all time i.e. no slip exists. : is a mid point on the rear axle of the car : is mid point on the line joining the front wheels : is the angle between the X axis with respect to the vehicle frame : is the steering angle with respect to the vehicle frame : is the distance between the front and rear axle The non-holonomic constraint equation is given by (2.1) The equation of the rear wheel is given by (2.2) (2.3) (2.4) The relationship between the rear and the front wheels are given by And (2.5) (2.6) The above equations are useful while finding the future positions of the CLMR. The physical layout of the CLMR is a three wheeled one. A three wheel robot and a four wheeled one have the same non- holonomic constraint. A three wheeled robot is chosen here for simplicity. The sensor positions are chosen with the assumption that the parking position is always going to be to the right of the vehicle. 4 ultrasonic sensors are used. 2 sensors (s2 and s1) are placed on the right front and rear edge and the other 2 (s3 and s0) are placed at the front and rear sides of the car as shown in the Fig 2.2. The position of sensors s1 and s2 with respect toand described by the following equations. S1 (2.7) S2 (2.8) The position of the sensors is used to determine the distance of the CLMR from an obstacle during simulation. Parking Strategy The parking strategy is developed intuitively as a human driver would do. The assumption is that a parking spot is somewhere to the right side of the vehicle to be parked (Holve and Protzel,1996). The vehicle would be moving parallel to the line of cars. The algorithm is as follows. Search for an obstacle free area on the right side of the car. The distance should be greater than the minimum distance required to park the car. This could be set at twice the length of the car. Once a sufficiently large parking spot is found, the car is reversed into the gap using a wall following algorithm. This algorithm aligns the car as parallel as possible in the gap without colliding with the rear wall. The car is then driven forward to align itself in the centre of the gap. Steps 2 and 3 can be repeated until the desired position is reached Wall Following Controller (Shih-Jie and Tzuu-Hseng , 2002) The heart of the parking strategy is a wall following controller. Shih-Jie and Tzuu-Hseng (2002) proposes a fuzzy logic scheme as follows. The variables shown in the figure represents the following d1 distance between the rear end of the CLMR and the wall d2 distance between the front end of the CLMR and the wall Dist is the desired distance between the wall and the CLMR The objective of the controller is get d1 equal to d2 which is the desired distance from the wall Dist . The scheme suggested is a 2 input one output scheme which controls the steering angle of the CLMR. Since the CLMR in this project is a three wheeled one the turning is done by varying the speeds of each wheel. The input variables to this control scheme are as follows if the CLMR is moving forward . Input1 = d2 Dist (2.9) Input 2 = d2 d1 (2.10) and if the CLMR is moving backward Input1 = d1 Dist (2.11) Input 2 = d1 d2 The output of the controller is the amount by which the CLMR needs to turn in a given direction. The fuzzy membership functions for Input1, Input2 and Steer are shown below The membership functions are equally divided triangular membership functions. The Rule Base for the wall following is shown in the table below. It is based on sliding mode control (Li et al, 2000) The rules can be an represented linguistically as If (Input1 is Positive Big) and (Input2 is Negative Big) then (steer is Zero) If (Input1 is Positive Big) and (Input2 is Negative Small) then (steer is Positive Small) and so on 25. If (Input1 is Negative Big) and (Input2 is Positive Big) then (steer is Zero) The defuzzication method used here is centre of gravity which is good for fine control The final fuzzy logic entire controller can be summarized as follows Summary With the kinematic equations of the CLMR and the equations describing the sensor positions, a model can be constructed. With the parking strategies and a fuzzy logic controller now developed we shall discuss an efficient methodology in taking these designs into implementation. Model Based Design Methodology Overview The advances in microprocessor technology in the early 70s brought about a change in the way control systems were developed. From electrical relays built into ladder like networks and programmable logic controllers , controllers were being developed around a computer built with adequate hardware and software. Traditionally most of these control software development was based on paper designs and manual programming followed by verification activities such as code inspections and a unit/integration test (Guido Sandmann and Richard Thompson 2008). Many of these activities lack tool automation, and are very time consuming. Thus they are error prone and time consuming. Lack of tool chain integration provides another opportunity for errors to be injected into the software that are often detected late and at high costs to the development process and so involve manual interaction. Model Based Design is software design methodology used to address these issues. The steps involved are in MBD ,some of the commercially available tools and the tool chain choices for this project are discussed below Model Based Design Process The Model Based Design process can be divided into the following steps (NI Developer Zone, 2006). System Definition System definition involves the design process of a particular problem in consideration. It is mostly a conceptual design where in the problem and solutions are analyzed. Modelling Simulation The step implies that the analyzed design is simulated using a graphical based simulation tool. MATLAB-SIMULINK, ASCET-MD etc are some examples of modelling tools. Designs here can be easily changed verified and re designed if necessary. Rapid Prototyping If the hardware of production controller is not available during the design phase a generalized hardware controller maybe used to test some of the simulations. This is the rapid prototyping phase. Targeting Targeting refers to getting the software code executing on the production hardware. This stage involves the use of auto coders tools that generate C code directly of graphical models, cross compilers and other tool chains that facilitate this. Hardware in the loop Testing Hardware in the Loop testing is used while developing control strategies for plant models like engines. It provides real time simulation of a real world plant model. System Testing This is the last step in the design process wherein the controller is tested on the real plant. Summary Of the stages in Model Based Design discussed above, only the most relevant one will be applied to this project. Beginning with system definition, modelling simulation proceeding to targeting and finally onto system testing will be the stages followed in this project. MATLAB/SIMULINK, Stateflow, Virtual Reality Toolbox, Fuzzy Logic Blockset would be the tools used for modelling and simulation while Real Time Workshop Embedded Coder would be used during targeting. A detailed list of other tools will be dealt in the next chapter. Introduction Lego Mindstorms NXT is a robotics kit which consists of mechanical building blocks and electronic sensors. The highlight of this kit is the programmable brick called the NXT. The NXT is a 32bit ARM7 based microcontroller which allows motors and electronic sensors to be easily interfaced .Users can also run custom programs written via a GUI based programming language. The language provided by Lego, though very simple and intuitive to use does not exploit the true potential of NXT. Over the years, advanced users of the Lego Mindstorms have been successful in creating custom tools that apply every imaginable concept of embedded systems. The following chapter discuss some of these software tools and hardware details relevant to this project. The most important part of this is to be able to design , simulate and test the robot using MATLAB Simulink. Ultrasonic Sensor The Lego Ultrasonic Sensor is shown below. It is mainly used for distance measurement. It has a range of 255 cm and is accurate to about +/- 3cm One of the tasks of Model Based Design is to be able to program the NXT from Matlab Simulink environment. The tools required to automate this process are discussed below John Hansens Enhanced Firmware Firmware in embedded systems term is referred to the basic software that is initially run on a hardware device. It performs basics factions like initialization of devices , integrity checks on memory and so on similar to BIOS on a standard PC. The NXT brick , out of the box , has a standard firmware installed. This is designed to be used with the software provided. In order to write programs in C and realize the true potential of the NXT, a custom firmware has been written by John Hansen. This allows the NXT to be programmed by either using the provided software or by programming in C and using other tools which will be explained later. The NeXTTool The NeXTTool is a program that allows communication between the host PC and the NXT brick. It can do various tasks, but most importantly it is used to download custom programs onto the NXT. The nxtOSEK nxtOSEK (previously known as LEJOS OSEK) is an open source real time operating system for LEGO MINDSTORMS NXT. It contains device drivers from leJOS NXJ, an open source program that allows users to write Java programs on the NXT and a real time operating system source know as a TOPPERS OSEK. C or C++ can be used to write custom programs and compiled with the nxtOSEK using the GCC tool chain (Takashi Chikamasa, 2008) The Embedded Coder Robot NXT Blockset is one of the key elements in applying Model Based Design Techniques to the Lego Mindstorms NXT. These blocks are custom Simulink blocks used in the controller side and serve as inputs and outputs to the real world. A word of caution. Custom blocks especially hardware related blocks behave different behaviour in simulation and code generation . For e.g. an ultrasonic sensor block will not directly give sensor readings. The behaviour of the ultrasonic sensor will have to be separately emulated. During code generation process, a function call to the ultrasonic device is placed where the block is used. This ensures the program using the block gets the value directly from the sensor. The details of the blocks used for this project are discussed below There are two blocks that have to be for an ultrasonic sensor blocks consist of two blocks. The Ultrasonic Sensor Interface block and the Ultrasonic Sensor Read block. Servo Motor Blocks Fig 4.5 Servo Motor Blocks The working of the Servo Motor is similar to the ultrasonic block as explained above. The details of the block are given below. Data Type int32 Dimension [1 1] Data Range 0 to 255 [cm], -1 (the sensor is not ready for measurement) Port ID S1/S2/S3/S4 Summary Tools concerning with the implementation of a Matlab Simulink design on a Lego Mindstorms NXT were explored here. However the most important of all is to simulate a working design. The next chapter discusses the implementation of the parallel parking strategy and the simulation results. Parallel Parking Simulation An integral part of Model Based Design is being able to simulate and get the desired results before implementation. The following chapter discusses the results of the controller developed in Chapter 2. For verification of the controller a Simulink model developed by Takashi Chikamasa, (2006) was used. The model was of a 3 wheeled robot with the motor dynamics included. A 3-D environment was provided using the Virtual Reality Toolbox. The environment however has been changed to suit the parallel parking problem. Parallel Parking Strategy The controller algorithm was developed in Simulink using Stateflow and the Fuzzy Logic Toolbox. A 2-D plot of the trajectory path traversed by the CLMR is shown below. Conclusion and Recommendations The parallel parking strategy implemented did show good results. However, real life scenarios may be very different. For example, the controller depends on wall following. This implies there has to be 3 sides closed in a gap for the parking controller to work. The development of the algorithm was with the intent of being able to execute it on a Lego Mindstorms Kit. However, there were some issues regarding this. The main being lack of a floating point unit on the NXT Brick. Though it is possible to execute floating point programs on the NXT, it causes severe performance issues. The controller developed used the fuzzy logic blockset which inherently uses a lot of floating point variables. One method to overcome this draw back could be developing a fixed point version of the fuzzy logic blockset. Other parking strategies involving classical control could be experimented with Lego Mindstorms. Complex tasks like path planning could be executed on a computer communicating with the NXT via Bluetooth and the control tasks could be implemented on the NXT using fixed point math. However, with Model Based Design, being able to write programs in Simulink, simulate it and be able to execute this on the Lego Mindstorms opens a whole new dimension of what can be done ; limited only by our creativity! Bibliography C., Ho, C., Lin, S. Li, T. (2005). 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