Abstract: We present our ongoing work on the development
of a new quadrotor aerial vehicle which has a tilt-wing
mechanism. The vehicle is capable of take-off/landing in vertical flight mode (VTOL) and flying over long distances in horizontal flight mode. Full dynamic model of the vehicle is derived using
Newton-Euler formulation. Linear and nonlinear controllers for
the stabilization of attitude of the vehicle and control of its
altitude have been designed and implemented via simulations. In particular, an LQR controller has been shown to be quite
effective in the vertical flight mode for all possible yaw angles. A sliding mode controller (SMC) with recursive nature has also
been proposed to stabilize the vehicle-s attitude and altitude. Simulation results show that proposed controllers provide
satisfactory performance in achieving desired maneuvers.
Abstract: As the Internet continues to grow at a rapid pace as
the primary medium for communications and commerce and as
telecommunication networks and systems continue to expand their
global reach, digital information has become the most popular and
important information resource and our dependence upon the
underlying cyber infrastructure has been increasing significantly.
Unfortunately, as our dependency has grown, so has the threat to the
cyber infrastructure from spammers, attackers and criminal
enterprises. In this paper, we propose a new machine learning based
network intrusion detection framework for cyber security. The
detection process of the framework consists of two stages: model
construction and intrusion detection. In the model construction stage,
a semi-supervised machine learning algorithm is applied to a
collected set of network audit data to generate a profile of normal
network behavior and in the intrusion detection stage, input network
events are analyzed and compared with the patterns gathered in the
profile, and some of them are then flagged as anomalies should these
events are sufficiently far from the expected normal behavior. The
proposed framework is particularly applicable to the situations where
there is only a small amount of labeled network training data
available, which is very typical in real world network environments.
Abstract: The development of shape and size of a crack in a
pressure vessel under uniaxial and biaxial loadings is important in
fitness-for-service evaluations such as leak-before-break. In this
work finite element modelling was used to evaluate the mean stress
and the J-integral around a front of a surface-breaking crack. A
procedure on the basis of ductile tearing resistance curves of high and
low constrained fracture mechanics geometries was developed to
estimate the amount of ductile crack extension for surface-breaking
cracks and to show the evolution of the initial crack shape. The
results showed non-uniform constraint levels and crack driving forces
around the crack front at large deformation levels. It was also shown
that initially semi-elliptical surface cracks under biaxial load
developed higher constraint levels around the crack front than in
uniaxial tension. However similar crack shapes were observed with
more extensions associated with cracks under biaxial loading.
Abstract: The weight constrained shortest path problem
(WCSPP) is one of most several known basic problems in
combinatorial optimization. Because of its importance in many areas
of applications such as computer science, engineering and operations
research, many researchers have extensively studied the WCSPP.
This paper mainly concentrates on the reduction of total search space
for finding WCSP using some existing Genetic Algorithm (GA). For
this purpose, some controlled schemes of genetic operators are
adopted on list chromosome representation. This approach gives a
near optimum solution with smaller elapsed generation than classical
GA technique. From further analysis on the matter, a new
generalized schema theorem is also developed from the philosophy
of Holland-s theorem.
Abstract: The use of machine vision to inspect the outcome of
surgical tasks is investigated, with the aim of incorporating this
approach in robotic surgery systems. Machine vision is a non-contact
form of inspection i.e. no part of the vision system is in direct contact
with the patient, and is therefore well suited for surgery where
sterility is an important consideration,. As a proof-of-concept, three
primary surgical tasks for a common neurosurgical procedure were
inspected using machine vision. Experiments were performed on
cadaveric pig heads to simulate the two possible outcomes i.e.
satisfactory or unsatisfactory, for tasks involved in making a burr
hole, namely incision, retraction, and drilling. We identify low level
image features to distinguish the two outcomes, as well as report on
results that validate our proposed approach. The potential of using
machine vision in a surgical environment, and the challenges that
must be addressed, are identified and discussed.
Abstract: This paper outlines the development of a learning retrieval agent. Task of this agent is to extract knowledge of the Active Semantic Network in respect to user-requests. Based on a reinforcement learning approach, the agent learns to interpret the user-s intention. Especially, the learning algorithm focuses on the retrieval of complex long distant relations. Increasing its learnt knowledge with every request-result-evaluation sequence, the agent enhances his capability in finding the intended information.
Abstract: Soccer simulation is an effort to motivate researchers and practitioners to do artificial and robotic intelligence research; and at the same time put into practice and test the results. Many researchers and practitioners throughout the world are continuously working to polish their ideas and improve their implemented systems. At the same time, new groups are forming and they bring bright new thoughts to the field. The research includes designing and executing robotic soccer simulation algorithms. In our research, a soccer simulation player is considered to be an intelligent agent that is capable of receiving information from the environment, analyze it and to choose the best action from a set of possible ones, for its next move. We concentrate on developing a two-phase method for the soccer player agent to choose its best next move. The method is then implemented into our software system called Nexus simulation team of Ferdowsi University. This system is based on TsinghuAeolus[1] team that was the champion of the world RoboCup soccer simulation contest in 2001 and 2002.
Abstract: Subjective loneliness describes people who feel a
disagreeable or unacceptable lack of meaningful social relationships,
both at the quantitative and qualitative level. The studies to be
presented tested an Italian 18-items self-report loneliness measure,
that included items adapted from scales previously developed,
namely a short version of the UCLA (Russell, Peplau and Cutrona,
1980), and the 11-items Loneliness scale by De Jong-Gierveld &
Kamphuis (JGLS; 1985). The studies aimed at testing the developed
scale and at verifying whether loneliness is better conceptualized as a
unidimensional (so-called 'general loneliness') or a bidimensional
construct, namely comprising the distinct facets of social and
emotional loneliness. The loneliness questionnaire included 2 singleitem
criterion measures of sad mood, and social contact, and asked
participants to supply information on a number of socio-demographic
variables. Factorial analyses of responses obtained in two
preliminary studies, with 59 and 143 Italian participants respectively,
showed good factor loadings and subscale reliability and confirmed
that perceived loneliness has clearly two components, a social and an
emotional one, the latter measured by two subscales, a 7-item
'general' loneliness subscale derived from UCLA, and a 6–item
'emotional' scale included in the JGLS. Results further showed that
type and amount of loneliness are related, negatively, to frequency of
social contacts, and, positively, to sad mood. In a third study data
were obtained from a nation-wide sample of 9.097 Italian subjects,
12 to about 70 year-olds, who filled the test on-line, on the Italian
web site of a large-audience magazine, Focus. The results again
confirmed the reliability of the component subscales, namely social,
emotional, and 'general' loneliness, and showed that they were
highly correlated with each other, especially the latter two.
Loneliness scores were significantly predicted by sex, age, education
level, sad mood and social contact, and, less so, by other variables –
e.g., geographical area and profession. The scale validity was
confirmed by the results of a fourth study, with elderly men and
women (N 105) living at home or in residential care units. The three
subscales were significantly related, among others, to depression, and
to various measures of the extension of, and satisfaction with, social
contacts with relatives and friends. Finally, a fifth study with 315
career-starters showed that social and emotional loneliness correlate
with life satisfaction, and with measures of emotional intelligence.
Altogether the results showed a good validity and reliability in the
tested samples of the entire scale, and of its components.
Abstract: From an economic standpoint the current and future
road traffic situation in urban areas is a cost factor. Traffic jams and
congestion prolong journey times and tie up resources in trucks and
personnel. Many discussions about imposing charges or tolls for
cities in Europe in order to reduce traffic congestion are currently in
progress. Both of these effects lead – directly or indirectly - to
additional costs for the urban distribution systems in retail
companies. One approach towards improving the efficiency of retail
distribution systems, and thus towards avoiding negative
environmental factors in urban areas, is horizontal collaboration for
deliveries to retail outlets – Urban Retail Logistics. This paper
presents a classification system to help reveal where cooperation
between retail companies is possible and makes sense for deliveries
to retail outlets in urban areas.
Abstract: The analysis to detect arrhythmias and life-threatening
conditions are highly essential in today world and this analysis
can be accomplished by advanced non-linear processing methods
for accurate analysis of the complex signals of heartbeat dynamics.
In this perspective, recent developments in the field of multiscale
information content have lead to the Microcanonical Multiscale
Formalism (MMF). We show that such framework provides several
signal analysis techniques that are especially adapted to the
study of heartbeat dynamics. In this paper, we just show first hand
results of whether the considered heartbeat dynamics signals have
the multiscale properties by computing local preticability exponents
(LPEs) and the Unpredictable Points Manifold (UPM), and thereby
computing the singularity spectrum.
Abstract: Mobile Ad hoc network consists of a set of mobile
nodes. It is a dynamic network which does not have fixed topology.
This network does not have any infrastructure or central
administration, hence it is called infrastructure-less network. The
change in topology makes the route from source to destination as
dynamic fixed and changes with respect to time. The nature of
network requires the algorithm to perform route discovery, maintain
route and detect failure along the path between two nodes [1]. This
paper presents the enhancements of ARA [2] to improve the
performance of routing algorithm. ARA [2] finds route between
nodes in mobile ad-hoc network. The algorithm is on-demand source
initiated routing algorithm. This is based on the principles of swarm
intelligence. The algorithm is adaptive, scalable and favors load
balancing. The improvements suggested in this paper are handling of
loss ants and resource reservation.
Abstract: Experimental investigation of the effect of
hydrophobic injection on siloxane basis on the properties of oldfashioned
type of ceramic brick is presented in the paper. At the
experimental testing, the matrix density, total open porosity, pore size
distribution, sorptivity, water absorption coefficient, sorption and
desorption isotherms are measured for the original, as well as the
hydrophobic-injection treated brick. On the basis of measured data,
the functionality of the hydrophobic injection for the moisture ingress
prevention into the studied ceramic brick is assessed.
Abstract: This paper mathematically analyses the varying
magnitude of production loss, which may occur due to idle time (inprocess
waiting time and traveling time) on a linear walking worker
assembly line. Within this flexible and reconfigurable assembly
system, each worker travels down the line carrying out each
assembly task at each station; and each worker accomplishes the
assembly of a unit from start to finish and then travels back to the
first station to start the assembly of a new product. This strategy of
system design attempts to combine the flexibility of the U-shaped
moving worker assembly cell with the efficiency of the conventional
fixed worker assembly line. The paper aims to evaluate the effect of
idle time that may offset the labor efficiency of each walking worker
providing an insight into the mechanism of such a flexible and
reconfigurable assembly system.
Abstract: Aspect of visual perception occupies a central position
in shaping the physical structure of a city. This paper discusses the
visual characteristics of utopian cities and their impact on the shaping
of real urban structures. Utopian examples of cities will not be
discussed in terms of social and sociological conditions, but rather
the emphasis is on urban utopias and ideal cities that have achieved
or have had potential impact on the shape of the physical structure of
Nikšić. It is a Renaissance-Baroque period with a touch of classicism.
The paper’s emphasis is on the physical dimension, not excluding the
importance of social equilibrium, studies of which are dating back to
Aristotle, Plato, Thomas More, Robert Owen, Tommaso Campanella
and others. The emphasis is on urban utopias and their impact on the
development of sustainable physical structure of a real city in the
context of visual perception. In the case of Nikšić, this paper
identifies the common features of a real city and a utopian city, as
well as criteria for sustainable urban development in the context of
visual achievement.
Abstract: Compliance requires an effective communication
within an enterprise as well as towards a company-s external
environment. This requirement commences with the
implementation of compliance within large scale compliance
projects and still persists in the compliance reporting within
standard operations. On the one hand the understanding of
compliance necessities within the organization is promoted.
On the other hand reduction of asymmetric information with
compliance stakeholders is achieved. To reach this goal, a
central reporting must provide a consolidated view of different
compliance efforts- statuses. A concept which could be
adapted for this purpose is the balanced scorecard by Kaplan /
Norton. This concept has not been analyzed in detail
concerning its adequacy for a holistic compliance reporting
starting in compliance projects until later usage in regularly
compliance operations.
At first, this paper evaluates if a holistic compliance
reporting can be designed by using the balanced scorecard
concept. The current status of compliance reporting clearly
shows that scorecards are generally accepted as a compliance
reporting tool and are already used for corporate governance
reporting. Additional specialized compliance IT - solutions
exist in the market. After the scorecard-s adequacy is
thoroughly examined and proofed, an example strategy map as
the basis to derive a compliance balanced scorecard is defined.
This definition answers the question on proceeding in
designing a compliance reporting tool.
Abstract: Out of all visual arts including: painting, sculpture,
graphics, photography, architecture, and others, architecture is by far
the most complex one, because the art category is only one of its
determinants. Architecture, to some extent includes other arts which
can significantly influence the shaping of an urban space (artistic
interventions). These arts largely shape the visual culture in
combination with other categories: film, TV, Internet, information
technologies that are "changing the world" etc. In the area of
architecture and urbanism, visual culture is achieved through the
aspects of visual spatial effects. In this context, a complex visual
deliberation about designing urban areas in order to contribute to the
urban visual culture, and with it restore the cultural identity of the
city, is becoming almost the primary concept of contemporary urban
and architectural practice. Research in this paper relate to the city of
Niksic and its place in the visual urban culture. We are looking at the
city’s existing visual effects and determining the directions of
transformability of its physical structure in order to achieve the visual
realization of an urban area and the renewal of cultural identity of a
modern city.
Abstract: the article analyzes the development prospects of
education system in Kazakhstan. Education is among key sources of
culture and social mobility. Modern education must become civic
which means availability of high quality education to all people
irrespective of their racial, ethnic, religious, social, gender and any
other differences. Socially focused nature of modernization of
Kazakhstan-s society is predicated upon formation of a civic
education model in the future. Kazakhstan-s education system
undergoes intensive reforms first of all intended to achieve
international education standards and integration into the global
educational and information space.
Abstract: Users of computer systems may often require the
private transfer of messages/communications between parties across
a network. Information warfare and the protection and dominance of
information in the military context is a prime example of an
application area in which the confidentiality of data needs to be
maintained. The safe transportation of critical data is therefore often
a vital requirement for many private communications. However,
unwanted interception/sniffing of communications is also a
possibility. An elementary stealthy transfer scheme is therefore
proposed by the authors. This scheme makes use of encoding,
splitting of a message and the use of a hashing algorithm to verify the
correctness of the reconstructed message. For this proof-of-concept
purpose, the authors have experimented with the random sending of
encoded parts of a message and the construction thereof to
demonstrate how data can stealthily be transferred across a network
so as to prevent the obvious retrieval of data.
Abstract: In this study an extensive experimental research is
carried out to develop a better understanding of the effects of Piano Key (PK) weir geometry on weir flow threshold submergence.
Experiments were conducted in a 12 m long, 0.4 m wide and 0.7 m deep rectangular glass wall flume. The main objectives were to
investigate the effect of the PK weir geometries including the weir
length, weir height, inlet-outlet key widths, upstream and
downstream apex overhangs, and slopped floors on threshold submergence and study the hydraulic flow characteristics. From the
experimental results, a practical formula is proposed to evaluate the flow threshold submergence over PK weirs.
Abstract: For the characterization of the weld defect region in the radiographic image, looking for features which are invariant regarding the geometrical transformations (rotation, translation and scaling) proves to be necessary because the same defect can be seen from several angles according to the orientation and the distance from the welded framework to the radiation source. Thus, panoply of geometrical attributes satisfying the above conditions is proposed and which result from the calculation of the geometrical parameters (surface, perimeter, etc.) on the one hand and the calculation of the different order moments, on the other hand. Because the large range in values of the raw features and taking into account other considerations imposed by some classifiers, the scaling of these values to lie between 0 and 1 is indispensable. The principal component analysis technique is used in order to reduce the number of the attribute variables in the aim to give better performance to the further defect classification.