Abstract: The objective of the presented work is to implement the Kalman Filter into an application that reduces the influence of the environmental changes over the robot expected to navigate over a terrain of varying friction properties. The Discrete Kalman Filter is used to estimate the robot position, project the estimated current state ahead at time through time update and adjust the projected estimated state by an actual measurement at that time via the measurement update using the data coming from the infrared sensors, ultrasonic sensors and the visual sensor respectively. The navigation test has been performed in a real world environment and has been found to be robust.
Abstract: This article explores the sociological perspectives on
social problems and the role of the media which has a delicate role to
tread in balancing its duty to the public and the victim Whilst social
problems have objective conditions, it is the subjective definition of
such problems that ensure which social problem comes to the fore
and which doesn-t. Further it explores the roles and functions of
policymakers when addressing social problems and the impact of the
inception of media profiling as well as the advantages and
disadvantages of media profiling towards social problems. It focuses
on the inception of media profiling due to its length and a follow up
article will explore how current media profiling towards social
problems have evolved since its inception.
Abstract: This paper explores university course timetabling
problem. There are several characteristics that make scheduling and
timetabling problems particularly difficult to solve: they have huge
search spaces, they are often highly constrained, they require
sophisticated solution representation schemes, and they usually
require very time-consuming fitness evaluation routines. Thus
standard evolutionary algorithms lack of efficiency to deal with
them. In this paper we have proposed a memetic algorithm that
incorporates the problem specific knowledge such that most of
chromosomes generated are decoded into feasible solutions.
Generating vast amount of feasible chromosomes makes the progress
of search process possible in a time efficient manner. Experimental
results exhibit the advantages of the developed Hybrid Genetic
Algorithm than the standard Genetic Algorithm.
Abstract: This paper presented a modified efficient inductive
powering link based on ASK modulator and proposed efficient class-
E power amplifier. The design presents the external part which is
located outside the body to transfer power and data to the implanted
devices such as implanted Microsystems to stimulate and monitoring
the nerves and muscles. The system operated with low band
frequency 10MHZ according to industrial- scientific – medical (ISM)
band to avoid the tissue heating. For external part, the modulation
index is 11.1% and the modulation rate 7.2% with data rate 1 Mbit/s
assuming Tbit = 1us. The system has been designed using 0.35-μm
fabricated CMOS technology. The mathematical model is given and
the design is simulated using OrCAD P Spice 16.2 software tool and
for real-time simulation, the electronic workbench MULISIM 11 has
been used.
Abstract: TUSAT is a prospective Turkish
Communication Satellite designed for providing mainly data
communication and broadcasting services through Ku-Band
and C-Band channels. Thermal control is a vital issue in
satellite design process. Therefore, all satellite subsystems and
equipments should be maintained in the desired temperature
range from launch to end of maneuvering life. The main
function of the thermal control is to keep the equipments and
the satellite structures in a given temperature range for various
phases and operating modes of spacecraft during its lifetime.
This paper describes the thermal control design which uses
passive and active thermal control concepts. The active
thermal control is based on heaters regulated by software via
thermistors. Alternatively passive thermal control composes of
heat pipes, multilayer insulation (MLI) blankets, radiators,
paints and surface finishes maintaining temperature level of
the overall carrier components within an acceptable value.
Thermal control design is supported by thermal analysis using
thermal mathematical models (TMM).
Abstract: Scheduling of diversified service requests in
distributed computing is a critical design issue. Cloud is a type of
parallel and distributed system consisting of a collection of
interconnected and virtual computers. It is not only the clusters and
grid but also it comprises of next generation data centers. The paper
proposes an initial heuristic algorithm to apply modified ant colony
optimization approach for the diversified service allocation and
scheduling mechanism in cloud paradigm. The proposed optimization
method is aimed to minimize the scheduling throughput to service all
the diversified requests according to the different resource allocator
available under cloud computing environment.
Abstract: Least Significant Bit (LSB) technique is the earliest
developed technique in watermarking and it is also the most simple,
direct and common technique. It essentially involves embedding the
watermark by replacing the least significant bit of the image data with
a bit of the watermark data. The disadvantage of LSB is that it is not
robust against attacks. In this study intermediate significant bit (ISB)
has been used in order to improve the robustness of the watermarking
system. The aim of this model is to replace the watermarked image
pixels by new pixels that can protect the watermark data against
attacks and at the same time keeping the new pixels very close to the
original pixels in order to protect the quality of watermarked image.
The technique is based on testing the value of the watermark pixel
according to the range of each bit-plane.
Abstract: This paper presents a new circuit arrangement for a
current-mode Wheatstone bridge that is suitable for low-voltage
integrated circuits implementation. Compared to the other proposed
circuits, this circuit features severe reduction of the elements number,
low supply voltage (1V) and low power consumption (
Abstract: Decrease in hardware costs and advances in computer
networking technologies have led to increased interest in the use of
large-scale parallel and distributed computing systems. One of the
biggest issues in such systems is the development of effective
techniques/algorithms for the distribution of the processes/load of a
parallel program on multiple hosts to achieve goal(s) such as
minimizing execution time, minimizing communication delays,
maximizing resource utilization and maximizing throughput.
Substantive research using queuing analysis and assuming job
arrivals following a Poisson pattern, have shown that in a multi-host
system the probability of one of the hosts being idle while other host
has multiple jobs queued up can be very high. Such imbalances in
system load suggest that performance can be improved by either
transferring jobs from the currently heavily loaded hosts to the lightly
loaded ones or distributing load evenly/fairly among the hosts .The
algorithms known as load balancing algorithms, helps to achieve the
above said goal(s). These algorithms come into two basic categories -
static and dynamic. Whereas static load balancing algorithms (SLB)
take decisions regarding assignment of tasks to processors based on
the average estimated values of process execution times and
communication delays at compile time, Dynamic load balancing
algorithms (DLB) are adaptive to changing situations and take
decisions at run time.
The objective of this paper work is to identify qualitative
parameters for the comparison of above said algorithms. In future this
work can be extended to develop an experimental environment to
study these Load balancing algorithms based on comparative
parameters quantitatively.
Abstract: This paper simulates the ad-hoc mesh network in rural areas, where such networks receive great attention due to their cost, since installing the infrastructure for regular networks in these areas is not possible due to the high cost. The distance between the communicating nodes is the most obstacles that the ad-hoc mesh network will face. For example, in Terranet technology, two nodes can communicate if they are only one kilometer far from each other. However, if the distance between them is more than one kilometer, then each node in the ad-hoc mesh networks has to act as a router that forwards the data it receives to other nodes. In this paper, we try to find the critical number of nodes which makes the network fully connected in a particular area, and then propose a method to enhance the intermediate node to accept to be a router to forward the data from the sender to the receiver. Much work was done on technological changes on peer to peer networks, but the focus of this paper will be on another feature which is to find the minimum number of nodes needed for a particular area to be fully connected and then to enhance the users to switch on their phones and accept to work as a router for other nodes. Our method raises the successful calls to 81.5% out of 100% attempt calls.
Abstract: As wind, solar and other clean and green energy
sources gain popularity worldwide, engineers are seeking ways to
make renewable energy systems more affordable and to integrate
them with existing ac power grids. In the present paper an attempt
has been made for integrating the PV arrays to the smart nano grid
using an artificial intelligent (AI) based solar powered cascade multilevel
inverter. The AI based controller switching scheme has been
used for improving the power quality by reducing the Total Harmonic
Distortion (THD) of the multi-level inverter output voltage.
Abstract: The element of justice or al-‘adl in the context of
Islamic critical thinking deals with the notion of justice in a thinking
process which critically rationalizes the truth in a fair and objective
manner with no irrelevant interference that can jeopardize a sound
judgment. This Islamic axiological element is vital in technological
decision making as it addresses the issues of religious values and
ethics that are primarily set to fulfill the purpose of human life on
earth. The main objective of this study was to examine and analyze
the perception of Muslim engineering students in Malaysian higher
education institutions towards the concept of al-‘adl as an essential
element of Islamic critical thinking. The study employed mixed
methods approach that comprises data collection from the
questionnaire survey and the interview responses. A total of 557
Muslim engineering undergraduates from six Malaysian universities
participated in the study. The study generally indicated that Muslim
engineering undergraduates in the higher institutions have rather
good comprehension and consciousness for al-‘adl with a slight
awareness on the importance of objective thinking. Nonetheless there
were a few items on the concept that have implied a comparatively
low perception on the rational justice in Islam as the means to grasp
the ultimate truth.
Abstract: In this paper, a simple active contour based visual
tracking algorithm is presented for outdoor AGV application which is
currently under development at the USM robotic research group
(URRG) lab. The presented algorithm is computationally low cost
and able to track road boundaries in an image sequence and can
easily be implemented on available low cost hardware. The proposed
algorithm used an active shape modeling using the B-spline
deformable template and recursive curve fitting method to track the
current orientation of the road.
Abstract: Ultrathin (UTD) and Nanoscale (NSD) SOI-MOSFET devices, sharing a similar W/L but with a channel thickness of 46nm and 1.6nm respectively, were fabricated using a selective “gate recessed” process on the same silicon wafer. The electrical transport characterization at room temperature has shown a large difference between the two kinds of devices and has been interpreted in terms of a huge unexpected series resistance. Electrical characteristics of the Nanoscale device, taken in the linear region, can be analytically derived from the ultrathin device ones. A comparison of the structure and composition of the layers, using advanced techniques such as Focused Ion Beam (FIB) and High Resolution TEM (HRTEM) coupled with Energy Dispersive X-ray Spectroscopy (EDS), contributes an explanation as to the difference of transport between the devices.
Abstract: This paper attempts to explore the phenomenon of metaphorization in English newspaper headlines from the perspective of pragmatic investigation. With relevance theory as the guideline, this paper makes an explanation of the processing of metaphor with a pragmatic approach and points that metaphor is the stimulus adopted by journalists to achieve optimal relevance in this ostensive communication, as well as the strategy to fulfill their writing purpose.
Abstract: In very narrow pathways, the speed of sound propagation and the phase of sound waves change due to the air viscosity. We have developed a new finite element method (FEM) that includes the effects of air viscosity for modeling a narrow sound pathway. This method is developed as an extension of the existing FEM for porous sound-absorbing materials. The numerical calculation results for several three-dimensional slit models using the proposed FEM are validated against existing calculation methods.
Abstract: Support Vector Domain Description (SVDD) is one of the best-known one-class support vector learning methods, in which one tries the strategy of using balls defined on the feature space in order to distinguish a set of normal data from all other possible abnormal objects. As all kernel-based learning algorithms its performance depends heavily on the proper choice of the kernel parameter. This paper proposes a new approach to select kernel's parameter based on maximizing the distance between both gravity centers of normal and abnormal classes, and at the same time minimizing the variance within each class. The performance of the proposed algorithm is evaluated on several benchmarks. The experimental results demonstrate the feasibility and the effectiveness of the presented method.
Abstract: A method and apparatus for noninvasive measurement
of blood glucose concentration based on transilluminated laser beam
via the Index Finger has been reported in this paper. This method
depends on atomic gas (He-Ne) laser operating at 632.8nm
wavelength. During measurement, the index finger is inserted into the
glucose sensing unit, the transilluminated optical signal is converted
into an electrical signal, compared with the reference electrical
signal, and the obtained difference signal is processed by signal
processing unit which presents the results in the form of blood
glucose concentration. This method would enable the monitoring
blood glucose level of the diabetic patient continuously, safely and
noninvasively.
Abstract: Soil stabilization has been widely used to improve
soil strength and durability or to prevent erosion and dust generation.
Generally to reduce problems of clayey soils in engineering work and
to stabilize these soils additional materials are used. The most
common materials are lime, fly ash and cement. Using this materials,
although improve soil property , but in some cases due to financial
problems and the need to use special equipment are limited .One of
the best methods for stabilization clayey soils is neutralization the
clay particles. For this purpose we can use ion exchange materials.
Ion exchange solution like CBR plus can be used for soil
stabilization. One of the most important things in using CBR plus is
determination the amount of this solution for various soils with
different properties. In this study a laboratory experiment is conduct
to evaluate the ion exchange capacity of three soils with various
plasticity index (PI) to determine amount or required CBR plus
solution for soil stabilization.
Abstract: In this communication an expression for mean
velocity of waste flow via an open channel is proposed which
is an improvement over Manning formula. The discharges,
storages and depths are computed at all locations of the Lyari river
by utilizing proposed expression. The results attained through
proposed expression are in good agreement with the observed data
and better than those acquired using Manning formula.