Abstract: In this paper; we are interested principally in dynamic modelling of quadrotor while taking into account the high-order nonholonomic constraints in order to develop a new control scheme as well as the various physical phenomena, which can influence the dynamics of a flying structure. These permit us to introduce a new state-space representation. After, the use of Backstepping approach for the synthesis of tracking errors and Lyapunov functions, a sliding mode controller is developed in order to ensure Lyapunov stability, the handling of all system nonlinearities and desired tracking trajectories. Finally simulation results are also provided in order to illustrate the performances of the proposed controller.
Abstract: The communication networks development and
advancement during two last decades has been toward a single goal
and that is gradual change from circuit-switched networks to packed
switched ones. Today a lot of networks operates are trying to
transform the public telephone networks to multipurpose packed
switch. This new achievement is generally called "next generation
networks". In fact, the next generation networks enable the operators
to transfer every kind of services (sound, data and video) on a
network. First, in this report the definition, characteristics and next
generation networks services and then ad-hoc networks role in the
next generation networks are studied.
Abstract: An n×n matrix is called an N1 0 -matrix if all principal minors are non-positive and each entry is non-positive. In this paper, we study the partial non-combinatorially symmetric N1 0 -matrix completion problems if the graph of its specified entries is a transitive tournament or a double cycle. In general, these digraphs do not have N1 0 -completion. Therefore, we have given sufficient conditions that guarantee the existence of the N1 0 -completion for these digraphs.
Abstract: This paper presents a supervised clustering algorithm,
namely Grid-Based Supervised Clustering (GBSC), which is able to
identify clusters of any shapes and sizes without presuming any
canonical form for data distribution. The GBSC needs no prespecified
number of clusters, is insensitive to the order of the input
data objects, and is capable of handling outliers. Built on the
combination of grid-based clustering and density-based clustering,
under the assistance of the downward closure property of density
used in bottom-up subspace clustering, the GBSC can notably reduce
its search space to avoid the memory confinement situation during its
execution. On two-dimension synthetic datasets, the GBSC can
identify clusters with different shapes and sizes correctly. The GBSC
also outperforms other five supervised clustering algorithms when
the experiments are performed on some UCI datasets.
Abstract: A reduced order modeling approach for natural
gas transient flow in pipelines is presented. The Euler
equations are considered as the governing equations and
solved numerically using the implicit Steger-Warming flux
vector splitting method. Next, the linearized form of the
equations is derived and the corresponding eigensystem is
obtained. Then, a few dominant flow eigenmodes are used to
construct an efficient reduced-order model. A well-known test
case is presented to demonstrate the accuracy and the
computational efficiency of the proposed method. The results
obtained are in good agreement with those of the direct
numerical method and field data. Moreover, it is shown that
the present reduced-order model is more efficient than the
conventional numerical techniques for transient flow analysis
of natural gas in pipelines.
Abstract: The paper considers a novel modular and intrinsically safe redundant robotic system with biologically inspired actuators (pneumatic artificial muscles and rubber bellows actuators). Similarly to the biological systems, the stiffness of the internal parallel modules, representing 2 DOF joints in the serial robotic chains, is controlled by co-activation of opposing redundant actuator groups in the null-space of the module Jacobian, without influencing the actual robot position. The decoupled position/stiffness control allows the realization of variable joint stiffness according to different force-displacement relationships. The variable joint stiffness, as well as limited pneumatic muscle/bellows force ability, ensures internal system safety that is crucial for development of human-friendly robots intended for human-robot collaboration. The initial experiments with the system prototype demonstrate the capabilities of independently, simultaneously controlling both joint (Cartesian) motion and joint stiffness. The paper also presents the possible industrial applications of snake-like robots built using the new modules.
Abstract: An optimized design of E/O and O/E for access points
of WiMAX RoF was carried out by evaluating RCE. The use of the
DFB-LD, a low input-impedance driving, a low distortion PIN-PD,
and a high gain EPHEMT amplifier is promising the cost-effective
design. For the uplink RoF design, the use of EDFA and EP-HEMT
amplifiers is necessity.
Abstract: Various methods of geofield parameters restoration (by algebraic polynoms; filters; rational fractions; interpolation splines; geostatistical methods – kriging; search methods of nearest points – inverse distance, minimum curvature, local – polynomial interpolation; neural networks) have been analyzed and some possible mistakes arising during geofield surface modeling have been presented.
Abstract: An important step in three-dimensional reconstruction
and computer vision is camera calibration, whose objective is to
estimate the intrinsic and extrinsic parameters of each camera. In this
paper, two linear methods based on the different planes are given. In
both methods, the general plane is used to replace the calibration
object with very good precision. In the first method, after controlling
the camera to undergo five times- translation movements and taking
pictures of the orthogonal planes, a set of linear constraints of the
camera intrinsic parameters is then derived by means of homography
matrix. The second method is to get all camera parameters by taking
only one picture of a given radius circle. experiments on simulated
data and real images,indicate that our method is reasonable and is a
good supplement to camera calibration.
Abstract: In this paper, a robust watermarking algorithm using
the wavelet transform and edge detection is presented. The efficiency
of an image watermarking technique depends on the preservation of
visually significant information. This is attained by embedding the
watermark transparently with the maximum possible strength. The
watermark embedding process is carried over the subband
coefficients that lie on edges, where distortions are less noticeable,
with a subband level dependent strength. Also, the watermark is
embedded to selected coefficients around edges, using a different
scale factor for watermark strength, that are captured by a
morphological dilation operation. The experimental evaluation of the
proposed method shows very good results in terms of robustness and
transparency to various attacks such as median filtering, Gaussian
noise, JPEG compression and geometrical transformations.
Abstract: The health record in the Electronic Health Record
(EHR) system is more sensitive than demographic. It raises the
important issue for the EHR requirement in privacy, security, audit
trail, patient access, and archiving and data retention. The studies
about the EHR system security are deficient. The aim of this study is to
build a security environment for the EHR system by Integrating the
Healthcare Enterprise (IHE) Audit Trail and Node Authentication
Security (ATNA) profile. The CDAs can be access in a secure EHR
environment.
Abstract: This paper presents the results of a preventive maintenance application-based study and modeling of failure rates in breakers of electrical distribution systems. This is a critical issue in the reliability assessment of a system. In the analysis conducted in this paper, the impacts of failure rate variations caused by a preventive maintenance are examined. This is considered as a part of a Reliability Centered Maintenance (RCM) application program. A number of load point reliability indices is derived using the mathematical model of the failure rate, which is established using the observed data in a distribution system.
Abstract: Following the laser ablation studies leading to a
theory of nuclei confinement by a Debye layer mechanism, we
present here numerical evaluations for the known stable nuclei where
the Coulomb repulsion is included as a rather minor component
especially for lager nuclei. In this research paper the required
physical conditions for the formation and stability of nuclei
particularly endothermic nuclei with mass number greater than to
which is an open astrophysical question have been investigated.
Using the Debye layer mechanism, nuclear surface energy, Fermi
energy and coulomb repulsion energy it is possible to find conditions
under which the process of nucleation is permitted in early universe.
Our numerical calculations indicate that about 200 second after the
big bang at temperature of about 100 KeV and subrelativistic region
with nucleon density nearly equal to normal nuclear density namely,
10cm all endothermic and exothermic nuclei have been
formed.
Abstract: Photoplethysmography is a simple measurement of the
variation in blood volume in tissue. It detects the pulse signal of heart
beat as well as the low frequency signal of vasoconstriction and
vasodilation. The transmission type measurement is limited to only a
few specific positions for example the index finger that have a short
path length for light. The reflectance type measurement can be
conveniently applied on most parts of the body surface. This study
analyzed the factors that determine the quality of reflectance
photoplethysmograph signal including the emitter-detector distance,
wavelength, light intensity, and optical properties of skin tissue.
Light emitting diodes (LEDs) with four different visible
wavelengths were used as the light emitters. A phototransistor was
used as the light detector. A micro translation stage adjusts the
emitter-detector distance from 2 mm to 15 mm.
The reflective photoplethysmograph signals were measured on
different sites. The optimal emitter-detector distance was chosen to
have a large dynamic range for low frequency drifting without signal
saturation and a high perfusion index. Among these four wavelengths,
a yellowish green (571nm) light with a proper emitter-detection
distance of 2mm is the most suitable for obtaining a steady and reliable
reflectance photoplethysmograph signal
Abstract: As a part of an evaluation system for R&D programs,
the Korean Government has applied the preliminary feasibility study
to new government R&D program plans. Basically, the fundamental purpose of the preliminary feasibility study is to decide that the
government will either do or do not invest in a new R&D Program. Additionally, the preliminary feasibility study can contribute to the
improvement of R&D program plans. For example, 2 cases of new
R&D program plans applied to the study are explained in this paper and there are expectations that these R&D programs would yield better
performance than without the study. It is thought that the important point of the preliminary feasibility study is not only the effective
decision making process of R&D program but also the opportunity to improve R&D program plan actually.
Abstract: A method based on the power series solution is proposed to solve the natural frequency of flapping vibration for the rotating inclined Euler beam with constant angular velocity. The vibration of the rotating beam is measured from the position of the corresponding steady state axial deformation. In this paper the governing equations for linear vibration of a rotating Euler beam are derived by the d'Alembert principle, the virtual work principle and the consistent linearization of the fully geometrically nonlinear beam theory in a rotating coordinate system. The governing equation for flapping vibration of the rotating inclined Euler beam is linear ordinary differential equation with variable coefficients and is solved by a power series with four independent coefficients. Substituting the power series solution into the corresponding boundary conditions at two end nodes of the rotating beam, a set of homogeneous equations can be obtained. The natural frequencies may be determined by solving the homogeneous equations using the bisection method. Numerical examples are studied to investigate the effect of inclination angle on the natural frequency of flapping vibration for rotating inclined Euler beams with different angular velocity and slenderness ratio.
Abstract: In this paper, the 1-D conduction-radiation problem is solved by the lattice Boltzmann method. The effects of various parameters such as the scattering albedo, the conduction–radiation parameter and the wall emissivity are studied. In order to check on the accuracy of the numerical technique employed for the solution of the considered problem, the present numerical code was validated with the published study. The found results are in good agreement with those published
Abstract: The influences of pulsed electric fields on early
physiological development in Arabidopsis thaliana were studied.
Inside a 4-mm electroporation cuvette, pre-germination seeds were
subjected to high-intensity, nanosecond electrical pulses generated
using laboratory-assembled pulsed electric field system. The field
strength was varied from 5 to 20 kV.cm-1 and the pulse width and the
pulse number were maintained at 10 ns and 100, respectively,
corresponding to the specific treatment energy from 300 J.kg-1 to 4.5
kJ.kg-1. Statistical analyses on the average leaf area 5 and 15 days
following pulsed electric field treatment showed that the effects
appear significant the second week after treatments with a maximum
increase of 80% compared to the control (P < 0.01).
Abstract: A digital system is proposed for low power 100-
channel neural recording system in this paper, which consists of 100
amplifiers, 100 analog-to-digital converters (ADC), digital controller
and baseband, transceiver for data link and RF command link. The
proposed system is designed in a 0.18 μm CMOS process and 65 nm
CMOS process.
Abstract: A Matlab based software for logistic regression is developed to enhance the process of teaching quantitative topics and assist researchers with analyzing wide area of applications where categorical data is involved. The software offers an option of performing stepwise logistic regression to select the most significant predictors. The software includes a feature to detect influential observations in data, and investigates the effect of dropping or misclassifying an observation on a predictor variable. The input data may consist either as a set of individual responses (yes/no) with the predictor variables or as grouped records summarizing various categories for each unique set of predictor variables' values. Graphical displays are used to output various statistical results and to assess the goodness of fit of the logistic regression model. The software recognizes possible convergence constraints when present in data, and the user is notified accordingly.