Abstract: In this paper a real-time obstacle avoidance approach
for both autonomous and non-autonomous dynamical systems (DS) is
presented. In this approach the original dynamics of the controller
which allow us to determine safety margin can be modulated.
Different common types of DS increase the robot’s reactiveness in
the face of uncertainty in the localization of the obstacle especially
when robot moves very fast in changeable complex environments.
The method is validated by simulation and influence of different
autonomous and non-autonomous DS such as important
characteristics of limit cycles and unstable DS. Furthermore, the
position of different obstacles in complex environment is explained.
Finally, the verification of avoidance trajectories is described through
different parameters such as safety factor.
Abstract: Recently, increasing the quality of experience (QoE) is
an important issue. Since performance degradation at cell edge
extremely reduces the QoE, several techniques are defined at
LTE/LTE-A standard to remove inter-cell interference (ICI). However,
the conventional techniques have disadvantage because there is a
trade-off between resource allocation and reliable communication.
The proposed scheme reduces the ICI more efficiently by using
channel state information (CSI) smartly. It is shown that the proposed
scheme can reduce the ICI with fewer resources.
Abstract: Wireless mesh networking is rapidly gaining in
popularity with a variety of users: from municipalities to enterprises,
from telecom service providers to public safety and military
organizations. This increasing popularity is based on two basic facts:
ease of deployment and increase in network capacity expressed in
bandwidth per footage; WMNs do not rely on any fixed
infrastructure. Many efforts have been used to maximizing
throughput of the network in a multi-channel multi-radio wireless
mesh network. Current approaches are purely based on either static or
dynamic channel allocation approaches. In this paper, we use a
hybrid multichannel multi radio wireless mesh networking
architecture, where static and dynamic interfaces are built in the
nodes. Dynamic Adaptive Channel Allocation protocol (DACA), it
considers optimization for both throughput and delay in the channel
allocation. The assignment of the channel has been allocated to be codependent
with the routing problem in the wireless mesh network and
that should be based on passage flow on every link. Temporal and
spatial relationship rises to re compute the channel assignment every
time when the pattern changes in mesh network, channel assignment
algorithms assign channels in network. In this paper a computing
path which captures the available path bandwidth is the proposed
information and the proficient routing protocol based on the new path
which provides both static and dynamic links. The consistency
property guarantees that each node makes an appropriate packet
forwarding decision and balancing the control usage of the network,
so that a data packet will traverse through the right path.
Abstract: In this study, we propose a novel technique for acoustic
echo suppression (AES) during speech recognition under barge-in
conditions. Conventional AES methods based on spectral subtraction
apply fixed weights to the estimated echo path transfer function
(EPTF) at the current signal segment and to the EPTF estimated until
the previous time interval. However, the effects of echo path changes
should be considered for eliminating the undesired echoes. We
describe a new approach that adaptively updates weight parameters in
response to abrupt changes in the acoustic environment due to
background noises or double-talk. Furthermore, we devised a voice
activity detector and an initial time-delay estimator for barge-in speech
recognition in communication networks. The initial time delay is
estimated using log-spectral distance measure, as well as
cross-correlation coefficients. The experimental results show that the
developed techniques can be successfully applied in barge-in speech
recognition systems.
Abstract: This paper provides a comparative study on the
performances of standard PID and adaptive PID controllers tested on
travel angle of a 3-Degree-of-Freedom (3-DOF) Quanser bench-top
helicopter. Quanser, a well-known manufacturer of educational
bench-top helicopter has developed Proportional Integration
Derivative (PID) controller with Linear Quadratic Regulator (LQR)
for all travel, pitch and yaw angle of the bench-top helicopter. The
performance of the PID controller is relatively good; however, its
performance could also be improved if the controller is combined
with adaptive element. The objective of this research is to design
adaptive PID controller and then compare the performances of the
adaptive PID with the standard PID. The controller design and test is
focused on travel angle control only. Adaptive method used in this
project is self-tuning controller, which controller’s parameters are
updated online. Two adaptive algorithms those are pole-placement
and deadbeat have been chosen as the method to achieve optimal
controller’s parameters. Performance comparisons have shown that
the adaptive (deadbeat) PID controller has produced more desirable
performance compared to standard PID and adaptive (poleplacement).
The adaptive (deadbeat) PID controller attained very fast
settling time (5 seconds) and very small percentage of overshoot (5%
to 7.5%) for 10° to 30° step change of travel angle.
Abstract: Steganography is the art and science that hides the information in an appropriate cover carrier like image, text, audio and video media. In this work the authors propose a new image based steganographic method for hiding information within the complex bit planes of the image. After slicing into bit planes the cover image is analyzed to extract the most complex planes in decreasing order based on their bit plane complexity. The complexity function next determines the complex noisy blocks of the chosen bit plane and finally pixel mapping method (PMM) has been used to embed secret bits into those regions of the bit plane. The novel approach of using pixel mapping method (PMM) in bit plane domain adaptively embeds data on most complex regions of image, provides high embedding capacity, better imperceptibility and resistance to steganalysis attack.
Abstract: In this paper, Least Mean Square (LMS) adaptive
noise reduction algorithm is proposed to enhance the speech signal
from the noisy speech. In this, the speech signal is enhanced by
varying the step size as the function of the input signal. Objective and
subjective measures are made under various noises for the proposed
and existing algorithms. From the experimental results, it is seen that
the proposed LMS adaptive noise reduction algorithm reduces Mean
square Error (MSE) and Log Spectral Distance (LSD) as compared to
that of the earlier methods under various noise conditions with
different input SNR levels. In addition, the proposed algorithm
increases the Peak Signal to Noise Ratio (PSNR) and Segmental SNR
improvement (ΔSNRseg) values; improves the Mean Opinion Score
(MOS) as compared to that of the various existing LMS adaptive
noise reduction algorithms. From these experimental results, it is
observed that the proposed LMS adaptive noise reduction algorithm
reduces the speech distortion and residual noise as compared to that
of the existing methods.
Abstract: Enterprise Architecture (EA) is a strategy that is
employed by enterprises in order to align their business and
Information Technology (IT). EA is managed, developed, and
maintained through Enterprise Architecture Implementation
Methodology (EAIM). Effectiveness of EA implementation is the
degree in which EA helps to achieve the collective goals of the
organization. This paper analyzes the results of a survey that aims to
explore the factors that affect the effectiveness of EAIM and
specifically the relationship between factors and effectiveness of the
output and functionality of EA project. The exploratory factor
analysis highlights a specific set of five factors: alignment,
adaptiveness, support, binding, and innovation. The regression
analysis shows that there is a statistically significant and positive
relationship between each of the five factors and the effectiveness of
EAIM. Consistent with theory and practice, the most prominent
factor for developing an effective EAIM is innovation. The findings
contribute to the measuring the effectiveness of EA implementation
project by providing an indication of the measurement
implementation approaches which is used by the Enterprise
Architects, and developing an effective EAIM.
Abstract: Sports games conducted as a group are a form of
therapeutic exercise for aged people with decreased strength and for
people suffering from permanent damage of stroke and other
conditions. However, it is difficult for patients with different athletic
abilities to play a game on an equal footing. This study specifically
examines a computer video game designed for therapeutic exercise,
and a game system with support given depending on athletic ability.
Thereby, anyone playing the game can participate equally. This
video-game, to be specific, is a popular variant of balloon volleyball,
in which players hit a balloon by hand before it falls to the floor. In this
game system, each player plays the game watching a monitor on which
the system displays tailor-made video-game images adjusted to the
person’s athletic ability, providing players with player-adaptive assist
support. We have developed a multiplayer game system with an image
generation technique for the tailor-made video-game and conducted
tests to evaluate it.
Abstract: Mammography has been one of the most reliable
methods for early detection of breast cancer. There are different
lesions which are breast cancer characteristic such as
microcalcifications, masses, architectural distortions and bilateral
asymmetry. One of the major challenges of analysing digital
mammogram is how to extract efficient features from it for accurate
cancer classification. In this paper we proposed a hybrid feature
extraction method to detect and classify all four signs of breast
cancer. The proposed method is based on multiscale surrounding
region dependence method, Gabor filters, multi fractal analysis,
directional and morphological analysis. The extracted features are
input to self adaptive resource allocation network (SRAN) classifier
for classification. The validity of our approach is extensively
demonstrated using the two benchmark data sets Mammographic
Image Analysis Society (MIAS) and Digital Database for Screening
Mammograph (DDSM) and the results have been proved to be
progressive.
Abstract: This paper proposes the designing direct adaptive
neural controller to apply for a class of a nonlinear pendulum
dynamic system. The radial basis function (RBF) neural adaptive
controller is robust in presence of external and internal uncertainties.
Both the effectiveness of the controller and robustness against
disturbances are importance of this paper. The simulation results
show the promising performance of the proposed controller.
Abstract: Artificial Immune Systems (AIS), inspired by the
human immune system, are algorithms and mechanisms which are
self-adaptive and self-learning classifiers capable of recognizing and
classifying by learning, long-term memory and association. Unlike
other human system inspired techniques like genetic algorithms and
neural networks, AIS includes a range of algorithms modeling on
different immune mechanism of the body. In this paper, a mechanism
of a human immune system based on apoptosis is adopted to build an
Intrusion Detection System (IDS) to protect computer networks.
Features are selected from network traffic using Fisher Score. Based
on the selected features, the record/connection is classified as either
an attack or normal traffic by the proposed methodology. Simulation
results demonstrates that the proposed AIS based on apoptosis
performs better than existing AIS for intrusion detection.
Abstract: This study is purposed to develop an efficient fault
detection method for Global Navigation Satellite Systems (GNSS)
applications based on adaptive noise covariance estimation. Due to the
dependence on radio frequency signals, GNSS measurements are
dominated by systematic errors in receiver’s operating environment.
In the proposed method, the pseudorange and carrier-phase
measurement noise covariances are obtained at time propagations and
measurement updates in process of Carrier-Smoothed Code (CSC)
filtering, respectively. The test statistics for fault detection are
generated by the estimated measurement noise covariances. To
evaluate the fault detection capability, intentional faults were added to
the filed-collected measurements. The experiment result shows that
the proposed method is efficient in detecting unhealthy measurements
and improves GNSS positioning accuracy against fault occurrences.
Abstract: Apps are today the most important possibility to adapt
mobile phones and computers to fulfill the special needs of their
users. Location- and context-sensitive programs are hereby the key to
support the interaction of the user with his/her environment and also
to avoid an overload with a plenty of dispensable information. The
contribution shows, how a trusted, secure and really bi-directional
communication and interaction among users and their environment
can be established and used, e.g. in the field of home automation.
Abstract: The systematic evaluation of manufacturing
technologies with regard to the potential for product designing
constitutes a major challenge. Until now, conventional evaluation
methods primarily consider the costs of manufacturing technologies.
Thus, the potential of manufacturing technologies for achieving
additional product design features is not completely captured. To
compensate this deficit, final evaluations of new technologies are
mainly intuitive in practice. Therefore, an additional evaluation
dimension is needed which takes the potential of manufacturing
technologies for specific realizable product designs into account. In
this paper, we present the approach of an evaluation method for
selecting manufacturing technologies with regard to their potential
for product designing. This research is done within the Fraunhofer
innovation cluster »AdaM« (Adaptive Manufacturing) which targets
the development of resource efficient and adaptive manufacturing
technology processes for complex turbomachinery components.
Abstract: Different order modulations combined with different
coding schemes, allow sending more bits per symbol, thus achieving
higher throughputs and better spectral efficiencies. However, it must
also be noted that when using a modulation technique such as 64-
QAM with less overhead bits, better signal-to-noise ratios (SNRs) are
needed to overcome any Inter symbol Interference (ISI) and maintain
a certain bit error ratio (BER). The use of adaptive modulation allows
wireless technologies to yielding higher throughputs while also
covering long distances. The aim of this paper is to implement an
Adaptive Modulation and Coding (AMC) features of the WiMAX
PHY in MATLAB and to analyze the performance of the system in
different channel conditions (AWGN, Rayleigh and Rician fading
channel) with channel estimation and blind equalization. Simulation
results have demonstrated that the increment in modulation order
causes to increment in throughput and BER values. These results
derived a trade-off among modulation order, FFT length, throughput,
BER value and spectral efficiency. The BER changes gradually for
AWGN channel and arbitrarily for Rayleigh and Rician fade
channels.
Abstract: In this study, a comparative analysis of the approaches
associated with the use of neural network algorithms for effective
solution of a complex inverse problem – the problem of identifying
and determining the individual concentrations of inorganic salts in
multicomponent aqueous solutions by the spectra of Raman
scattering of light – is performed. It is shown that application of
artificial neural networks provides the average accuracy of
determination of concentration of each salt no worse than 0.025 M.
The results of comparative analysis of input data compression
methods are presented. It is demonstrated that use of uniform
aggregation of input features allows decreasing the error of
determination of individual concentrations of components by 16-18%
on the average.
Abstract: In this paper, an edge-strength guided multiscale
retinex (EGMSR) approach will be proposed for color image contrast
enhancement. In EGMSR, the pixel-dependent weight associated with
each pixel in the single scale retinex output image is computed
according to the edge strength around this pixel in order to prevent
from over-enhancing the noises contained in the smooth dark/bright
regions. Further, by fusing together the enhanced results of EGMSR
and adaptive multiscale retinex (AMSR), we can get a natural fused
image having high contrast and proper tonal rendition. Experimental
results on several low-contrast images have shown that our proposed
approach can produce natural and appealing enhanced images.
Abstract: Recently GPS data is used in a lot of studies to
automatically reconstruct travel patterns for trip survey. The aim is to
minimize the use of questionnaire surveys and travel diaries so as to
reduce their negative effects. In this paper data acquired from GPS and
accelerometer embedded in smart phones is utilized to predict the
mode of transportation used by the phone carrier. For prediction,
Support Vector Machine (SVM) and Adaptive boosting (AdaBoost)
are employed. Moreover a unique method to improve the prediction
results from these algorithms is also proposed. Results suggest that the
prediction accuracy of AdaBoost after improvement is relatively better
than the rest.
Abstract: Control of a semi-batch polymerization reactor using
an adaptive radial basis function (RBF) neural network method is
investigated in this paper. A neural network inverse model is used to
estimate the valve position of the reactor; this method can identify the
controlled system with the RBF neural network identifier. The
weights of the adaptive PID controller are timely adjusted based on
the identification of the plant and self-learning capability of RBFNN.
A PID controller is used in the feedback control to regulate the actual
temperature by compensating the neural network inverse model
output. Simulation results show that the proposed control has strong
adaptability, robustness and satisfactory control performance and the
nonlinear system is achieved.