Abstract: This paper reports on a receding horizon filtering for
mobile robot systems with cross-correlated sensor noises and
uncertainties. Also, the effect of uncertain parameters in the state of
the tracking error model performance is considered. A distributed
fusion receding horizon filter is proposed. The distributed fusion
filtering algorithm represents the optimal linear combination of the
local filters under the minimum mean square error criterion. The
derivation of the error cross-covariances between the local receding
horizon filters is the key of this paper. Simulation results of the
tracking mobile robot-s motion demonstrate high accuracy and
computational efficiency of the distributed fusion receding horizon
filter.
Abstract: This paper presents the application of a signal intensity independent registration criterion for non-rigid body registration of medical images. The criterion is defined as the weighted ratio image of two images. The ratio is computed on a voxel per voxel basis and weighting is performed by setting the ratios between signal and background voxels to a standard high value. The mean squared value of the weighted ratio is computed over the union of the signal areas of the two images and it is minimized using the Chebyshev polynomial approximation. The geometric transformation model adopted is a local cubic B-splines based model.
Abstract: The sand production problem has led researchers into making various attempts to understand the phenomenon. The generally accepted concept is that the occurrence of sanding is due to the in-situ stress conditions and the induced changes in stress that results in the failure of the reservoir sandstone during hydrocarbon production from wellbores. By using a hypothetical cased (perforated) well, an approach to the problem is presented here by using Finite Element numerical modelling techniques. In addition to the examination of the erosion problem, the influence of certain key parameters is studied in order to ascertain their effect on the failure and subsequent erosion process. The major variables investigated include: drawdown, perforation depth, and the erosion criterion. Also included is the determination of the optimal mud pressure for given operational and reservoir conditions. The improved understanding between parameters enables the choice of optimal values to minimize sanding during oil production.
Abstract: In this paper, we use a one-step iteration scheme to approximate common fixed points of two quasi-asymptotically nonexpansive mappings. We prove weak and strong convergence theorems in a uniformly convex Banach space. Our results generalize the corresponding results of Yao and Chen [15] to a wider class of mappings while extend those of Khan, Abbas and Khan [4] to an improved one-step iteration scheme without any condition and improve upon many others in the literature.
Abstract: The aeration process via injectors is used to combat
the lack of oxygen in lakes due to eutrophication. A 3D numerical
simulation of the resulting flow using a simplified model is presented.
In order to generate the best dynamic in the fluid with respect to
the aeration purpose, the optimization of the injectors location is
considered. We propose to adapt to this problem the topological
sensitivity analysis method which gives the variation of a criterion
with respect to the creation of a small hole in the domain. The main
idea is to derive the topological sensitivity analysis of the physical
model with respect to the insertion of an injector in the fluid flow
domain. We propose in this work a topological optimization algorithm
based on the studied asymptotic expansion. Finally we present some
numerical results, showing the efficiency of our approach
Abstract: The Chinese Postman Problem (CPP) is one of the
classical problems in graph theory and is applicable in a wide range
of fields. With the rapid development of hybrid systems and model
based testing, Chinese Postman Problem with Time Dependent Travel
Times (CPPTDT) becomes more realistic than the classical problems.
In the literature, we have proposed the first integer programming
formulation for the CPPTDT problem, namely, circuit formulation,
based on which some polyhedral results are investigated and a cutting
plane algorithm is also designed. However, there exists a main drawback:
the circuit formulation is only available for solving the special
instances with all circuits passing through the origin. Therefore, this
paper proposes a new integer programming formulation for solving
all the general instances of CPPTDT. Moreover, the size of the circuit
formulation is too large, which is reduced dramatically here. Thus, it
is possible to design more efficient algorithm for solving the CPPTDT
in the future research.
Abstract: This is a study on numerical simulation of the convection-diffusion transport of a chemical species in steady flow through a small-diameter tube, which is lined with a very thin layer made up of retentive and absorptive materials. The species may be subject to a first-order kinetic reversible phase exchange with the wall material and irreversible absorption into the tube wall. Owing to the velocity shear across the tube section, the chemical species may spread out axially along the tube at a rate much larger than that given by the molecular diffusion; this process is known as dispersion. While the long-time dispersion behavior, well described by the Taylor model, has been extensively studied in the literature, the early development of the dispersion process is by contrast much less investigated. By early development, that means a span of time, after the release of the chemical into the flow, that is shorter than or comparable to the diffusion time scale across the tube section. To understand the early development of the dispersion, the governing equations along with the reactive boundary conditions are solved numerically using the Flux Corrected Transport Algorithm (FCTA). The computation has enabled us to investigate the combined effects on the early development of the dispersion coefficient due to the reversible and irreversible wall reactions. One of the results is shown that the dispersion coefficient may approach its steady-state limit in a short time under the following conditions: (i) a high value of Damkohler number (say Da ≥ 10); (ii) a small but non-zero value of absorption rate (say Γ* ≤ 0.5).
Abstract: Computed tomography and laminography are heavily investigated in a compressive sensing based image reconstruction framework to reduce the dose to the patients as well as to the radiosensitive devices such as multilayer microelectronic circuit boards. Nowadays researchers are actively working on optimizing the compressive sensing based iterative image reconstruction algorithm to obtain better quality images. However, the effects of the sampled data’s properties on reconstructed the image’s quality, particularly in an insufficient sampled data conditions have not been explored in computed laminography. In this paper, we investigated the effects of two data properties i.e. sampling density and data incoherence on the reconstructed image obtained by conventional computed laminography and a recently proposed method called spherical sinusoidal scanning scheme. We have found that in a compressive sensing based image reconstruction framework, the image quality mainly depends upon the data incoherence when the data is uniformly sampled.
Abstract: In the context of channel coding, the Generalized Belief Propagation (GBP) is an iterative algorithm used to recover the transmission bits sent through a noisy channel. To ensure a reliable transmission, we apply a map on the bits, that is called a code. This code induces artificial correlations between the bits to send, and it can be modeled by a graph whose nodes are the bits and the edges are the correlations. This graph, called Tanner graph, is used for most of the decoding algorithms like Belief Propagation or Gallager-B. The GBP is based on a non unic transformation of the Tanner graph into a so called region-graph. A clear advantage of the GBP over the other algorithms is the freedom in the construction of this graph. In this article, we explain a particular construction for specific graph topologies that involves relevant performance of the GBP. Moreover, we investigate the behavior of the GBP considered as a dynamic system in order to understand the way it evolves in terms of the time and in terms of the noise power of the channel. To this end we make use of classical measures and we introduce a new measure called the hyperspheres method that enables to know the size of the attractors.
Abstract: Truss spars are used for oil exploitation in deep and ultra-deep water if storage crude oil is not needed. The linear hydrodynamic analysis of truss spar in random sea wave load is necessary for determining the behaviour of truss spar. This understanding is not only important for design of the mooring lines, but also for optimising the truss spar design. In this paper linear hydrodynamic analysis of truss spar is carried out in frequency domain. The hydrodynamic forces are calculated using the modified Morison equation and diffraction theory. Added mass and drag coefficients of truss section computed by transmission matrix and normal acceleration and velocity component acting on each element and for hull section computed by strip theory. The stiffness properties of the truss spar can be separated into two components; hydrostatic stiffness and mooring line stiffness. Then, platform response amplitudes obtained by solved the equation of motion. This equation is non-linear due to viscous damping term therefore linearised by iteration method [1]. Finally computed RAOs and significant response amplitude and results are compared with experimental data.
Abstract: Much has been written about the difficulties students
have with producing traditional dissertations. This includes both
native English speakers (L1) and students with English as a second
language (L2). The main emphasis of these papers has been on the
structure of the dissertation, but in all cases, even when electronic
versions are discussed, the dissertation is still in what most would
regard as a traditional written form.
Master of Science Degrees in computing disciplines require
students to gain technical proficiency and apply their knowledge to a
range of scenarios. The basis of this paper is that if a dissertation is a
means of showing that such a student has met the criteria for a pass,
which should be based on the learning outcomes of the dissertation
module, does meeting those outcomes require a student to
demonstrate their skills in a solely text based form, particularly in a
highly technical research project? Could it be possible for a student
to produce a series of related artifacts which form a cohesive package
that meets the learning out comes of the dissertation?
Abstract: The purpose of this study is to investigate the influence of breaststroke swimming exercise to improving the peak expiratory flow. Methode: This study used 17 students of men aged 19-21 years, APE values measured before and after the study. Style swimming workout done in accordance with a program that has been made. Result: Value of peak expiratory flow in male students obtained on average before exercise (530 ± 15 811) liters / min and after doing the exercises (540.59 ± 17 092) liters / minute. Paired ttest showed t = -6.446 and p = 0.000, which means there are differences in peak expiratory flow values before and after exercise swimming breaststroke. Conclusion: The conclusion is the breaststroke swimming exercise can be improving of peak expiratory flow.
Abstract: Transliteration is frequently used especially in writing geographic denominations, personal names (onyms) etc. Proper names (onyms) of all languages must sound similarly in translated works as well as in scientific projects and works written in mother tongue, because we can get introduced with the nation, its history, culture, traditions and other spiritual values through the onyms of that nation. Therefore it is necessary to systematize the different transliterations of onyms of foreign languages. This paper is dedicated to the problem of making the project of transliterating Kazakh onyms into Arabic. In order to achieve this goal we use scientific or practical types of transliteration. Because in this type of transliteration provides easy reading writing source language's texts in the target language without any diacritical symbols, it is limited by the target language's alphabetic system.
Abstract: RoboCup Rescue simulation as a large-scale Multi
agent system (MAS) is one of the challenging environments for
keeping coordination between agents to achieve the objectives
despite sensing and communication limitations. The dynamicity of
the environment and intensive dependency between actions of
different kinds of agents make the problem more complex. This point
encouraged us to use learning-based methods to adapt our decision
making to different situations. Our approach is utilizing
reinforcement leaning. Using learning in rescue simulation is one of
the current ways which has been the subject of several researches in
recent years. In this paper we present an innovative learning method
implemented for Police Force (PF) Agent. This method can cope
with the main difficulties that exist in other learning approaches.
Different methods used in the literature have been examined. Their
drawbacks and possible improvements have led us to the method
proposed in this paper which is fast and accurate. The Brain
Emotional Learning Based Intelligent Controller (BELBIC) is our
solution for learning in this environment. BELBIC is a
physiologically motivated approach based on a computational model
of amygdale and limbic system. The paper presents the results
obtained by the proposed approach, showing the power of BELBIC
as a decision making tool in complex and dynamic situation.
Abstract: The analysis is mainly concentrating on the knowledge
management literatures productivity trend which subjects as
“knowledge management" in SSCI database. The purpose what the
analysis will propose is to summarize the trend information for
knowledge management researchers since core knowledge will be
concentrated in core categories. The result indicated that the literature
productivity which topic as “knowledge management" is still
increasing extremely and will demonstrate the trend by different
categories including author, country/territory, institution name,
document type, language, publication year, and subject area. Focus on
the right categories, you will catch the core research information. This
implies that the phenomenon "success breeds success" is more
common in higher quality publications.
Abstract: Set covering problem is a classical problem in
computer science and complexity theory. It has many applications,
such as airline crew scheduling problem, facilities location problem,
vehicle routing, assignment problem, etc. In this paper, three
different techniques are applied to solve set covering problem.
Firstly, a mathematical model of set covering problem is introduced
and solved by using optimization solver, LINGO. Secondly, the
Genetic Algorithm Toolbox available in MATLAB is used to solve
set covering problem. And lastly, an ant colony optimization method
is programmed in MATLAB programming language. Results
obtained from these methods are presented in tables. In order to
assess the performance of the techniques used in this project, the
benchmark problems available in open literature are used.
Abstract: This paper presents work characterizing finite element
performance boundaries within which live, interactive finite element
modeling is feasible on current and emerging systems. These results
are based on wide-ranging tests performed using a prototype finite
element program implemented specifically for this study, thereby enabling
the unified investigation of numerous direct and iterative solver
strategies and implementations in a variety of modeling contexts.
The results are intended to be useful for researchers interested in
interactive analysis by providing baseline performance estimates, to
give guidance in matching solution strategies to problem domains,
and to spur further work addressing the challenge of extending the
present boundaries.
Abstract: Group key management is an important functional
building block for any secure multicast architecture.
Thereby, it has been extensively studied in the literature.
In this paper we present relevant group key management
protocols. Then, we compare them against some pertinent
performance criteria.
Abstract: The modern world is experiencing fundamental and dynamic changes. The transformation of international relations; the end of confrontation and successive overcoming of the Cold War consequences have expanded possible international cooperation. The global nuclear conflict threat has been minimized, while a tendency to establish a unipolar world structure with the U.S. economic and power domination is growing. The current world system of international relations, apparently is secular. However, the religious beliefs of one or another nations play a certain (sometimes a key) role, both in the domestic affairs of the individual countries and in the development of bilateral ties. Political situation in Central Asia has been characterized by new factors such as international terrorism; religious extremism and radicalism; narcotrafficking and illicit arms trade of a global character immediately threaten to peace and political stability in Central Asia. The role and influence of Islamic fundamentalism is increasing; political ethnocentrism and the associated aggravation of inter-ethnic relations, the ambiguity of national interests and objectives of major geo-political groups in the Central Asian region regarding the division the political influence, emerge. This article approaches the following issues: the role of Islam in Central Asia; destabilizing factors in Central Asia; Islamic movements in Central Asia, Western Europe and the United States; the United States, Western Europe and Central Asia: religion, politics, ideology, and the US-Central Asia antiterrorism and religious extremism cooperation.
Abstract: Wireless capsule endoscopy provides real-time images in the digestive tract. Capsule images are usually low resolution and are diverse images due to travel through various regions of human body. Color information has been a primary reference in predicting abnormalities such as bleeding. Often color is not sufficient for this purpose. In this study, we took morphological shapes into account as additional, but important criterion. First, we processed gastric images in order to indentify various objects in the image. Then, we analyzed color information in the object. In this way, we could remove unnecessary information and increase the accuracy. Compared to our previous investigations, we could handle images of various degrees of brightness and improve our diagnostic algorithm.