Abstract: In this paper, a new method of information fusion – DSmT (Dezert and Smarandache Theory) is introduced to apply to managing and dealing with the uncertain information from robot map building. Here we build grid map form sonar sensors and laser range finder (LRF). The uncertainty mainly comes from sonar sensors and LRF. Aiming to the uncertainty in static environment, we propose Classic DSm (DSmC) model for sonar sensors and laser range finder, and construct the general basic belief assignment function (gbbaf) respectively. Generally speaking, the evidence sources are unreliable in physical system, so we must consider the discounting theory before we apply DSmT. At last, Pioneer II mobile robot serves as a simulation experimental platform. We build 3D grid map of belief layout, then mainly compare the effect of building map using DSmT and DST. Through this simulation experiment, it proves that DSmT is very successful and valid, especially in dealing with highly conflicting information. In short, this study not only finds a new method for building map under static environment, but also supplies with a theory foundation for us to further apply Hybrid DSmT (DSmH) to dynamic unknown environment and multi-robots- building map together.
Abstract: The paper provides a discussion of the most relevant
aspects of yield curve modeling. Two classes of models are
considered: stochastic and parsimonious function based, through the
approaches developed by Vasicek (1977) and Nelson and Siegel
(1987). Yield curve estimates for Croatia are presented and their
dynamics analyzed and finally, a comparative analysis of models is
conducted.
Abstract: This paper presents a method of model selection and
identification of Hammerstein systems by hybridization of the genetic
algorithm (GA) and particle swarm optimization (PSO). An unknown
nonlinear static part to be estimated is approximately represented
by an automatic choosing function (ACF) model. The weighting
parameters of the ACF and the system parameters of the linear
dynamic part are estimated by the linear least-squares method. On
the other hand, the adjusting parameters of the ACF model structure
are properly selected by the hybrid algorithm of the GA and PSO,
where the Akaike information criterion is utilized as the evaluation
value function. Simulation results are shown to demonstrate the
effectiveness of the proposed hybrid algorithm.
Abstract: This paper reports work done to improve the modeling of complex processes when only small experimental data sets are available. Neural networks are used to capture the nonlinear underlying phenomena contained in the data set and to partly eliminate the burden of having to specify completely the structure of the model. Two different types of neural networks were used for the application of Pulping of Sugar Maple problem. A three layer feed forward neural networks, using the Preconditioned Conjugate Gradient (PCG) methods were used in this investigation. Preconditioning is a method to improve convergence by lowering the condition number and increasing the eigenvalues clustering. The idea is to solve the modified problem where M is a positive-definite preconditioner that is closely related to A. We mainly focused on Preconditioned Conjugate Gradient- based training methods which originated from optimization theory, namely Preconditioned Conjugate Gradient with Fletcher-Reeves Update (PCGF), Preconditioned Conjugate Gradient with Polak-Ribiere Update (PCGP) and Preconditioned Conjugate Gradient with Powell-Beale Restarts (PCGB). The behavior of the PCG methods in the simulations proved to be robust against phenomenon such as oscillations due to large step size.
Abstract: Experimental liquid-liquid equilibra of butan-2-ol -
ethanol -water; pentan-1-ol - ethanol - water and toluene - acetone -
water ternary systems were investigated at (25oC). The reliability of
the experimental tie-line data was ascertained by using Othmer-Tobias
and Hand plots. The distribution coefficients (D) and separation
factors (S) of the immiscibility region were evaluated for the three
systems.
Abstract: Natural frequencies and dynamic response of a spur
gear sector are investigated using a two dimensional finite element
model that offers significant advantages for dynamic gear analyses.
The gear teeth are analyzed for different operating speeds. A primary
feature of this modeling is determination of mesh forces using a
detailed contact analysis for each time step as the gears roll through
the mesh. ANSYS software has been used on the proposed model to
find the natural frequencies by Block Lanczos technique and
displacements and dynamic stresses by transient mode super position
method. The effect of rotational speed of the gear on the dynamic
response of gear tooth has been studied and design limits have been
discussed.
Abstract: With the advent of digital cinema and digital
broadcasting, copyright protection of video data has been one of the
most important issues.
We present a novel method of watermarking for video image data
based on the hardware and digital wavelet transform techniques and
name it as “traceable watermarking" because the watermarked data is
constructed before the transmission process and traced after it has been
received by an authorized user.
In our method, we embed the watermark to the lowest part of each
image frame in decoded video by using a hardware LSI.
Digital Cinema is an important application for traceable
watermarking since digital cinema system makes use of watermarking
technology during content encoding, encryption, transmission,
decoding and all the intermediate process to be done in digital cinema
systems. The watermark is embedded into the randomly selected
movie frames using hash functions.
Embedded watermark information can be extracted from the
decoded video data. For that, there is no need to access original movie
data. Our experimental results show that proposed traceable
watermarking method for digital cinema system is much better than the
convenient watermarking techniques in terms of robustness, image
quality, speed, simplicity and robust structure.
Abstract: The new idea of analyze of power system failure with
use of artificial neural network is proposed. An analysis of the
possibility of simulating phenomena accompanying system faults and
restitution is described. It was indicated that the universal model for
the simulation of phenomena in whole analyzed range does not exist.
The main classic method of search of optimal structure and
parameter identification are described shortly. The example with
results of calculation is shown.
Abstract: In this work, several ASP solutions were flooded into
fractured models initially saturated with heavy oil at a constant flow
rate and different geometrical characteristics of fracture. The ASP
solutions are constituted from 2 polymers i.e. a synthetic polymer,
hydrolyzed polyacrylamide as well as a biopolymer, a surfactant and
2types of alkaline. The results showed that using synthetic
hydrolyzed polyacrylamide polymer increases ultimate oil recovery;
however, type of alkaline does not play a significant rule on oil
recovery. In addition, position of the injection well respect to the
fracture system has remarkable effects on ASP flooding. For instance
increasing angle of fractures with mean flow direction causes more
oil recovery and delays breakthrough time. This work can be
accounted as a comprehensive survey on ASP flooding which
considers most of effective factors in this chemical EOR method.
Abstract: In this paper, subtractive clustering based fuzzy inference system approach is used for early detection of faults in the function oriented software systems. This approach has been tested with real time defect datasets of NASA software projects named as PC1 and CM1. Both the code based model and joined model (combination of the requirement and code based metrics) of the datasets are used for training and testing of the proposed approach. The performance of the models is recorded in terms of Accuracy, MAE and RMSE values. The performance of the proposed approach is better in case of Joined Model. As evidenced from the results obtained it can be concluded that Clustering and fuzzy logic together provide a simple yet powerful means to model the earlier detection of faults in the function oriented software systems.
Abstract: In order to improve the effect of isolation structure, the
principles and behaviours of the base-isolation system are studied, and
the types and characteristics of the base-isolation are also discussed.
Compared to the traditional aseismatic structures, the base isolation
structures decrease the seismic response obviously: the total structural
aseismatic value decreases to 1/4-1/32 and the seismic shear stress in
the upper structure decreases to 1/14-1/23. In the huge seism, the
structure can have an obvious aseismatic effect.
Abstract: ELS is an important ground based hardware in the
loop simulator used for aerodynamics torque loading experiments
of the actuators under test. This work focuses on improvement of the
transient response of torque controller with parameters uncertainty
of Electrical Load Simulator (ELS).The parameters of load simulator
are estimated online and the model is updated, eliminating the model
error and improving the steady state torque tracking response of
torque controller. To improve the Transient control performance the
gain of robust term of SMC is updated online using fuzzy logic
system based on the amount of uncertainty in parameters of load
simulator. The states of load simulator which cannot be measured
directly are estimated using luenberger observer with update of new
estimated parameters. The stability of the control scheme is verified
using Lyapunov theorem. The validity of proposed control scheme is
verified using simulations.
Abstract: The paper presents the brief information on particular results of experimental study focused to the problems of behavior of structural plated components made of fiber-cement-based materials and used in building constructions, exposed to atmospheric physical effects given by the weather changes in the summer period. Weather changes represented namely by temperature and rain cause also the changes of the temperature and moisture of the investigated structural components. This can affect their static behavior that means stresses and deformations, which have been monitored as the main outputs of tests performed. Experimental verification is based on the simulation of the influence of temperature and rain using the defined procedure of warming and water sprinkling with respect to the corresponding weather conditions during summer period in the South Moravian region at the Czech Republic, for which the application of these structural components is mainly planned. Two types of components have been tested: (i) glass-fiber-concrete panels used for building façades and (ii) fiber-cement slabs used mainly for claddings, but also as a part of floor structures or lost shuttering, and so on.
Abstract: In this study the adsorption of Cu (II) ions from aqueous solutions on synthetic zeolite NaA was evaluated. The effect of solution temperature and the determination of the kinetic parameters of adsorption of Cu(II) from aqueous solution on zeolite NaA is important in understanding the adsorption mechanism. Variables of the system include adsorption time, temperature (293- 328K), initial solution concentration and pH for the system. The sorption kinetics of the copper ions were found to be strongly dependent on pH (the optimum pH 3-5), solute ion concentration and temperature (293 – 328 K). It was found, the pseudo-second-order model was the best choice among all the kinetic models to describe the adsorption behavior of Cu(II) onto ziolite NaA, suggesting that the adsorption mechanism might be a chemisorptions process The activation energy of adsorption (Ea) was determined as Cu(II) 13.5 kJ mol-1. The low value of Ea shows that Cu(II) adsorption process by zeolite NaA may be an activated chemical adsorption. The thermodynamic parameters (ΔG0, ΔH0, and ΔS0) were also determined from the temperature dependence. The results show that the process of adsorption Cu(II) is spontaneous and endothermic process and rise in temperature favors the adsorption.
Abstract: Static synchronous compensator (STATCOM) is a shunt connected voltage source converter (VSC), which can affect rapid control of reactive flow in the transmission line by controlling the generated a.c. voltage. The main aim of the paper is to design a power system installed with a Static synchronous compensator (STATCOM) and demonstrates the application of the linearised Phillips-heffron model in analyzing the damping effect of the STATCOM to improve power system oscillation stability. The proposed PI controller is designed to coordinate two control inputs: Voltage of the injection bus and capacitor voltage of the STATCOM, to improve the Dynamic stability of a SMIB system .The power oscillations damping (POD) control and power system stabilizer (PSS) and their coordinated action with proposed controllers are tested. The simulation result shows that the proposed damping controllers provide satisfactory performance in terms of improvements of dynamic stability of the system.
Abstract: In this study the regional stability of a rotor system which is supported on rolling bearings with radial clearance is studied. The rotor is assumed to be rigid. Due to radial clearance of bearings and dynamic configuration of system, each rolling elements of bearings has the possibility to be in contact with both of the races (under compression) or lose its contact. As a result, this change in dynamic of the system makes it to be known as switching system which is a type of Hybrid systems. In this investigation by adopting Multiple Lyapunov Function theorem and using Hamiltonian function as a candidate Lyapunov function, the stability of the system is studied. The purpose of this study is to inspect the regional stability of rotor-roller bearing and rotor-ball bearing systems.
Abstract: The wireless adhoc network is comprised of wireless
node which can move freely and are connected among themselves
without central infrastructure. Due to the limited transmission range
of wireless interfaces, in most cases communication has to be relayed
over intermediate nodes. Thus, in such multihop network each node
(also called router) is independent, self-reliant and capable to route
the messages over the dynamic network topology. Various protocols
are reported in this field and it is very difficult to decide the best one.
A key issue in deciding which type of routing protocol is best for
adhoc networks is the communication overhead incurred by the
protocol. In this paper STAR a table driven and DSR on demand
protocols based on IEEE 802.11 are analyzed for their performance
on different performance measuring metrics versus varying traffic
CBR load using QualNet 5.0.2 network simulator.
Abstract: This paper presents design features of a rescue robot, named CEO Mission II. Its body is designed to be the track wheel type with double front flippers for climbing over the collapse and the rough terrain. With 125 cm. long, 5-joint mechanical arm installed on the robot body, it is deployed not only for surveillance from the top view but also easier and faster access to the victims to get their vital signs. Two cameras and sensors for searching vital signs are set up at the tip of the multi-joint mechanical arm. The third camera is at the back of the robot for driving control. Hardware and software of the system, which controls and monitors the rescue robot, are explained. The control system is used for controlling the robot locomotion, the 5-joint mechanical arm, and for turning on/off devices. The monitoring system gathers all information from 7 distance sensors, IR temperature sensors, 3 CCD cameras, voice sensor, robot wheels encoders, yawn/pitch/roll angle sensors, laser range finder and 8 spare A/D inputs. All sensors and controlling data are communicated with a remote control station via IEEE 802.11b Wi-Fi. The audio and video data are compressed and sent via another IEEE 802.11g Wi-Fi transmitter for getting real-time response. At remote control station site, the robot locomotion and the mechanical arm are controlled by joystick. Moreover, the user-friendly GUI control program is developed based on the clicking and dragging method to easily control the movement of the arm. Robot traveling map is plotted from computing the information of wheel encoders and the yawn/pitch data. 2D Obstacle map is plotted from data of the laser range finder. The concept and design of this robot can be adapted to suit many other applications. As the Best Technique awardee from Thailand Rescue Robot Championship 2006, all testing results are satisfied.
Abstract: This paper describes the development of a control
system model using a graphical software tool. This control system is
part of an operator training simulator developed for the National
Training Center for Operators of Ixtapantongo (CNCAOI, acronym
according to its name in Spanish language) of the Mexico-s Federal
Commission of Electricity, CFE). The Department of Simulation of
the Electrical Research Institute (IIE) developed this simulator using
as reference the Unit I of the Combined Cycle Power Plant El Sauz,
located at the centre of Mexico. The first step in the project was the
developing of the Gas Turbine System and its control system
simulator. The Turbo Gas simulator was finished and delivered to
CNCAOI in March 2007 for commercial operation. This simulator is
a high-fidelity real time dynamic simulator built and tested for
accurate operation over the entire load range. The simulator was used
primarily for operator training although it has been used for
procedure development and evaluation of plant transients.
Abstract: Three-dimensional simulation of harmonic up
generation in free electron laser amplifier operating simultaneously
with a cold and relativistic electron beam is presented in steady-state
regime where the slippage of the electromagnetic wave with respect
to the electron beam is ignored. By using slowly varying envelope
approximation and applying the source-dependent expansion to wave
equations, electromagnetic fields are represented in terms of the
Hermit Gaussian modes which are well suited for the planar wiggler
configuration. The electron dynamics is described by the fully threedimensional
Lorentz force equation in presence of the realistic planar
magnetostatic wiggler and electromagnetic fields. A set of coupled
nonlinear first-order differential equations is derived and solved
numerically. The fundamental and third harmonic radiation of the
beam is considered. In addition to uniform beam, prebunched
electron beam has also been studied. For this effect of sinusoidal
distribution of entry times for the electron beam on the evolution of
radiation is compared with uniform distribution. It is shown that
prebunching reduces the saturation length substantially. For
efficiency enhancement the wiggler is set to decrease linearly when
the radiation of the third harmonic saturates. The optimum starting
point of tapering and the slope of radiation in the amplitude of
wiggler are found by successive run of the code.