Abstract: This paper considers the autonomous navigation
problem of multiple n-link nonholonomic mobile manipulators within
an obstacle-ridden environment. We present a set of nonlinear
acceleration controllers, derived from the Lyapunov-based control
scheme, which generates collision-free trajectories of the mobile
manipulators from initial configurations to final configurations in a
constrained environment cluttered with stationary solid objects of
different shapes and sizes. We demonstrate the efficiency of the
control scheme and the resulting acceleration controllers of the
mobile manipulators with results through computer simulations of an
interesting scenario.
Abstract: Un-doped GaN film of thickness 1.90 mm, grown on
sapphire substrate were uniformly implanted with 325 keV Mn+ ions
for various fluences varying from 1.75 x 1015 - 2.0 x 1016 ions cm-2 at
3500 C substrate temperature. The structural, morphological and
magnetic properties of Mn ion implanted gallium nitride samples
were studied using XRD, AFM and SQUID techniques. XRD of the
sample implanted with various ion fluences showed the presence of
different magnetic phases of Ga3Mn, Ga0.6Mn0.4 and Mn4N.
However, the compositions of these phases were found to be
depended on the ion fluence. AFM images of non-implanted sample
showed micrograph with rms surface roughness 2.17 nm. Whereas
samples implanted with the various fluences showed the presence of
nano clusters on the surface of GaN. The shape, size and density of
the clusters were found to vary with respect to ion fluence. Magnetic
moment versus applied field curves of the samples implanted with
various fluences exhibit the hysteresis loops. The Curie temperature
estimated from zero field cooled and field cooled curves for the
samples implanted with the fluence of 1.75 x 1015, 1.5 x 1016 and 2.0
x 1016 ions cm-2 was found to be 309 K, 342 K and 350 K
respectively.
Abstract: A neurofuzzy approach for a given set of input-output training data is proposed in two phases. Firstly, the data set is partitioned automatically into a set of clusters. Then a fuzzy if-then rule is extracted from each cluster to form a fuzzy rule base. Secondly, a fuzzy neural network is constructed accordingly and parameters are tuned to increase the precision of the fuzzy rule base. This network is able to learn and optimize the rule base of a Sugeno like Fuzzy inference system using Hybrid learning algorithm, which combines gradient descent, and least mean square algorithm. This proposed neurofuzzy system has the advantage of determining the number of rules automatically and also reduce the number of rules, decrease computational time, learns faster and consumes less memory. The authors also investigate that how neurofuzzy techniques can be applied in the area of control theory to design a fuzzy controller for linear and nonlinear dynamic systems modelling from a set of input/output data. The simulation analysis on a wide range of processes, to identify nonlinear components on-linely in a control system and a benchmark problem involving the prediction of a chaotic time series is carried out. Furthermore, the well-known examples of linear and nonlinear systems are also simulated under the Matlab/Simulink environment. The above combination is also illustrated in modeling the relationship between automobile trips and demographic factors.
Abstract: The mechanical properties of granular solids are
dependent on the flow of stresses from one particle to another
through inter-particle contact. Although some experimental methods
have been used to study the inter-particle contacts in the past,
preliminary work with these techniques indicated that they do not
have the necessary resolution to distinguish between those contacts
that transmit the load and those that do not, especially for systems
with a wide distribution of particle sizes. In this research, computer
simulations are used to study the nature and distribution of contacts
in a compact with wide particle size distribution, representative of
aggregate size distribution used in asphalt pavement construction.
The packing fraction, the mean number of contacts and the
distribution of contacts were studied for different scenarios. A
methodology to distinguish and compute the fraction of load-bearing
particles and the fraction of space-filling particles (particles that do
not transmit any force) is needed for further investigation.
Abstract: A numerical study is presented on buckling and post
buckling behaviour of laminated carbon fiber reinforced plastic
(CFRP) thin-walled cylindrical shells under axial compression using
asymmetric meshing technique (AMT). Asymmetric meshing
technique is a perturbation technique to introduce disturbance without
changing geometry, boundary conditions or loading conditions.
Asymmetric meshing affects predicted buckling load, buckling mode
shape and post-buckling behaviour. Linear (eigenvalue) and nonlinear
(Riks) analyses have been performed to study the effect of
asymmetric meshing in the form of a patch on buckling behaviour.
The reduction in the buckling load using Asymmetric meshing
technique was observed to be about 15%. An isolated dimple formed
near the bifurcation point and the size of which increased to reach a
stable state in the post-buckling region. The load-displacement curve
behaviour applying asymmetric meshing is quite similar to the curve
obtained using initial geometric imperfection in the shell model.
Abstract: It has been established that microRNAs (miRNAs) play
an important role in gene expression by post-transcriptional regulation
of messengerRNAs (mRNAs). However, the precise relationships
between microRNAs and their target genes in sense of numbers,
types and biological relevance remain largely unclear. Dissecting the
miRNA-target relationships will render more insights for miRNA
targets identification and validation therefore promote the understanding
of miRNA function. In miRBase, miRanda is the key
algorithm used for target prediction for Zebrafish. This algorithm
is high-throughput but brings lots of false positives (noise). Since
validation of a large scale of targets through laboratory experiments
is very time consuming, several computational methods for miRNA
targets validation should be developed. In this paper, we present an
integrative method to investigate several aspects of the relationships
between miRNAs and their targets with the final purpose of extracting
high confident targets from miRanda predicted targets pool. This is
achieved by using the techniques ranging from statistical tests to
clustering and association rules. Our research focuses on Zebrafish.
It was found that validated targets do not necessarily associate with
the highest sequence matching. Besides, for some miRNA families,
the frequency of their predicted targets is significantly higher in the
genomic region nearby their own physical location. Finally, in a case
study of dre-miR-10 and dre-miR-196, it was found that the predicted
target genes hoxd13a, hoxd11a, hoxd10a and hoxc4a of dre-miR-
10 while hoxa9a, hoxc8a and hoxa13a of dre-miR-196 have similar
characteristics as validated target genes and therefore represent high
confidence target candidates.
Abstract: Load forecasting has become in recent years one of the major areas of research in electrical engineering. Most traditional forecasting models and artificial intelligence neural network techniques have been tried out in this task. Artificial neural networks (ANN) have lately received much attention, and a great number of papers have reported successful experiments and practical tests. This article presents the development of an ANN-based short-term load forecasting model with improved generalization technique for the Regional Power Control Center of Saudi Electricity Company, Western Operation Area (SEC-WOA). The proposed ANN is trained with weather-related data and historical electric load-related data using the data from the calendar years 2001, 2002, 2003, and 2004 for training. The model tested for one week at five different seasons, typically, winter, spring, summer, Ramadan and fall seasons, and the mean absolute average error for one hour-ahead load forecasting found 1.12%.
Abstract: In the multi objective optimization, in the case when generated set of Pareto optimal solutions is large, occurs the problem to select of the best solution from this set. In this paper, is suggested a method to order of Pareto set. Ordering the Pareto optimal set carried out in conformity with the introduced distance function between each solution and selected reference point, where the reference point may be adjusted to represent the preferences of a decision making agent. Preference information about objective weights from a decision maker may be expressed imprecisely. The developed elicitation procedure provides an opportunity to obtain surrogate numerical weights for the objectives, and thus, to manage impreciseness of preference. The proposed method is a scalable to many objectives and can be used independently or as complementary to the various visualization techniques in the multidimensional case.
Abstract: In this paper, we present a system for content-based
retrieval of large database of classified satellite images, based on
user's relevance feedback (RF).Through our proposed system, we
divide each satellite image scene into small subimages, which stored
in the database. The modified radial basis functions neural network
has important role in clustering the subimages of database according
to the Euclidean distance between the query feature vector and the
other subimages feature vectors. The advantage of using RF
technique in such queries is demonstrated by analyzing the database
retrieval results.
Abstract: The paper proposes a novel technique for iris
recognition using texture and phase features. Texture features are
extracted on the normalized iris strip using Haar Wavelet while phase
features are obtained using LOG Gabor Wavelet. The matching
scores generated from individual modules are combined using sum of
score technique. The system is tested on database obtained from Bath
University and Indian Institute of Technology Kanpur and is giving
an accuracy of 95.62% and 97.66% respectively. The FAR and FRR
of the combined system is also reduced comparatively.
Abstract: This paper describes the design and fabrication of a clock and data recovery circuit (CDR). We propose a new clock and data recovery which is based on a 1/4-rate frequency detector (QRFD). The proposed frequency detector helps reduce the VCO frequency and is thus advantageous for high speed application. The proposed frequency detector can achieve low jitter operation and extend the pull-in range without using the reference clock. The proposed CDR was implemented using a 1/4-rate bang-bang type phase detector (PD) and a ring voltage controlled oscillator (VCO). The CDR circuit has been fabricated in a standard 0.18 CMOS technology. It occupies an active area of 1 x 1 and consumes 90 mW from a single 1.8V supply.
Abstract: The Bayesian Optimization Algorithm (BOA) is an algorithm based on the estimation of distributions. It uses techniques from modeling data by Bayesian networks to estimating the joint distribution of promising solutions. To obtain the structure of Bayesian network, different search algorithms can be used. The key point that BOA addresses is whether the constructed Bayesian network could generate new and useful solutions (strings), which could lead the algorithm in the right direction to solve the problem. Undoubtedly, this ability is a crucial factor of the efficiency of BOA. Varied search algorithms can be used in BOA, but their performances are different. For choosing better ones, certain suitable method to present their ability difference is needed. In this paper, a greedy search algorithm and a stochastic search algorithm are used in BOA to solve certain optimization problem. A method using Kullback-Leibler (KL) Divergence to reflect their difference is described.
Abstract: Malware is software which was invented and meant for doing harms on computers. Malware is becoming a significant threat in computer network nowadays. Malware attack is not just only involving financial lost but it can also cause fatal errors which may cost lives in some cases. As new Internet Protocol version 6 (IPv6) emerged, many people believe this protocol could solve most malware propagation issues due to its broader addressing scheme. As IPv6 is still new compares to native IPv4, some transition mechanisms have been introduced to promote smoother migration. Unfortunately, these transition mechanisms allow some malwares to propagate its attack from IPv4 to IPv6 network environment. In this paper, a proof of concept shall be presented in order to show that some existing IPv4 malware detection technique need to be improvised in order to detect malware attack in dual-stack network more efficiently. A testbed of dual-stack network environment has been deployed and some genuine malware have been released to observe their behaviors. The results between these different scenarios will be analyzed and discussed further in term of their behaviors and propagation methods. The results show that malware behave differently on IPv6 from the IPv4 network protocol on the dual-stack network environment. A new detection technique is called for in order to cater this problem in the near future.
Abstract: The major urban centers are all facing rapid growth is
most often associated with spreading urbanization, social status of the
car has also changed: it has become a commodity of mass
consumption. There are currently about 5 million and 260 cars in
Algeria (2008), this number increases every year 200,000 new cars.
These phenomena induce a demand for greater mobility and a
significant need for transport infrastructure. Faced with these
problems and development of the growing use of the automobile,
central governments and local authorities in charge of urban transport
issues are aware of the need to develop their urban transport systems
but often lack opportunities.
Urban Transport Plans (PDU) were born in reaction to the "culture
of automobile." Their existence in the world the '80s, however, they
had little success before laws on air and rational use of energy in 90
years does not alter substantially their content and make mandatory
their implementation in cities of over 100,000 inhabitants (Abroad)
[1].
The objective of this work is to use the tool and specifically
Geomatics techniques as decision support in the organization and
management of travel while taking into consideration the influence,
which will then translate by National Urban Transport Plan.
Abstract: This paper discusses the classification process for medical data. In this paper, we use the data from ACM KDDCup 2008 to demonstrate our classification process based on latent topic discovery. In this data set, the target set and outliers are quite different in their nature: target set is only 0.6% size in total, while the outliers consist of 99.4% of the data set. We use this data set as an example to show how we dealt with this extremely biased data set with latent topic discovery and noise reduction techniques. Our experiment faces two major challenge: (1) extremely distributed outliers, and (2) positive samples are far smaller than negative ones. We try to propose a suitable process flow to deal with these issues and get a best AUC result of 0.98.
Abstract: This study suggests a model of a new set of evaluation criteria that will be used to measure the efficiency of real-world E-commerce websites. Evaluation criteria include design, usability and performance for websites, the Data Envelopment Analysis (DEA) technique has been used to measure the websites efficiency. An efficient Web site is defined as a site that generates the most outputs, using the smallest amount of inputs. Inputs refer to measurements representing the amount of effort required to build, maintain and perform the site. Output is amount of traffic the site generates. These outputs are measured as the average number of daily hits and the average number of daily unique visitors.
Abstract: This paper present a new method for design of power
system stabilizer (PSS) based on sliding mode control (SMC)
technique. The control objective is to enhance stability and improve
the dynamic response of the multi-machine power system. In order to
test effectiveness of the proposed scheme, simulation will be carried
out to analyze the small signal stability characteristics of the system
about the steady state operating condition following the change in
reference mechanical torque and also parameters uncertainties. For
comparison, simulation of a conventional control PSS (lead-lag
compensation type) will be carried out. The main approach is
focusing on the control performance which later proven to have the
degree of shorter reaching time and lower spike.
Abstract: The tree structured approach of non-uniform filterbank
(NUFB) is normally used in perfect reconstruction (PR). The PR is
not always feasible due to certain limitations, i.e, constraints in
selecting design parameters, design complexity and some times
output is severely affected by aliasing error if necessary and
sufficient conditions of PR is not satisfied perfectly. Therefore, there
has been generalized interest of researchers to go for near perfect
reconstruction (NPR). In this proposed work, an optimized tree
structure technique is used for the design of NPR non-uniform
filterbank. Window functions of Blackman family are used to design
the prototype FIR filter. A single variable linear optimization is used
to minimize the amplitude distortion. The main feature of the
proposed design is its simplicity with linear phase property.
Abstract: Authentication of multimedia contents has gained much attention in recent times. In this paper, we propose a secure semi-fragile watermarking, with a choice of two watermarks to be embedded. This technique operates in integer wavelet domain and makes use of semi fragile watermarks for achieving better robustness. A self-recovering algorithm is employed, that hides the image digest into some Wavelet subbands to detect possible malevolent object manipulation undergone by the image (object replacing and/or deletion). The Semi-fragility makes the scheme tolerant for JPEG lossy compression as low as quality of 70%, and locate the tempered area accurately. In addition, the system ensures more security because the embedded watermarks are protected with private keys. The computational complexity is reduced using parameterized integer wavelet transform. Experimental results show that the proposed scheme guarantees the safety of watermark, image recovery and location of the tempered area accurately.
Abstract: Based on the standard finite element method, a new
finite element method which is known as nonlocal finite element
method (NL-FEM) is numerically implemented in this article to
study the nonlocal effects for solving 1D nonlocal elastic problem.
An Eringen-type nonlocal elastic model is considered. In this model,
the constitutive stress-strain law is expressed interms of integral
equation which governs the nonlocal material behavior. The new
NL-FEM is adopted in such a way that the postulated nonlocal elastic
behavior of material is captured by a finite element endowed with a
set of (cross-stiffness) element itself by the other elements in mesh.
An example with their analytical solutions and the relevant numerical
findings for various load and boundary conditions are presented and
discussed in details. It is observed from the numerical solutions that
the torsional deformation angle decreases with increasing nonlocal
nanoscale parameter. It is also noted that the analytical solution fails
to capture the nonlocal effect in some cases where numerical
solutions handle those situation effectively which prove the
reliability and effectiveness of numerical techniques.