Abstract: In this paper, the trajectory tracking problem for carlike mobile robots have been studied. The system comprises of a leader and a follower robot. The purpose is to control the follower so that the leader-s trajectory is tracked with arbitrary desired clearance to avoid inter-robot collision while navigating in a terrain with obstacles. A set of artificial potential field functions is proposed using the Direct Method of Lyapunov for the avoidance of obstacles and attraction to their designated targets. Simulation results prove the efficiency of our control technique.
Abstract: Due to a high unemployment rate among local people
and a high reliance on expatriate workers, the governments in the
Gulf Co-operation Council (GCC) countries have been implementing
programmes of localisation (replacing foreign workers with GCC
nationals). These programmes have been successful in the public
sector but much less so in the private sector. However, there are now
insufficient jobs for locals in the public sector and the onus to provide
employment has fallen on the private sector. This paper is concerned
with a study, which is a work in progress (certain elements are
complete but not the whole study), investigating the effective
implementation of localisation policies in four- and five-star hotels in
the Kingdom of Saudi Arabia (KSA) and the United Arab Emirates
(UAE). The purpose of the paper is to identify the research gap, and
to present the need for the research. Further, it will explain how this
research was conducted.
Studies of localisation in the GCC countries are under-represented
in scholarly literature. Currently, the hotel sectors in KSA and UAE
play an important part in the countries’ economies. However, the
total proportion of Saudis working in the hotel sector in KSA is
slightly under 8%, and in the UAE, the hotel sector remains highly
reliant on expatriates. There is therefore a need for research on
strategies to enhance the implementation of the localisation policies
in general and in the hotel sector in particular.
Further, despite the importance of the hotel sector to their
economies, there remains a dearth of research into the
implementation of localisation policies in this sector. Indeed, as far as
the researchers are aware, there is no study examining localisation in
the hotel sector in KSA, and few in the UAE. This represents a
considerable research gap.
Regarding how the research was carried out, a multiple case study
strategy was used. The four- and five-star hotel sector in KSA is one
of the cases, while the four- and five-star hotel sector in the UAE is
the other case. Four- and five-star hotels in KSA and the UAE were
chosen as these countries have the longest established localisation
policies of all the GCC states and there are more hotels of these
classifications in these countries than in any of the other Gulf
countries. A literature review was carried out to underpin the
research. The empirical data were gathered in three phases. In order
to gain a pre-understanding of the issues pertaining to the research
context, Phase I involved eight unstructured interviews with officials
from the Saudi Commission for Tourism and Antiquities (three
interviewees); the Saudi Human Resources Development Fund (one);
the Abu Dhabi Tourism and Culture Authority (three); and the Abu
Dhabi Development Fund (one).
In Phase II, a questionnaire was administered to 24 managers and
24 employees in four- and five-star hotels in each country to obtain
their beliefs, attitudes, opinions, preferences and practices concerning
localisation.
Unstructured interviews were carried out in Phase III with six
managers in each country in order to allow them to express opinions
that may not have been explored in sufficient depth in the
questionnaire. The interviews in Phases I and III were analysed using
thematic analysis and SPSS will be used to analyse the questionnaire
data.
It is recommended that future research be undertaken on a larger
scale, with a larger sample taken from all over KSA and the UAE
rather than from only four cities (i.e., Riyadh and Jeddah in KSA and
Abu Dhabi and Sharjah in the UAE), as was the case in this research.
Abstract: The necessity of ever-increasing use of distributed
data in computer networks is obvious for all. One technique that is
performed on the distributed data for increasing of efficiency and
reliablity is data rplication. In this paper, after introducing this
technique and its advantages, we will examine some dynamic data
replication. We will examine their characteristies for some overus
scenario and the we will propose some suggestion for their
improvement.
Abstract: The aim of this paper is to continue the study of ( T1, T 2)-semi star generalized closed sets by introducing the concepts of (T 1, T 2)-semi star generalized locally closed sets and study their basic properties in bitopological spaces.
Abstract: Automatic currency note recognition invariably
depends on the currency note characteristics of a particular country
and the extraction of features directly affects the recognition ability.
Sri Lanka has not been involved in any kind of research or
implementation of this kind. The proposed system “SLCRec" comes
up with a solution focusing on minimizing false rejection of notes.
Sri Lankan currency notes undergo severe changes in image quality
in usage. Hence a special linear transformation function is adapted to
wipe out noise patterns from backgrounds without affecting the
notes- characteristic images and re-appear images of interest. The
transformation maps the original gray scale range into a smaller
range of 0 to 125. Applying Edge detection after the transformation
provided better robustness for noise and fair representation of edges
for new and old damaged notes. A three layer back propagation
neural network is presented with the number of edges detected in row
order of the notes and classification is accepted in four classes of
interest which are 100, 500, 1000 and 2000 rupee notes. The
experiments showed good classification results and proved that the
proposed methodology has the capability of separating classes
properly in varying image conditions.
Abstract: This paper presents an approach for early breast
cancer diagnostic by employing combination of artificial neural
networks (ANN) and multiwaveletpacket based subband image
decomposition. The microcalcifications correspond to high-frequency
components of the image spectrum, detection of microcalcifications
is achieved by decomposing the mammograms into different
frequency subbands,, reconstructing the mammograms from the
subbands containing only high frequencies. For this approach we
employed different types of multiwaveletpacket. We used the result
as an input of neural network for classification. The proposed
methodology is tested using the Nijmegen and the Mammographic
Image Analysis Society (MIAS) mammographic databases and
images collected from local hospitals. Results are presented as the
receiver operating characteristic (ROC) performance and are
quantified by the area under the ROC curve.
Abstract: The existing image coding standards generally degrades at low bit-rates because of the underlying block based Discrete Cosine Transform scheme. Over the past decade, the success of wavelets in solving many different problems has contributed to its unprecedented popularity. Due to implementation constraints scalar wavelets do not posses all the properties such as orthogonality, short support, linear phase symmetry, and a high order of approximation through vanishing moments simultaneously, which are very much essential for signal processing. New class of wavelets called 'Multiwavelets' which posses more than one scaling function overcomes this problem. This paper presents a new image coding scheme based on non linear approximation of multiwavelet coefficients along with multistage vector quantization. The performance of the proposed scheme is compared with the results obtained from scalar wavelets.
Abstract: This paper proposes a new approach for image encryption
using a combination of different permutation techniques.
The main idea behind the present work is that an image can be
viewed as an arrangement of bits, pixels and blocks. The intelligible
information present in an image is due to the correlations among the
bits, pixels and blocks in a given arrangement. This perceivable information
can be reduced by decreasing the correlation among the bits,
pixels and blocks using certain permutation techniques. This paper
presents an approach for a random combination of the aforementioned
permutations for image encryption. From the results, it is observed
that the permutation of bits is effective in significantly reducing the
correlation thereby decreasing the perceptual information, whereas
the permutation of pixels and blocks are good at producing higher
level security compared to bit permutation. A random combination
method employing all the three techniques thus is observed to be
useful for tactical security applications, where protection is needed
only against a casual observer.
Abstract: Reliable secure multicast communication in mobile
adhoc networks is challenging due to its inherent characteristics of
infrastructure-less architecture with lack of central authority, high
packet loss rates and limited resources such as bandwidth, time and
power. Many emerging commercial and military applications require
secure multicast communication in adhoc environments. Hence key
management is the fundamental challenge in achieving reliable
secure communication using multicast key distribution for mobile
adhoc networks. Thus in designing a reliable multicast key
distribution scheme, reliability and congestion control over
throughput are essential components. This paper proposes and
evaluates the performance of an enhanced optimized multicast cluster
tree algorithm with destination sequenced distance vector routing
protocol to provide reliable multicast key distribution. Simulation
results in NS2 accurately predict the performance of proposed
scheme in terms of key delivery ratio and packet loss rate under
varying network conditions. This proposed scheme achieves
reliability, while exhibiting low packet loss rate with high key
delivery ratio compared with the existing scheme.
Abstract: In this paper we present the design of a new encryption scheme. The scheme we propose is a very exible encryption and authentication primitive. We build this scheme on two relatively new design principles: t-functions and fast pseudo hadamard transforms. We recapitulate the theory behind these principles and analyze their security properties and efficiency. In more detail we propose a streamcipher which outputs a message authentication tag along with theencrypted data stream with only little overhead. Moreover we proposesecurity-speed tradeoffs. Our scheme is faster than other comparablet-function based designs while offering the same security level.
Abstract: A new topology of unified power quality conditioner
(UPQC) is proposed for different power quality (PQ) improvement in
a three-phase four-wire (3P-4W) distribution system. For neutral
current mitigation, a star-hexagon transformer is connected in shunt
near the load along with three-leg voltage source inverters (VSIs)
based UPQC. For the mitigation of source neutral current, the uses of
passive elements are advantageous over the active compensation due
to ruggedness and less complexity of control. In addition to this, by
connecting a star-hexagon transformer for neutral current mitigation
the over all rating of the UPQC is reduced. The performance of the
proposed topology of 3P-4W UPQC is evaluated for power-factor
correction, load balancing, neutral current mitigation and mitigation
of voltage and currents harmonics. A simple control algorithm based
on Unit Vector Template (UVT) technique is used as a control
strategy of UPQC for mitigation of different PQ problems. In this
control scheme, the current/voltage control is applied over the
fundamental supply currents/voltages instead of fast changing APFs
currents/voltages, thereby reducing the computational delay.
Moreover, no extra control is required for neutral source current
compensation; hence the numbers of current sensors are reduced. The
performance of the proposed topology of UPQC is analyzed through
simulations results using MATLAB software with its Simulink and
Power System Block set toolboxes.
Abstract: In this paper, we propose the low-MAC FEC controller for practical implementation of JPEG2000 image transmission using IEEE 802.15.4. The proposed low-MAC FEC controller has very small HW size and spends little computation to estimate channel state. Because of this advantage, it is acceptable to apply IEEE 802.15.4 which has to operate more than 1 year with battery. For the image transmission, we integrate the low-MAC FEC controller and RCPC coder in sensor node of LR-WPAN. The modified sensor node has increase of 3% hardware size than conventional zigbee sensor node.
Abstract: A feasibility study for the design and construction of a
pilot plant for the extraction of castor oil in South Africa was
conducted. The study emphasized the four critical aspects of project
feasibility analysis, namely technical, financial, market and
managerial aspects. The technical aspect involved research on
existing oil extraction technologies, namely: mechanical pressing and
solvent extraction, as well as assessment of the proposed production
site for both short and long term viability of the project. The site is
on the outskirts of Nkomazi village in the Mpumalanga province,
where connections for water and electricity are currently underway,
potential raw material supply proves to be reliable since the province
is known for its commercial farming. The managerial aspect was
evaluated based on the fact that the current producer of castor oil will
be fully involved in the project while receiving training and technical
assistance from Sasol Technology, the TSC and SEDA. Market and
financial aspects were evaluated and the project was considered
financially viable with a Net Present Value (NPV) of R2 731 687 and
an Internal Rate of Return (IRR) of 18% at an annual interest rate of
10.5%. The payback time is 6years for analysis over the first 10
years with a net income of R1 971 000 in the first year. The project
was thus found to be feasible with high chance of success while
contributing to socio-economic development. It was recommended
for lab tests to be conducted to establish process kinetics that would
be used in the initial design of the plant.
Abstract: Knowing about the customer behavior in a grocery has
been a long-standing issue in the retailing industry. The advent of
RFID has made it easier to collect moving data for an individual
shopper's behavior. Most of the previous studies used the traditional
statistical clustering technique to find the major characteristics of
customer behavior, especially shopping path. However, in using the
clustering technique, due to various spatial constraints in the store,
standard clustering methods are not feasible because moving data such
as the shopping path should be adjusted in advance of the analysis,
which is time-consuming and causes data distortion. To alleviate this
problem, we propose a new approach to spatial pattern clustering
based on the longest common subsequence. Experimental results using
real data obtained from a grocery confirm the good performance of the
proposed method in finding the hot spot, dead spot and major path
patterns of customer movements.
Abstract: Gas Metal Arc Welding (GMAW) processes is an
important joining process widely used in metal fabrication
industries. This paper addresses modeling and optimization of this
technique using a set of experimental data and regression analysis.
The set of experimental data has been used to assess the influence
of GMAW process parameters in weld bead geometry. The
process variables considered here include voltage (V); wire feed
rate (F); torch Angle (A); welding speed (S) and nozzle-to-plate
distance (D). The process output characteristics include weld bead
height, width and penetration. The Taguchi method and regression
modeling are used in order to establish the relationships between
input and output parameters. The adequacy of the model is
evaluated using analysis of variance (ANOVA) technique. In the
next stage, the proposed model is embedded into a Simulated
Annealing (SA) algorithm to optimize the GMAW process
parameters. The objective is to determine a suitable set of process
parameters that can produce desired bead geometry, considering
the ranges of the process parameters. Computational results prove
the effectiveness of the proposed model and optimization
procedure.
Abstract: Variable channel conditions in underwater networks,
and variable distances between sensors due to water current, leads to
variable bit error rate (BER). This variability in BER has great
effects on energy efficiency of error correction techniques used. In
this paper an efficient energy adaptive hybrid error correction
technique (AHECT) is proposed. AHECT adaptively changes error
technique from pure retransmission (ARQ) in a low BER case to a
hybrid technique with variable encoding rates (ARQ & FEC) in a
high BER cases. An adaptation algorithm depends on a precalculated
packet acceptance rate (PAR) look-up table, current BER,
packet size and error correction technique used is proposed. Based
on this adaptation algorithm a periodically 3-bit feedback is added to
the acknowledgment packet to state which error correction technique
is suitable for the current channel conditions and distance.
Comparative studies were done between this technique and other
techniques, and the results show that AHECT is more energy
efficient and has high probability of success than all those
techniques.
Abstract: There are three possible effects of Special Theory of
Relativity (STR) on a thermodynamic system. Planck and Einstein
looked upon this process as isobaric; on the other hand Ott saw it as
an adiabatic process. However plenty of logical reasons show that the
process is isotherm. Our phenomenological consideration
demonstrates that the temperature is invariant with Lorenz
transformation. In that case process is isotherm, so volume and
pressure are Lorentz covariant. If the process is isotherm the Boyles
law is Lorentz invariant. Also equilibrium constant and Gibbs energy,
activation energy, enthalpy entropy and extent of the reaction became
Lorentz invariant.
Abstract: Full search block matching algorithm is widely used for hardware implementation of motion estimators in video compression algorithms. In this paper we are proposing a new architecture, which consists of a 2D parallel processing unit and a 1D unit both working in parallel. The proposed architecture reduces both data access power and computational power which are the main causes of power consumption in integer motion estimation. It also completes the operations with nearly the same number of clock cycles as compared to a 2D systolic array architecture. In this work sum of absolute difference (SAD)-the most repeated operation in block matching, is calculated in two steps. The first step is to calculate the SAD for alternate rows by a 2D parallel unit. If the SAD calculated by the parallel unit is less than the stored minimum SAD, the SAD of the remaining rows is calculated by the 1D unit. Early termination, which stops avoidable computations has been achieved with the help of alternate rows method proposed in this paper and by finding a low initial SAD value based on motion vector prediction. Data reuse has been applied to the reference blocks in the same search area which significantly reduced the memory access.
Abstract: In this paper, a planar antenna for UWB applications
has been proposed. The antenna consists of a square patch, a partial
ground plane and a slot on the ground plane. The proposed antenna is
easy to be integrated with microwave circuitry for low manufacturing
cost. The flat type antenna has a compact structure and the total size
is 14.5×14.5mm2. The result shows that the impedance bandwidth
(VSWR≤ 2) of the proposed antenna is 12.49 GHz (2.95 to 15.44
GHz), which is equivalent to 135.8%. Details of the proposed
compact planar UWB antenna design is presented and discussed.
Abstract: The interactions between input/output variables are a very common phenomenon encountered in the design of multi-loop controllers for interacting multivariable processes, which can be a serious obstacle for achieving a good overall performance of multiloop control system. To overcome this impediment, the decomposed dynamic interaction analysis is proposed by decomposing the multiloop control system into a set of n independent SISO systems with the corresponding effective open-loop transfer function (EOTF) within the dynamic interactions embedded explicitly. For each EOTF, the reduced model is independently formulated by using the proposed reduction design strategy, and then the paired multi-loop proportional-integral-derivative (PID) controller is derived quite simply and straightforwardly by using internal model control (IMC) theory. This design method can easily be implemented for various industrial processes because of its effectiveness. Several case studies are considered to demonstrate the superior of the proposed method.