Abstract: A robot simulator was developed to measure and
investigate the performance of a robot navigation system based on
the relative position of the robot with respect to random obstacles in
any two dimensional environment. The presented simulator focuses
on investigating the ability of a fuzzy-neural system for object
avoidance. A navigation algorithm is proposed and used to allow
random navigation of a robot among obstacles when the robot faces
an obstacle in the environment. The main features of this simulator
can be used for evaluating the performance of any system that can
provide the position of the robot with respect to obstacles in the
environment. This allows a robot developer to investigate and
analyze the performance of a robot without implementing the
physical robot.
Abstract: This paper presents the prediction of kidney
dysfunction using different neural network (NN) approaches. Self
organization Maps (SOM), Probabilistic Neural Network (PNN) and
Multi Layer Perceptron Neural Network (MLPNN) trained with Back
Propagation Algorithm (BPA) are used in this study. Six hundred and
sixty three sets of analytical laboratory tests have been collected from
one of the private clinical laboratories in Baghdad. For each subject,
Serum urea and Serum creatinin levels have been analyzed and tested
by using clinical laboratory measurements. The collected urea and
cretinine levels are then used as inputs to the three NN models in
which the training process is done by different neural approaches.
SOM which is a class of unsupervised network whereas PNN and
BPNN are considered as class of supervised networks. These
networks are used as a classifier to predict whether kidney is normal
or it will have a dysfunction. The accuracy of prediction, sensitivity
and specificity were found for each type of the proposed networks
.We conclude that PNN gives faster and more accurate prediction of
kidney dysfunction and it works as promising tool for predicting of
routine kidney dysfunction from the clinical laboratory data.
Abstract: An electric power system includes a generating, a
transmission, a distribution, and consumers subsystems. An electrical
power network in Tanzania keeps growing larger by the day and
become more complex so that, most utilities have long wished for
real-time monitoring and remote control of electrical power system
elements such as substations, intelligent devices, power lines,
capacitor banks, feeder switches, fault analyzers and other physical
facilities. In this paper, the concept of automation of management of
power systems from generation level to end user levels was
determined by using Power System Simulator for Engineering
(PSS/E) version 30.3.2.
Abstract: Solution to unsteady Navier-Stokes equation by Splitting method in physical orthogonal algebraic curvilinear coordinate system, also termed 'Non-linear grid system' is presented. The linear terms in Navier-Stokes equation are solved by Crank- Nicholson method while the non-linear term is solved by the second order Adams-Bashforth method. This work is meant to bring together the advantage of Splitting method as pressure-velocity solver of higher efficiency with the advantage of consuming Non-linear grid system which produce more accurate results in relatively equal number of grid points as compared to Cartesian grid. The validation of Splitting method as a solution of Navier-Stokes equation in Nonlinear grid system is done by comparison with the benchmark results for lid driven cavity flow by Ghia and some case studies including Backward Facing Step Flow Problem.
Abstract: Through a proper analysis of residual strain and stress
distributions obtained at the surface of high speed milled specimens
of AA 6082–T6 aluminium alloy, the performance of an improved
indentation method is evaluated. This method integrates a special
device of indentation to a universal measuring machine. The
mentioned device allows introducing elongated indents allowing to
diminish the absolute error of measurement. It must be noted that the
present method offers the great advantage of avoiding both the
specific equipment and highly qualified personnel, and their inherent
high costs. In this work, the cutting tool geometry and high speed
parameters are selected to introduce reduced plastic damage.
Through the variation of the depth of cut, the stability of the shapes
adopted by the residual strain and stress distributions is evaluated.
The results show that the strain and stress distributions remain
unchanged, compressive and small. Moreover, these distributions
reveal a similar asymmetry when the gradients corresponding to
conventional and climb cutting zones are compared.
Abstract: In this paper, we study the application of Extreme
Learning Machine (ELM) algorithm for single layered feedforward
neural networks to non-linear chaotic time series problems. In this
algorithm the input weights and the hidden layer bias are randomly
chosen. The ELM formulation leads to solving a system of linear
equations in terms of the unknown weights connecting the hidden
layer to the output layer. The solution of this general system of
linear equations will be obtained using Moore-Penrose generalized
pseudo inverse. For the study of the application of the method we
consider the time series generated by the Mackey Glass delay
differential equation with different time delays, Santa Fe A and
UCR heart beat rate ECG time series. For the choice of sigmoid,
sin and hardlim activation functions the optimal values for the
memory order and the number of hidden neurons which give the
best prediction performance in terms of root mean square error are
determined. It is observed that the results obtained are in close
agreement with the exact solution of the problems considered
which clearly shows that ELM is a very promising alternative
method for time series prediction.
Abstract: This paper presents the work of signal discrimination
specifically for Electrocardiogram (ECG) waveform. ECG signal is
comprised of P, QRS, and T waves in each normal heart beat to
describe the pattern of heart rhythms corresponds to a specific
individual. Further medical diagnosis could be done to determine any
heart related disease using ECG information. The emphasis on QRS
Complex classification is further discussed to illustrate the
importance of it. Pan-Tompkins Algorithm, a widely known
technique has been adapted to realize the QRS Complex
classification process. There are eight steps involved namely
sampling, normalization, low pass filter, high pass filter (build a band
pass filter), derivation, squaring, averaging and lastly is the QRS
detection. The simulation results obtained is represented in a
Graphical User Interface (GUI) developed using MATLAB.
Abstract: A major part of the flow field involves no complicated
turbulent behavior in many turbulent flows. In this research work, in
order to reduce required memory and CPU time, the flow field was
decomposed into several blocks, each block including its special
turbulence. A two dimensional backward facing step was considered
here. Four combinations of the Prandtl mixing length and standard k-
E models were implemented as well. Computer memory and CPU
time consumption in addition to numerical convergence and accuracy
of the obtained results were mainly investigated. Observations
showed that, a suitable combination of turbulence models in different
blocks led to the results with the same accuracy as the high order
turbulence model for all of the blocks, in addition to the reductions in
memory and CPU time consumption.
Abstract: In this paper, we consider the control of time delay system
by Proportional-Integral (PI) controller. By Using the Hermite-
Biehler theorem, which is applicable to quasi-polynomials, we seek
a stability region of the controller for first order delay systems. The
essence of this work resides in the extension of this approach to
second order delay system, in the determination of its stability region
and the computation of the PI optimum parameters. We have used
the genetic algorithms to lead the complexity of the optimization
problem.
Abstract: In this article we present a methodology which
enables preschool and primary school unlanguaged children to
remember words, phrases and texts with the help of graphic signs -
letters, syllables and words. Reading for a child becomes a support
for speech development. Teaching is based on the principle "from
simple to complex", "a letter - a syllable - a word - a proposal - a
text." Availability of multi-level texts allows using this methodology
for working with children who have different levels of speech
development.
Abstract: A pilot project was carried out in 2007 by the senior
students of Cyprus International University, aiming to minimize the
total cost of waste collection in Northern Cyprus. Many developed
and developing countries have cut their transportation costs – which
lies between 30-40% – down at a rate of 40% percent, by
implementing network models for their route assignments.
Accordingly, a network model was implemented at Göçmenköy
district, to optimize and standardize waste collection works. The
work environment of the employees were also redesigned to provide
maximum ergonomy and to increase productivity, efficiency and
safety. Following the collection of the required data including waste
densities, lengths of roads and population, a model was constructed
to allocate the optimal route assignment for the waste collection
trucks at Göçmenköy district.
Abstract: Offset Double-Disk Opener (DDO) is a popular
furrow opener in conservation tillage. It has some limitations such as
negative suction to penetrate in the soil, hair pinning and mixing seed
and fertilizer in the slot. Because of importance of separation of seed
and fertilizer in the slot, by adding two horizontal mini disks to DDO
a modified opener was made (MDO) which placed the fertilizer
between and under two rows of seed. To consider performance of
novel opener an indoor comparison test between DDO and MDO was
performed at soil bin. The experiment was conducted with three
working speeds (3, 6 and 8 km h-1), two bulk densities of soil (1.1
and 1.4 Mg m-3) and two levels of residues (1 and 2 ton ha-1). The
experimental design consisted in a (3×2×2) complete randomized
factorial with three replicates for each test. Moisture of seed furrow,
separation of seed and fertilizer, hair pinning and resultant forces
acting on the openers were used as assessing indexes. There was no
significant difference between soil moisture content in slots created
by DDO and MDO at 0-4 cm depth, but at 4-8 cm the in the slot
created by MDO moisture content was higher about 9%. Horizontal
force for both openers increased with increasing speed and soil bulk
density. Vertical force for DDO was negative so it needed additional
weight for penetrating in the soil, but vertical force for MDO was
positive and, which can solve the challenge of penetration in the soil
in DDO. In soft soil with heavy residues some trash was pushed by
DDO into seed furrow (hair pinning) but at MDO seed were placed at
clean groove. Lateral and vertical separation of seed and fertilizer
was performed effectively by MDO (4.5 and 5 cm, respectively)
while DDO put seed and fertilizer close to each other. Overall, the
Modified Offset Double-disks (MDO) had better performance. So by
adapting this opener with no-tillage drillers it would possible to have
higher yield in conservation tillage where the most appropriate
opener is disk type.
Abstract: This paper introduces a framework that aims to
support the design and development of mobile services. The
traditional innovation process and its supporting instruments in form
of creativity tools, acceptance research and user-generated content
analysis are screened for potentials for improvement. The result is a
reshaped innovation process where acceptance research and usergenerated
content analysis are fully integrated within a creativity
tool. Advantages of this method are the enhancement of design
relevant information for developers and designers and the possibility
to forecast market success.
Abstract: The proper design of RF pulses in magnetic resonance imaging (MRI) has a direct impact on the quality of acquired images, and is needed for many applications. Several techniques have been proposed to obtain the RF pulse envelope given the desired slice profile. Unfortunately, these techniques do not take into account the limitations of practical implementation such as limited amplitude resolution. Moreover, implementing constraints for special RF pulses on most techniques is not possible. In this work, we propose to develop an approach for designing optimal RF pulses under theoretically any constraints. The new technique will pose the RF pulse design problem as a combinatorial optimization problem and uses efficient techniques from this area such as genetic algorithms (GA) to solve this problem. In particular, an objective function will be proposed as the norm of the difference between the desired profile and the one obtained from solving the Bloch equations for the current RF pulse design values. The proposed approach will be verified using analytical solution based RF simulations and compared to previous methods such as Shinnar-Le Roux (SLR) method, and analysis, selected, and tested the options and parameters that control the Genetic Algorithm (GA) can significantly affect its performance to get the best improved results and compared to previous works in this field. The results show a significant improvement over conventional design techniques, select the best options and parameters for GA to get most improvement over the previous works, and suggest the practicality of using of the new technique for most important applications as slice selection for large flip angles, in the area of unconventional spatial encoding, and another clinical use.
Abstract: The shortest path routing problem is a multiobjective nonlinear optimization problem with constraints. This problem has been addressed by considering Quality of service parameters, delay and cost objectives separately or as a weighted sum of both objectives. Multiobjective evolutionary algorithms can find multiple pareto-optimal solutions in one single run and this ability makes them attractive for solving problems with multiple and conflicting objectives. This paper uses an elitist multiobjective evolutionary algorithm based on the Non-dominated Sorting Genetic Algorithm (NSGA), for solving the dynamic shortest path routing problem in computer networks. A priority-based encoding scheme is proposed for population initialization. Elitism ensures that the best solution does not deteriorate in the next generations. Results for a sample test network have been presented to demonstrate the capabilities of the proposed approach to generate well-distributed pareto-optimal solutions of dynamic routing problem in one single run. The results obtained by NSGA are compared with single objective weighting factor method for which Genetic Algorithm (GA) was applied.
Abstract: Dynamic location referencing method is an important technology to shield map differences. These method references objects of the road network by utilizing condensed selection of its real-world geographic properties stored in a digital map database, which overcomes the defections existing in pre-coded location referencing methods. The high attributes completeness requirements and complicated reference point selection algorithm are the main problems of recent researches. Therefore, a dynamic location referencing algorithm combining intersection points selected at the extremities compulsively and road link points selected according to link partition principle was proposed. An experimental system based on this theory was implemented. The tests using Beijing digital map database showed satisfied results and thus verified the feasibility and practicability of this method.
Abstract: In communication networks where communication nodes are connected with finite capacity transmission links, the packet inter-arrival times are strongly correlated with the packet length and the link capacity (or the packet service time). Such correlation affects the system performance significantly, but little attention has been paid to this issue. In this paper, we propose a mathematical framework to study the impact of the correlation between the packet service times and the packet inter-arrival times on system performance. With our mathematical model, we analyze the system performance, e.g., the unfinished work of the system, and show that the correlation affects the system performance significantly. Some numerical examples are also provided.
Abstract: The dynamic model of a drill in drilling process was
proposed and investigated in this study. To assure a good drilling quality, the vibration variation on the drill tips during high speed
drilling is needed to be investigated. A pre-twisted beam is used to
simulate the drill. The moving Winkler-Type elastic foundation is used to characterize the tip boundary variation in drilling. Due to the
variation of the drill depth, a time dependent dynamic model for the drill is proposed. Results simulated from this proposed model indicate that an abrupt natural frequencies drop are experienced as the drill tip
tough the workpiece, and a severe vibration is induced. The effects of parameters, e.g. drilling speed, depth, drill size and thrust force on the
drill tip responses studied.
Abstract: This paper is focused on issues of process modeling
and two model based control strategies of a fed-batch sugar
crystallization process applying the concept of artificial neural
networks (ANNs). The control objective is to force the operation into
following optimal supersaturation trajectory. It is achieved by
manipulating the feed flow rate of sugar liquor/syrup, considered as
the control input. The control task is rather challenging due to the
strong nonlinearity of the process dynamics and variations in the
crystallization kinetics. Two control alternatives are considered –
model predictive control (MPC) and feedback linearizing control
(FLC). Adequate ANN process models are first built as part of the
controller structures. MPC algorithm outperforms the FLC approach
with respect to satisfactory reference tracking and smooth control
action. However, the MPC is computationally much more involved
since it requires an online numerical optimization, while for the FLC
an analytical control solution was determined.
Abstract: MANEMO is the integration of Network Mobility
(NEMO) and Mobile Ad Hoc Network (MANET). A MANEMO
node has an interface to both a MANET and NEMO network, and
therefore should choose the optimal interface for packet delivery,
however such a handover between interfaces will introduce packet
loss. We define the steps necessary for a MANEMO handover,
using Mobile IP and NEMO to signal the new binding to the
relevant Home Agent(s). The handover steps aim to minimize the
packet loss by avoiding waiting for Duplicate Address Detection
and Neighbour Unreachability Detection. We present expressions for
handover delay and packet loss, and then use numerical examples to
evaluate a MANEMO handover. The analysis shows how the packet
loss depends on level of nesting within NEMO, the delay between
Home Agents and the load on the MANET, and hence can be used
to developing optimal MANEMO handover algorithms.