Abstract: This paper presents an optimized algorithm for robot localization which increases the correctness and accuracy of the estimating position of mobile robot to more than 150% of the past methods [1] in the uncertain and noisy environment. In this method the odometry and vision sensors are combined by an adapted well-known discrete kalman filter [2]. This technique also decreased the computation process of the algorithm by DKF simple implementation. The experimental trial of the algorithm is performed on the robocup middle size soccer robot; the system can be used in more general environments.
Abstract: Most parts of the world such as Iran are facing the excessive consumption of fertilizers, that are used to achieve high yield, but increase the cost of production of fertilizer and degradation of soil and water resources. This experiment was carried out to study the effect of PGPR and planting pattern on yield and yield components of rice (Oryza sativa L.) using split plot based on randomized complete block design with three replications in Ilam province, Iran. Bio-fertilizer including Azotobacter, Nitroxin and control treatment (without consumption) were designed as a main plot and planting pattern including 15 × 10, 15 × 15 and 15 × 20 and the number of plant in hill including 3, 4 and 5 plants in hill were considered as a sub-plots. The results showed that the effect of bio-fertilizers, planting pattern and the number of plants in hill were significant affect on yield and yield components. Interaction effect between bio-fertilizer and planting pattern had important difference on the number spikelet of panicle and harvest index. Interaction effect between bio-fertilizer and the number of plants in hill were significant affect on the number of spikelet per panicle. The maximum grain yield was obtained by inoculation with Nitroxin, planting pattern of 15 × 15 and 4 plants in hill with mean of 1110.6 g.m-2, 959.9 g.m-2 and 928.4 g.m-2, respectively.
Abstract: The neural stimulation has been gaining much interest in neuromodulation research and clinical trials. For efficiency, there is a need for variable electrical stimulation such as current and voltage stimuli as well as wireless framework. In this regard, we develop the wireless neural stimulator capable of voltage and current stimuli. The system consists of ZigBee which is a wireless communication module and stimulus generator. The stimulus generator with 8-bits resolution enable both mono-polar and bi-polar waveform in voltage (-3.3~3.3V) and current(-330~330µA) stimulus mode which is controllable. The experimental results suggest that the proposed neural stimulator can play a role as an effective approach for neuromodulation.
Abstract: The counting process of cell colonies is always a long
and laborious process that is dependent on the judgment and ability
of the operator. The judgment of the operator in counting can vary in
relation to fatigue. Moreover, since this activity is time consuming it
can limit the usable number of dishes for each experiment. For these
purposes, it is necessary that an automatic system of cell colony
counting is used. This article introduces a new automatic system of
counting based on the elaboration of the digital images of cellular
colonies grown on petri dishes. This system is mainly based on the
algorithms of region-growing for the recognition of the regions of
interest (ROI) in the image and a Sanger neural net for the
characterization of such regions. The better final classification is
supplied from a Feed-Forward Neural Net (FF-NN) and confronted
with the K-Nearest Neighbour (K-NN) and a Linear Discriminative
Function (LDF). The preliminary results are shown.
Abstract: In this work, we present a reliable framework to solve boundary value problems with particular significance in solid mechanics. These problems are used as mathematical models in deformation of beams. The algorithm rests mainly on a relatively new technique, the Variational Iteration Method. Some examples are given to confirm the efficiency and the accuracy of the method.
Abstract: Copper based composites reinforced with WC and Ti
particles were prepared using planetary ball-mill. The experiment
was designed by using Taguchi technique and milling was carried out
in an air for several hours. The powder was characterized before and
after milling using the SEM, TEM and X-ray for microstructure and
for possible new phases. Microstructures show that milled particles
size and reduction in particle size depend on many parameters. The
distance d between planes of atoms estimated from X-ray powder
diffraction data and TEM image. X-ray diffraction patterns of the
milled powder did not show clearly any new peak or energy shift, but
the TEM images show a significant change in crystalline structure of
corporate on titanium in the composites.
Abstract: This paper focuses on a critical component of the situational awareness (SA), the control of autonomous vertical flight for tactical unmanned aerial vehicle (TUAV). With the SA strategy, we proposed a two stage flight control procedure using two autonomous control subsystems to address the dynamics variation and performance requirement difference in initial and final stages of flight trajectory for an unmanned helicopter model with coaxial rotor and ducted fan configuration. This control strategy for chosen model of TUAV has been verified by simulation of hovering maneuvers using software package Simulink and demonstrated good performance for fast stabilization of engines in hovering, consequently, fast SA with economy in energy can be asserted during search-and-rescue operations.
Abstract: This study investigates the performance of radial basis function networks (RBFN) in forecasting the monthly CO2 emissions of an electric power utility. We also propose a method for input variable selection. This method is based on identifying the general relationships between groups of input candidates and the output. The effect that each input has on the forecasting error is examined by removing all inputs except the variable to be investigated from its group, calculating the networks parameter and performing the forecast. Finally, the new forecasting error is compared with the reference model. Eight input variables were identified as the most relevant, which is significantly less than our reference model with 30 input variables. The simulation results demonstrate that the model with the 8 inputs selected using the method introduced in this study performs as accurate as the reference model, while also being the most parsimonious.
Abstract: Alcohol and water extracts of Cymbopogon citratus
was investigated for anti-bacterial properties and phytochemical
constituents. The extract was screened against four gram-negative
bacteria Escherichia coli, Klebsiella pneumoniae, Pseudomonas
aeruginosa, Proteus vulgaris) and two grampositive bacteria Bacillus
subtilis and Staphylococcus aureus at four different concentrations
(1:1, 1:5, 1:10 and 1:20) using disc diffusion method. The antibacterial
examination was by disc diffusion techniques, while the
photochemical constituents were investigated using standard
chemical methods. Results showed that the extracts inhibited the
growth of standard and local strains of the organisms used. The
treatments were significantly different (P = 0.05). The minimum
inhibitory concentration of the extracts against the tested
microorganisms ranged between 150mg/ml and 50mg/ml. The
alcohol extracts were found to be generally more effective than the
water extract. The photochemical analysis revealed the presence of
alkaloids and phenol but absence of cardiac and cyanogenic
glycosides. The presence of alkaloid and phenols were inferred as
being responsible for the anti-bacterial properties of the extracts.
Abstract: The cup method is applied for the measurement of water vapor transport properties of porous materials worldwide. However, in practical applications the experimental results are often used without taking into account some secondary effects which can play an important role under specific conditions. In this paper, the effect of temperature on water vapor transport properties of cellular concrete is studied, together with the influence of sample thickness. At first, the bulk density, matrix density, total open porosity and sorption and desorption isotherms are measured for material characterization purposes. Then, the steady state cup method is used for determination of water vapor transport properties, whereas the measurements are performed at several temperatures and for three different sample thicknesses.
Abstract: Free Hemoglobin promotes the accumulation of
hydroxyl radicals by the heme iron, which can react with endogenous
hydrogen peroxide to produce free radicals which may cause severe
oxidative cell damage. Haptoglobin binds to Hemoglobin strongly
and Haptoglobin-Hemoglobin binding is irreversible. Peroxidase
activity of Haptoglobin(2-2)-Hemoglobin complex was assayed by
following increase of absorption of produced tetraguaiacol as the
second substrate of Haptoglobin-Hemoglobin complex at 470 nm and
42°C by UV-Vis spectrophotometer. The results have shown that
peroxidase activity of Haptoglobin(2-2)-Hemoglobin complex is
modulated via homotropic effect of hydrogen peroxide as allostric
substrate. On the other hand antioxidant property of Haptoglobin(2-
2)-Hemoglobin was increased via heterotropic effect of the two drugs
(especially ampicillin) on peroxidase activity of the complex. Both
drugs also have mild effect on quality of homotropic property of
peroxidase activity of Haptoglobin(2-2)-Hemoglobin complex.
Therefore, in vitro studies show that the two drugs may help Hp-Hb
complex to remove hydrogen peroxide from serum at pathologic
temperature ature (42 C).
Abstract: Software project effort estimation is frequently seen
as complex and expensive for individual software engineers.
Software production is in a crisis. It suffers from excessive costs.
Software production is often out of control. It has been suggested that
software production is out of control because we do not measure.
You cannot control what you cannot measure. During last decade, a
number of researches on cost estimation have been conducted. The
metric-set selection has a vital role in software cost estimation
studies; its importance has been ignored especially in neural network
based studies. In this study we have explored the reasons of those
disappointing results and implemented different neural network
models using augmented new metrics. The results obtained are
compared with previous studies using traditional metrics. To be able
to make comparisons, two types of data have been used. The first
part of the data is taken from the Constructive Cost Model
(COCOMO'81) which is commonly used in previous studies and the
second part is collected according to new metrics in a leading
international company in Turkey. The accuracy of the selected
metrics and the data samples are verified using statistical techniques.
The model presented here is based on Multi-Layer Perceptron
(MLP). Another difficulty associated with the cost estimation studies
is the fact that the data collection requires time and care. To make a
more thorough use of the samples collected, k-fold, cross validation
method is also implemented. It is concluded that, as long as an
accurate and quantifiable set of metrics are defined and measured
correctly, neural networks can be applied in software cost estimation
studies with success
Abstract: There are various overlay structures that provide
efficient and scalable solutions for point and range query in a peer-topeer
network. Overlay structure based on m-Binary Search Tree
(BST) is one such popular technique. It deals with the division of the
tree into different key intervals and then assigning the key intervals to
a BST. The popularity of the BST makes this overlay structure
vulnerable to different kinds of attacks. Here we present four such
possible attacks namely index poisoning attack, eclipse attack,
pollution attack and syn flooding attack. The functionality of BST is
affected by these attacks. We also provide different security
techniques that can be applied against these attacks.
Abstract: ''Cocktail party problem'' is well known as one of the human auditory abilities. We can recognize the specific sound that we want to listen by this ability even if a lot of undesirable sounds or noises are mixed. Blind source separation (BSS) based on independent component analysis (ICA) is one of the methods by which we can separate only a special signal from their mixed signals with simple hypothesis. In this paper, we propose an online approach for blind source separation using the sliding DFT and the time domain independent component analysis. The proposed method can reduce calculation complexity in comparison with conventional methods, and can be applied to parallel processing by using digital signal processors (DSPs) and so on. We evaluate this method and show its availability.
Abstract: This paper considers various channels of gammaquantum
generation via an ultra-short high-power laser pulse
interaction with different targets.We analyse the possibilities to create
a pulsed gamma-radiation source using laser triggering of some
nuclear reactions and isomer targets. It is shown that sub-MeV
monochromatic short pulse of gamma-radiation can be obtained with
pulse energy of sub-mJ level from isomer target irradiated by intense
laser pulse. For nuclear reaction channel in light- atom materials, it is
shown that sub-PW laser pulse gives rise to formation about million
gamma-photons of multi-MeV energy.
Abstract: An approach to develop the FPGA of a flexible key
RSA encryption engine that can be used as a standard device in the
secured communication system is presented. The VHDL modeling of
this RSA encryption engine has the unique characteristics of
supporting multiple key sizes, thus can easily be fit into the systems
that require different levels of security. A simple nested loop addition
and subtraction have been used in order to implement the RSA
operation. This has made the processing time faster and used
comparatively smaller amount of space in the FPGA. The hardware
design is targeted on Altera STRATIX II device and determined that
the flexible key RSA encryption engine can be best suited in the
device named EP2S30F484C3. The RSA encryption implementation
has made use of 13,779 units of logic elements and achieved a clock
frequency of 17.77MHz. It has been verified that this RSA
encryption engine can perform 32-bit, 256-bit and 1024-bit
encryption operation in less than 41.585us, 531.515us and 790.61us
respectively.
Abstract: Intrusion Detection System is significant in network
security. It detects and identifies intrusion behavior or intrusion
attempts in a computer system by monitoring and analyzing the
network packets in real time. In the recent year, intelligent algorithms
applied in the intrusion detection system (IDS) have been an
increasing concern with the rapid growth of the network security.
IDS data deals with a huge amount of data which contains irrelevant
and redundant features causing slow training and testing process,
higher resource consumption as well as poor detection rate. Since the
amount of audit data that an IDS needs to examine is very large even
for a small network, classification by hand is impossible. Hence, the
primary objective of this review is to review the techniques prior to
classification process suit to IDS data.
Abstract: Performance of a limited Round-Robin (RR) rule is
studied in order to clarify the characteristics of a realistic sharing
model of a processor. Under the limited RR rule, the processor
allocates to each request a fixed amount of time, called a quantum, in a
fixed order. The sum of the requests being allocated these quanta is
kept below a fixed value. Arriving requests that cannot be allocated
quanta because of such a restriction are queued or rejected. Practical
performance measures, such as the relationship between the mean
sojourn time, the mean number of requests, or the loss probability and
the quantum size are evaluated via simulation. In the evaluation, the
requested service time of an arriving request is converted into a
quantum number. One of these quanta is included in an RR cycle,
which means a series of quanta allocated to each request in a fixed
order. The service time of the arriving request can be evaluated using
the number of RR cycles required to complete the service, the number
of requests receiving service, and the quantum size. Then an increase
or decrease in the number of quanta that are necessary before service is
completed is reevaluated at the arrival or departure of other requests.
Tracking these events and calculations enables us to analyze the
performance of our limited RR rule. In particular, we obtain the most
suitable quantum size, which minimizes the mean sojourn time, for the
case in which the switching time for each quantum is considered.
Abstract: In this study, lipase production has been investigated
using submerge fermentation by Aspergillus niger in Kilka fish oil as
main substrate. The Taguchi method with an L9 orthogonal array
design was used to investigate the effect of parameters and their
levels on lipase productivity. The optimum conditions for Kilka fish
oil concentration, incubation temperature and pH were obtained 3
gr./ml 35°C and 7, respectively. The amount of lipase activity in
optimum condition was obtained 4.59IU/ml. By comparing this
amount with the amount of productivity in the olive oil medium
based on the cost of each medium, it was that using Kilka fish oil is
84% economical. Therefore Kilka fish oil can be used as an
economical and suitable substrate in the lipase production and
industrial usages.
Abstract: The incorporation of renewable energy sources for the sustainable electricity production is undertaking a more prominent role in electric power systems. Thus, it will be an indispensable incident that the characteristics of future power networks, their prospective stability for instance, get influenced by the imposed features of sustainable energy sources. One of the distinctive attributes of the sustainable energy sources is exhibiting the stochastic behavior. This paper investigates the impacts of this stochastic behavior on the small disturbance rotor angle stability in the upcoming electric power networks. Considering the various types of renewable energy sources and the vast variety of system configurations, the sensitivity analysis can be an efficient breakthrough towards generalizing the effects of new energy sources on the concept of stability. In this paper, the definition of small disturbance angle stability for future power systems and the iterative-stochastic way of its analysis are presented. Also, the effects of system parameters on this type of stability are described by performing a sensitivity analysis for an electric power test system.