Abstract: This paper presents preliminary results on modeling
and control of a quadrotor UAV. With aerodynamic concepts, a
mathematical model is firstly proposed to describe the dynamics
of the quadrotor UAV. Parameters of this model are identified by
experiments with Matlab Identify Toolbox. A group of PID controllers
are then designed based on the developed model. To verify
the developed model and controllers, simulations and experiments for
altitude control, position control and trajectory tracking are carried
out. The results show that the quadrotor UAV well follows the
referenced commands, which clearly demonstrates the effectiveness
of the proposed approach.
Abstract: This research proposes a Preemptive Possibilistic
Linear Programming (PPLP) approach for solving multiobjective
Aggregate Production Planning (APP) problem with interval demand
and imprecise unit price and related operating costs. The proposed
approach attempts to maximize profit and minimize changes of
workforce. It transforms the total profit objective that has imprecise
information to three crisp objective functions, which are maximizing
the most possible value of profit, minimizing the risk of obtaining the
lower profit and maximizing the opportunity of obtaining the higher
profit. The change of workforce level objective is also converted.
Then, the problem is solved according to objective priorities. It is
easier than simultaneously solve the multiobjective problem as
performed in existing approach. Possible range of interval demand is
also used to increase flexibility of obtaining the better production
plan. A practical application of an electronic company is illustrated to
show the effectiveness of the proposed model.
Abstract: In this paper we describe a hybrid technique of Minimax search and aggregate Mahalanobis distance function synthesis to evolve Awale game player. The hybrid technique helps to suggest a move in a short amount of time without looking into endgame database. However, the effectiveness of the technique is heavily dependent on the training dataset of the Awale strategies utilized. The evolved player was tested against Awale shareware program and the result is appealing.
Abstract: Intelligent traffic surveillance technology is an issue in
the field of traffic data analysis. Therefore, we need the technology to
detect moving objects in real-time while there are variations in background and natural light. In this paper, we proposed a Weighted-Center Surround Difference
method for object detection in outdoor environments. The proposed system detects objects using the saliency map that is obtained by
analyzing the weight of each layers of Gaussian pyramid. In order to validate the effectiveness of our system, we implemented the proposed
method using a digital signal processor, TMS320DM6437.
Experimental results show that blurred noisy around objects was effectively eliminated and the object detection accuracy is improved.
Abstract: This paper proposes a framework for product
development including hardware and software components. It
provides separation of hardware dependent software, modifications of
current product development process, and integration of software
modules with existing product configuration models and assembly
product structures. In order to decide the dependent software, the
framework considers product configuration modules and engineering
changes of associated software and hardware components. In order to
support efficient integration of the two different hardware and
software development, a modified product development process is
proposed. The process integrates the dependent software development
into product development through the interchanges of specific product
information. By using existing product data models in Product Data
Management (PDM), the framework represents software as modules
for product configurations and software parts for product structure.
The framework is applied to development of a robot system in order to
show its effectiveness.
Abstract: A challenging problem in radar signal processing is to
achieve reliable target detection in the presence of interferences. In
this paper, we propose a novel algorithm for automatic censoring of
radar interfering targets in log-normal clutter. The proposed
algorithm, termed the forward automatic censored cell averaging
detector (F-ACCAD), consists of two steps: removing the corrupted
reference cells (censoring) and the actual detection. Both steps are
performed dynamically by using a suitable set of ranked cells to
estimate the unknown background level and set the adaptive
thresholds accordingly. The F-ACCAD algorithm does not require
any prior information about the clutter parameters nor does it require
the number of interfering targets. The effectiveness of the F-ACCAD
algorithm is assessed by computing, using Monte Carlo simulations,
the probability of censoring and the probability of detection in
different background environments.
Abstract: In Grid computing, a data transfer protocol called
GridFTP has been widely used for efficiently transferring a large volume
of data. Currently, two versions of GridFTP protocols, GridFTP
version 1 (GridFTP v1) and GridFTP version 2 (GridFTP v2), have
been proposed in the GGF. GridFTP v2 supports several advanced
features such as data streaming, dynamic resource allocation, and
checksum transfer, by defining a transfer mode called X-block mode.
However, in the literature, effectiveness of GridFTP v2 has not been
fully investigated. In this paper, we therefore quantitatively evaluate
performance of GridFTP v1 and GridFTP v2 using mathematical
analysis and simulation experiments. We reveal the performance
limitation of GridFTP v1, and quantitatively show effectiveness of
GridFTP v2. Through several numerical examples, we show that by
utilizing the data streaming feature, the average file transfer time of
GridFTP v2 is significantly smaller than that of GridFTP v1.
Abstract: This paper presents a novel approach for tuning unified power flow controller (UPFC) based damping controller in order to enhance the damping of power system low frequency oscillations. The design problem of damping controller is formulated as an optimization problem according to the eigenvalue-based objective function which is solved using iteration particle swarm optimization (IPSO). The effectiveness of the proposed controller is demonstrated through eigenvalue analysis and nonlinear time-domain simulation studies under a wide range of loading conditions. The simulation study shows that the designed controller by IPSO performs better than CPSO in finding the solution. Moreover, the system performance analysis under different operating conditions show that the δE based controller is superior to the mB based controller.
Abstract: Power flow (PF) study, which is performed to
determine the power system static states (voltage magnitudes and
voltage angles) at each bus to find the steady state operating
condition of a system, is very important and is the most frequently
carried out study by power utilities for power system planning,
operation and control. In this paper, a counterpropagation neural
network (CPNN) is proposed to solve power flow problem under
different loading/contingency conditions for computing bus voltage
magnitudes and angles of the power system. The counterpropagation
network uses a different mapping strategy namely
counterpropagation and provides a practical approach for
implementing a pattern mapping task, since learning is fast in this
network. The composition of the input variables for the proposed
neural network has been selected to emulate the solution process of a
conventional power flow program. The effectiveness of the proposed
CPNN based approach for solving power flow is demonstrated by
computation of bus voltage magnitudes and voltage angles for
different loading conditions and single line-outage contingencies in
IEEE 14-bus system.
Abstract: This paper deals with the tuning of parameters for Automatic Generation Control (AGC). A two area interconnected hydrothermal system with PI controller is considered. Genetic Algorithm (GA) and Particle Swarm optimization (PSO) algorithms have been applied to optimize the controller parameters. Two objective functions namely Integral Square Error (ISE) and Integral of Time-multiplied Absolute value of the Error (ITAE) are considered for optimization. The effectiveness of an objective function is considered based on the variation in tie line power and change in frequency in both the areas. MATLAB/SIMULINK was used as a simulation tool. Simulation results reveal that ITAE is a better objective function than ISE. Performances of optimization algorithms are also compared and it was found that genetic algorithm gives better results than particle swarm optimization algorithm for the problems of AGC.
Abstract: In this paper, the discrete-time fuzzy BAM neural network with delays and impulses is studied. Sufficient conditions are obtained for the existence and global stability of a unique equilibrium of this class of fuzzy BAM neural networks with Lipschitzian activation functions without assuming their boundedness, monotonicity or differentiability and subjected to impulsive state displacements at fixed instants of time. Some numerical examples are given to demonstrate the effectiveness of the obtained results.
Abstract: How to coordinate the behaviors of the agents through
learning is a challenging problem within multi-agent domains.
Because of its complexity, recent work has focused on how
coordinated strategies can be learned. Here we are interested in using
reinforcement learning techniques to learn the coordinated actions of a
group of agents, without requiring explicit communication among
them. However, traditional reinforcement learning methods are based
on the assumption that the environment can be modeled as Markov
Decision Process, which usually cannot be satisfied when multiple
agents coexist in the same environment. Moreover, to effectively
coordinate each agent-s behavior so as to achieve the goal, it-s
necessary to augment the state of each agent with the information
about other existing agents. Whereas, as the number of agents in a
multiagent environment increases, the state space of each agent grows
exponentially, which will cause the combinational explosion problem.
Profit sharing is one of the reinforcement learning methods that allow
agents to learn effective behaviors from their experiences even within
non-Markovian environments. In this paper, to remedy the drawback
of the original profit sharing approach that needs much memory to
store each state-action pair during the learning process, we firstly
address a kind of on-line rational profit sharing algorithm. Then, we
integrate the advantages of modular learning architecture with on-line
rational profit sharing algorithm, and propose a new modular
reinforcement learning model. The effectiveness of the technique is
demonstrated using the pursuit problem.
Abstract: The present paper was concerned primarily with the
analysis, simulation of the air flow and thermal patterns in a lecture
room. The paper is devoted to numerically investigate the influence
of location and number of ventilation and air conditioning supply and
extracts openings on air flow properties in a lecture room. The work
focuses on air flow patterns, thermal behaviour in lecture room where
large number of students. The effectiveness of an air flow system is
commonly assessed by the successful removal of sensible and latent
loads from occupants with additional of attaining air pollutant at a
prescribed level to attain the human thermal comfort conditions and
to improve the indoor air quality; this is the main target during the
present paper. The study is carried out using computational fluid
dynamics (CFD) simulation techniques as embedded in the
commercially available CFD code (FLUENT 6.2). The CFD
modelling techniques solved the continuity, momentum and energy
conservation equations in addition to standard k – ε model equations
for turbulence closure.
Throughout the investigations, numerical validation is carried out by
way of comparisons of numerical and experimental results. Good
agreement is found among both predictions.
Abstract: Addition of milli or micro sized particles to the heat
transfer fluid is one of the many techniques employed for improving
heat transfer rate. Though this looks simple, this method has
practical problems such as high pressure loss, clogging and erosion
of the material of construction. These problems can be overcome by
using nanofluids, which is a dispersion of nanosized particles in a
base fluid. Nanoparticles increase the thermal conductivity of the
base fluid manifold which in turn increases the heat transfer rate.
Nanoparticles also increase the viscosity of the basefluid resulting in
higher pressure drop for the nanofluid compared to the base fluid. So
it is imperative that the Reynolds number (Re) and the volume
fraction have to be optimum for better thermal hydraulic
effectiveness. In this work, the heat transfer enhancement using
aluminium oxide nanofluid using low and high volume fraction
nanofluids in turbulent pipe flow with constant wall temperature has
been studied by computational fluid dynamic modeling of the
nanofluid flow adopting the single phase approach. Nanofluid, up till
a volume fraction of 1% is found to be an effective heat transfer
enhancement technique. The Nusselt number (Nu) and friction factor
predictions for the low volume fractions (i.e. 0.02%, 0.1 and 0.5%)
agree very well with the experimental values of Sundar and Sharma
(2010). While, predictions for the high volume fraction nanofluids
(i.e. 1%, 4% and 6%) are found to have reasonable agreement with
both experimental and numerical results available in the literature.
So the computationally inexpensive single phase approach can be
used for heat transfer and pressure drop prediction of new nanofluids.
Abstract: Experiments have been carried out at sub-critical
Reynolds number to investigate free-to-roll motions induced by
forebody and/or wings complex flow on a 30° swept back nonslender
wings-slender body-model for static and dynamic (pitch-up)
cases. For the dynamic (pitch-up) case it has been observed that roll
amplitude decreases and lag increases with increase in pitching
speed. Decrease in roll amplitude with increase in pitch rate is
attributed to low disturbing rolling moment due to weaker interaction
between forebody and wing flow components. Asymmetric forebody
vortices dominate and control the roll motion of the model in
dynamic case when non-dimensional pitch rate ≥ 1x10-2.
Effectiveness of the active control scheme utilizing rotating nose with
artificial tip perturbation is observed to be low in the angle of attack
region where the complex flow over the wings has contributions from
both forebody and wings.
Abstract: This paper presents a robust method to detect obstacles in stereo images using shadow removal technique and color information. Stereo vision based obstacle detection is an algorithm that aims to detect and compute obstacle depth using stereo matching and disparity map. The proposed advanced method is divided into three phases, the first phase is detecting obstacles and removing shadows, the second one is matching and the last phase is depth computing. We propose a robust method for detecting obstacles in stereo images using a shadow removal technique based on color information in HIS space, at the first phase. In this paper we use Normalized Cross Correlation (NCC) function matching with a 5 × 5 window and prepare an empty matching table τ and start growing disparity components by drawing a seed s from S which is computed using canny edge detector, and adding it to τ. In this way we achieve higher performance than the previous works [2,17]. A fast stereo matching algorithm is proposed that visits only a small fraction of disparity space in order to find a semi-dense disparity map. It works by growing from a small set of correspondence seeds. The obstacle identified in phase one which appears in the disparity map of phase two enters to the third phase of depth computing. Finally, experimental results are presented to show the effectiveness of the proposed method.
Abstract: A key requirement for e-learning materials is
reusability and interoperability, that is the possibility to use at least
part of the contents in different courses, and to deliver them trough
different platforms. These features make possible to limit the cost of
new packages, but require the development of material according to
proper specifications. SCORM (Sharable Content Object Reference
Model) is a set of guidelines suitable for this purpose. A specific
adaptation project has been started to make possible to reuse existing
materials. The paper describes the main characteristics of SCORM
specification, and the procedure used to modify the existing material.
Abstract: A hybrid Photovoltaic/Thermal (PV/T) solar system integrates photovoltaic and solar thermal technologies into one single solar energy device, with dual generation of electricity and heat energy. The aim of the present study is to evaluate the potential for introduction of the PV/T technology into Northern China. For this purpose, outdoor experiments were conducted on a prototype of a PV/T water-heating system. The annual thermal and electrical performances were investigated under the climatic conditions of Beijing. An economic analysis of the system was then carried out, followed by a sensitivity study. The analysis revealed that the hybrid system is not economically attractive with the current market and energy prices. However, considering the continuous commitment of the Chinese government towards policy development in the renewable energy sector, and technological improvements like the increasing cost-effectiveness of PV cells, PV/Thermal technology may become economically viable in the near future.
Abstract: This paper proposes an improvement method of classification
efficiency in a classification model. The model is used
in a risk search system and extracts specific labels from articles
posted at bulletin board sites. The system can analyze the important
discussions composed of the articles. The improvement method
introduces ensemble learning methods that use multiple classification
models. Also, it introduces expressions related to the specific labels
into generation of word vectors. The paper applies the improvement
method to articles collected from three bulletin board sites selected
by users and verifies the effectiveness of the improvement method.
Abstract: A high performance computer includes a fast
processor and millions bytes of memory. During the data processing,
huge amount of information are shuffled between the memory and
processor. Because of its small size and its effectiveness speed, cache
has become a common feature of high performance computers.
Enhancing cache performance proved to be essential in the speed up
of cache-based computers. Most enhancement approaches can be
classified as either software based or hardware controlled. The
performance of the cache is quantified in terms of hit ratio or miss
ratio. In this paper, we are optimizing the cache performance based
on enhancing the cache hit ratio. The optimum cache performance is
obtained by focusing on the cache hardware modification in the way
to make a quick rejection to the missed line's tags from the hit-or
miss comparison stage, and thus a low hit time for the wanted line in
the cache is achieved. In the proposed technique which we called
Even- Odd Tabulation (EOT), the cache lines come from the main
memory into cache are classified in two types; even line's tags and
odd line's tags depending on their Least Significant Bit (LSB). This
division is exploited by EOT technique to reject the miss match line's
tags in very low time compared to the time spent by the main
comparator in the cache, giving an optimum hitting time for the
wanted cache line. The high performance of EOT technique against
the familiar mapping technique FAM is shown in the simulated
results.