Abstract: This paper proposes a balance control scheme for a biped robot to trace an arbitrary path using image information. While moving, it estimates the zero moment point(ZMP) of the biped robot in the next step using a Kalman filter and renders an appropriate balanced pose of the robot. The ZMP can be calculated from the robot's pose, which is measured from the reference object image acquired by a CCD camera on the robot's head. For simplifying the kinematical model, the coordinates systems of individual joints of each leg are aligned and the robot motion is approximated as an inverted pendulum so that a simple linear dynamics, 3D-LIPM(3D-Linear Inverted Pendulum Mode) can be applied. The efficiency of the proposed algorithm has been proven by the experiments performed on unknown trajectory.
Abstract: Image watermarking has become an important tool for
intellectual property protection and authentication. In this paper a
watermarking technique is suggested that incorporates two
watermarks in a host image for improved protection and robustness.
A watermark, in form of a PN sequence (will be called the secondary
watermark), is embedded in the wavelet domain of a primary
watermark before being embedded in the host image. The technique
has been tested using Lena image as a host and the camera man as
the primary watermark. The embedded PN sequence was detectable
through correlation among other five sequences where a PSNR of
44.1065 dB was measured. Furthermore, to test the robustness of the
technique, the watermarked image was exposed to four types of
attacks, namely compression, low pass filtering, salt and pepper noise
and luminance change. In all cases the secondary watermark was
easy to detect even when the primary one is severely distorted.
Abstract: The Far From Most Strings Problem (FFMSP) is to obtain a string which is far from as many as possible of a given set of strings. All the input and the output strings are of the same length, and two strings are said to be far if their hamming distance is greater than or equal to a given positive integer. FFMSP belongs to the class of sequences consensus problems which have applications in molecular biology. The problem is NP-hard; it does not admit a constant-ratio approximation either, unless P = NP. Therefore, in addition to exact and approximate algorithms, (meta)heuristic algorithms have been proposed for the problem in recent years. On the other hand, in the recent years, hybrid algorithms have been proposed and successfully used for many hard problems in a variety of domains. In this paper, a new metaheuristic algorithm, called Constructive Beam and Local Search (CBLS), is investigated for the problem, which is a hybridization of constructive beam search and local search algorithms. More specifically, the proposed algorithm consists of two phases, the first phase is to obtain several candidate solutions via the constructive beam search and the second phase is to apply local search to the candidate solutions obtained by the first phase. The best solution found is returned as the final solution to the problem. The proposed algorithm is also similar to memetic algorithms in the sense that both use local search to further improve individual solutions. The CBLS algorithm is compared with the most recent published algorithm for the problem, GRASP, with significantly positive results; the improvement is by order of magnitudes in most cases.
Abstract: Conceptualization strengthens intelligent systems in generalization skill, effective knowledge representation, real-time inference, and managing uncertain and indefinite situations in addition to facilitating knowledge communication for learning agents situated in real world. Concept learning introduces a way of abstraction by which the continuous state is formed as entities called concepts which are connected to the action space and thus, they illustrate somehow the complex action space. Of computational concept learning approaches, action-based conceptualization is favored because of its simplicity and mirror neuron foundations in neuroscience. In this paper, a new biologically inspired concept learning approach based on the probabilistic framework is proposed. This approach exploits and extends the mirror neuron-s role in conceptualization for a reinforcement learning agent in nondeterministic environments. In the proposed method, instead of building a huge numerical knowledge, the concepts are learnt gradually from rewards through interaction with the environment. Moreover the probabilistic formation of the concepts is employed to deal with uncertain and dynamic nature of real problems in addition to the ability of generalization. These characteristics as a whole distinguish the proposed learning algorithm from both a pure classification algorithm and typical reinforcement learning. Simulation results show advantages of the proposed framework in terms of convergence speed as well as generalization and asymptotic behavior because of utilizing both success and failures attempts through received rewards. Experimental results, on the other hand, show the applicability and effectiveness of the proposed method in continuous and noisy environments for a real robotic task such as maze as well as the benefits of implementing an incremental learning scenario in artificial agents.
Abstract: A multi-rate discrete-time model, whose response
agrees exactly with that of a continuous-time original at all sampling
instants for any sampling periods, is developed for a linear system,
which is assumed to have multiple real eigenvalues. The sampling
rates can be chosen arbitrarily and individually, so that their ratios
can even be irrational. The state space model is obtained as a
combination of a linear diagonal state equation and a nonlinear output
equation. Unlike the usual lifted model, the order of the proposed
model is the same as the number of sampling rates, which is less than
or equal to the order of the original continuous-time system. The
method is based on a nonlinear variable transformation, which can be
considered as a generalization of linear similarity transformation,
which cannot be applied to systems with multiple eigenvalues in
general. An example and its simulation result show that the proposed
multi-rate model gives exact responses at all sampling instants.
Abstract: The evaluation of the contribution of professional
baseball starting pitchers is a complex decision-making problem that
includes several quantitative attributes. It is considered a type of
multi-attribute or multi-criteria decision making (MADM/MCDM)
problem. This study proposes a model using the Grey Relational
Analysis (GRA) to evaluate the starting pitcher contribution for teams
of the Chinese Professional Baseball League. The GRA calculates the
individual grey relational degree of each alternative to the positive
ideal alternative. An empirical analysis was conducted to show the use
of the model for the starting pitcher contribution problem. The results
demonstrate the effectiveness and feasibility of the proposed model.
Abstract: Formulation of biological profile is one of the modern roles of forensic anthropologist. The present study was conducted to estimate height using foot and shoeprint length of Malaysian population. The present work can be very useful information in the process of identification of individual in forensic cases based on shoeprint evidence. It can help to narrow down suspects and ease the police investigation. Besides, stature is important parameters in determining the partial identify of unidentified and mutilated bodies. Thus, this study can help the problem encountered in cases of mass disaster, massacre, explosions and assault cases. This is because it is very hard to identify parts of bodies in these cases where people are dismembered and become unrecognizable. Samples in this research were collected from 200 Malaysian adults (100 males and 100 females) with age ranging from 20 to 45 years old. In this research, shoeprint length were measured based on the print of the shoes made from the flat shoes. Other information like gender, foot length and height of subject were also recorded. The data was analyzed using IBM® SPSS Statistics 19 software. Results indicated that, foot length has a strong correlation with stature than shoeprint length for both sides of the feet. However, in the unknown, where the gender was undetermined have shown a better correlation in foot length and shoeprint length parameter compared to males and females analyzed separately. In addition, prediction equations are developed to estimate the stature using linear regression analysis of foot length and shoeprint length. However, foot lengths give better prediction than shoeprint length.
Abstract: China apparel industry, which is deeply embedded in
the global production network (GPN), faces the dual pressures of
social upgrading and economic upgrading. Based on the survey in
Ningbo apparel cluster, the paper shows the state of corporate social
responsibility (CSR) in China apparel industry is better than before.
And the investigation indicates that the firms who practice CSR
actively perform better both socially and economically than those who
inactively. The research demonstrates that CSR can be an initial
capital rather than cost, and “doing well by doing good" is also existed
in labor intensive industry.
Abstract: In this paper, the authors examine whether or not there Institute for Information and Communications Policy shows are differences of Japanese Internet users awareness to information security based on individual attributes by using analysis of variance based on non-parametric method. As a result, generally speaking, it is found that Japanese Internet users' awareness to information security is different by individual attributes. Especially, the authors verify that the users who received the information security education would have rather higher recognition concerning countermeasures than other users including self-educated users. It is suggested that the information security education should be enhanced so that the users may appropriately take the information security countermeasures. In addition, the information security policy such as carrying out "e- net caravan" and "information security seminars" are effective in improving the users' awareness on the information security in Japan.
Abstract: An integrated vehicle dynamics control system is developed in this paper by a combination of active front steering (AFS) and direct yaw-moment control (DYC) based on fuzzy logic control. The control system has a hierarchical structure consisting of two layers. A fuzzy logic controller is used in the upper layer (yaw rate controller) to keep the yaw rate in its desired value. The yaw rate error and its rate of change are applied to the upper controlling layer as inputs, where the direct yaw moment control signal and the steering angle correction of the front wheels are the outputs. In the lower layer (fuzzy integrator), a fuzzy logic controller is designed based on the working region of the lateral tire forces. Depending on the directions of the lateral forces at the front wheels, a switching function is activated to adjust the scaling factor of the fuzzy logic controller. Using a nonlinear seven degrees of freedom vehicle model, the simulation results illustrate considerable improvements which are achieved in vehicle handling through the integrated AFS/DYC control system in comparison with the individual AFS or DYC controllers.
Abstract: Paper is dealing with vulnerability concerning elements of hydrological structures and elements of technological equipments which are acceptable for groundwater resources. The vulnerability assessment stems from the application of the register of hazards and a potential threat to individual water source elements within each type of hazard. The proposed procedure is pattern for assessing the risks of disturbance, damage, or destruction of water source by the identified natural or technological hazards and consequently for classification of these risks in relation to emergency water supply. Using of this procedure was verified on selected groundwater resource in particular region, which seems to be as potentially useful for crisis planning system.
Abstract: In this note, a theoretical model for analyzing of
normal penetration of the ogive – nose projectile into metallic targets
is presented .The failure is assumed to be asymmetry petalling and
the analysis is performed by using the energy balance and work done
.The work done consist of the work required for plastic deformation
Wp, the work for transferring the matter to new position Wd and the
work for bending of the petals Wb. In several studies, it has been
shown that we can neglect the loss of energy by temperature.
In this present study, in first, by assuming the crater formation
after perforation, the value of work done is calculated during the
normal penetration of conical projectiles into thin metallic targets.
Then the value of residual velocity and ballistic limit of the projectile
is predicated by using the energy balance. In final, theoretical and
experimental results is compared.
Abstract: The issue of real-time and reliable report delivery is extremely important for taking effective decision in a real world mission critical Wireless Sensor Network (WSN) based application. The sensor data behaves differently in many ways from the data in traditional databases. WSNs need a mechanism to register, process queries, and disseminate data. In this paper we propose an architectural framework for data placement and management. We propose a reliable and real time approach for data placement and achieving data integrity using self organized sensor clusters. Instead of storing information in individual cluster heads as suggested in some protocols, in our architecture we suggest storing of information of all clusters within a cell in the corresponding base station. For data dissemination and action in the wireless sensor network we propose to use Action and Relay Stations (ARS). To reduce average energy dissipation of sensor nodes, the data is sent to the nearest ARS rather than base station. We have designed our architecture in such a way so as to achieve greater energy savings, enhanced availability and reliability.
Abstract: In this paper the features of multiple material gate
silicon-on-insulator MOSFETs are presented and compared with
single material gate silicon-on-insulator MOSFET structures. The
results indicate that the multiple material gate structures reduce short
channel effects such as drain induce barrier lowering, hot electron
effect and better current characteristics in comparison with single
material structures
Abstract: In this paper, the techniques for estimating the
residual stress in high velocity oxy fuel thermal spray coatings have
been discussed and compared. The development trend and the last
investigation have been studied. It is seemed that the there is not
effective study on the effect of the peening action in HVOF
analytically and numerically.
Abstract: In this paper we are interested in Moufang-Klingenberg
planesM(A) defined over a local alternative ring A of dual numbers.
We show that some collineations of M(A) preserve cross-ratio.
Abstract: The seismic response of steel shear wall system considering nonlinearity effects using finite element method is investigated in this paper. The non-linear finite element analysis has potential as usable and reliable means for analyzing of civil structures with the availability of computer technology. In this research the large displacements and materially nonlinear behavior of shear wall is presented with developing of finite element code. A numerical model based on the finite element method for the seismic analysis of shear wall is presented with developing of finite element code in this research. To develop the finite element code, the standard Galerkin weighted residual formulation is used. Two-dimensional plane stress model and total Lagrangian formulation was carried out to present the shear wall response and the Newton-Raphson method is applied for the solution of nonlinear transient equations. The presented model in this paper can be developed for analysis of civil engineering structures with different material behavior and complicated geometry.
Abstract: Data Envelopment Analysis (DEA) is one of the most
widely used technique for evaluating the relative efficiency of a set
of homogeneous decision making units. Traditionally, it assumes that
input and output variables are known in advance, ignoring the critical
issue of data uncertainty. In this paper, we deal with the problem
of efficiency evaluation under uncertain conditions by adopting the
general framework of the stochastic programming. We assume that
output parameters are represented by discretely distributed random
variables and we propose two different models defined according to a
neutral and risk-averse perspective. The models have been validated
by considering a real case study concerning the evaluation of the
technical efficiency of a sample of individual firms operating in
the Italian leather manufacturing industry. Our findings show the
validity of the proposed approach as ex-ante evaluation technique
by providing the decision maker with useful insights depending on
his risk aversion degree.
Abstract: The paper shows some ability to manage two-phase
flows arising from the use of unsteady effects. In one case, we
consider the condition of fragmentation of the interface between the
two components leads to the intensification of mixing. The problem
is solved when the temporal and linear scale are small for the
appearance of the developed mixing layer. Showing that exist such
conditions for unsteady flow velocity at the surface of the channel,
which will lead to the creation and fragmentation of vortices at Re
numbers of order unity. Also showing that the Re is not a criterion of
similarity for this type of flows, but we can introduce a criterion that
depends on both the Re, and the frequency splitting of the vortices. It
turned out that feature of this situation is that streamlines behave
stable, and if we analyze the behavior of the interface between the
components it satisfies all the properties of unstable flows. The other
problem we consider the behavior of solid impurities in the extensive
system of channels. Simulated unsteady periodic flow modeled
breaths. Consider the behavior of the particles along the trajectories.
It is shown that, depending on the mass and diameter of the particles,
they can be collected in a caustic on the channel walls, stop in a
certain place or fly back. Of interest is the distribution of particle
velocity in frequency. It turned out that by choosing a behavior of the
velocity field of the carrier gas can affect the trajectory of individual
particles including force them to fly back.
Abstract: This study examines age and sex patterns of
children-s disability in the Parila union of Rajshahi, Bangladesh. For
this we assumed that (1) prevalence of disability patterns and its
severity in the middle childhood are higher than in the infancy or
latter childhood in the Parila union of Rajshahi, (2) prevalence of
disability patterns and its severity among the boys compared to girls
are higher in the study area of Bangladesh. In order to examine the
assumptions 102 samples, including their mothers were selected
based on snowball process and the respondents were individually
interviewed with semi-structured questionnaire method. The results
of the study suggest that disability patterns and its severity among the
male children were two-fold higher than the female children. In
addition, these patterns of children-s disability and its severity in the
middle childhood were also higher than in the infancy or latter
childhood. Further study should conduct how socio-structural factors
influence age and sex patterns of children-s disability patterns and its
severity in Bangladesh.