Abstract: In this paper, a three dimensional autonomous chaotic system is considered. The existence of Hopf bifurcation is investigated by choosing the appropriate bifurcation parameter. Furthermore, formulas for determining the direction of the Hopf bifurcation and the stability of bifurcating periodic solutions are derived with the help of normal form theory. Finally, a numerical example is given.
Abstract: The present paper represent the efforts undertaken for
the development of an semi-automatic robot that may be used for
various post-disaster rescue operation planning and their subsequent
execution using one-way communication of video and data from the
robot to the controller and controller to the robot respectively.
Wireless communication has been used for the purpose so that the
robot may access the unapproachable places easily without any
difficulties. It is expected that the information obtained from the
robot would be of definite help to the rescue team for better planning
and execution of their operations.
Abstract: The control design for unmanned underwater vehicles (UUVs) is challenging due to the uncertainties in the complex dynamic modeling of the vehicle as well as its unstructured operational environment. To cope with these difficulties, a practical robust control is therefore desirable. The paper deals with the application of coefficient diagram method (CDM) for a robust control design of an autonomous underwater vehicle. The CDM is an algebraic approach in which the characteristic polynomial and the controller are synthesized simultaneously. Particularly, a coefficient diagram (comparable to Bode diagram) is used effectively to convey pertinent design information and as a measure of trade-off between stability, response speed and robustness. In the polynomial ring, Kharitonov polynomials are employed to analyze the robustness of the controller due to parametric uncertainties.
Abstract: In the past decade, artificial neural networks (ANNs)
have been regarded as an instrument for problem-solving and
decision-making; indeed, they have already done with a substantial
efficiency and effectiveness improvement in industries and businesses.
In this paper, the Back-Propagation neural Networks (BPNs) will be
modulated to demonstrate the performance of the collaborative
forecasting (CF) function of a Collaborative Planning, Forecasting and
Replenishment (CPFR®) system. CPFR functions the balance between
the sufficient product supply and the necessary customer demand in a
Supply and Demand Chain (SDC). Several classical standard BPN will
be grouped, collaborated and exploited for the easy implementation of
the proposed modular ANN framework based on the topology of a
SDC. Each individual BPN is applied as a modular tool to perform the
task of forecasting SKUs (Stock-Keeping Units) levels that are
managed and supervised at a POS (point of sale), a wholesaler, and a
manufacturer in an SDC. The proposed modular BPN-based CF
system will be exemplified and experimentally verified using lots of
datasets of the simulated SDC. The experimental results showed that a
complex CF problem can be divided into a group of simpler
sub-problems based on the single independent trading partners
distributed over SDC, and its SKU forecasting accuracy was satisfied
when the system forecasted values compared to the original simulated
SDC data. The primary task of implementing an autonomous CF
involves the study of supervised ANN learning methodology which
aims at making “knowledgeable" decision for the best SKU sales plan
and stocks management.
Abstract: Inter-organizational Workflow (IOW) is commonly
used to support the collaboration between heterogeneous and
distributed business processes of different autonomous organizations
in order to achieve a common goal. E-government is considered as an
application field of IOW. The coordination of the different
organizations is the fundamental problem in IOW and remains the
major cause of failure in e-government projects. In this paper, we
introduce a new coordination model for IOW that improves the
collaboration between government administrations and that respects
IOW requirements applied to e-government. For this purpose, we
adopt a Multi-Agent approach, which deals more easily with interorganizational
digital government characteristics: distribution,
heterogeneity and autonomy. Our model integrates also different
technologies to deal with the semantic and technologic
interoperability. Moreover, it conserves the existing systems of
government administrations by offering a distributed coordination
based on interfaces communication. This is especially applied in
developing countries, where administrations are not necessary
equipped with workflow systems. The use of our coordination
techniques allows an easier migration for an e-government solution
and with a lower cost. To illustrate the applicability of the proposed
model, we present a case study of an identity card creation in Tunisia.
Abstract: One of the long standing challenging aspect in mobile robotics is the ability to navigate autonomously, avoiding modeled and unmodeled obstacles especially in crowded and unpredictably changing environment. A successful way of structuring the navigation task in order to deal with the problem is within behavior based navigation approaches. In this study, Issues of individual behavior design and action coordination of the behaviors will be addressed using fuzzy logic. A layered approach is employed in this work in which a supervision layer based on the context makes a decision as to which behavior(s) to process (activate) rather than processing all behavior(s) and then blending the appropriate ones, as a result time and computational resources are saved.
Abstract: The main objective of this project is to build an
autonomous microcontroller-based mobile robot for a local robot
soccer competition. The black competition field is equipped with
white lines to serve as the guidance path for competing robots. Two
prototypes of soccer robot embedded with the Basic Stamp II
microcontroller have been developed. Two servo motors are used as
the drive train for the first prototype whereas the second prototype
uses two DC motors as its drive train. To sense the lines, lightdependent
resistors (LDRs) supply the analog inputs for the
microcontroller. The performances of both prototypes are evaluated.
The DC motor-driven robot has produced better trajectory control
over the one using servo motors and has brought the team into the
final round.
Abstract: This paper presents a watermarking protocol able to
solve the well-known “customer-s right problem" and “unbinding
problem". In particular, the protocol has been purposely designed
to be adopted in a web context, where users wanting to buy digital
contents are usually neither provided with digital certificates issued
by certification authorities (CAs) nor able to autonomously perform
specific security actions. Furthermore, the protocol enables users to
keep their identities unexposed during web transactions as well as
allows guilty buyers, i.e. who are responsible distributors of illegal
replicas, to be unambiguously identified. Finally, the protocol has
been designed so that web content providers (CPs) can exploit
copyright protection services supplied by web service providers (SPs)
in a security context. Thus, CPs can take advantage of complex
services without having to directly implement them.
Abstract: In this paper, the authors present architecture of a multi agent consultation system for obesity related problems, which hybrid the technology of an expert system (ES) and an intelligent agent (IA). The strength of the ES which is capable of pulling the expert knowledge is consulted and presented to the end user via the autonomous and friendly pushing environment of the intelligent agent.
Abstract: In this paper a real-time trajectory generation algorithm for computing 2-D optimal paths for autonomous aerial vehicles has been discussed. A dynamic programming approach is adopted to compute k-best paths by minimizing a cost function. Collision detection is implemented to detect intersection of the paths with obstacles. Our contribution is a novel approach to the problem of trajectory generation that is computationally efficient and offers considerable gain over existing techniques.
Abstract: The talks about technological convergence had been
around for almost twenty years. Today Internet made it possible. And
this is not only technical evolution. The way it changed our lives
reflected in variety of applications, services and technologies used in
day-to-day life. Such benefits imposed even more requirements on
heterogeneous and unreliable IP networks.
Current paper outlines QoS management system developed in the
NetQoS [1] project. It describes an overall architecture of
management system for heterogeneous networks and proposes
automated multi-layer QoS management. Paper focuses on the
structure of the most crucial modules of the system that enable
autonomous and multi-layer provisioning and dynamic adaptation.
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 a nontrivial nonlinear eight-rotor helicopter
model. This control strategy for chosen model of mini-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 of batteries can be asserted during search-andrescue
operations.
Abstract: An autonomous environmental monitoring system
(Smart Landfill) has been constructed for the quantitative
measurement of the components of landfill gas found at borehole
wells at the perimeter of landfill sites. The main components of
landfill gas are the greenhouse gases, methane and carbon dioxide
and have been monitored in the range 0-5 % volume. This monitoring
system has not only been tested in the laboratory but has been
deployed in multiple field trials and the data collected successfully
compared with on-site monitors. This success shows the potential of
this system for application in environments where reliable gas
monitoring is crucial.
Abstract: This paper presents the design and implements the prototype of an intelligent data processing framework in ubiquitous sensor networks. Much focus is put on how to handle the sensor data stream as well as the interoperability between the low-level sensor data and application clients. Our framework first addresses systematic middleware which mitigates the interaction between the application layer and low-level sensors, for the sake of analyzing a great volume of sensor data by filtering and integrating to create value-added context information. Then, an agent-based architecture is proposed for real-time data distribution to efficiently forward a specific event to the appropriate application registered in the directory service via the open interface. The prototype implementation demonstrates that our framework can host a sophisticated application on the ubiquitous sensor network and it can autonomously evolve to new middleware, taking advantages of promising technologies such as software agents, XML, cloud computing, and the like.
Abstract: Fast depth estimation from binocular vision is often
desired for autonomous vehicles, but, most algorithms could not easily
be put into practice because of the much time cost. We present an
image-processing technique that can fast estimate depth image from
binocular vision images. By finding out the lines which present the
best matched area in the disparity space image, the depth can be
estimated. When detecting these lines, an edge-emphasizing filter is
used. The final depth estimation will be presented after the smooth
filter. Our method is a compromise between local methods and global
optimization.
Abstract: This paper is concerned with a nonautonomous three species food chain model with Crowley–Martin type functional response and time delay. Using the Mawhin-s continuation theorem in theory of degree, sufficient conditions for existence of periodic solutions are obtained.
Abstract: Chronic conditions carry with them strong emotions
and often lead to charged relationships between patients and their
health providers and, by extension, patients and health researchers.
Persons are both autonomous and relational and a purely cognitive
model of autonomy neglects the social and relational basis of chronic
illness. Ensuring genuine informed consent in research requires a
thorough understanding of how participants perceive a study and
their reasons for participation. Surveys may not capture the
complexities of reasoning that underlies study participation.
Contradictory reasons for participation, for instance an initial claim
of altruism as rationale and a subsequent claim of personal benefit
(therapeutic misconception), affect the quality of informed consent.
Individuals apply principles through the filter of personal values and
lived experience. Authentic autonomy, and hence authentic consent
to research, occurs within the context of patients- unique life
narratives and illness experiences.
Abstract: Based on a non-linear single track model which
describes the dynamics of vehicle, an optimal path planning strategy
is developed. Real time optimization is used to generate reference
control values to allow leading the vehicle alongside a calculated lane
which is optimal for different objectives such as energy consumption,
run time, safety or comfort characteristics. Strict mathematic
formulation of the autonomous driving allows taking decision on
undefined situation such as lane change or obstacle avoidance. Based
on position of the vehicle, lane situation and obstacle position, the
optimization problem is reformulated in real-time to avoid the
obstacle and any car crash.
Abstract: The one-class support vector machine “support vector
data description” (SVDD) is an ideal approach for anomaly or outlier
detection. However, for the applicability of SVDD in real-world
applications, the ease of use is crucial. The results of SVDD are
massively determined by the choice of the regularisation parameter C
and the kernel parameter of the widely used RBF kernel. While for
two-class SVMs the parameters can be tuned using cross-validation
based on the confusion matrix, for a one-class SVM this is not
possible, because only true positives and false negatives can occur
during training. This paper proposes an approach to find the optimal
set of parameters for SVDD solely based on a training set from
one class and without any user parameterisation. Results on artificial
and real data sets are presented, underpinning the usefulness of the
approach.
Abstract: Long term rainfall analysis and prediction is a
challenging task especially in the modern world where the impact of
global warming is creating complications in environmental issues.
These factors which are data intensive require high performance
computational modeling for accurate prediction. This research paper
describes a prototype which is designed and developed on grid
environment using a number of coupled software infrastructural
building blocks. This grid enabled system provides the demanding
computational power, efficiency, resources, user-friendly interface,
secured job submission and high throughput. The results obtained
using sequential execution and grid enabled execution shows that
computational performance has enhanced among 36% to 75%, for
decade of climate parameters. Large variation in performance can be
attributed to varying degree of computational resources available for
job execution.
Grid Computing enables the dynamic runtime selection, sharing
and aggregation of distributed and autonomous resources which plays
an important role not only in business, but also in scientific
implications and social surroundings. This research paper attempts to
explore the grid enabled computing capabilities on weather indices
from HOAPS data for climate impact modeling and change
detection.