Abstract: This paper presents the novel Rao-Blackwellised
particle filter (RBPF) for mobile robot simultaneous localization and
mapping (SLAM) using monocular vision. The particle filter is
combined with unscented Kalman filter (UKF) to extending the path
posterior by sampling new poses that integrate the current observation
which drastically reduces the uncertainty about the robot pose. The
landmark position estimation and update is also implemented through
UKF. Furthermore, the number of resampling steps is determined
adaptively, which seriously reduces the particle depletion problem,
and introducing the evolution strategies (ES) for avoiding particle
impoverishment. The 3D natural point landmarks are structured with
matching Scale Invariant Feature Transform (SIFT) feature pairs. The
matching for multi-dimension SIFT features is implemented with a
KD-Tree in the time cost of O(log2
N). Experiment results on real robot
in our indoor environment show the advantages of our methods over
previous approaches.
Abstract: Water borne polyurethane (PU) based on newly prepared hyperbranched poly (amine-ester) (HBPAE) was applied and evaluated as organic coating material. HBPAE was prepared through one-pot synthesis between trimethylol propane as a core and AB2 branched monomer which was obtained via Michal addition of methyl methacrylate (MMA) and diethanol amine (DEA). PU was prepared from HBPAE using different ratios of toluene diisocyanate (TDI) to form cured coating film. The prepared HBPAE was characterized using; GPC, FT-IR and 1H-NMR. The mechanical properties (impact, hardness, adhesion, and flexibility), thermal properties (DSC and TGA) and chemical resistance of the applied film were estimated. The results indicated 50% of TDI is the selected ratio. This formulation represents a promising candidate to be used as coating material.
Abstract: This paper presents the 20-GHz fractional PLL (Phase
Locked Loop) circuit for the next generation Wi-Fi by using 90 nm
TSMC process. The newly suggested millimeter wave 16/17
pre-scalar is designed and verified by measurement to make the
fractional PLL having a low quantization noise. The operational
bandwidth of the 60 GHz system is 15 % of the carrier frequency
which requires large value of Kv (VCO control gain) resulting in
degradation of phase noise. To solve this problem, this paper adopts
AFC (Automatic Frequency Controller) controlled 4-bit millimeter
wave VCO with small value of Kv. Also constant Kv is implemented
using 4-bit varactor bank. The measured operational bandwidth is 18.2
~ 23.2 GHz which is 25 % of the carrier frequency. The phase noise of
-58 and -96.2 dBc/Hz at 100 KHz and 1 MHz offset is measured
respectively. The total power consumption of the PLL is only 30 mW.
Abstract: This paper presents an analysis result of relationship
between business and information technology (IT) in business process
reengineering (BPR). 258 Japanese firm-level data collected have been
analyzed using structural equation modeling. This analysis was aimed
to illuminating success factors of achieve effective BPR. Analysis was
focused on management factors (including organizational factors) and
implementing management method (e.g. balanced score card, internal
control, etc.).These results would contribute for achieving effective
BPR by showing effective tasks and environment to be focused.
Abstract: For a given specific problem an efficient algorithm has been the matter of study. However, an alternative approach orthogonal to this approach comes out, which is called a reduction. In general for a given specific problem this reduction approach studies how to convert an original problem into subproblems. This paper proposes a formal modeling language to support this reduction approach in order to make a solver quickly. We show three examples from the wide area of learning problems. The benefit is a fast prototyping of algorithms for a given new problem. It is noted that our formal modeling language is not intend for providing an efficient notation for data mining application, but for facilitating a designer who develops solvers in machine learning.
Abstract: In this study, a fuzzy similarity approach for Arabic
web pages classification is presented. The approach uses a fuzzy
term-category relation by manipulating membership degree for the
training data and the degree value for a test web page. Six measures
are used and compared in this study. These measures include:
Einstein, Algebraic, Hamacher, MinMax, Special case fuzzy and
Bounded Difference approaches. These measures are applied and
compared using 50 different Arabic web pages. Einstein measure was
gave best performance among the other measures. An analysis of
these measures and concluding remarks are drawn in this study.
Abstract: Business process automation is an important task in an
enterprise business environment software development. The
requirements of processing acceleration and automation level of
enterprises are inherently different from one organization to another.
We present a methodology and system for automation of business
process management system architecture by multi-agent collaboration
based on SOA. Design layer processes are modeled in semantic
markup language for web services application. At the core of our
system is considering certain types of human tasks to their further
automation across over multiple platform environments. An
improved abnormality processing with model for automation of
BPMS architecture by multi-agent collaboration based on SOA is
introduced. Validating system for efficiency of process automation,
an application for educational knowledge base instance would also be
described.
Abstract: The exact gain shape profile of erbium doped fiber
amplifiers (EDFA`s) are depends on fiber length and Er3 ion
densities. This paper optimized several of erbium doped fiber
parameters to obtain high performance characteristic at pump
wavelengths of λp= 980 nm and λs= 1550 nm for three different
pump powers. The maximum gain obtained for pump powers (10, 30
and 50mw) is nearly (19, 30 and 33 dB) at optimizations. The
required numerical aperture NA to obtain maximum gain becomes
less when pump power increased. The amplifier gain is increase
when Er+3doped near the center of the fiber core. The simulation has
been done by using optisystem 5.0 software (CAD for Photonics, a
license product of a Canadian based company) at 2.5 Gbps.
Abstract: In this paper we have numerically analyzed terahertzrange
wavelength conversion using nondegenerate four wave mixing
(NDFWM) in a SOA integrated DFB laser (experiments reported
both in MIT electronics and Fujitsu research laboratories). For
analyzing semiconductor optical amplifier (SOA), we use finitedifference
beam propagation method (FDBPM) based on modified
nonlinear SchrÖdinger equation and for distributed feedback (DFB)
laser we use coupled wave approach. We investigated wavelength
conversion up to 4THz probe-pump detuning with conversion
efficiency -5dB in 1THz probe-pump detuning for a SOA integrated
quantum-well
Abstract: In this paper, three types of defected ground structure
(DGS) units which are triangular-head (TH), rectangular-head (RH)
and U-shape (US) are investigated. They are further used to low-pass
and band-pass filters designs (LPF and BPF) and the obtained
performances are examined. The LPF employing RH-DGS geometry
presents the advantages of compact size, low-insertion loss and wide
stopband compared to the other filters. It provides cutoff frequency of
2.5 GHz, largest rejection band width of 20 dB from 2.98 to 8.76
GHz, smallest transition region and smallest sharpness of the cutoff
frequency. The BPF based on RH-DGS has the highest bandwidth
(BW) of about 0.74 GHz and the lowest center frequency of 3.24
GHz, whereas the other BPFs have BWs less than 0.7 GHz.
Abstract: Lighvan cheese is basically made from sheep milk in
the area of Sahand mountainside which is located in the North West
of Iran. The main objective of this study was to investigate the effect
of enterococci isolated from traditional Lighvan cheese on the quality
of Iranian UF white during ripening. The experimental design was
split plot based on randomized complete blocks, main plots were four
types of starters and subplots were different ripening durations.
Addition of Enterococcus spp. did not significantly (P
Abstract: It is well known that the channel capacity of Multiple-
Input-Multiple-Output (MIMO) system increases as the number of
antenna pairs between transmitter and receiver increases but it suffers
from multiple expensive RF chains. To reduce the cost of RF chains,
Antenna Selection (AS) method can offer a good tradeoff between
expense and performance. In a transmitting AS system, Channel
State Information (CSI) feedback is necessarily required to choose
the best subset of antennas in which the effects of delays and errors
occurred in feedback channels are the most dominant factors
degrading the performance of the AS method. This paper presents the
concept of AS method using CSI from channel reciprocity instead of
feedback method. Reciprocity technique can easily archive CSI by
utilizing a reverse channel where the forward and reverse channels
are symmetrically considered in time, frequency and location. In this
work, the capacity performance of MIMO system when using AS
method at transmitter with reciprocity channels is investigated by
own developing Testbed. The obtained results show that reciprocity
technique offers capacity close to a system with a perfect CSI and
gains a higher capacity than a system without AS method from 0.9 to
2.2 bps/Hz at SNR 10 dB.
Abstract: Artificial Intelligence based gaming is an interesting topic in the state-of-art technology. This paper presents an automation of a tradition Omani game, called Al-Hawalees. Its related issues are resolved and implemented using artificial intelligence approach. An AI approach called mini-max procedure is incorporated to make a diverse budges of the on-line gaming. If number of moves increase, time complexity will be increased in terms of propositionally. In order to tackle the time and space complexities, we have employed a back propagation neural network (BPNN) to train in off-line to make a decision for resources required to fulfill the automation of the game. We have utilized Leverberg- Marquardt training in order to get the rapid response during the gaming. A set of optimal moves is determined by the on-line back propagation training fashioned with alpha-beta pruning. The results and analyses reveal that the proposed scheme will be easily incorporated in the on-line scenario with one player against the system.
Abstract: The quality of short term load forecasting can improve the efficiency of planning and operation of electric utilities. Artificial Neural Networks (ANNs) are employed for nonlinear short term load forecasting owing to their powerful nonlinear mapping capabilities. At present, there is no systematic methodology for optimal design and training of an artificial neural network. One has often to resort to the trial and error approach. This paper describes the process of developing three layer feed-forward large neural networks for short-term load forecasting and then presents a heuristic search algorithm for performing an important task of this process, i.e. optimal networks structure design. Particle Swarm Optimization (PSO) is used to develop the optimum large neural network structure and connecting weights for one-day ahead electric load forecasting problem. PSO is a novel random optimization method based on swarm intelligence, which has more powerful ability of global optimization. Employing PSO algorithms on the design and training of ANNs allows the ANN architecture and parameters to be easily optimized. The proposed method is applied to STLF of the local utility. Data are clustered due to the differences in their characteristics. Special days are extracted from the normal training sets and handled separately. In this way, a solution is provided for all load types, including working days and weekends and special days. The experimental results show that the proposed method optimized by PSO can quicken the learning speed of the network and improve the forecasting precision compared with the conventional Back Propagation (BP) method. Moreover, it is not only simple to calculate, but also practical and effective. Also, it provides a greater degree of accuracy in many cases and gives lower percent errors all the time for STLF problem compared to BP method. Thus, it can be applied to automatically design an optimal load forecaster based on historical data.
Abstract: Phase error in communications systems degrades error
performance. In this paper, we present a simple approximation for the
average error probability of the binary phase shift keying (BPSK) in
the presence of phase error having a uniform distribution on arbitrary
intervals. For the simple approximation, we use symmetry and
periodicity of a sinusoidal function. Approximate result for the
average error probability is derived, and the performance is verified
through comparison with simulation result.
Abstract: The nutrient composition and sensory properties of
poultry-based patties (PBPs) incorporated with various levels of grey
oyster mushroom (Pleurotus sajor-caju, PSC) were studied. The
PBPs were formulated with either 0%, 25% or 50% of fresh ground
PSC. Results show poultry patty formulated with 25% PSC had
protein content of 17.46% lower than the control patty which had
18.13% but it was not significant. Meanwhile, both cooked poultry
patties containing 25% and 50% PSC significantly recorded lower
concentration of fat at 10.67% and 7.15%, respectively. On the other
hand, poultry patty added with 50% ground PSC shows the highest
concentration of total dietary fibre (TDF) of 4.90 g/100g compared to
poultry patty containing 25% of mushroom (3.40 g/100g) and to the
control (1.90g/100g). In addition, patty incorporated with 25% PSC
had moisture content of 57.91% which is significantly lower than
patty formulated with 50% which had moisture of 61.80%. In the
sensory evaluation, there were no differences recorded in all sensory
attributes of PSC-based patties judged by untrained panelists. In
conclusion, the addition of PSC to replace poultry meat can be
recommended for the purpose of lowering production cost, enhancing
nutritional composition and maintaining the acceptability of poultry
patties.
Abstract: Business Process Management (BPM) helps in optimizing the business processes inside an enterprise. But BPM architecture does not provide any help for extending the enterprise. Modern business environments and rapidly changing technologies are asking for brisk changes in the business processes. Service Oriented Architecture (SOA) can help in enabling the success of enterprise-wide BPM. SOA supports agility in software development that is directly related to achieve loose coupling of interacting software agents. Agility is a premium concern of the current software designing architectures. Together, BPM and SOA provide a perfect combination for enterprise computing. SOA provides the capabilities for services to be combined together and to support and create an agile, flexible enterprise. But there are still many questions to answer; BPM is better or SOA? and what is the future track of BPM and SOA? This paper tries to answer some of these important questions.
Abstract: The back-propagation algorithm calculates the weight
changes of an artificial neural network, and a two-term algorithm
with a dynamically optimal learning rate and a momentum factor
is commonly used. Recently the addition of an extra term, called a
proportional factor (PF), to the two-term BP algorithm was proposed.
The third term increases the speed of the BP algorithm. However,
the PF term also reduces the convergence of the BP algorithm, and
optimization approaches for evaluating the learning parameters are
required to facilitate the application of the three terms BP algorithm.
This paper considers the optimization of the new back-propagation
algorithm by using derivative information. A family of approaches
exploiting the derivatives with respect to the learning rate, momentum
factor and proportional factor is presented. These autonomously
compute the derivatives in the weight space, by using information
gathered from the forward and backward procedures. The three-term
BP algorithm and the optimization approaches are evaluated using
the benchmark XOR problem.
Abstract: A simple network model is developed in OPNET to
study the performance of the Wi-Fi protocol. The model is simulated
in OPNET and performance factors such as load, throughput and delay
are analysed from the model. Four applications such as oracle, http, ftp
and voice are applied over the Wireless LAN network to determine the
throughput. The voice application utilises a considerable amount of
bandwidth of up to 5Mbps, as a result the 802.11g standard of the
Wi-Fi protocol was chosen which can support a data rate of up to
54Mbps. Results indicate that when the load in the Wi-Fi network is
increased the queuing delay on the point-to-point links in the Wi-Fi
network significantly reduces until it is comparable to that of WiMAX.
In conclusion, the queuing delay of the Wi-Fi protocol for the network
model simulated was about 0.00001secs comparable to WiMAX
network values.
Abstract: The growing health hazardous impact of arsenic (As)
contamination in environment is the impetus of the present
investigation. Application of lactic acid bacteria (LAB) for the
removal of toxic and heavy metals from water has been reported.
This study was performed in order to isolate and characterize the Asresistant
LAB from mud and sludge samples for using as efficient As
uptaking probiotic. Isolation of As-resistant LAB colonies was
performed by spread plate technique using bromocresol purple
impregnated-MRS (BP-MRS) agar media provided with As @ 50
μg/ml. Isolated LAB were employed for probiotic characterization
process, acid and bile tolerance, lactic acid production, antibacterial
activity and antibiotic tolerance assays. After As-resistant and
removal characterizations, the LAB were identified using 16S rDNA
sequencing. A total of 103 isolates were identified as As-resistant
strains of LAB. The survival of 6 strains (As99-1, As100-2, As101-3,
As102-4, As105-7, and As112-9) was found after passing through the
sequential probiotic characterizations. Resistant pattern pronounced
hollow zones at As concentration >2000 μg/ml in As99-1, As100-2,
and As101-3 LAB strains, whereas it was found at ~1000 μg/ml in
rest 3 strains. Among 6 strains, the As uptake efficiency of As102-4
(0.006 μg/h/mg wet weight of cell) was higher (17 – 209%)
compared to remaining LAB. 16S rDNA sequencing data of 3 (As99-
1, As100-2, and As101-3) and 3 (As102-4, As105-7, and As112-9)
LAB strains clearly showed 97 to 99% (340 bp) homology to
Pediococcus dextrinicus and Pediococcus acidilactici, respectively.
Though, there was no correlation between the metal resistant and
removal efficiency of LAB examined but identified elevated As
removing LAB would probably be a potential As uptaking probiotic
agent. Since present experiment concerned with only As removal
from pure water, As removal and removal mechanism in natural
condition of intestinal milieu should be assessed in future studies.