Abstract: This paper addresses the issue of the autonomous
mobile robot (AMR) navigation task based on the hybrid control
modes. The novel hybrid control mode, based on multi-sensors
information by using the fuzzy approach, has been presented in this
research. The system operates in real time, is robust, enables the robot
to operate with imprecise knowledge, and takes into account the
physical limitations of the environment in which the robot moves,
obtaining satisfactory responses for a large number of different
situations. An experiment is simulated and carried out with a pioneer
mobile robot. From the experimental results, the effectiveness and
usefulness of the proposed AMR obstacle avoidance and navigation
scheme are confirmed. The experimental results show the feasibility,
and the control system has improved the navigation accuracy. The
implementation of the controller is robust, has a low execution time,
and allows an easy design and tuning of the fuzzy knowledge base.
Abstract: Ti6Al4V alloy is highly used in the automotive and
aerospace industry due to its good machining characteristics. Micro
EDM drilling is commonly used to drill micro hole on extremely hard
material with very high depth to diameter ratio. In this study, the
parameters of micro-electrical discharge machining (EDM) in drilling
of Ti6Al4V alloy is optimized for higher machining accuracy with
less hole-dilation and hole taper ratio. The micro-EDM machining
parameters includes, peak current and pulse on time. Fuzzy analysis
was developed to evaluate the machining accuracy. The analysis
shows that hole-dilation and hole-taper ratio are increased with the
increasing of peak current and pulse on time. However, the surface
quality deteriorates as the peak current and pulse on time increase.
The combination that gives the optimum result for hole dilation is
medium peak current and short pulse on time. Meanwhile, the
optimum result for hole taper ratio is low peak current and short pulse
on time.
Abstract: Development of a method to estimate gene functions is
an important task in bioinformatics. One of the approaches for the
annotation is the identification of the metabolic pathway that genes are
involved in. Since gene expression data reflect various intracellular
phenomena, those data are considered to be related with genes’
functions. However, it has been difficult to estimate the gene function
with high accuracy. It is considered that the low accuracy of the
estimation is caused by the difficulty of accurately measuring a gene
expression. Even though they are measured under the same condition,
the gene expressions will vary usually. In this study, we proposed a
feature extraction method focusing on the variability of gene
expressions to estimate the genes' metabolic pathway accurately. First,
we estimated the distribution of each gene expression from replicate
data. Next, we calculated the similarity between all gene pairs by KL
divergence, which is a method for calculating the similarity between
distributions. Finally, we utilized the similarity vectors as feature
vectors and trained the multiclass SVM for identifying the genes'
metabolic pathway. To evaluate our developed method, we applied the
method to budding yeast and trained the multiclass SVM for
identifying the seven metabolic pathways. As a result, the accuracy
that calculated by our developed method was higher than the one that
calculated from the raw gene expression data. Thus, our developed
method combined with KL divergence is useful for identifying the
genes' metabolic pathway.
Abstract: The inherent skin patterns created at the joints in the
finger exterior are referred as finger knuckle-print. It is exploited to
identify a person in a unique manner because the finger knuckle print
is greatly affluent in textures. In biometric system, the region of
interest is utilized for the feature extraction algorithm. In this paper,
local and global features are extracted separately. Fast Discrete
Orthonormal Stockwell Transform is exploited to extract the local
features. Global feature is attained by escalating the size of Fast
Discrete Orthonormal Stockwell Transform to infinity. Two features
are fused to increase the recognition accuracy. A matching distance is
calculated for both the features individually. Then two distances are
merged mutually to acquire the final matching distance. The
proposed scheme gives the better performance in terms of equal error
rate and correct recognition rate.
Abstract: A novel hybrid model of the lumbar spine, allowing
fast static and dynamic simulations of the disc pressure
and the spine mobility, is introduced in this work. Our
contribution is to combine rigid bodies, deformable finite
elements, articular constraints, and springs into a unique model
of the spine. Each vertebra is represented by a rigid body
controlling a surface mesh to model contacts on the facet
joints and the spinous process. The discs are modeled using
a heterogeneous tetrahedral finite element model. The facet
joints are represented as elastic joints with six degrees of
freedom, while the ligaments are modeled using non-linear
one-dimensional elastic elements. The challenge we tackle
is to make these different models efficiently interact while
respecting the principles of Anatomy and Mechanics.
The mobility, the intradiscal pressure, the facet joint force and
the instantaneous center of rotation of the lumbar spine are
validated against the experimental and theoretical results of
the literature on flexion, extension, lateral bending as well as
axial rotation.
Our hybrid model greatly simplifies the modeling task and
dramatically accelerates the simulation of pressure within the
discs, as well as the evaluation of the range of motion and the
instantaneous centers of rotation, without penalizing precision.
These results suggest that for some types of biomechanical
simulations, simplified models allow far easier modeling and
faster simulations compared to usual full-FEM approaches
without any loss of accuracy.
Abstract: Iris codes contain bits with different entropy. This
work investigates different strategies to reduce the size of iris
code templates with the aim of reducing storage requirements and
computational demand in the matching process. Besides simple subsampling
schemes, also a binary multi-resolution representation as
used in the JBIG hierarchical coding mode is assessed. We find that
iris code template size can be reduced significantly while maintaining
recognition accuracy. Besides, we propose a two-stage identification
approach, using small-sized iris code templates in a pre-selection
stage, and full resolution templates for final identification, which
shows promising recognition behaviour.
Abstract: Image spam is a kind of email spam where the spam
text is embedded with an image. It is a new spamming technique
being used by spammers to send their messages to bulk of internet
users. Spam email has become a big problem in the lives of internet
users, causing time consumption and economic losses. The main
objective of this paper is to detect the image spam by using histogram
properties of an image. Though there are many techniques to
automatically detect and avoid this problem, spammers employing
new tricks to bypass those techniques, as a result those techniques are
inefficient to detect the spam mails. In this paper we have proposed a
new method to detect the image spam. Here the image features are
extracted by using RGB histogram, HSV histogram and combination
of both RGB and HSV histogram. Based on the optimized image
feature set classification is done by using k- Nearest Neighbor(k-NN)
algorithm. Experimental result shows that our method has achieved
better accuracy. From the result it is known that combination of RGB
and HSV histogram with k-NN algorithm gives the best accuracy in
spam detection.
Abstract: Tumor is an uncontrolled growth of tissues in any part
of the body. Tumors are of different types and they have different
characteristics and treatments. Brain tumor is inherently serious and
life-threatening because of its character in the limited space of the
intracranial cavity (space formed inside the skull). Locating the tumor
within MR (magnetic resonance) image of brain is integral part of the
treatment of brain tumor. This segmentation task requires
classification of each voxel as either tumor or non-tumor, based on
the description of the voxel under consideration. Many studies are
going on in the medical field using Markov Random Fields (MRF) in
segmentation of MR images. Even though the segmentation process
is better, computing the probability and estimation of parameters is
difficult. In order to overcome the aforementioned issues, Conditional
Random Field (CRF) is used in this paper for segmentation, along
with the modified artificial bee colony optimization and modified
fuzzy possibility c-means (MFPCM) algorithm. This work is mainly
focused to reduce the computational complexities, which are found in
existing methods and aimed at getting higher accuracy. The
efficiency of this work is evaluated using the parameters such as
region non-uniformity, correlation and computation time. The
experimental results are compared with the existing methods such as
MRF with improved Genetic Algorithm (GA) and MRF-Artificial
Bee Colony (MRF-ABC) algorithm.
Abstract: Different strategies and tools are available at the oil
and gas industry for detecting and analyzing tension and possible
fractures in borehole walls. Most of these techniques are based on
manual observation of the captured borehole images. While this
strategy may be possible and convenient with small images and few
data, it may become difficult and suitable to errors when big
databases of images must be treated. While the patterns may differ
among the image area, depending on many characteristics (drilling
strategy, rock components, rock strength, etc.). In this work we
propose the inclusion of data-mining classification strategies in order
to create a knowledge database of the segmented curves. These
classifiers allow that, after some time using and manually pointing
parts of borehole images that correspond to tension regions and
breakout areas, the system will indicate and suggest automatically
new candidate regions, with higher accuracy. We suggest the use of
different classifiers methods, in order to achieve different knowledge
dataset configurations.
Abstract: The system is designed to show images which are
related to the query image. Extracting color, texture, and shape
features from an image plays a vital role in content-based image
retrieval (CBIR). Initially RGB image is converted into HSV color
space due to its perceptual uniformity. From the HSV image, Color
features are extracted using block color histogram, texture features
using Haar transform and shape feature using Fuzzy C-means
Algorithm. Then, the characteristics of the global and local color
histogram, texture features through co-occurrence matrix and Haar
wavelet transform and shape are compared and analyzed for CBIR.
Finally, the best method of each feature is fused during similarity
measure to improve image retrieval effectiveness and accuracy.
Abstract: One of the most important tasks in urban remote
sensing is the detection of impervious surfaces (IS), such as roofs and
roads. However, detection of IS in heterogeneous areas still remains
one of the most challenging tasks. In this study, detection of concrete
roof using an object-based approach was proposed. A new rule-based
classification was developed to detect concrete roof tile. This
proposed rule-based classification was applied to WorldView-2
image and results showed that the proposed rule has good potential to
predict concrete roof material from WorldView-2 images, with 85%
accuracy.
Abstract: Accurate Short Term Load Forecasting (STLF) is essential for a variety of decision making processes. However, forecasting accuracy can drop due to the presence of uncertainty in the operation of energy systems or unexpected behavior of exogenous variables. Interval Type 2 Fuzzy Logic System (IT2 FLS), with additional degrees of freedom, gives an excellent tool for handling uncertainties and it improved the prediction accuracy. The training data used in this study covers the period from January 1, 2012 to February 1, 2012 for winter season and the period from July 1, 2012 to August 1, 2012 for summer season. The actual load forecasting period starts from January 22, till 28, 2012 for winter model and from July 22 till 28, 2012 for summer model. The real data for Iraqi power system which belongs to the Ministry of Electricity.
Abstract: In this paper, the comparison between k-Nearest Neighbor (kNN) algorithms for classifying the 3D EEG model in brain balancing is presented. The EEG signal recording was conducted on 51 healthy subjects. Development of 3D EEG models involves pre-processing of raw EEG signals and construction of spectrogram images. Then, maximum PSD values were extracted as features from the model. There are three indexes for balanced brain; index 3, index 4 and index 5. There are significant different of the EEG signals due to the brain balancing index (BBI). Alpha-α (8–13 Hz) and beta-β (13–30 Hz) were used as input signals for the classification model. The k-NN classification result is 88.46% accuracy. These results proved that k-NN can be used in order to predict the brain balancing application.
Abstract: A variety of routing techniques are available to develop surface runoff hydrographs from rainfall. The selection of runoff routing method is very vital as it is directly related to the type of watershed and the required degree of accuracy. There are different modelling softwares available to explore the rainfall-runoff process in urban areas. XPSTORM, a link-node based, integrated stormwater modelling software, has been used in this study for developing surface runoff hydrograph for a Golf course area located in Rockhampton in Central Queensland in Australia. Four commonly used methods, namely SWMM runoff, Kinematic wave, Laurenson, and Time-Area are employed to generate runoff hydrograph for design storm of this study area. In runoff mode of XPSTORM, the rainfall, infiltration, evaporation and depression storage for subcatchments were simulated and the runoff from the subcatchment to collection node was calculated. The simulation results are presented, discussed and compared. The total surface runoff generated by SWMM runoff, Kinematic wave and Time-Area methods are found to be reasonably close, which indicates any of these methods can be used for developing runoff hydrograph of the study area. Laurenson method produces a comparatively less amount of surface runoff, however, it creates highest peak of surface runoff among all which may be suitable for hilly region. Although the Laurenson hydrograph technique is widely acceptable surface runoff routing technique in Queensland (Australia), extensive investigation is recommended with detailed topographic and hydrologic data in order to assess its suitability for use in the case study area.
Abstract: We propose obstacle classification method based on 2D
LIDAR Database. The existing obstacle classification method based
on 2D LIDAR, has an advantage in terms of accuracy and shorter
calculation time. However, it was difficult to classifier the type of
obstacle and therefore accurate path planning was not possible. In
order to overcome this problem, a method of classifying obstacle type
based on width data of obstacle was proposed. However, width data
was not sufficient to improve accuracy. In this paper, database was
established by width and intensity data; the first classification was
processed by the width data; the second classification was processed
by the intensity data; classification was processed by comparing to
database; result of obstacle classification was determined by finding
the one with highest similarity values. An experiment using an actual
autonomous vehicle under real environment shows that calculation
time declined in comparison to 3D LIDAR and it was possible to
classify obstacle using single 2D LIDAR.
Abstract: Medical Image fusion plays a vital role in medical
field to diagnose the brain tumors which can be classified as benign
or malignant. It is the process of integrating multiple images of the
same scene into a single fused image to reduce uncertainty and
minimizing redundancy while extracting all the useful information
from the source images. Fuzzy logic is used to fuse two brain MRI
images with different vision. The fused image will be more
informative than the source images. The texture and wavelet features
are extracted from the fused image. The multilevel Adaptive Neuro
Fuzzy Classifier classifies the brain tumors based on trained and
tested features. The proposed method achieved 80.48% sensitivity,
99.9% specificity and 99.69% accuracy. Experimental results
obtained from fusion process prove that the use of the proposed
image fusion approach shows better performance while compared
with conventional fusion methodologies.
Abstract: In order to study the performance of dynamic positioning system during S-lay operations, dynamic positioning system is simulated with the hull-stinger-pipe coupling effect. The roller of stinger is simulated by the generalized elastic contact theory. The stinger is composed of Morrison members. Force on pipe is calculated by lumped mass method. Time domain of fully coupled barge model is analyzed combining with PID controller, Kalman filter and allocation of thrust using Sequential Quadratic Programming method. It is also analyzed that the effect of hull wave frequency motion on pipe-stinger coupling force and dynamic positioning system. Besides, it is studied that how S-lay operations affect the dynamic positioning accuracy. The simulation results are proved to be available by checking pipe stress with API criterion. The effect of heave and yaw motion cannot be ignored on hull-stinger-pipe coupling force and dynamic positioning system. It is important to decrease the barge’s pitch motion and lay pipe in head sea in order to improve safety of the S-lay installation and dynamic positioning.
Abstract: This study investigates the reliability of management earnings forecasts with reference to these two ingredients: verifiability and neutrality. Specifically, we examine the biasedness (or accuracy) of management earnings forecasts and company specific characteristics that can be associated with accuracy. Based on sample of 102 IPO prospectuses published for admission on NYSE Euronext Paris from 2002 to 2010, we found that these forecasts are on average optimistic and two of the five test variables, earnings variability and financial leverage are significant in explaining ex post bias. Acknowledging the possibility that the bias is the result of the managers’ forecasting behavior, we then examine whether managers decide to under-predict, over-predict or forecast accurately for self-serving purposes. Explicitly, we examine the role of financial distress, operating performance, ownership by insiders and the economy state in influencing managers’ forecasting preferences. We find that managers of distressed firms seem to over-predict future earnings. We also find that when managers are given more stock options, they tend to under-predict future earnings. Finally, we conclude that the management earnings forecasts are affected by an intentional bias due to managers’ forecasting preferences.
Abstract: The quality of machined surfaces is an important characteristic of cutting processes and surface roughness has strong effects on the performance of sliding, moving components. The ability to forecast these values for a given process has been of great interests among researchers for a long time. Different modeling procedures and algorithms have been worked-out, and each has its own advantages and drawbacks. A new method will be introduced in this paper which will make it possible to calculate both the profile (2D) and surface (3D) parameters of theoretical roughness in the face milling of plain surfaces. This new method is based on an expediently developed CAD model, and uses a professional program for the roughness evaluation. Cutting experiments were performed on 42CrMo4 specimens in order to validate the accuracy of the model. The results have revealed that the method is able to predict surface roughness with good accuracy.
Abstract: This paper presents an idea for analog current comparison which compares input signal and reference currents with high speed and accuracy. Proposed circuit utilizes amplification properties of common gate configuration, where voltage variations of input current are amplified and a compared output voltage is developed. Cascaded inverter stages are used to generate final CMOS compatible output voltage. Power consumption of circuit can be controlled by the applied gate bias voltage. The comparator is designed and studied at 180nm CMOS process technology for a supply voltage of 3V.