Abstract: This paper presents an Extended Kaman Filter
implementation of a single-camera Visual Simultaneous Localization
and Mapping algorithm, a novel algorithm for simultaneous
localization and mapping problem widely studied in mobile robotics
field. The algorithm is vision and odometry-based, The odometry
data is incremental, and therefore it will accumulate error over time,
since the robot may slip or may be lifted, consequently if the
odometry is used alone we can not accurately estimate the robot
position, in this paper we show that a combination of odometry and
visual landmark via the extended Kalman filter can improve the robot
position estimate. We use a Pioneer II robot and motorized pan tilt
camera models to implement the algorithm.
Abstract: The fractal-shaped orifices are assumed to have a
significant effect on the pressure drop downstream pipe flow due to
their edge self-similarity shape which enhances the mixing
properties. Here, we investigate the pressure drop after these fractals
using a digital micro-manometer at different stations downstream a
turbulent flow pipe then a direct comparison has been made with the
pressure drop measured from regular orifices with the same flow
area. Our results showed that the fractal-shaped orifices have a
significant effect on the pressure drop downstream the flow. Also
the pressure drop measured across the fractal-shaped orifices is
noticed to be lower that that from ordinary orifices of the same flow
areas. This result could be important in designing piping systems
from point of view of losses consideration with the same flow
control area. This is promising to use the fractal-shaped orifices as
flowmeters as they can sense the pressure drop across them
accurately with minimum losses than the regular ones.
Abstract: In this paper, we present a novel approach to accurately
detect text regions including shop name in signboard images with
complex background for mobile system applications. The proposed
method is based on the combination of text detection using edge
profile and region segmentation using fuzzy c-means method. In the
first step, we perform an elaborate canny edge operator to extract all
possible object edges. Then, edge profile analysis with vertical and
horizontal direction is performed on these edge pixels to detect
potential text region existing shop name in a signboard. The edge
profile and geometrical characteristics of each object contour are
carefully examined to construct candidate text regions and classify the
main text region from background. Finally, the fuzzy c-means
algorithm is performed to segment and detected binarize text region.
Experimental results show that our proposed method is robust in text
detection with respect to different character size and color and can
provide reliable text binarization result.
Abstract: The predictability of masonry arch bridges and their
behaviour is widely considered doubtful due to the lack of knowledge
about the conditions of a given masonry arch bridge. The assessment
methods for masonry arch bridges are MEXE, ARCHIE, RING and
Frame Analysis Method. The material properties of the masonry and
fill material are extremely difficult to determine accurately.
Consequently, it is necessary to examine the effect of load dispersal
angle through the fill material, the effect of variations in the stiffness
of the masonry, the tensile strength of the masonry mortar continuum
and the compressive strength of the masonry mortar continuum. It is
also important to understand the effect of fill material on load
dispersal angle to determine their influence on ratings. In this paper a
series of parametric studies, to examine the sensitivity of assessment
ratings to the various sets of input data required by the frame analysis
method, are carried out.
Abstract: The prediction of transmembrane helical segments
(TMHs) in membrane proteins is an important field in the
bioinformatics research. In this paper, a new method based on discrete
wavelet transform (DWT) has been developed to predict the number
and location of TMHs in membrane proteins. PDB coded as 1KQG
was chosen as an example to describe the prediction of the number and
location of TMHs in membrane proteins by using this method. To
access the effect of the method, 80 proteins with known 3D-structure
from Mptopo database are chosen at random as the test objects
(including 325 TMHs), 308 of which can be predicted accurately, the
average predicted accuracy is 96.3%. In addition, the above 80
membrane proteins are divided into 13 groups according to their
function and type. In particular, the results of the prediction of TMHs
of the 13 groups are satisfying.
Abstract: Document image processing has become an
increasingly important technology in the automation of office
documentation tasks. During document scanning, skew is inevitably
introduced into the incoming document image. Since the algorithm
for layout analysis and character recognition are generally very
sensitive to the page skew. Hence, skew detection and correction in
document images are the critical steps before layout analysis. In this
paper, a novel skew detection method is presented for binary
document images. The method considered the some selected
characters of the text which may be subjected to thinning and Hough
transform to estimate skew angle accurately. Several experiments
have been conducted on various types of documents such as
documents containing English Documents, Journals, Text-Book,
Different Languages and Document with different fonts, Documents
with different resolutions, to reveal the robustness of the proposed
method. The experimental results revealed that the proposed method
is accurate compared to the results of well-known existing methods.
Abstract: This paper numerically investigates the effects of input
speed on the overall dynamic characteristics of a multi-body system
with differently located revolute clearance joints without friction. A
typical planar slider-crank mechanism is used as a demonstration case
in which the effects of the input speed on the dynamic performance
of the mechanism with a revolute clearance joint between the crank
and connecting rod, and between the connecting rod and slider are
separately investigated with comprehensive observations numerically
presented. It is observed that, changing the driving speed of a multibody
system makes the behavior of the system to change from
either periodic to chaotic, or chaotic to periodic depending on which
joint has clearance. The location of the clearance revolute joint and
the operating speed of a multi-body system play a crucial role in
predicting accurately the dynamic responses of the system. Therefore
the dynamic behavior of one clearance revolute joint cannot be used
as a general case for a mechanical system.
Abstract: Arc welding is an important joining process widely used in many industrial applications including production of automobile, ships structures and metal tanks. In welding process, the moving electrode causes highly non-uniform temperature distribution that leads to residual stresses and different deviations, especially buckling distortions in thin plates. In order to control the deviations and increase the quality of welded plates, a fixture can be used as a practical and low cost method with high efficiency. In this study, a coupled thermo-mechanical finite element model is coded in the software ANSYS to simulate the behavior of thin plates located by a 3-2-1 positioning system during the welding process. Computational results are compared with recent similar works to validate the finite element models. The agreement between the result of proposed model and other reported data proves that finite element modeling can accurately predict the behavior of welded thin plates.
Abstract: Intelligent systems are required in order to quickly and accurately analyze enormous quantities of data in the Internet environment. In intelligent systems, information extracting processes can be divided into supervised learning and unsupervised learning. This paper investigates intelligent clustering by unsupervised learning. Intelligent clustering is the clustering system which determines the clustering model for data analysis and evaluates results by itself. This system can make a clustering model more rapidly, objectively and accurately than an analyzer. The methodology for the automatic clustering intelligent system is a multi-agent system that comprises a clustering agent and a cluster performance evaluation agent. An agent exchanges information about clusters with another agent and the system determines the optimal cluster number through this information. Experiments using data sets in the UCI Machine Repository are performed in order to prove the validity of the system.
Abstract: Effective estimation of just noticeable distortion (JND) for images is helpful to increase the efficiency of a compression algorithm in which both the statistical redundancy and the perceptual redundancy should be accurately removed. In this paper, we design a DCT-based model for estimating JND profiles of color images. Based on a mathematical model of measuring the base detection threshold for each DCT coefficient in the color component of color images, the luminance masking adjustment, the contrast masking adjustment, and the cross masking adjustment are utilized for luminance component, and the variance-based masking adjustment based on the coefficient variation in the block is proposed for chrominance components. In order to verify the proposed model, the JND estimator is incorporated into the conventional JPEG coder to improve the compression performance. A subjective and fair viewing test is designed to evaluate the visual quality of the coding image under the specified viewing condition. The simulation results show that the JPEG coder integrated with the proposed DCT-based JND model gives better coding bit rates at visually lossless quality for a variety of color images.
Abstract: The wavelet transform is one of the most important
method used in signal processing. In this study, we have introduced
frequency-energy characteristics of local earthquakes using discrete
wavelet transform. Frequency-energy characteristic was analyzed
depend on difference between P and S wave arrival time and noise
within records. We have found that local earthquakes have similar
characteristics. If frequency-energy characteristics can be found
accurately, this gives us a hint to calculate P and S wave arrival time.
It can be seen that wavelet transform provides successful
approximation for this. In this study, 100 earthquakes with 500
records were analyzed approximately.
Abstract: Single nucleotide polymorphisms (SNPs) hold much promise as a basis for disease-gene association. However, research is limited by the cost of genotyping the tremendous number of SNPs. Therefore, it is important to identify a small subset of informative SNPs, the so-called tag SNPs. This subset consists of selected SNPs of the genotypes, and accurately represents the rest of the SNPs. Furthermore, an effective evaluation method is needed to evaluate prediction accuracy of a set of tag SNPs. In this paper, a genetic algorithm (GA) is applied to tag SNP problems, and the K-nearest neighbor (K-NN) serves as a prediction method of tag SNP selection. The experimental data used was taken from the HapMap project; it consists of genotype data rather than haplotype data. The proposed method consistently identified tag SNPs with considerably better prediction accuracy than methods from the literature. At the same time, the number of tag SNPs identified was smaller than the number of tag SNPs in the other methods. The run time of the proposed method was much shorter than the run time of the SVM/STSA method when the same accuracy was reached.
Abstract: In this paper an extensive verification of the extraction
method (published earlier) that consistently accounts for self-heating
and Early effect to accurately extract both base and thermal resistance
of bipolar junction transistors is presented. The method verification is
demonstrated on advanced RF SiGe HBTs were the extracted results
for the thermal resistance are compared with those from another
published method that ignores the effect of Early effect on internal
base-emitter voltage and the extracted results of the base resistance
are compared with those determined from noise measurements. A
self-consistency of our method in the extracted base resistance and
thermal resistance using compact model simulation results is also
carried out in order to study the level of accuracy of the method.
Abstract: this paper aims to provide an approach to predict the
performance of the product produced after multi-stages of
manufacturing processes, as well as the assembly. Such approach
aims to control and subsequently identify the relationship between
the process inputs and outputs so that a process engineer can more
accurately predict how the process output shall perform based on the
system inputs. The approach is guided by a six-sigma methodology to
obtain improved performance.
In this paper a case study of the manufacture of a hermetic
reciprocating compressor is presented. The application of artificial
neural networks (ANNs) technique is introduced to improve
performance prediction within this manufacturing environment. The
results demonstrate that the approach predicts accurately and
effectively.
Abstract: The clinical usefulness of heart rate variability is
limited to the range of Holter monitoring software available. These
software algorithms require a normal sinus rhythm to accurately
acquire heart rate variability (HRV) measures in the frequency
domain. Premature ventricular contractions (PVC) or more
commonly referred to as ectopic beats, frequent in heart failure,
hinder this analysis and introduce ambiguity. This investigation
demonstrates an algorithm to automatically detect ectopic beats by
analyzing discrete wavelet transform coefficients. Two techniques
for filtering and replacing the ectopic beats from the RR signal are
compared. One technique applies wavelet hard thresholding
techniques and another applies linear interpolation to replace ectopic
cycles. The results demonstrate through simulation, and signals
acquired from a 24hr ambulatory recorder, that these techniques can
accurately detect PVC-s and remove the noise and leakage effects
produced by ectopic cycles retaining smooth spectra with the
minimum of error.
Abstract: This paper proposes an effective adaptation learning
algorithm based on artificial neural networks for speed control of an
induction motor assumed to operate in a high-performance drives
environment. The structure scheme consists of a neural network
controller and an algorithm for changing the NN weights in order that
the motor speed can accurately track of the reference command. This
paper also makes uses a very realistic and practical scheme to
estimate and adaptively learn the noise content in the speed load
torque characteristic of the motor. The availability of the proposed
controller is verified by through a laboratory implementation and
under computation simulations with Matlab-software. The process is
also tested for the tracking property using different types of reference
signals. The performance and robustness of the proposed control
scheme have evaluated under a variety of operating conditions of the
induction motor drives. The obtained results demonstrate the
effectiveness of the proposed control scheme system performances,
both in steady state error in speed and dynamic conditions, was found
to be excellent and those is not overshoot.
Abstract: Gaussian mixture background model is widely used in
moving target detection of the image sequences. However, traditional
Gaussian mixture background model usually considers the time
continuity of the pixels, and establishes background through statistical
distribution of pixels without taking into account the pixels- spatial
similarity, which will cause noise, imperfection and other problems.
This paper proposes a new Gaussian mixture modeling approach,
which combines the color and gradient of the spatial information, and
integrates the spatial information of the pixel sequences to establish
Gaussian mixture background. The experimental results show that the
movement background can be extracted accurately and efficiently, and
the algorithm is more robust, and can work in real time in tracking
applications.
Abstract: In this study, to accurately predict cavitation of a
centrifugal pump, numerical analysis was compared with experimental
results modeled on a small industrial centrifugal pump. In this study,
numerical analysis was compared with experimental results modeled
on a small industrial centrifugal pump for reliable prediction on
cavitation of a centrifugal pump. To improve validity of the numerical
analysis, transient analysis was conducted on the calculated domain of
full-type geometry, such as an experimental apparatus. The numerical
analysis from the results was considered to be a reliable prediction of
cavitaion.
Abstract: A new approach for protection of power transformer is
presented using a time-frequency transform known as Wavelet transform.
Different operating conditions such as inrush, Normal, load,
External fault and internal fault current are sampled and processed
to obtain wavelet coefficients. Different Operating conditions provide
variation in wavelet coefficients. Features like energy and Standard
deviation are calculated using Parsevals theorem. These features
are used as inputs to PNN (Probabilistic neural network) for fault
classification. The proposed algorithm provides more accurate results
even in the presence of noise inputs and accurately identifies inrush
and fault currents. Overall classification accuracy of the proposed
method is found to be 96.45%. Simulation of the fault (with and
without noise) was done using MATLAB AND SIMULINK software
taking 2 cycles of data window (40 m sec) containing 800 samples.
The algorithm was evaluated by using 10 % Gaussian white noise.
Abstract: This paper presents Simulated Annealing based
approach to estimate solar cell model parameters. Single diode solar
cell model is used in this study to validate the proposed approach
outcomes. The developed technique is used to estimate different
model parameters such as generated photocurrent, saturation current,
series resistance, shunt resistance, and ideality factor that govern the
current-voltage relationship of a solar cell. A practical case study is
used to test and verify the consistency of accurately estimating
various parameters of single diode solar cell model. Comparative
study among different parameter estimation techniques is presented
to show the effectiveness of the developed approach.