Abstract: This paper provides a new approach to solve the motion planning problems of flying robots in uncertain 3D dynamic environments. The robots controlled by this method can adaptively choose the fast way to avoid collision without information about the shapes and trajectories of obstacles. Based on sphere coordinates the new method accomplishes collision avoidance of flying robots without any other auxiliary positioning systems. The Self-protection System gives robots self-protection abilities to work in uncertain 3D dynamic environments. Simulations illustrate the validity of the proposed method.
Abstract: Arsenic in the sediments of the ash lagoons of the coal-fired power plant in Pagbilao, Quezon Province in the Philippines was sequentially extracted to determine its potential for leaching to the groundwater and the adjacent marine environment. Results show that 89% of the As is bound to the quasi-crystalline Fe/Mn oxides and hydroxide matrix in the sediments, whereas, the adsorbed and exchangeable As hosted by the clay minerals, representing those that are easiest to release from the sediment matrix, is below 10% of the acid leachable As. These As in these sediment matrices represent the possible maximum amount of As that can be released and supplied to the groundwater and the adjacent marine environment. Of the 89% reducible As, up to 4% is associated with the easily reducible variety, whereas, the rest is more strongly bonded by the moderately reducible variety. Based on the long-term As content of the lagoon water, the average desorption rate of As is calculated to be very low -- 0.3-0.5% on the average and 0.6% on the maximum. This indicates that As is well-fixed by its sediment matrices in the ash lagoon, attenuating the influx of As into the adjacent groundwater and marine environments.
Abstract: Recent scientific investigations indicate that
multimodal biometrics overcome the technical limitations of
unimodal biometrics, making them ideally suited for everyday life
applications that require a reliable authentication system. However,
for a successful adoption of multimodal biometrics, such systems
would require large heterogeneous datasets with complex multimodal
fusion and privacy schemes spanning various distributed
environments. From experimental investigations of current
multimodal systems, this paper reports the various issues related to
speed, error-recovery and privacy that impede the diffusion of such
systems in real-life. This calls for a robust mechanism that caters to
the desired real-time performance, robust fusion schemes,
interoperability and adaptable privacy policies.
The main objective of this paper is to present a framework that
addresses the abovementioned issues by leveraging on the
heterogeneous resource sharing capacities of Grid services and the
efficient machine learning capabilities of artificial neural networks
(ANN). Hence, this paper proposes a Grid-based neural network
framework for adopting multimodal biometrics with the view of
overcoming the barriers of performance, privacy and risk issues that
are associated with shared heterogeneous multimodal data centres.
The framework combines the concept of Grid services for reliable
brokering and privacy policy management of shared biometric
resources along with a momentum back propagation ANN (MBPANN)
model of machine learning for efficient multimodal fusion and
authentication schemes. Real-life applications would be able to adopt
the proposed framework to cater to the varying business requirements
and user privacies for a successful diffusion of multimodal
biometrics in various day-to-day transactions.
Abstract: In this paper, a model of self-organizing spiking neural networks is introduced and applied to mobile robot environment representation and path planning problem. A network of spike-response-model neurons with a recurrent architecture is used to create robot-s internal representation from surrounding environment. The overall activity of network simulates a self-organizing system with unsupervised learning. A modified A* algorithm is used to find the best path using this internal representation between starting and goal points. This method can be used with good performance for both known and unknown environments.
Abstract: Motion capturing technology has been used for quite a
while and several research has been done within this area. Nevertheless,
we discovered open issues within current motion capturing
environments. In this paper we provide a state-of-the-art overview of
the addressed research areas and show issues with current motion
capturing environments. Observations, interviews and questionnaires
have been used to reveal the challenges actors are currently facing in
a motion capturing environment. Furthermore, the idea to create a
more immersive motion capturing environment to improve the acting
performances and motion capturing outcomes as a potential solution
is introduced. It is hereby the goal to explain the found open issues
and the developed ideas which shall serve for further research as a
basis. Moreover, a methodology to address the interaction and
systems design issues is proposed. A future outcome could be that
motion capture actors are able to perform more naturally, especially
if using a non-body-worn solution.
Abstract: Automated operations based on voice commands will become more and more important in many applications, including robotics, maintenance operations, etc. However, voice command recognition rates drop quite a lot under non-stationary and chaotic noise environments. In this paper, we tried to significantly improve the speech recognition rates under non-stationary noise environments. First, 298 Navy acronyms have been selected for automatic speech recognition. Data sets were collected under 4 types of noisy environments: factory, buccaneer jet, babble noise in a canteen, and destroyer. Within each noisy environment, 4 levels (5 dB, 15 dB, 25 dB, and clean) of Signal-to-Noise Ratio (SNR) were introduced to corrupt the speech. Second, a new algorithm to estimate speech or no speech regions has been developed, implemented, and evaluated. Third, extensive simulations were carried out. It was found that the combination of the new algorithm, the proper selection of language model and a customized training of the speech recognizer based on clean speech yielded very high recognition rates, which are between 80% and 90% for the four different noisy conditions. Fourth, extensive comparative studies have also been carried out.
Abstract: The wireless link can be unreliable in realistic wireless
sensor networks (WSNs). Energy efficient and reliable data
forwarding is important because each node has limited resources.
Therefore, we must suggest an optimal solution that considers using
the information of the node-s characteristics. Previous routing
protocols were unsuited to realistic asymmetric WSNs. In this paper,
we propose a Protocol that considers Both sides of Link-quality and
Energy (PBLE), an optimal routing protocol that balances modified
link-quality, distance and energy. Additionally, we propose a node
scheduling method. PBLE achieves a longer lifetime than previous
routing protocols and is more energy-efficient. PBLE uses energy,
local information and both sides of PRR in a 1-hop distance. We
explain how to send data packets to the destination node using the
node's information. Simulation shows PBLE improves delivery rate
and network lifetime compared to previous schemes. Moreover, we
show the improvement in various WSN environments.
Abstract: With increasing complexity in electronic systems
there is a need for system level anomaly detection and fault isolation.
Anomaly detection based on vector similarity to a training set is used
in this paper through two approaches, one the preserves the original
information, Mahalanobis Distance (MD), and the other that
compresses the data into its principal components, Projection Pursuit
Analysis. These methods have been used to detect deviations in
system performance from normal operation and for critical parameter
isolation in multivariate environments. The study evaluates the
detection capability of each approach on a set of test data with known
faults against a baseline set of data representative of such “healthy"
systems.
Abstract: Mobile WiMAX is a broadband wireless solution that
enables convergence of mobile and fixed broadband networks
through a common wide area broadband radio access technology and
flexible network architecture. It adopts Orthogonal Frequency
Division Multiple Access (OFDMA) for improved multi-path
performance in Non-Line-Of-Sight (NLOS) environments. Scalable
OFDMA (SOFDMA) is introduced in the IEEE 802e[1]. WIMAX
system uses one of different types of channel coding but The
mandatory channel coding scheme is based on binary nonrecursive
Convolutional Coding (CC). There are other several optional channel
coding schemes such as block turbo codes, convolutional turbo
codes, and low density parity check (LDPC).
In this paper a comparison between the performance of WIMAX
using turbo code and using convolutional product code (CPC) [2] is
made. Also a combination between them had been done. The CPC
gives good results at different SNR values compared to both the
turbo system, and the combination between them. For example, at
BER equal to 10-2 for 128 subcarriers, the amount of improvement
in SNR equals approximately 3 dB higher than turbo code and equals
approximately 2dB higher than the combination respectively. Several
results are obtained at different modulating schemes (16QAM and
64QAM) and different numbers of sub-carriers (128 and 512).
Abstract: Ontologies are broadly used in the context of networked home environments. With ontologies it is possible to define and store context information, as well as to model different kinds of physical environments. Ontologies are central to networked home environments as they carry the meaning. However, ontologies and the OWL language is complex. Several ontology visualization approaches have been developed to enhance the understanding of ontologies. The domain of networked home environments sets some special requirements for the ontology visualization approach. The visualization tool presented here, visualizes ontologies in a domain-specific way. It represents effectively the physical structures and spatial relationships of networked home environments. In addition, it provides extensive interaction possibilities for editing and manipulating the visualization. The tool shortens the gap from beginner to intermediate OWL ontology reader by visualizing instances in their actual locations and making OWL ontologies more interesting and concrete, and above all easier to comprehend.
Abstract: Intelligent traffic surveillance technology is an issue in
the field of traffic data analysis. Therefore, we need the technology to
detect moving objects in real-time while there are variations in background and natural light. In this paper, we proposed a Weighted-Center Surround Difference
method for object detection in outdoor environments. The proposed system detects objects using the saliency map that is obtained by
analyzing the weight of each layers of Gaussian pyramid. In order to validate the effectiveness of our system, we implemented the proposed
method using a digital signal processor, TMS320DM6437.
Experimental results show that blurred noisy around objects was effectively eliminated and the object detection accuracy is improved.
Abstract: A challenging problem in radar signal processing is to
achieve reliable target detection in the presence of interferences. In
this paper, we propose a novel algorithm for automatic censoring of
radar interfering targets in log-normal clutter. The proposed
algorithm, termed the forward automatic censored cell averaging
detector (F-ACCAD), consists of two steps: removing the corrupted
reference cells (censoring) and the actual detection. Both steps are
performed dynamically by using a suitable set of ranked cells to
estimate the unknown background level and set the adaptive
thresholds accordingly. The F-ACCAD algorithm does not require
any prior information about the clutter parameters nor does it require
the number of interfering targets. The effectiveness of the F-ACCAD
algorithm is assessed by computing, using Monte Carlo simulations,
the probability of censoring and the probability of detection in
different background environments.
Abstract: How to coordinate the behaviors of the agents through
learning is a challenging problem within multi-agent domains.
Because of its complexity, recent work has focused on how
coordinated strategies can be learned. Here we are interested in using
reinforcement learning techniques to learn the coordinated actions of a
group of agents, without requiring explicit communication among
them. However, traditional reinforcement learning methods are based
on the assumption that the environment can be modeled as Markov
Decision Process, which usually cannot be satisfied when multiple
agents coexist in the same environment. Moreover, to effectively
coordinate each agent-s behavior so as to achieve the goal, it-s
necessary to augment the state of each agent with the information
about other existing agents. Whereas, as the number of agents in a
multiagent environment increases, the state space of each agent grows
exponentially, which will cause the combinational explosion problem.
Profit sharing is one of the reinforcement learning methods that allow
agents to learn effective behaviors from their experiences even within
non-Markovian environments. In this paper, to remedy the drawback
of the original profit sharing approach that needs much memory to
store each state-action pair during the learning process, we firstly
address a kind of on-line rational profit sharing algorithm. Then, we
integrate the advantages of modular learning architecture with on-line
rational profit sharing algorithm, and propose a new modular
reinforcement learning model. The effectiveness of the technique is
demonstrated using the pursuit problem.
Abstract: This paper introduces a hand gesture recognition system to recognize real time gesture in unstrained environments. Efforts should be made to adapt computers to our natural means of communication: Speech and body language. A simple and fast algorithm using orientation histograms will be developed. It will recognize a subset of MAL static hand gestures. A pattern recognition system will be using a transforrn that converts an image into a feature vector, which will be compared with the feature vectors of a training set of gestures. The final system will be Perceptron implementation in MATLAB. This paper includes experiments of 33 hand postures and discusses the results. Experiments shows that the system can achieve a 90% recognition average rate and is suitable for real time applications.
Abstract: One important problem in today organizations is the
existence of non-integrated information systems, inconsistency and
lack of suitable correlations between legacy and modern systems.
One main solution is to transfer the local databases into a global one.
In this regards we need to extract the data structures from the legacy
systems and integrate them with the new technology systems. In
legacy systems, huge amounts of a data are stored in legacy
databases. They require particular attention since they need more
efforts to be normalized, reformatted and moved to the modern
database environments. Designing the new integrated (global)
database architecture and applying the reverse engineering requires
data normalization. This paper proposes the use of database reverse
engineering in order to integrate legacy and modern databases in
organizations. The suggested approach consists of methods and
techniques for generating data transformation rules needed for the
data structure normalization.
Abstract: This paper proposes a smart design strategy for a sequential detector to reliably detect the primary user-s signal, especially in fast fading environments. We study the computation of the log-likelihood ratio for coping with a fast changing received signal and noise sample variances, which are considered random variables. First, we analyze the detectability of the conventional generalized log-likelihood ratio (GLLR) scheme when considering fast changing statistics of unknown parameters caused by fast fading effects. Secondly, we propose an efficient sensing algorithm for performing the sequential probability ratio test in a robust and efficient manner when the channel statistics are unknown. Finally, the proposed scheme is compared to the conventional method with simulation results with respect to the average number of samples required to reach a detection decision.
Abstract: It is expected that ubiquitous era will come soon. A ubiquitous environment has features like peer-to-peer and nomadic environments. Such features can be represented by peer-to-peer systems and mobile ad-hoc networks (MANETs). The features of P2P systems and MANETs are similar, appealing for implementing P2P systems in MANET environment. It has been shown that, however, the performance of the P2P systems designed for wired networks do not perform satisfactorily in mobile ad-hoc environment. Subsequently, this paper proposes a method to improve P2P performance using cross-layer design and the goodness of a node as a peer. The proposed method uses routing metric as well as P2P metric to choose favorable peers to connect. It also utilizes proactive approach for distributing peer information. According to the simulation results, the proposed method provides higher query success rate, shorter query response time and less energy consumption by constructing an efficient overlay network.
Abstract: With the globalized production and logistics
environment, the need for reducing the product development interval
and lead time, having a faster response to orders, conforming to quality
standards, fair tracking, and boosting information exchanging
activities with customers and partners, and coping with changes in the
management environment, manufacturers are in dire need of an
information management system in their manufacturing environments.
There are lots of information systems that have been designed to
manage the condition or operation of equipment in the field but
existing systems have a decentralized architecture, which is not
unified. Also, these systems cannot effectively handle the status data
extraction process upon encountering a problem related to protocols or
changes in the equipment or the setting. In this regard, this paper will
introduce a system for processing and saving the status info of
production equipment, which uses standard representation formats, to
enable flexible responses to and support for variables in the field
equipment. This system can be used for a variety of manufacturing and
equipment settings and is capable of interacting with higher-tier
systems such as MES.
Abstract: Wireless Sensor networks have a wide spectrum of civil and military applications that call for secure communication such as the terrorist tracking, target surveillance in hostile environments. For the secure communication in these application areas, we propose a method for generating a hierarchical key structure for the efficient group key management. In this paper, we apply A* algorithm in generating a hierarchical key structure by considering the history data of the ratio of addition and eviction of sensor nodes in a location where sensor nodes are deployed. Thus generated key tree structure provides an efficient way of managing the group key in terms of energy consumption when addition and eviction event occurs. A* algorithm tries to minimize the number of messages needed for group key management by the history data. The experimentation with the tree shows efficiency of the proposed method.
Abstract: Protective clothing limits heat transfer and hampers
task performance due to the increased weight. Militarism protective
clothing enables humans to operate in adverse environments. In the
selection and evaluation of militarism protective clothing attention
should be given to heat strain, ergonomic and fit issues next to the
actual protection it offers.
Fifty Male healthy subjects participated in the study. The subjects
were dressed in shorts, T-shirts, socks, sneakers and four deferent
kinds of militarism protective clothing such as CS, CSB, CS with
NBC protection and CS with NBC- protection added.
Ergonomically and psychological strains of every four cloths were
investigated on subjects by walking on a treadmill (7km/hour) with a
19.7 kg backpack. As a result of these tests were showed that, the
highest heart rate was found wearing the NBC-protection added
outfit, the highest temperatures were observed wearing NBCprotection
added, followed by respectively CS with NBC protection,
CSB and CS and the highest value for thermal comfort (implying
worst thermal comfort) was observed wearing NBC-protection
added.