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: Deep Brain Stimulation or DBS is a surgical treatment for Parkinson-s Disease with three stimulation parameters: frequency, pulse width, and voltage. The parameters should be selected appropriately to achieve effective treatment. This selection now, performs clinically. The aim of this research is to study chaotic behavior of recorded tremor of patients under DBS in order to present a computational method to recognize stimulation optimum voltage. We obtained some chaotic features of tremor signal, and discovered embedding space of it has an attractor, and its largest Lyapunov exponent is positive, which show tremor signal has chaotic behavior, also we found out, in optimal voltage, entropy and embedding space variance of tremor signal have minimum values in comparison with other voltages. These differences can help neurologists recognize optimal voltage numerically, which leads to reduce patients' role and discomfort in optimizing stimulation parameters and to do treatment with high accuracy.
Abstract: Wireless sensor network can be applied to both abominable
and military environments. A primary goal in the design of
wireless sensor networks is lifetime maximization, constrained by
the energy capacity of batteries. One well-known method to reduce
energy consumption in such networks is data aggregation. Providing
efcient data aggregation while preserving data privacy is a challenging
problem in wireless sensor networks research. In this paper,
we present privacy-preserving data aggregation scheme for additive
aggregation functions. The Cluster-based Private Data Aggregation
(CPDA)leverages clustering protocol and algebraic properties of
polynomials. It has the advantage of incurring less communication
overhead. The goal of our work is to bridge the gap between
collaborative data collection by wireless sensor networks and data
privacy. We present simulation results of our schemes and compare
their performance to a typical data aggregation scheme TAG, where
no data privacy protection is provided. Results show the efficacy and
efficiency of our schemes.
Abstract: In this paper we propose a segmentation system for unconstrained Arabic online handwriting. An essential problem addressed by analytical-based word recognition system. The system is composed of two-stages the first is a newly special designed hidden Markov model (HMM) and the second is a rules based stage. In our system, handwritten words are broken up into characters by simultaneous segmentation-recognition using HMMs of unique design trained using online features most of which are novel. The HMM output characters boundaries represent the proposed segmentation points (PSP) which are then validated by rules-based post stage without any contextual information help to solve different segmentation errors. The HMM has been designed and tested using a self collected dataset (OHASD) [1]. Most errors cases are cured and remarkable segmentation enhancement is achieved. Very promising word and character segmentation rates are obtained regarding the unconstrained Arabic handwriting difficulty and not using context help.
Abstract: The purpose of this paper is to examine the financing
practices of SMEs in Libya in two different phases of business life
cycle: start-up and matured stages. Moreover, SMEs- accessing bank
loan issues is also identified. The study was conducted by taking into
account the aspect of demand. The findings are based on a sample of
76 SMEs in Libya through the adoption of questionnaires. The results
have pinpointed several things- evidently, SMEs use informal
financing sources which prefer personal savings; SME owners are
willing to apply for bank loan, that the most pressing problem has
been identified, not to apply bank loan is loan with interest (religion
factor).
Abstract: This paper presents an efficient approach to feeder
reconfiguration for power loss reduction and voltage profile
imprvement in unbalanced radial distribution systems (URDS). In
this paper Genetic Algorithm (GA) is used to obtain solution for
reconfiguration of radial distribution systems to minimize the losses.
A forward and backward algorithm is used to calculate load flows in
unbalanced distribution systems. By simulating the survival of the
fittest among the strings, the optimum string is searched by
randomized information exchange between strings by performing
crossover and mutation. Results have shown that proposed algorithm
has advantages over previous algorithms The proposed method is
effectively tested on 19 node and 25 node unbalanced radial
distribution systems.
Abstract: This study is concerned with pH solution detection
using 2 × 4 flexible sensor array based on a plastic polyethylene
terephthalate (PET) substrate that is coated a conductive layer and a
ruthenium dioxide (RuO2) sensitive membrane with the technologies
of screen-printing and RF sputtering. For data analysis, we also
prepared a dynamic measurement system for acquiring the response
voltage and analyzing the characteristics of the working electrodes
(WEs), such as sensitivity and linearity. In this condition, an array
measurement system was designed to acquire the original signal from
sensor array, and it is based on the method of digital signal processing
(DSP). The DSP modifies the unstable acquisition data to a direct
current (DC) output using the technique of digital filter. Hence, this
sensor array can obtain a satisfactory yield, 62.5%, through the design
measurement and analysis system in our laboratory.
Abstract: Adaptive e-learning today gives the student a central
role in his own learning process. It allows learners to try things out,
participate in courses like never before, and get more out of learning
than before. In this paper, an adaptive e-learning model for logic
design, simplification of Boolean functions and related fields is
presented. Such model presents suitable courses for each student in a
dynamic and adaptive manner using existing database and workflow
technologies. The main objective of this research work is to provide
an adaptive e-learning model based learners' personality using
explicit and implicit feedback. To recognize the learner-s, we develop
dimensions to decide each individual learning style in order to
accommodate different abilities of the users and to develop vital
skills. Thus, the proposed model becomes more powerful, user
friendly and easy to use and interpret. Finally, it suggests a learning
strategy and appropriate electronic media that match the learner-s
preference.
Abstract: The future of Higher Education Institutions (HEI) depend on their ability to attract and retain students, increase recognition and prestige. In order to respond to the 'customers' increasingly demanding, HEI need to identify the key factors that influence the satisfaction of a 'customers', thereby creating competitive advantages. These determinants of satisfaction are important elements that guide the strategy of an institution and allow the successful achievement of strategic plans, both teaching and administrative, to offer their ‘costumers’ services and products with higher quality. Following this way of thinking, the purpose of this study was to evaluate the satisfaction with the service quality of the School of Technology and Management of Bragança (ESTiG), of the Polytechnic Institute of Bragança, identifying, thus, the dimensions related to the quality of services that might influence students' satisfaction. The results showed that, in general, the students are satisfied with the performance of ESTiG.
Abstract: Camptothecin (CPT) is a cytotoxic quinoline alkaloid,
which inhibits the DNA enzyme topoisomerase I (topo I). It was
discovered in 1966 by M. E. Wall and M. C. Wani in systematic
screening of natural products for anticancer drugs. It was isolated
from the bark and stem of Camptotheca acuminata (Camptotheca,
Happy tree), a tree native in China. CPT showed remarkable
anticancer activity in preliminary clinical trials but also low
solubility and (high) adverse drug reaction. Because of these
disadvantages synthetic and medicinal chemists have developed
numerous syntheses of Camptothecine [1][2][3] and various
derivatives to increase the benefits of the chemical, with good results.
In our method CPT analogues has be six steps starting from available
material DL Malic acid.
Abstract: An early and accurate detection of Alzheimer's disease (AD) is an important stage in the treatment of individuals suffering from AD. We present an approach based on the use of structural magnetic resonance imaging (sMRI) phase images to distinguish between normal controls (NC), mild cognitive impairment (MCI) and AD patients with clinical dementia rating (CDR) of 1. Independent component analysis (ICA) technique is used for extracting useful features which form the inputs to the support vector machines (SVM), K nearest neighbour (kNN) and multilayer artificial neural network (ANN) classifiers to discriminate between the three classes. The obtained results are encouraging in terms of classification accuracy and effectively ascertain the usefulness of phase images for the classification of different stages of Alzheimer-s disease.
Abstract: The growth of open networks created the interest to
commercialise it. The establishment of an electronic business
mechanism must be accompanied by a digital – electronic payment
system to transfer the value of transactions. Financial organizations
are requested to offer a secure e-payment synthesis with equivalent
level of security served in conventional paper-based payment
transactions. PKI, which is functioning as a chain of trust in security
architecture, can enable security services of cryptography to epayments,
in order to take advantage of the wider base either of
customer or of trading partners and the reduction of cost transaction
achieved by the use of Internet channels. The paper addresses the
possibilities and the implementation suggestions of PKI in relevance
to electronic payments by suggesting a framework that should be
followed.
Abstract: Treatment of tar-containing wastewater is necessary
for the successful operation of biomass gasification plants (BGPs). In
the present study, tar-containing wastewater was treated using lime
and alum for the removal of in-organics, followed by adsorption on
powdered activated carbon (PAC) for the removal of organics. Limealum
experiments were performed in a jar apparatus and activated
carbon studies were performed in an orbital shaker. At optimum
concentrations, both lime and alum individually proved to be capable
of removing color, total suspended solids (TSS) and total dissolved
solids (TDS), but in both cases, pH adjustment had to be carried out
after treatment. The combination of lime and alum at the dose ratio
of 0.8:0.8 g/L was found to be optimum for the removal of inorganics.
The removal efficiency achieved at optimum
concentrations were 78.6, 62.0, 62.5 and 52.8% for color, alkalinity,
TSS and TDS, respectively. The major advantages of the lime-alum
combination were observed to be as follows: no requirement of pH
adjustment before and after treatment and good settleability of
sludge. Coagulation-precipitation followed by adsorption on PAC
resulted in 92.3% chemical oxygen demand (COD) removal and
100% phenol removal at equilibrium. Ammonia removal efficiency
was found to be 11.7% during coagulation-flocculation and 36.2%
during adsorption on PAC. Adsorption of organics on PAC in terms
of COD and phenol followed Freundlich isotherm with Kf = 0.55 &
18.47 mg/g and n = 1.01 & 1.45, respectively. This technology may
prove to be one of the fastest and most techno-economically feasible
methods for the treatment of tar-containing wastewater generated
from BGPs.
Abstract: This paper presents a SCR-based ESD protection devices for I/O clamp and power rail clamp, respectably. These devices have a low trigger voltage and high holding voltage characteristics than conventional SCR device. These devices are fabricated by using 0.35um BCD (Bipolar-CMOS-DMOS) processes. These devices were validated using a TLP system. From the experimental results, the device for I/O ESD clamp has a trigger voltage of 5.8V. Also, the device for power rail ESD clamp has a holding voltage of 7.7V.
Abstract: The cuticular hydrocarbons of Pamphagus elephas
(Orthoptera: Pamphagidae) has been analysed by gas
chromatography and by combined gas chromatograph-mass
spectrometry. The following hydrocarbon classes have been
identified in insect cuticular hydrocarbons are: n-alkanes and
methylalkanes comprising Monomethyl-, dimethyl-and
trimethylalkanes. Sexual dimorphism is observed in long chain
alkanes (C24-C36) present on male and female. The cuticulars
hydrocarbons of P.elephas ranged from 24 to 36 carbons and
incluted n-alkanes, Dimethylalkanes and Trimethylalkanes. nalkanes
represented by (C24-C36,72,7% on male and 79,2% on
female), internally branched Monomethylalkanes identified were
(C25, C30-C32,C35-C37;11% on male and 9,4% on female),
Dimethylalkanes detected are (C31-C32, C36; 2,2% on male and
2,06% on female) and Trimethylalkanes detected are (C32, C36;
3,1% on male and 4, 97 on female). Larvae male and female (stage
7) showed the same quality of n-alkanes observed in adults.
However a difference quantity is noted.
Abstract: One of the factors to maintain system survivability is
the adequate reactive power support to the system. Lack of reactive
power support may cause undesirable voltage decay leading to total
system instability. Thus, appropriate reactive power support scheme
should be arranged in order to maintain system stability. The strength
of a system capacity is normally denoted as system loadability. This
paper presents the enhancement of system loadability through
optimal reactive power planning technique using a newly developed
optimization technique, termed as Multiagent Immune Evolutionary
Programming (MAIEP). The concept of MAIEP is developed based
on the combination of Multiagent System (MAS), Artificial Immune
System (AIS) and Evolutionary Programming (EP). In realizing the
effectiveness of the proposed technique, validation is conducted on
the IEEE-26-Bus Reliability Test System. The results obtained from
pre-optimization and post-optimization process were compared
which eventually revealed the merit of MAIEP.
Abstract: This paper deals with motion planning of multiple
mobile robots. Mobile robots working together to achieve several
objectives have many advantages over single robot system. However,
the planning and coordination between the mobile robots is
extremely difficult. In the present investigation rule-based and rulebased-
neuro-fuzzy techniques are analyzed for multiple mobile
robots navigation in an unknown or partially known environment.
The final aims of the robots are to reach some pre-defined goals.
Based upon a reference motion, direction; distances between the
robots and obstacles; and distances between the robots and targets;
different types of rules are taken heuristically and refined later to find
the steering angle. The control system combines a repelling influence
related to the distance between robots and nearby obstacles and with
an attracting influence between the robots and targets. Then a hybrid
rule-based-neuro-fuzzy technique is analysed to find the steering
angle of the robots. Simulation results show that the proposed rulebased-
neuro-fuzzy technique can improve navigation performance in
complex and unknown environments compared to this simple rulebased
technique.
Abstract: The objective of this study was to investigate the effects of dietary supplementation with raw or heat-treated sunflower oil seed with two levels of 7.5% or 15% on unsaturated fatty acids in milk fat and performances of high-yielding lactating cows. Twenty early lactating Holstein cows were used in a complete randomized design. Treatments included: 1) CON, control (without sunflower oil seed). 2) LS-UT, 7.5% raw sunflower oil seed. 3) LS-HT, 7.5% heat-treated sunflower oil seed. 4) HS-UT, 15% raw sunflower oil seed. 5) HS-HT, 15% heat-treated sunflower oil seed. Experimental period lasted for 4 wk, with first 2 wk used for adaptation to the diets. Supplementation with 7.5% raw sunflower seed (LS-UT) tended to decrease milk yield, with 28.37 kg/d compared with the control (34.75 kg/d). Milk fat percentage was increased with the HS-UT treatment that obtained 3.71% compared with CON that was 3.39% and without significant different. Milk protein percent was decreased high level sunflower oil seed treatments (15%) with 3.18% whereas CON treatment is caused 3.40% protein. The cows fed added low sunflower heat-treated (LS-HT) produced milk with the highest content of total unsaturated fatty acid with 32.59 g/100g of milk fat compared with the HS-UT with 23.59 g/100g of milk fat. Content of C18 unsaturated fatty acids in milk fat increased from 21.68 g/100g of fat in the HS-UT to 22.50, 23.98, 27.39 and 30.30 g/100g of fat from the cow fed HS-HT, CON, LS-UT and LS-HT treatments, respectively. C18:2 isomers of fatty acid in milk were greater by LSHT supplementation with significant effect (P < 0.05). Total of C18 unsaturated fatty acids content was significantly higher in milk of animal fed added low heat-treated sunflower (7.5%) than those fed with high sunflower. In all, results of this study showed that diet cow's supplementation with sunflower oil seed tended to reduce milk production of lactating cows but can improve C18 UFA (Unsaturated Fatty Acid) content in milk fat. 7.5% level of sunflower oil seed that heated seemed to be the optimal source to increase UFA production.
Abstract: Removing noise from the any processed images is very important. Noise should be removed in such a way that important information of image should be preserved. A decisionbased nonlinear algorithm for elimination of band lines, drop lines, mark, band lost and impulses in images is presented in this paper. The algorithm performs two simultaneous operations, namely, detection of corrupted pixels and evaluation of new pixels for replacing the corrupted pixels. Removal of these artifacts is achieved without damaging edges and details. However, the restricted window size renders median operation less effective whenever noise is excessive in that case the proposed algorithm automatically switches to mean filtering. The performance of the algorithm is analyzed in terms of Mean Square Error [MSE], Peak-Signal-to-Noise Ratio [PSNR], Signal-to-Noise Ratio Improved [SNRI], Percentage Of Noise Attenuated [PONA], and Percentage Of Spoiled Pixels [POSP]. This is compared with standard algorithms already in use and improved performance of the proposed algorithm is presented. The advantage of the proposed algorithm is that a single algorithm can replace several independent algorithms which are required for removal of different artifacts.
Abstract: The underground shopping mall has the constructional
problem of the fire evacuation. Also, the people sometimes lose their
direction and information of current time in the mall. If the
emergencies such as terrorist explosions or gas explosions are
happened, they have to go out soon. Under such circumstances, inside
of the mall has high risk for life. In this research, the authors propose a
way that he/she can go out from the underground shopping mall
quickly. If the narrow exits are discovered by using active RFID
(Radio Frequency Identification) tags and using cellular phones, they
can evacuate as soon as possible. To verify this hypothesis, the authors
design the model and carry out the agent-based simulation. They treat,
as a case study, the Tenjin mall in Fukuoka Prefecture in Japan. The
result of the simulation is that the case of the pedestrian with using
active RFID tags and cellular phones reduced the amount of time to
spend on the evacuation. Even if the diffusion of RFID tags and
cellular phones was not perfect, they could show the effectiveness of
reducing the time of evacuation.