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: 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: 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: 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 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: In the paper, a fast high-resolution range profile synthetic algorithm called orthogonal matching pursuit with sensing dictionary (OMP-SD) is proposed. It formulates the traditional HRRP synthetic to be a sparse approximation problem over redundant dictionary. As it employs a priori that the synthetic range profile (SRP) of targets are sparse, SRP can be accomplished even in presence of data lost. Besides, the computation complexity decreases from O(MNDK) flops for OMP to O(M(N + D)K) flops for OMP-SD by introducing sensing dictionary (SD). Simulation experiments illustrate its advantages both in additive white Gaussian noise (AWGN) and noiseless situation, respectively.
Abstract: This research is aimed to describe the application of robust regression and its advantages over the least square regression method in analyzing financial data. To do this, relationship between earning per share, book value of equity per share and share price as price model and earning per share, annual change of earning per share and return of stock as return model is discussed using both robust and least square regressions, and finally the outcomes are compared. Comparing the results from the robust regression and the least square regression shows that the former can provide the possibility of a better and more realistic analysis owing to eliminating or reducing the contribution of outliers and influential data. Therefore, robust regression is recommended for getting more precise results in financial data analysis.
Abstract: In this paper, application of artificial neural networks
in typical disease diagnosis has been investigated. The real procedure
of medical diagnosis which usually is employed by physicians was
analyzed and converted to a machine implementable format. Then
after selecting some symptoms of eight different diseases, a data set
contains the information of a few hundreds cases was configured and
applied to a MLP neural network. The results of the experiments and
also the advantages of using a fuzzy approach were discussed as
well. Outcomes suggest the role of effective symptoms selection and
the advantages of data fuzzificaton on a neural networks-based
automatic medical diagnosis system.
Abstract: The paper presents a space-vector pulse width modulation (SVPWM) inverter feeding a permanent-magnet synchronous motor (PMSM). The SVPWM inverter enables to feed the motor with a higher voltage with low harmonic distortions than the conventional sinusoidal PWM inverter. The control strategy of the inverter is the voltage / frequency control method, which is based on the space-vector modulation technique. The proposed PMSM drive system involving the field-oriented control scheme not only decouples the torque and flux which provides faster response but also makes the control task easy. The performance of the proposed drive is simulated. The advantages of the proposed drive are confirmed by the simulation results.
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: The performance of high-resolution schemes is investigated for unsteady, inviscid and compressible multiphase flows. An Eulerian diffuse interface approach has been chosen for the simulation of multicomponent flow problems. The reduced fiveequation and seven equation models are used with HLL and HLLC approximation. The authors demonstrated the advantages and disadvantages of both seven equations and five equations models studying their performance with HLL and HLLC algorithms on simple test case. The seven equation model is based on two pressure, two velocity concept of Baer–Nunziato [10], while five equation model is based on the mixture velocity and pressure. The numerical evaluations of two variants of Riemann solvers have been conducted for the classical one-dimensional air-water shock tube and compared with analytical solution for error analysis.
Abstract: IEEE 802.16 is a new wireless technology standard, it
has some advantages, including wider coverage, higher bandwidth,
and QoS support. As the new wireless technology for last mile
solution, there are designed two models in IEEE 802.16 standard. One
is PMP (point to multipoint) and the other is Mesh. In this paper we
only focus on IEEE 802.16 Mesh model. According to the IEEE
802.16 standard description, Mesh model has two scheduling modes,
centralized and distributed. Considering the pros and cons of the two
scheduling, we present the combined scheduling QoS framework that
the BS (Base Station) controls time frame scheduling and selects the
shortest path from source to destination directly. On the other hand, we
propose the Expedited Queue mechanism to cut down the transmission
time. The EQ mechanism can reduce a lot of end-to-end delay in our
QoS framework. Simulation study has shown that the average delay is
smaller than contrasts. Furthermore, our proposed scheme can also
achieve higher performance.
Abstract: Directive 2009/28/CE establishes, as obligatory objective, a share of renewable energies on energetic consumption of 20%, in European Union, in 2020 However, such European normative gives freedom to member states in the selection of the renewable promotion mechanism that allows them to obtain that objective. In this paper, we analyze the main characteristics of the promotion mechanisms of renewable energy used in the countries that shape the Electricity Iberian Market (Spain and Portugal) and the results in employment. The importance of these countries is given by the great increasing of the renewable energies which suppose a share higher than 30% of the overall generation in 2010. Therefore, this research paper can serve as the basis for the learning of other countries with regard to the main advantages that entail the use of a feed-in tariff system.
Abstract: Today-s children, who are born into a more colorful,
more creative, more abstract and more accessible communication
environment than their ancestors as a result of dizzying advances in
technology, have an interesting capacity to perceive and make sense
of the world. Millennium children, who live in an environment where
all kinds of efforts by marketing communication are more intensive
than ever are, from their early childhood on, subject to all kinds of
persuasive messages. As regards advertising communication, it
outperforms all the other marketing communication efforts in
creating little consumer individuals and, as a result of processing of
codes and signs, plays a significant part in building a world of seeing,
thinking and understanding for children. Children who are raised with
metaphorical expressions such as tales and riddles also meet that fast
and effective meaning communication in advertisements.
Children-s perception of metaphors, which help grasp the “product
and its promise" both verbally and visually and facilitate association
between them is the subject of this study. Stimulating and activating
imagination, metaphors have unique advantages in promoting the
product and its promise especially in regard to print advertisements,
which have certain limitations. This study deals comparatively with
both literal and metaphoric versions of print advertisements
belonging to various product groups and attempts to discover to what
extent advertisements are liked, recalled, perceived and are
persuasive. The sample group of the study, which was conducted in
two elementary schools situated in areas that had different socioeconomic
features, consisted of children aged 12.
Abstract: Using strength Pulse Electrical Field (PEF) in food
industries is a non-thermal process that can deactivate
microorganisms and increase penetration in plant and animals tissues
without serious impact on food taste and quality. In this paper designing and fabricating of a PEF generator has been presented. Pulse generation methods have been surveyed and the best of them
selected. The equipment by controller set can generate square pulse with adjustable parameters such as amplitude 1-5kV, frequency 0.1-10Hz, pulse width 10-100s, and duty cycle 0-100%. Setting the number of pulses, and presenting the output voltage and current
waveforms on the oscilloscope screen are another advantages of this
equipment. Finally, some food samples were tested that yielded the satisfactory results. PEF applying had considerable effects on potato, banana and purple cabbage. It caused increase Brix factor from 0.05
to 0.15 in potato solution. It is also so effective in extraction color material from purple cabbage. In the last experiment effects of PEF
voltages on color extraction of saffron scum were surveyed (about 6% increasing yield).
Abstract: Using electrical machine in conventional vehicles, also called hybrid vehicles, has become a promising control scheme that enables some manners for fuel economy and driver assist for better stability. In this paper, vehicle stability control, fuel economy and Driving/Regeneration braking for a 4WD hybrid vehicle is investigated by using an electrical machine on each non-driven wheels. In front wheels driven vehicles, fuel economy and regenerative braking can be obtained by summing torques applied on rear wheels. On the other hand, unequal torques applied to rear wheels provides enhanced safety and path correction in steering. In this paper, a model with fourteen degrees of freedom is considered for vehicle body, tires and, suspension systems. Thereafter, powertrain subsystems are modeled. Considering an electrical machine on each rear wheel, a fuzzy controller is designed for each driving, braking, and stability conditions. Another fuzzy controller recognizes the vehicle requirements between the driving/regeneration and stability modes. Intelligent vehicle control to multi objective operation and forward simulation are the paper advantages. For reaching to these aims, power management control and yaw moment control will be done by three fuzzy controllers. Also, the above mentioned goals are weighted by another fuzzy sub-controller base on vehicle dynamic. Finally, Simulations performed in MATLAB/SIMULINK environment show that the proposed structure can enhance the vehicle performance in different modes effectively.
Abstract: Recently, permeable breakwaters have been suggested to overcome the disadvantages of fully protection breakwaters. These protection structures have minor impacts on the coastal environment and neighboring beaches where they provide a more economical protection from waves and currents. For regular waves, a numerical model is used (FLOW-3D, VOF) to investigate the hydraulic performance of a permeable breakwater. The model of permeable breakwater consists of a pair of identical vertical slotted walls with an impermeable upper and lower part, where the draft is a decimal multiple of the total depth. The middle part is permeable with a porosity of 50%. The second barrier is located at distant of 0.5 and 1.5 of the water depth from the first one. The numerical model is validated by comparisons with previous laboratory data and semi-analytical results of the same model. A good agreement between the numerical results and both laboratory data and semi-analytical results has been shown and the results indicate the applicability of the numerical model to reproduce most of the important features of the interaction. Through the numerical investigation, the friction factor of the model is carefully discussed.
Abstract: The authors present an algorithm for order reduction of linear time invariant dynamic systems using the combined advantages of the eigen spectrum analysis and the error minimization by particle swarm optimization technique. Pole centroid and system stiffness of both original and reduced order systems remain same in this method to determine the poles, whereas zeros are synthesized by minimizing the integral square error in between the transient responses of original and reduced order models using particle swarm optimization technique, pertaining to a unit step input. It is shown that the algorithm has several advantages, e.g. the reduced order models retain the steady-state value and stability of the original system. The algorithm is illustrated with the help of two numerical examples and the results are compared with the other existing techniques.
Abstract: The study aimed to identify the logical structure of
data and particularities of developing and testing a website designed
for selling farm products through online auctions.
The research is based on a short literature review in the field and
exploratory trials of some successful models from other industries, in
order to identify the advantages of using such tool, as well as the
optimal structure and functionality of an auction portal. In the last
part, the study focuses on the results of testing the website by the
potential beneficiaries.
Conclusions of the study underlines that the particularities of some
agricultural products could raise difficulties in the process of selling
them through online auctions, but the use of such system it is
perceived to bring significant improvements in the supply chain.
The results of scientific investigations require a more detailed
study regarding the importance of using quality standards for
agricultural products sold via online auction, the impact that
implementation of an online payment system could have on trade
with agricultural products and problems which could arise in using
the website in different countries.