Abstract: This paper is concerned with the application of the vision control algorithm for robot's point placement task in discontinuous trajectory caused by obstacle. The presented vision control algorithm consists of four models, which are the robot kinematic model, vision system model, parameters estimation model, and robot joint angle estimation model.When the robot moves toward a target along discontinuous trajectory, several types of obstacles appear in two obstacle regions. Then, this study is to investigate how these changes will affect the presented vision control algorithm.Thus, the practicality of the vision control algorithm is demonstrated experimentally by performing the robot's point placement task in discontinuous trajectory by obstacle.
Abstract: By taking advantage of both k-NN which is highly
accurate and K-means cluster which is able to reduce the time of classification, we can introduce Cluster-k-Nearest Neighbor as "variable k"-NN dealing with the centroid or mean point of all subclasses generated by clustering algorithm. In general the algorithm of K-means cluster is not stable, in term of accuracy, for that reason we develop another algorithm for clustering our space which gives a higher accuracy than K-means cluster, less
subclass number, stability and bounded time of classification with respect to the variable data size. We find between 96% and 99.7 % of accuracy in the lassification of 6 different types of Time series by using K-means cluster algorithm and we find 99.7% by using the new clustering algorithm.
Abstract: Lossless compression schemes with secure
transmission play a key role in telemedicine applications that helps in
accurate diagnosis and research. Traditional cryptographic algorithms
for data security are not fast enough to process vast amount of data.
Hence a novel Secured lossless compression approach proposed in
this paper is based on reversible integer wavelet transform, EZW
algorithm, new modified runlength coding for character
representation and selective bit scrambling. The use of the lifting
scheme allows generating truly lossless integer-to-integer wavelet
transforms. Images are compressed/decompressed by well-known
EZW algorithm. The proposed modified runlength coding greatly
improves the compression performance and also increases the
security level. This work employs scrambling method which is fast,
simple to implement and it provides security. Lossless compression
ratios and distortion performance of this proposed method are found
to be better than other lossless techniques.
Abstract: Like other external sorting algorithms, the presented
algorithm is a two step algorithm including internal and external
steps. The first part of the algorithm is like the other similar
algorithms but second part of that is including a new easy
implementing method which has reduced the vast number of inputoutput
operations saliently. As decreasing processor operating time
does not have any effect on main algorithm speed, any improvement
in it should be done through decreasing the number of input-output
operations. This paper propose an easy algorithm for choose the
correct record location of the final list. This decreases the time
complexity and makes the algorithm faster.
Abstract: Wireless capsule endoscopy provides real-time images in the digestive tract. Capsule images are usually low resolution and are diverse images due to travel through various regions of human body. Color information has been a primary reference in predicting abnormalities such as bleeding. Often color is not sufficient for this purpose. In this study, we took morphological shapes into account as additional, but important criterion. First, we processed gastric images in order to indentify various objects in the image. Then, we analyzed color information in the object. In this way, we could remove unnecessary information and increase the accuracy. Compared to our previous investigations, we could handle images of various degrees of brightness and improve our diagnostic algorithm.
Abstract: The main objective of this work is to provide a fault detection and isolation based on Markov parameters for residual generation and a neural network for fault classification. The diagnostic approach is accomplished in two steps: In step 1, the system is identified using a series of input / output variables through an identification algorithm. In step 2, the fault is diagnosed comparing the Markov parameters of faulty and non faulty systems. The Artificial Neural Network is trained using predetermined faulty conditions serves to classify the unknown fault. In step 1, the identification is done by first formulating a Hankel matrix out of Input/ output variables and then decomposing the matrix via singular value decomposition technique. For identifying the system online sliding window approach is adopted wherein an open slit slides over a subset of 'n' input/output variables. The faults are introduced at arbitrary instances and the identification is carried out in online. Fault residues are extracted making a comparison of the first five Markov parameters of faulty and non faulty systems. The proposed diagnostic approach is illustrated on benchmark problems with encouraging results.
Abstract: A new approach to determine the machine layout in flexible manufacturing cell, and to find the feasible robot configuration of the robot to achieve minimum cycle time is presented in this paper. The location of the input/output location and the optimal robot configuration is obtained for all sequences of work tasks of the robot within a specified period of time. A more realistic approach has been presented to model the problem using the robot joint space. The problem is formulated as a nonlinear optimization problem and solved using Sequential Quadratic Programming algorithm.
Abstract: In order to accelerate the similarity search in highdimensional database, we propose a new hierarchical indexing method. It is composed of offline and online phases. Our contribution concerns both phases. In the offline phase, after gathering the whole of the data in clusters and constructing a hierarchical index, the main originality of our contribution consists to develop a method to construct bounding forms of clusters to avoid overlapping. For the online phase, our idea improves considerably performances of similarity search. However, for this second phase, we have also developed an adapted search algorithm. Our method baptized NOHIS (Non-Overlapping Hierarchical Index Structure) use the Principal Direction Divisive Partitioning (PDDP) as algorithm of clustering. The principle of the PDDP is to divide data recursively into two sub-clusters; division is done by using the hyper-plane orthogonal to the principal direction derived from the covariance matrix and passing through the centroid of the cluster to divide. Data of each two sub-clusters obtained are including by a minimum bounding rectangle (MBR). The two MBRs are directed according to the principal direction. Consequently, the nonoverlapping between the two forms is assured. Experiments use databases containing image descriptors. Results show that the proposed method outperforms sequential scan and SRtree in processing k-nearest neighbors.
Abstract: In this paper we propose segmentation approach based
on Vector Quantization technique. Here we have used Kekre-s fast
codebook generation algorithm for segmenting low-altitude aerial
image. This is used as a preprocessing step to form segmented
homogeneous regions. Further to merge adjacent regions color
similarity and volume difference criteria is used. Experiments
performed with real aerial images of varied nature demonstrate that
this approach does not result in over segmentation or under
segmentation. The vector quantization seems to give far better results
as compared to conventional on-the-fly watershed algorithm.
Abstract: In this paper we present simulation results for the
application of a bandwidth efficient algorithm (mapping algorithm)
to an image transmission system. This system considers three
different real valued transforms to generate energy compact
coefficients. First results are presented for gray scale and color image
transmission in the absence of noise. It is seen that the system
performs its best when discrete cosine transform is used. Also the
performance of the system is dominated more by the size of the
transform block rather than the number of coefficients transmitted or
the number of bits used to represent each coefficient. Similar results
are obtained in the presence of additive white Gaussian noise. The
varying values of the bit error rate have very little or no impact on
the performance of the algorithm. Optimum results are obtained for
the system considering 8x8 transform block and by transmitting 15
coefficients from each block using 8 bits.
Abstract: Developing techniques for mobile robot navigation constitutes one of the major trends in the current
research on mobile robotics. This paper develops a local
model network (LMN) for mobile robot navigation. The
LMN represents the mobile robot by a set of locally valid
submodels that are Multi-Layer Perceptrons (MLPs).
Training these submodels employs Back Propagation (BP) algorithm. The paper proposes the fuzzy C-means (FCM) in this scheme to divide the input space to sub regions, and then a submodel (MLP) is identified to represent a particular
region. The submodels then are combined in a unified
structure. In run time phase, Radial Basis Functions (RBFs) are employed as windows for the activated submodels. This
proposed structure overcomes the problem of changing operating regions of mobile robots. Read data are used in all experiments. Results for mobile robot navigation using the
proposed LMN reflect the soundness of the proposed
scheme.
Abstract: Censored Production Rule is an extension of standard
production rule, which is concerned with problems of reasoning with
incomplete information, subject to resource constraints and problem
of reasoning efficiently with exceptions. A CPR has a form: IF A
(Condition) THEN B (Action) UNLESS C (Censor), Where C is the
exception condition. Fuzzy CPR are obtained by augmenting
ordinary fuzzy production rule “If X is A then Y is B with an
exception condition and are written in the form “If X is A then Y is B
Unless Z is C. Such rules are employed in situation in which the
fuzzy conditional statement “If X is A then Y is B" holds frequently
and the exception condition “Z is C" holds rarely. Thus “If X is A
then Y is B" part of the fuzzy CPR express important information
while the unless part acts only as a switch that changes the polarity of
“Y is B" to “Y is not B" when the assertion “Z is C" holds. The
proposed approach is an attempt to discover fuzzy censored
production rules from set of discovered fuzzy if then rules in the
form:
A(X)  B(Y) || C(Z).
Abstract: Biclustering aims at identifying several biclusters that
reveal potential local patterns from a microarray matrix. A bicluster is
a sub-matrix of the microarray consisting of only a subset of genes
co-regulates in a subset of conditions. In this study, we extend the
motif of subspace clustering to present a K-biclusters clustering (KBC)
algorithm for the microarray biclustering issue. Besides minimizing
the dissimilarities between genes and bicluster centers within all
biclusters, the objective function of the KBC algorithm additionally
takes into account how to minimize the residues within all biclusters
based on the mean square residue model. In addition, the objective
function also maximizes the entropy of conditions to stimulate more
conditions to contribute the identification of biclusters. The KBC
algorithm adopts the K-means type clustering process to efficiently
make the partition of K biclusters be optimized. A set of experiments
on a practical microarray dataset are demonstrated to show the
performance of the proposed KBC algorithm.
Abstract: Interaction Model plays an important role in Modelbased
Intelligent Interface Agent Architecture for developing
Intelligent User Interface. In this paper we are presenting some
improvements in the algorithms for development interaction model of
interface agent including: the action segmentation algorithm, the
action pair selection algorithm, the final action pair selection
algorithm, the interaction graph construction algorithm and the
probability calculation algorithm. The analysis of the algorithms also
presented. At the end of this paper, we introduce an experimental
program called “Personal Transfer System".
Abstract: The electromagnetic spectrum is a natural resource
and hence well-organized usage of the limited natural resources is the
necessities for better communication. The present static frequency
allocation schemes cannot accommodate demands of the rapidly
increasing number of higher data rate services. Therefore, dynamic
usage of the spectrum must be distinguished from the static usage to
increase the availability of frequency spectrum. Cognitive radio is not
a single piece of apparatus but it is a technology that can incorporate
components spread across a network. It offers great promise for
improving system efficiency, spectrum utilization, more effective
applications, reduction in interference and reduced complexity of
usage for users. Cognitive radio is aware of its environmental,
internal state, and location, and autonomously adjusts its operations
to achieve designed objectives. It first senses its spectral environment
over a wide frequency band, and then adapts the parameters to
maximize spectrum efficiency with high performance. This paper
only focuses on the analysis of Bit-Error-Rate in cognitive radio by
using Particle Swarm Optimization Algorithm. It is theoretically as
well as practically analyzed and interpreted in the sense of
advantages and drawbacks and how BER affects the efficiency and
performance of the communication system.
Abstract: Prospective readers can quickly determine whether a document is relevant to their information need if the significant phrases (or keyphrases) in this document are provided. Although keyphrases are useful, not many documents have keyphrases assigned to them, and manually assigning keyphrases to existing documents is costly. Therefore, there is a need for automatic keyphrase extraction. This paper introduces a new domain independent keyphrase extraction algorithm. The algorithm approaches the problem of keyphrase extraction as a classification task, and uses a combination of statistical and computational linguistics techniques, a new set of attributes, and a new machine learning method to distinguish keyphrases from non-keyphrases. The experiments indicate that this algorithm performs better than other keyphrase extraction tools and that it significantly outperforms Microsoft Word 2000-s AutoSummarize feature. The domain independence of this algorithm has also been confirmed in our experiments.
Abstract: In automatic manufacturing and assembling of mechanical, electrical and electronic parts one needs to reliably identify the position of components and to extract the information of these components. Data Matrix Codes (DMC) are established by these days in many areas of industrial manufacturing thanks to their concentration of information on small spaces. In today’s usually order-related industry, where increased tracing requirements prevail, they offer further advantages over other identification systems. This underlines in an impressive way the necessity of a robust code reading system for detecting DMC on the components in factories. This paper compares two methods for estimating the angle of orientation of Data Matrix Codes: one method based on the Hough Transform and the other based on the Mean Shift Algorithm. We concentrate on Data Matrix Codes in industrial environment, punched, milled, lasered or etched on different materials in arbitrary orientation.
Abstract: A direct search approach to determine optimal reservoir operating is proposed with ant colony optimization for continuous domains (ACOR). The model is applied to a system of single reservoir to determine the optimum releases during 42 years of monthly steps. A disadvantage of ant colony based methods and the ACOR in particular, refers to great amount of computer run time consumption. In this study a highly effective procedure for decreasing run time has been developed. The results are compared to those of a GA based model.
Abstract: The trend of growing density on chips has increases not
only the temperature in chips but also the gradient of the temperature
depending on locations. In this paper, we propose the balanced skew
tree generation technique for minimizing the clock skew that is
affected by the temperature gradients on chips. We calculate the
interconnect delay using Elmore delay equation, and find out the
optimal balanced clock tree by modifying the clock trees generated
through the Deferred Merge Embedding(DME) algorithm. The
experimental results show that the distance variance of clock insertion
points with and without considering the temperature gradient can be
lowered below 54% and we confirm that the skew is remarkably
decreased after applying the proposed technique.
Abstract: We propose a control design scheme that aims to
prevent undesirable liquid outpouring and suppress sloshing during
the forward and backward tilting phases of the pouring process, for
the case of liquid containers carried by manipulators. The proposed
scheme combines a partial inverse dynamics controller with a PID
controller, tuned with the use of a “metaheuristic" search algorithm.
The “metaheuristic" search algorithm tunes the PID controller based
on simulation results of the plant-s linearization around the operating
point corresponding to the critical tilting angle, where outpouring
initiates. Liquid motion is modeled using the well-known pendulumtype
model. However, the proposed controller does not require
measurements of the liquid-s motion within the tank.