Abstract: High redundancy and strong uncertainty are two main characteristics for underwater robotic manipulators with unlimited workspace and mobility, but they also make the motion planning and control difficult and complex. In order to setup the groundwork for the research on control schemes, the mathematical representation is built by using the Denavit-Hartenberg (D-H) method [9]&[12]; in addition to the geometry of the manipulator which was studied for establishing the direct and inverse kinematics. Then, the dynamic model is developed and used by employing the Lagrange theorem. Furthermore, derivation and computer simulation is accomplished using the MATLAB environment. The result obtained is compared with mechanical system dynamics analysis software, ADAMS. In addition, the creation of intelligent artificial skin using Interlink Force Sensing ResistorTM technology is presented as groundwork for future work
Abstract: Image clustering is a process of grouping images
based on their similarity. The image clustering usually uses the color
component, texture, edge, shape, or mixture of two components, etc.
This research aims to explore image clustering using color
composition. In order to complete this image clustering, three main
components should be considered, which are color space, image
representation (feature extraction), and clustering method itself. We
aim to explore which composition of these factors will produce the
best clustering results by combining various techniques from the
three components. The color spaces use RGB, HSV, and L*a*b*
method. The image representations use Histogram and Gaussian
Mixture Model (GMM), whereas the clustering methods use KMeans
and Agglomerative Hierarchical Clustering algorithm. The
results of the experiment show that GMM representation is better
combined with RGB and L*a*b* color space, whereas Histogram is
better combined with HSV. The experiments also show that K-Means
is better than Agglomerative Hierarchical for images clustering.
Abstract: In illumination variant face recognition, existing
methods extracting face albedo as light normalized image may lead to
loss of extensive facial details, with light template discarded. To
improve that, a novel approach for realistic facial texture
reconstruction by combining original image and albedo image is
proposed. First, light subspaces of different identities are established
from the given reference face images; then by projecting the original
and albedo image into each light subspace respectively, texture
reference images with corresponding lighting are reconstructed and
two texture subspaces are formed. According to the projections in
texture subspaces, facial texture with normal light can be synthesized.
Due to the combination of original image, facial details can be
preserved with face albedo. In addition, image partition is applied to
improve the synthesization performance. Experiments on Yale B and
CMUPIE databases demonstrate that this algorithm outperforms the
others both in image representation and in face recognition.
Abstract: Structural representation and technology mapping of
a Boolean function is an important problem in the design of nonregenerative
digital logic circuits (also called combinational logic
circuits). Library aware function manipulation offers a solution to
this problem. Compact multi-level representation of binary networks,
based on simple circuit structures, such as AND-Inverter Graphs
(AIG) [1] [5], NAND Graphs, OR-Inverter Graphs (OIG), AND-OR
Graphs (AOG), AND-OR-Inverter Graphs (AOIG), AND-XORInverter
Graphs, Reduced Boolean Circuits [8] does exist in
literature. In this work, we discuss a novel and efficient graph
realization for combinational logic circuits, represented using a
NAND-NOR-Inverter Graph (NNIG), which is composed of only
two-input NAND (NAND2), NOR (NOR2) and inverter (INV) cells.
The networks are constructed on the basis of irredundant disjunctive
and conjunctive normal forms, after factoring, comprising terms with
minimum support. Construction of a NNIG for a non-regenerative
function in normal form would be straightforward, whereas for the
complementary phase, it would be developed by considering a virtual
instance of the function. However, the choice of best NNIG for a
given function would be based upon literal count, cell count and
DAG node count of the implementation at the technology
independent stage. In case of a tie, the final decision would be made
after extracting the physical design parameters.
We have considered AIG representation for reduced disjunctive
normal form and the best of OIG/AOG/AOIG for the minimized
conjunctive normal forms. This is necessitated due to the nature of
certain functions, such as Achilles- heel functions. NNIGs are found
to exhibit 3.97% lesser node count compared to AIGs and
OIG/AOG/AOIGs; consume 23.74% and 10.79% lesser library cells
than AIGs and OIG/AOG/AOIGs for the various samples considered.
We compare the power efficiency and delay improvement achieved
by optimal NNIGs over minimal AIGs and OIG/AOG/AOIGs for
various case studies. In comparison with functionally equivalent,
irredundant and compact AIGs, NNIGs report mean savings in power
and delay of 43.71% and 25.85% respectively, after technology
mapping with a 0.35 micron TSMC CMOS process. For a
comparison with OIG/AOG/AOIGs, NNIGs demonstrate average
savings in power and delay by 47.51% and 24.83%. With respect to
device count needed for implementation with static CMOS logic
style, NNIGs utilize 37.85% and 33.95% lesser transistors than their
AIG and OIG/AOG/AOIG counterparts.
Abstract: As embedded and portable systems were emerged power consumption of circuits had been major challenge. On the other hand latency as determines frequency of circuits is also vital task. Therefore, trade off between both of them will be desirable. Modulo 2n+1 adders are important part of the residue number system (RNS) based arithmetic units with the interesting moduli set (2n-1,2n, 2n+1). In this manuscript we have introduced novel binary representation to the design of modulo 2n+1 adder. VLSI realization of proposed architecture under 180 nm full static CMOS technology reveals its superiority in terms of area, power consumption and power-delay product (PDP) against several peer existing structures.
Abstract: To achieve accurate and precise results of finite
element analysis (FEA) of bones, it is important to represent the
load/boundary conditions as identical as possible to the human body
such as the bone properties, the type and force of the muscles, the
contact force of the joints, and the location of the muscle attachment.
In this study, the difference in the Von-Mises stress and the total
deformation was compared by classifying them into Case 1, which
shows the actual anatomical form of the muscle attached to the femur
when the same muscle force was applied, and Case 2, which gives a
simplified representation of the attached location. An inverse
dynamical musculoskeletal model was simulated using data from an
actual walking experiment to complement the accuracy of the
muscular force, the input value of FEA. The FEA method using the
results of the muscular force that were calculated through the
simulation showed that the maximum Von-Mises stress and the
maximum total deformation in Case 2 were underestimated by 8.42%
and 6.29%, respectively, compared to Case 1. The torsion energy and
bending moment at each location of the femur occurred via the stress
ingredient. Due to the geometrical/morphological feature of the femur
of having a long bone shape when the stress distribution is wide, as
shown in Case 1, a greater Von-Mises stress and total deformation are
expected from the sum of the stress ingredients. More accurate results
can be achieved only when the muscular strength and the attachment
location in the FEA of the bones and the attachment form are the same
as those in the actual anatomical condition under the various moving
conditions of the human body.
Abstract: The human friendly interaction is the key function of a human-centered system. Over the years, it has received much attention to develop the convenient interaction through intention recognition. Intention recognition processes multimodal inputs including speech, face images, and body gestures. In this paper, we suggest a novel approach of intention recognition using a graph representation called Intention Graph. A concept of valid intention is proposed, as a target of intention recognition. Our approach has two phases: goal recognition phase and intention recognition phase. In the goal recognition phase, we generate an action graph based on the observed actions, and then the candidate goals and their plans are recognized. In the intention recognition phase, the intention is recognized with relevant goals and user profile. We show that the algorithm has polynomial time complexity. The intention graph is applied to a simple briefcase domain to test our model.
Abstract: Human perceives color in categories, which may be
identified using color name such as red, blue, etc. The categorization
is unique for each human being. However despite the individual
differences, the categorization is shared among members in society.
This allows communication among them, especially when using
color name. Sociable robot, to live coexist with human and become
part of human society, must also have the shared color
categorization, which can be achieved through learning. Many
works have been done to enable computer, as brain of robot, to learn
color categorization. Most of them rely on modeling of human color
perception and mathematical complexities. Differently, in this work,
the computer learns color categorization through interaction with
humans. This work aims at developing the innate ability of the
computer to learn the human-like color categorization. It focuses on
the representation of color categorization and how it is built and
developed without much mathematical complexity.
Abstract: Encrypted messages sending frequently draws the attention
of third parties, perhaps causing attempts to break and
reveal the original messages. Steganography is introduced to hide
the existence of the communication by concealing a secret message
in an appropriate carrier like text, image, audio or video. Quantum
steganography where the sender (Alice) embeds her steganographic
information into the cover and sends it to the receiver (Bob) over a
communication channel. Alice and Bob share an algorithm and hide
quantum information in the cover. An eavesdropper (Eve) without
access to the algorithm can-t find out the existence of the quantum
message. In this paper, a text quantum steganography technique based
on the use of indefinite articles (a) or (an) in conjunction with the nonspecific
or non-particular nouns in English language and quantum
gate truth table have been proposed. The authors also introduced a
new code representation technique (SSCE - Secret Steganography
Code for Embedding) at both ends in order to achieve high level of
security. Before the embedding operation each character of the secret
message has been converted to SSCE Value and then embeds to cover
text. Finally stego text is formed and transmits to the receiver side.
At the receiver side different reverse operation has been carried out
to get back the original information.
Abstract: This research paper is based upon the simulation of
gradient of mathematical functions and scalar fields using MATLAB.
Scalar fields, their gradient, contours and mesh/surfaces are
simulated using different related MATLAB tools and commands for
convenient presentation and understanding. Different mathematical
functions and scalar fields are examined here by taking their
gradient, visualizing results in 3D with different color shadings and
using other necessary relevant commands. In this way the outputs of
required functions help us to analyze and understand in a better way
as compared to just theoretical study of gradient.
Abstract: In face recognition, feature extraction techniques
attempts to search for appropriate representation of the data. However,
when the feature dimension is larger than the samples size, it brings
performance degradation. Hence, we propose a method called
Normalization Discriminant Independent Component Analysis
(NDICA). The input data will be regularized to obtain the most
reliable features from the data and processed using Independent
Component Analysis (ICA). The proposed method is evaluated on
three face databases, Olivetti Research Ltd (ORL), Face Recognition
Technology (FERET) and Face Recognition Grand Challenge
(FRGC). NDICA showed it effectiveness compared with other
unsupervised and supervised techniques.
Abstract: In this paper; we are interested principally in dynamic modelling of quadrotor while taking into account the high-order nonholonomic constraints in order to develop a new control scheme as well as the various physical phenomena, which can influence the dynamics of a flying structure. These permit us to introduce a new state-space representation. After, the use of Backstepping approach for the synthesis of tracking errors and Lyapunov functions, a sliding mode controller is developed in order to ensure Lyapunov stability, the handling of all system nonlinearities and desired tracking trajectories. Finally simulation results are also provided in order to illustrate the performances of the proposed controller.
Abstract: One of the most challengeable issues in ESL
(Electronic System Level) design is the lack of a general modeling
scheme for on chip communication architecture. In this paper some
of the mostly used methodologies for modeling and representation of
on chip communication are investigated. Our goal is studying the
existing methods to extract the requirements of a general
representation scheme for communication architecture synthesis. The
next step, will be introducing a modeling and representation method
for being used in automatically synthesis process of on chip
communication architecture.
Abstract: In this paper we report a study aimed at determining
the most effective animation technique for representing ASL
(American Sign Language) finger-spelling. Specifically, in the study
we compare two commonly used 3D computer animation methods
(keyframe animation and motion capture) in order to ascertain which
technique produces the most 'accurate', 'readable', and 'close to
actual signing' (i.e. realistic) rendering of ASL finger-spelling. To
accomplish this goal we have developed 20 animated clips of fingerspelled
words and we have designed an experiment consisting of a
web survey with rating questions. 71 subjects ages 19-45 participated
in the study. Results showed that recognition of the words was
correlated with the method used to animate the signs. In particular,
keyframe technique produced the most accurate representation of the
signs (i.e., participants were more likely to identify the words
correctly in keyframed sequences rather than in motion captured
ones). Further, findings showed that the animation method had an
effect on the reported scores for readability and closeness to actual
signing; the estimated marginal mean readability and closeness was
greater for keyframed signs than for motion captured signs. To our
knowledge, this is the first study aimed at measuring and comparing
accuracy, readability and realism of ASL animations produced with
different techniques.
Abstract: This paper studies the effect of different compression
constraints and schemes presented in a new and flexible paradigm to
achieve high compression ratios and acceptable signal to noise ratios
of Arabic speech signals. Compression parameters are computed for
variable frame sizes of a level 5 to 7 Discrete Wavelet Transform
(DWT) representation of the signals for different analyzing mother
wavelet functions. Results are obtained and compared for Global
threshold and level dependent threshold techniques. The results
obtained also include comparisons with Signal to Noise Ratios, Peak
Signal to Noise Ratios and Normalized Root Mean Square Error.
Abstract: This essay endeavors to read Ama Ata Aidoo-s Our Sister Killjoy with a postocolonially-inflected consciousness. It aims at demonstrating how her work could be read as a sophisticated postcolonial revision of the colonial travel narrative whereby the protagonist-s black-eyed squint operates as 'the all-seeing-eye' to subvert the historically unbroken legacy of the Orientalist ideology. It tries to demonstrate how Sissie assumes authority and voice in an act that destabilizes the traditionally established modes of western representation. It is also an investigation into how Aidoo-s text adopts processes which disengage the Eurocentric view produced by the discursive itineraries of western institutions through diverse acts of resistance and 'various strategies of subversion and appropriation'. Her counter discursive strategies of resistance are shaped up in various ways by a feminist consciousness that attempts to articulate a distinct African version of identity and preserve cultural distinctiveness.
Abstract: A product development for green logistics model using
the fuzzy analytic network process method is presented for evaluating
the relationships among the product design, the manufacturing
activities, and the green supply chain. In the product development
stage, there can be alternative ways to design the detailed components
to satisfy the design concept and product requirement. In different
design alternative cases, the manufacturing activities can be different.
In addition, the manufacturing activities can affect the green supply
chain of the components and product. In this research, a fuzzy analytic
network process evaluation model is presented for evaluating the
criteria in product design, manufacturing activities, and green supply
chain. The comparison matrices for evaluating the criteria among the
three groups are established. The total relational values between the
three groups represent the relationships and effects. In application, the
total relational values can be used to evaluate the design alternative
cases for decision-making to select a suitable design case and the green
supply chain. In this presentation, an example product is illustrated. It
shows that the model is useful for integrated evaluation of design and
manufacturing and green supply chain for the purpose of product
development for green logistics.
Abstract: Clusters of microcalcifications in mammograms are an
important sign of breast cancer. This paper presents a complete
Computer Aided Detection (CAD) scheme for automatic detection of
clustered microcalcifications in digital mammograms. The proposed
system, MammoScan μCaD, consists of three main steps. Firstly
all potential microcalcifications are detected using a a method for
feature extraction, VarMet, and adaptive thresholding. This will also
give a number of false detections. The goal of the second step,
Classifier level 1, is to remove everything but microcalcifications.
The last step, Classifier level 2, uses learned dictionaries and sparse
representations as a texture classification technique to distinguish
single, benign microcalcifications from clustered microcalcifications,
in addition to remove some remaining false detections. The system
is trained and tested on true digital data from Stavanger University
Hospital, and the results are evaluated by radiologists. The overall
results are promising, with a sensitivity > 90 % and a low false
detection rate (approx 1 unwanted pr. image, or 0.3 false pr. image).
Abstract: Our adaptive multimodal system aims at correctly
presenting a mathematical expression to visually impaired users.
Given an interaction context (i.e. combination of user, environment
and system resources) as well as the complexity of the expression
itself and the user-s preferences, the suitability scores of different
presentation format are calculated. Unlike the current state-of-the art
solutions, our approach takes into account the user-s situation and not
imposes a solution that is not suitable to his context and capacity. In
this wok, we present our methodology for calculating the
mathematical expression complexity and the results of our
experiment. Finally, this paper discusses the concepts and principles
applied on our system as well as their validation through cases
studies. This work is our original contribution to an ongoing research
to make informatics more accessible to handicapped users.
Abstract: The residue number system (RNS), due to its
properties, is used in applications in which high performance
computation is needed. The carry free nature, which makes the
arithmetic, carry bounded as well as the paralleling facility is the
reason of its capability of high speed rendering. Since carry is not
propagated between the moduli in this system, the performance is
only restricted by the speed of the operations in each modulus. In this
paper a novel method of number representation by use of redundancy
is suggested in which {rn- 2,rn-1,rn} is the reference moduli set
where r=2k+1 and k =1, 2,3,.. This method achieves fast
computations and conversions and makes the circuits of them much
simpler.