Abstract: This paper considers the design of a motion planner
that will simultaneously accomplish control and motion planning of a
n-link nonholonomic mobile manipulator, wherein, a n-link
holonomic manipulator is coupled with a nonholonomic mobile
platform, within an obstacle-ridden environment. This planner,
derived from the Lyapunov-based control scheme, generates
collision-free trajectories from an initial configuration to a final
configuration in a constrained environment cluttered with stationary
solid objects of different shapes and sizes. We demonstrate the
efficiency of the control scheme and the resulting acceleration
controllers of the mobile manipulator with results through computer
simulations of an interesting scenario.
Abstract: Many problems in computer vision and image
processing present potential for parallel implementations through one
of the three major paradigms of geometric parallelism, algorithmic
parallelism and processor farming. Static process scheduling
techniques are used successfully to exploit geometric and algorithmic
parallelism, while dynamic process scheduling is better suited to
dealing with the independent processes inherent in the process
farming paradigm. This paper considers the application of parallel or
multi-computers to a class of problems exhibiting spatial data
characteristic of the geometric paradigm. However, by using
processor farming paradigm, a dynamic scheduling technique is
developed to suit the MIMD structure of the multi-computers. A
hybrid scheme of scheduling is also developed and compared with
the other schemes. The specific problem chosen for the investigation
is the Hough transform for line detection.
Abstract: The prediction of meteorological parameters at a
meteorological station is an interesting and open problem. A firstorder
linear dynamic model GM(1,1) is the main component of the
grey system theory. The grey model requires only a few previous data
points in order to make a real-time forecast. In this paper, we
consider the daily average ambient temperature as a time series and
the grey model GM(1,1) applied to local prediction (short-term
prediction) of the temperature. In the same case study we use a fuzzy
predictive model for global prediction. We conclude the paper with a
comparison between local and global prediction schemes.
Abstract: Computational techniques derived from digital image processing are playing a significant role in the security and digital copyrights of multimedia and visual arts. This technology has the effect within the domain of computers. This research presents discrete M-band wavelet transform (MWT) and cosine transform (DCT) based watermarking algorithm by incorporating the principal component analysis (PCA). The proposed algorithm is expected to achieve higher perceptual transparency. Specifically, the developed watermarking scheme can successfully resist common signal processing, such as geometric distortions, and Gaussian noise. In addition, the proposed algorithm can be parameterized, thus resulting in more security. To meet these requirements, the image is transformed by a combination of MWT & DCT. In order to improve the security further, we randomize the watermark image to create three code books. During the watermark embedding, PCA is applied to the coefficients in approximation sub-band. Finally, first few component bands represent an excellent domain for inserting the watermark.
Abstract: The ability of agricultural and decorative plants to
absorb and detoxify TNT and RDX has been studied. All tested 8
plants, grown hydroponically, were able to absorb these explosives
from water solutions: Alfalfa > Soybean > Chickpea> Chikling vetch
>Ryegrass > Mung bean> China bean > Maize. Differently from
TNT, RDX did not exhibit negative influence on seed germination
and plant growth. Moreover, some plants, exposed to RDX
containing solution were increased in their biomass by 20%. Study of
the fate of absorbed [1-14ðí]-TNT revealed the label distribution in
low and high-molecular mass compounds, both in roots and above
ground parts of plants, prevailing in the later. Content of 14ðí in lowmolecular
compounds in plant roots are much higher than in above
ground parts. On the contrary, high-molecular compounds are more
intensively labeled in aboveground parts of soybean. Most part (up to
70%) of metabolites of TNT, formed either by enzymatic reduction
or oxidation, is found in high molecular insoluble conjugates.
Activation of enzymes, responsible for reduction, oxidation and
conjugation of TNT, such as nitroreductase, peroxidase,
phenoloxidase and glutathione S-transferase has been demonstrated.
Among these enzymes, only nitroreductase was shown to be induced
in alfalfa, exposed to RDX. The increase in malate dehydrogenase
activities in plants, exposed to both explosives, indicates
intensification of Tricarboxylic Acid Cycle, that generates reduced
equivalents of NAD(P)H, necessary for functioning of the
nitroreductase. The hypothetic scheme of TNT metabolism in plants
is proposed.
Abstract: Solar power plants(SPPs) have shown a lot of good outcomes
in providing a various functions depending on industrial expectations by
deploying ad-hoc networking with helps of light loaded and battery powered
sensor nodes. In particular, it is strongly requested to develop an algorithm to
deriver the sensing data from the end node of solar power plants to the sink node
on time. In this paper, based on the above observation we have proposed an
IEEE802.15.4 based self routing scheme for solar power plants. The proposed
beacon based priority routing Algorithm (BPRA) scheme utilizes beacon
periods in sending message with embedding the high priority data and thus
provides high quality of service(QoS) in the given criteria. The performance
measures are the packet Throughput, delivery, latency, total energy
consumption. Simulation results under TinyOS Simulator(TOSSIM) have
shown the proposed scheme outcome the conventional Ad hoc On-Demand
Distance Vector(AODV) Routing in solar power plants.
Abstract: Over the years, there is a growing trend towards
quality-based specifications in highway construction. In many
Quality Control/Quality Assurance (QC/QA) specifications, the
contractor is primarily responsible for quality control of the process,
whereas the highway agency is responsible for testing the acceptance
of the product. A cooperative investigation was conducted in Illinois
over several years to develop a prototype End-Result Specification
(ERS) for asphalt pavement construction. The final characteristics of
the product are stipulated in the ERS and the contractor is given
considerable freedom in achieving those characteristics. The risk for
the contractor or agency depends on how the acceptance limits and
processes are specified. Stochastic simulation models are very useful
in estimating and analyzing payment risk in ERS systems and these
form an integral part of the Illinois-s prototype ERS system. This
paper describes the development of an innovative methodology to
estimate the variability components in in-situ density, air voids and
asphalt content data from ERS projects. The information gained from
this would be crucial in simulating these ERS projects for estimation
and analysis of payment risks associated with asphalt pavement
construction. However, these methods require at least two parties to
conduct tests on all the split samples obtained according to the
sampling scheme prescribed in present ERS implemented in Illinois.
Abstract: This paper presents a new technique of compensation
of the effect of variation parameters in the direct field oriented
control of induction motor. The proposed method uses an adaptive
tuning of the value of synchronous speed to obtain the robustness for
the field oriented control. We show that this adaptive tuning allows
having robustness for direct field oriented control to changes in rotor
resistance, load torque and rotational speed. The effectiveness of the
proposed control scheme is verified by numerical simulations. The
numerical validation results of the proposed scheme have presented
good performances compared to the usual direct-field oriented
control.
Abstract: The drastic increase in the usage of SMS technology
has led service providers to seek for a solution that enable users of
mobile devices to access services through SMSs. This has resulted in
the proposal of solutions towards SMS-based service invocation in
service oriented environments. However, the dynamic nature of
service-oriented environments coupled with sudden load peaks
generated by service request, poses performance challenges to
infrastructures for supporting SMS-based service invocation. To
address this problem we adopt load balancing techniques. A load
balancing model with adaptive load balancing and load monitoring
mechanisms as its key constructs is proposed. The load balancing
model then led to realization of Least Loaded Load Balancing
Framework (LLLBF). Evaluation of LLLBF benchmarked with round
robin (RR) scheme on the queuing approach showed LLLBF
outperformed RR in terms of response time and throughput.
However, LLLBF achieved better result in the cost of high
processing power.
Abstract: In this work we present a solution for DAGC (Digital
Automatic Gain Control) in WLAN receivers compatible to IEEE 802.11a/g standard. Those standards define communication in 5/2.4
GHz band using Orthogonal Frequency Division Multiplexing OFDM modulation scheme. WLAN Transceiver that we have used
enables gain control over Low Noise Amplifier (LNA) and a
Variable Gain Amplifier (VGA). The control over those signals is
performed in our digital baseband processor using dedicated hardware block DAGC. DAGC in this process is used to automatically control the VGA and LNA in order to achieve better
signal-to-noise ratio, decrease FER (Frame Error Rate) and hold the
average power of the baseband signal close to the desired set point.
DAGC function in baseband processor is done in few steps: measuring power levels of baseband samples of an RF signal,accumulating the differences between the measured power level and
actual gain setting, adjusting a gain factor of the accumulation, and
applying the adjusted gain factor the baseband values. Based on the measurement results of RSSI signal dependence to input power we have concluded that this digital AGC can be implemented applying
the simple linearization of the RSSI. This solution is very simple but also effective and reduces complexity and power consumption of the
DAGC. This DAGC is implemented and tested both in FPGA and in ASIC as a part of our WLAN baseband processor. Finally, we have integrated this circuit in a compact WLAN PCMCIA board based on MAC and baseband ASIC chips designed from us.
Abstract: Steganography is the art of hiding and transmitting data
through apparently innocuous carriers in an effort to conceal the
existence of the data. A lot of steganography algorithms have been
proposed recently. Many of them use the digital image data as a carrier.
In data hiding scheme of halftoning and coordinate projection, still
image data is used as a carrier, and the data of carrier image are
modified for data embedding. In this paper, we present three features
for analysis of data hiding via halftoning and coordinate projection.
Also, we present a classifier using the proposed three features.
Abstract: Recognition of Indian languages scripts is challenging problems. In Optical Character Recognition [OCR], a character or symbol to be recognized can be machine printed or handwritten characters/numerals. There are several approaches that deal with problem of recognition of numerals/character depending on the type of feature extracted and different way of extracting them. This paper proposes a recognition scheme for handwritten Hindi (devnagiri) numerals; most admired one in Indian subcontinent. Our work focused on a technique in feature extraction i.e. global based approach using end-points information, which is extracted from images of isolated numerals. These feature vectors are fed to neuro-memetic model [18] that has been trained to recognize a Hindi numeral. The archetype of system has been tested on varieties of image of numerals. . In proposed scheme data sets are fed to neuro-memetic algorithm, which identifies the rule with highest fitness value of nearly 100 % & template associates with this rule is nothing but identified numerals. Experimentation result shows that recognition rate is 92-97 % compared to other models.
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: A SCADA (Supervisory Control And Data
Acquisition) system is an industrial control and monitoring system for
national infrastructures. The SCADA systems were used in a closed
environment without considering about security functionality in the
past. As communication technology develops, they try to connect the
SCADA systems to an open network. Therefore, the security of the
SCADA systems has been an issue. The study of key management for
SCADA system also has been performed. However, existing key
management schemes for SCADA system such as SKE(Key
establishment for SCADA systems) and SKMA(Key management
scheme for SCADA systems) cannot support broadcasting
communication. To solve this problem, an Advanced Key
Management Architecture for Secure SCADA Communication has
been proposed by Choi et al.. Choi et al.-s scheme also has a problem
that it requires lots of computational cost for multicasting
communication. In this paper, we propose an enhanced scheme which
improving computational cost for multicasting communication with
considering the number of keys to be stored in a low power
communication device (RTU).
Abstract: We proposed a new class of asymmetric turbo encoder for 3G systems that performs well in both “water fall" and “error floor" regions in [7]. In this paper, a modified (optimal) power allocation scheme for the different bits of new class of asymmetric turbo encoder has been investigated to enhance the performance. The simulation results and performance bound for proposed asymmetric turbo code with modified Unequal Power Allocation (UPA) scheme for the frame length, N=400, code rate, r=1/3 with Log-MAP decoder over Additive White Gaussian Noise (AWGN) channel are obtained and compared with the system with typical UPA and without UPA. The performance tests are extended over AWGN channel for different frame size to verify the possibility of implementation of the modified UPA scheme for the proposed asymmetric turbo code. From the performance results, it is observed that the proposed asymmetric turbo code with modified UPA performs better than the system without UPA and with typical UPA and it provides a coding gain of 0.4 to 0.52dB.
Abstract: Multiple-input multiple-output (MIMO) systems are
widely in use to improve quality, reliability of wireless transmission
and increase the spectral efficiency. However in MIMO systems,
multiple copies of data are received after experiencing various
channel effects. The limitations on account of complexity due to
number of antennas in case of conventional decoding techniques have
been looked into. Accordingly we propose a modified sphere decoder
(MSD-1) algorithm with lower complexity and give rise to system
with high spectral efficiency. With the aim to increase signal
diversity we apply rotated quadrature amplitude modulation (QAM)
constellation in multi dimensional space. Finally, we propose a new
architecture involving space time trellis code (STTC) concatenated
with space time block code (STBC) using MSD-1 at the receiver for
improving system performance. The system gains have been verified
with channel state information (CSI) errors.
Abstract: Rapid progress in audio compression technology has contributed to the explosive growth of music available in digital form today. In a reversal of ideas, this work makes use of a recently proposed efficient audio compression scheme to develop three important applications in the context of Music Information Retrieval (MIR) for the effective manipulation of large music databases, namely automatic music recommendation (AMR), digital rights management (DRM) and audio finger-printing for song identification. The performance of these three applications has been evaluated with respect to a database of songs collected from a diverse set of genres.
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: We present a method for the selection of students
in interdisciplinary studies based on the hybrid averaging
operator. We assume that the available information given in
the problem is uncertain so it is necessary to use interval
numbers. Therefore, we suggest a new type of hybrid
aggregation called uncertain induced generalized hybrid
averaging (UIGHA) operator. It is an aggregation operator
that considers the weighted average (WA) and the ordered
weighted averaging (OWA) operator in the same formulation.
Therefore, we are able to consider the degree of optimism of
the decision maker and grades of importance in the same
approach. By using interval numbers, we are able to represent
the information considering the best and worst possible results
so the decision maker gets a more complete view of the
decision problem. We develop an illustrative example of the
proposed scheme in the selection of students in
interdisciplinary studies. We see that with the use of the
UIGHA operator we get a more complete representation of the
selection problem. Then, the decision maker is able to
consider a wide range of alternatives depending on his
interests. We also show other potential applications that could
be used by using the UIGHA operator in educational problems
about selection of different types of resources such as
students, professors, etc.
Abstract: In this paper, an adaptive polarized Multiple-Input
Multiple-Output (MIMO) Multicarrier Spread Spectrum Code Division Multiple Access (MC-SS-CDMA) system is designed for downlink mobile communications. The proposed system will be
examined in Frequency Division Duplex (FDD) mode for both macro urban and suburban environments. For the same transmission
bandwidth, a performance comparison between both nonoverlapped and orthogonal Frequency Division Multiplexing (FDM) schemes will be presented. Also, the proposed system will be compared with
both the closed loop vertical MIMO MC-SS-CDMA system and the
synchronous vertical STBC-MIMO MC-SS-CDMA system. As will
be shown, the proposed system introduces a significant performance
gain as well as reducing the spatial dimensions of the MIMO system
and simplifying the receiver implementation. The effect of the
polarization diversity characteristics on the BER performance will be
discussed. Also, the impact of excluding the cross-polarization MCSS-
CDMA blocks in the base station will be investigated. In addition,
the system performance will be evaluated under different Feedback
Information (FBI) rates for slowly-varying channels. Finally, a
performance comparison for vehicular and pedestrian environments
will be presented