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: Let {Xi}i≥1 be a martingale difference sequence with
Xi = Si - Si-1. Under some regularity conditions, we show that
(X2
1+· · ·+X2N
n)-1/2SNn is asymptotically normal, where {Ni}i≥1
is a sequence of positive integer-valued random variables tending
to infinity. In a similar manner, a backward (or reverse) martingale
central limit theorem with random indices is provided.
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: Quality control in ceramic tile manufacturing is hard, labor intensive and it is performed in a harsh industrial environment with noise, extreme temperature and humidity. It can be divided into color analysis, dimension verification, and surface defect detection, which is the main purpose of our work. Defects detection is still based on the judgment of human operators while most of the other manufacturing activities are automated so, our work is a quality control enhancement by integrating a visual control stage using image processing and morphological operation techniques before the packing operation to improve the homogeneity of batches received by final users.
Abstract: Occurrence of a multiple-points fault in machine operations could result in exhibiting complex fault signatures, which could result in lowering fault diagnosis accuracy. In this study, a multiple-points defect model (MPDM) is proposed which can simulate fault signature-s dynamics for n-points bearing faults. Furthermore, this study identifies that in case of multiple-points fault in the rotary machine, the location of the dominant component of defect frequency shifts depending upon the relative location of the fault points which could mislead the fault diagnostic model to inaccurate detections. Analytical and experimental results are presented to characterize and validate the variation in the dominant component of defect frequency. Based on envelop detection analysis, a modification is recommended in the existing fault diagnostic models to consider the multiples of defect frequency rather than only considering the frequency spectrum at the defect frequency in order to incorporate the impact of multiple points fault.
Abstract: The state and stability of hemoglobin adsorbed on the
glass surface was investigated using slab optical waveguide (SOWG)
spectroscopy. The peak position of the absorption band of hemoglobin
adsorbed on the glass surface was same as that of the hemoglobin in
solution. This result suggests that no significant denaturation occurred
by adsorption. The adsorption of hemoglobin is relatively strong that
the hemoglobin molecules even remained adsorbed after rinsing the
cell with buffer solution. The peak shift caused by the reduction of
adsorbed hemoglobin was also observed.
Abstract: The evolution of logic circuits, which falls under the heading of evolvable hardware, is carried out by evolutionary algorithms. These algorithms are able to automatically configure reconfigurable devices. One of main difficulties in developing evolvable hardware with the ability to design functional electrical circuits is to choose the most favourable EA features such as fitness function, chromosome representations, population size, genetic operators and individual selection. Until now several researchers from the evolvable hardware community have used and tuned these parameters and various rules on how to select the value of a particular parameter have been proposed. However, to date, no one has presented a study regarding the size of the chromosome representation (circuit layout) to be used as a platform for the evolution in order to increase the evolvability, reduce the number of generations and optimize the digital logic circuits through reducing the number of logic gates. In this paper this topic has been thoroughly investigated and the optimal parameters for these EA features have been proposed. The evolution of logic circuits has been carried out by an extrinsic evolvable hardware system which uses (1+λ) evolution strategy as the core of the evolution.
Abstract: In this paper Lattice Boltzmann simulation of
turbulent natural convection with large-eddy simulations (LES) in a
square cavity which is filled by water has been investigated. The
present results are validated by finds of other investigations which
have been done with different numerical methods. Calculations were
performed for high Rayleigh numbers of Ra=108 and 109. The results
confirm that this method is in acceptable agreement with other
verifications of such a flow. In this investigation is tried to present
Large-eddy turbulence flow model by Lattice Boltzmann Method
(LBM) with a clear and simple statement. Effects of increase in
Rayleigh number are displayed on streamlines, isotherm counters and
average Nusselt number. Result shows that the average Nusselt
number enhances with growth of the Rayleigh numbers.
Abstract: The need for Information Security in organizations, regardless of their type and size, is being addressed by emerging standards and recommended best practices. The various standards and practices which evolved in recent years and are still being developed and constantly revised, address the issue of Information Security from different angles. This paper attempts to provide an overview of Information Security Standards and Practices by briefly discussing some of the most popular ones. Through a comparative study of their similarities and differences, some insight can be obtained on how their combination may lead to an increased level of Information Security.
Abstract: Numerical studies on race car aerodynamics at wing
in ground effect have been carried out using a steady 3d, double
precision, pressure-based, and standard k-epsilon turbulence model.
Through various parametric analytical studies we have observed that
at a particular speed and ground clearance of the wings a favorable
negative lift was found high at a particular angle of attack for all the
physical models considered in this paper. The fact is that if the
ground clearance height to chord length (h/c) is too small, the
developing boundary layers from either side (the ground and the
lower surface of the wing) can interact, leading to an altered variation
of the aerodynamic characteristics at wing in ground effect. Therefore
a suitable ground clearance must be predicted throughout the racing
for a better performance of the race car, which obviously depends
upon the coupled effects of the topography, wing orientation with
respect to the ground, the incoming flow features and/or the race car
speed. We have concluded that for the design of high performance
and high speed race cars the adjustable wings capable to alter the
ground clearance and the angles of attack is the best design option for
any race car for racing safely with variable speeds.
Abstract: The effect of small non-parallelism of the base flow
on the stability of slightly curved mixing layers is analyzed in the
present paper. Assuming that the instability wavelength is much
smaller than the length scale of the variation of the base flow we
derive an amplitude evolution equation using the method of multiple
scales. The proposed asymptotic model provides connection between
parallel flow approximations and takes into account slow
longitudinal variation of the base flow.
Abstract: The purposes of this study are 1) to study the impact
of the 3-community-core model: House (H), Temple (T), and School
(S) with the co-operation of official departments on community
development to ASEAN economic community involvement and 2) to
study the procedures and extension of the model. The research which
is a qualitative research is based on the formal and informal
interviews. Local people in a community are observed. Group
interview is, also, operated by executors and cooperators in the
school in the community. In terms of social and cultural dimension,
the 3-community-core model consisting of house, temple and school
is the base of Thai cultures bringing about understanding, happiness
and unity to the community. The result of this research is that the
official departments in accompanied with this model developers
cooperatively work together in the community to support such factors
as budget, plan, activities. Moreover, the need of community, and the
continual result to sustain the community are satisfied by the model
implementation. In terms of the procedures of the model
implementation, executors and co-operators can work, coordinate,
think, and launch their public relation altogether. Concerning the
model development, this enables the community to achieve its goal to
prepare the community’s readiness for ASEAN Economic
Community involvement.
Abstract: Hospital staff and managers are under pressure and
concerned for effective use and management of scarce resources. The
hospital admissions require many decisions that have complex and
uncertain consequences for hospital resource utilization and patient
flow. It is challenging to predict risk of admissions and length of stay
of a patient due to their vague nature. There is no method to capture
the vague definition of admission of a patient. Also, current methods
and tools used to predict patients at risk of admission fail to deal with
uncertainty in unplanned admission, LOS, patients- characteristics.
The main objective of this paper is to deal with uncertainty in
health system variables, and handles uncertain relationship among
variables. An introduction of machine learning techniques along with
statistical methods like Regression methods can be a proposed
solution approach to handle uncertainty in health system variables. A
model that adapts fuzzy methods to handle uncertain data and
uncertain relationships can be an efficient solution to capture the
vague definition of admission of a patient.
Abstract: Strong law of large numbers and complete convergence for sequences of *-mixing random variables are investigated. In particular, Teicher-s strong law of large numbers for independent random variables are generalized to the case of *-mixing random sequences and extended to independent and identically distributed Marcinkiewicz Law of large numbers for *-mixing.
Abstract: This paper presents a new algorithm which yields a nonlinear state estimator called iterated unscented Kalman filter. This state estimator makes use of both statistical and analytical linearization techniques in different parts of the filtering process. It outperforms the other three nonlinear state estimators: unscented Kalman filter (UKF), extended Kalman filter (EKF) and iterated extended Kalman filter (IEKF) when there is severe nonlinearity in system equation and less nonlinearity in measurement equation. The algorithm performance has been verified by illustrating some simulation results.
Abstract: The story of Alibaba demonstrates a credible example of how a small start-up company can eventually make it big in the global economy through the Internet. This case study does not attempt to present Alibaba as a perfect formula; rather, it discusses the strategies carried out by the firm and, in the process, culls out the important lessons that can guide start-ups and aspiring entrepreneurs in the complex world of online trading. Similar to the interesting and exotic Asian cuisine that continuously evolves from the diversity of Asia-s people and their unique culture and personality, Alibaba has successfully transformed itself over the years, adapting to the changes in and demands of online businessto- business (B2B) commerce.
Abstract: This paper aims to scale up Dye-sensitized Solar Cell
(DSSC) production using a commonly available industrial material –
stainless steel - and industrial plasma equipment. A working DSSC
electrode formed by (1) coating titania nanotube (TiO2 NT) film on
304 stainless steel substrate using a plasma spray technique; then, (2)
filling the nano-pores of the TiO2 NT film using a TiF4 sol-gel method.
A DSSC device consists of an anode absorbed photosensitive dye
(N3), a transparent conductive cathode with platinum (Pt)
nano-catalytic particles adhered to its surface, and an electrolytic
solution sealed between the anode and the transparent conductive
cathode. The photo-current conversion efficiency of the DSSC sample
was tested under an AM 1.5 Solar Simulator. The sample has a short
current (Isc) of 0.83 mA cm-2, open voltage (Voc) of 0.81V, filling
factor (FF) of 0.52, and conversion efficiency (η) of 2.18% on a 0.16
cm2 DSSC work-piece.
Abstract: To respond to the Kyoto Protocol, the policy of Payment for Environmental Service (PES), which was entitled “Plain Landscape Afforestation Program (PLAP)", was certified by Executive Yuan in Taiwan on 31 August 2001 and has been implementing for six years since 1 January 2002. Although the PLAP has received a lot of positive comments, there are still many difficulties during the process of implementation, such as insufficient technology for afforestation, private landowners- low interests in participating in PLAP, insufficient subsidies, and so on, which are potential threats that hinder the PLAP from moving forward in future. In this paper, selecting Ping-Tung County in Taiwan as a sample region and targeting those private landowners with and without intention to participate in the PLAP, respectively, we conduct an empirical analysis based on the Logit model to investigate the factors that determine whether those private landowners join the PLAP, so as to realize the incentive effects of the PLAP upon the personal decision on afforestation. The possible factors that might determine private landowner-s participation in the PLAP include landowner-s characteristics, cropland characteristics, as well as policy factors. Among them, the policy factors include afforestation subsidy amount (+), duration of afforestation subsidy (+), the rules on adjoining and adjacent areas (+), and so on, which do not reach the remarkable level in statistics though, but the directions of variable signs are consistent with the intuition behind the policy. As for the landowners- characteristics, each of age (+), education level (–), and annual household income (+) variables reaches 10% of the remarkable level in statistics; as for the cropland characteristics, each of cropland area (+), cropland price (–), and the number of cropland parcels (–) reaches 1% of the remarkable level in statistics. In light of the above, the cropland characteristics are the dominate factor that determines the probability of landowner-s participation in the PLAP. In the Logit model established by this paper, the probability of correctly estimating nonparticipants is 98%, the probability of correctly estimating the participants is 71.8%, and the probability for the overall estimation is 95%. In addition, Hosmer-Lemeshow test and omnibus test also revealed that the Logit model in this paper may provide fine goodness of fit and good predictive power in forecasting private landowners- participation in this program. The empirical result of this paper expects to help the implementation of the afforestation programs in Taiwan.
Abstract: Pomegranate and pomegranate juices (PJs) have taken
great attention for their health benefits in the last years. As there is an
increasing concern about potential health benefits of ellagic acid, it is
of great interest to evaluate alterations in ellagic acid concentration of
commercial PJs. The purpose of this study is to analyze total
phenolic, free and total ellagic acid content of six commercial PJs
sold in Turkish markets using HPLC.
The results showed that some commercial PJs had markedly high
total phenolic and ellagic acid content. Total phenolic substances of
commercial PJs range from 796.71 to 4608.91 mg GAE/l. Free
amount of ellagic acid in commercial PJs range from 27.64 to 111.78
mg/l. Samples are hydrolyzed with concentrated HCl at 93oC for 2
and 24 hour and influences of temperature and time parameters on
hydrolization were investigated. Thermal processing for
pasteurization increased ellagic acid via ellagitannins hydrolysis.
Abstract: In this work, we study the problem of determining
the minimum scheduling length that can satisfy end-to-end (ETE)
traffic demand in scheduling-based multihop WSNs with cooperative
multiple-input multiple-output (MIMO) transmission scheme. Specifically,
we present a cross-layer formulation for the joint routing,
scheduling and stream control problem by incorporating various
power and rate adaptation schemes, and taking into account an
antenna beam pattern model and the signal-to-interference-and-noise
(SINR) constraint at the receiver. In the context, we also propose
column generation (CG) solutions to get rid of the complexity
requiring the enumeration of all possible sets of scheduling links.