Abstract: this paper presents a novel neural network controller
with composite adaptation low to improve the trajectory tracking
problems of biped robots comparing with classical controller. The
biped model has 5_link and 6 degrees of freedom and actuated by
Plated Pneumatic Artificial Muscle, which have a very high power to
weight ratio and it has large stoke compared to similar actuators. The
proposed controller employ a stable neural network in to approximate
unknown nonlinear functions in the robot dynamics, thereby
overcoming some limitation of conventional controllers such as PD
or adaptive controllers and guarantee good performance. This NN
controller significantly improve the accuracy requirements by
retraining the basic PD/PID loop, but adding an inner adaptive loop
that allows the controller to learn unknown parameters such as
friction coefficient, therefore improving tracking accuracy.
Simulation results plus graphical simulation in virtual reality show
that NN controller tracking performance is considerably better than
PD controller tracking performance.
Abstract: Extraction of lactic acid from aqueous solution using n-butanol as an extractant was studied. Effect of mixing time, pH of the aqueous solution, initial lactic acid concentration, and volume ratio between the organic and the aqueous phase were investigated. Distribution coefficient and degree of lactic acid extraction was found to increase when the pH of aqueous solution was decreased. The pH Effect was substantially pronounced at pH of the aqueous solution less than 1. Initial lactic acid concentration and organic-toaqueous volume ratio appeared to have positive effect on the distribution coefficient and the degree of extraction. Due to the nature of n-butanol that is partially miscible in water, incorporation of aqueous solution into organic phase was observed in the extraction with large organic-to-aqueous volume ratio.
Abstract: Data envelopment analysis (DEA) has gained great popularity in environmental performance measurement because it can provide a synthetic standardized environmental performance index when pollutants are suitably incorporated into the traditional DEA framework. Since some of the environmental performance indicators cannot be controlled by companies managers, it is necessary to develop the model in a way that it could be applied when discretionary and/or non-discretionary factors were involved. In this paper, we present a semi-radial DEA approach to measuring environmental performance, which consists of non-discretionary factors. The model, then, has been applied on a real case.
Abstract: The trends of design and development of information systems have undergone a variety of ongoing phases and stages. These variations have been evolved due to brisk changes in user requirements and business needs. To meet these requirements and needs, a flexible and agile business solution was required to come up with the latest business trends and styles. Another obstacle in agility of information systems was typically different treatment of same diseases of two patients: business processes and information services. After the emergence of information technology, the business processes and information systems have become counterparts. But these two business halves have been treated under totally different standards. There is need to streamline the boundaries of these both pillars that are equally sharing information system's burdens and liabilities. In last decade, the object orientation has evolved into one of the major solutions for modern business needs and now, SOA is the solution to shift business on ranks of electronic platform. BPM is another modern business solution that assists to regularize optimization of business processes. This paper discusses how object orientation can be conformed to incorporate or embed SOA in BPM for improved information systems.
Abstract: We present a system that finds road boundaries and
constructs the virtual lane based on fusion data from a laser and a
monocular sensor, and detects forward vehicle position even in no lane
markers or bad environmental conditions. When the road environment
is dark or a lot of vehicles are parked on the both sides of the road, it is
difficult to detect lane and road boundary. For this reason we use
fusion of laser and vision sensor to extract road boundary to acquire
three dimensional data. We use parabolic road model to calculate road
boundaries which is based on vehicle and sensors state parameters and
construct virtual lane. And then we distinguish vehicle position in each
lane.
Abstract: Knowledge sharing in general and the contextual
access to knowledge in particular, still represent a key challenge in
the knowledge management framework. Researchers on semantic
web and human machine interface study techniques to enhance this
access. For instance, in semantic web, the information retrieval is
based on domain ontology. In human machine interface, keeping
track of user's activity provides some elements of the context that can
guide the access to information. We suggest an approach based on
these two key guidelines, whilst avoiding some of their weaknesses.
The approach permits a representation of both the context and the
design rationale of a project for an efficient access to knowledge. In
fact, the method consists of an information retrieval environment
that, in the one hand, can infer knowledge, modeled as a semantic
network, and on the other hand, is based on the context and the
objectives of a specific activity (the design). The environment we
defined can also be used to gather similar project elements in order to
build classifications of tasks, problems, arguments, etc. produced in a
company. These classifications can show the evolution of design
strategies in the company.
Abstract: The aim of this paper is to adopt a compromise ratio (CR) methodology for fuzzy multi-attribute single-expert decision making proble. In this paper, the rating of each alternative has been described by linguistic terms, which can be expressed as triangular fuzzy numbers. The compromise ratio method for fuzzy multi-attribute single expert decision making has been considered here by taking the ranking index based on the concept that the chosen alternative should be as close as possible to the ideal solution and as far away as possible from the negative-ideal solution simultaneously. From logical point of view, the distance between two triangular fuzzy numbers also is a fuzzy number, not a crisp value. Therefore a fuzzy distance measure, which is itself a fuzzy number, has been used here to calculate the difference between two triangular fuzzy numbers. Now in this paper, with the help of this fuzzy distance measure, it has been shown that the compromise ratio is a fuzzy number and this eases the problem of the decision maker to take the decision. The computation principle and the procedure of the compromise ratio method have been described in detail in this paper. A comparative analysis of the compromise ratio method previously proposed [1] and the newly adopted method have been illustrated with two numerical examples.
Abstract: This Classifying Bird Sounds (chip notes) project-s
purpose is to reduce the unwanted noise from recorded bird sound
chip notes, design a scheme to detect differences and similarities
between recorded chip notes, and classify bird sound chip notes. The
technologies of determining the similarities of sound waves have
been used in communication, sound engineering and wireless sound
applications for many years. Our research is focused on the similarity
of chip notes, which are the sounds from different birds. The program
we use is generated by Microsoft Cµ.
Abstract: The present study was designed to investigate the
cardio protective role of chronic oral administration of alcoholic
extract of Terminalia arjuna in in-vivo ischemic reperfusion injury
and the induction of HSP72. Rabbits, divided into three groups, and
were administered with the alcoholic extract of the bark powder of
Terminalia arjuna (TAAE) by oral gavage [6.75mg/kg: (T1) and
9.75mg/kg: (T2), 6 days /week for 12 weeks]. In open-chest
Ketamine pentobarbitone anaesthetized rabbits, the left anterior
descending coronary artery was occluded for 15 min of ischemia
followed by 60 min of reperfusion. In the vehicle-treated group,
ischemic-reperfusion injury (IRI) was evidenced by depression of
global hemodynamic function (MAP, HR, LVEDP, peak LV (+) & (-
) (dP/dt) along with depletion of HEP compounds. Oxidative stress
in IRI was evidenced by, raised levels of myocardial TBARS and
depletion of endogenous myocardial antioxidants GSH, SOD and
catalase. Western blot analysis showed a single band corresponding
to 72 kDa in homogenates of hearts from rabbits treated with both the
doses. In the alcoholic extract of the bark powder of Terminalia
arjuna treatment groups, both the doses had better recovery of
myocardial hemodynamic function, with significant reduction in
TBARS, and rise in SOD, GSH, catalase were observed. The results
of the present study suggest that the alcoholic extract of the bark
powder of Terminalia arjuna in rabbit induces myocardial HSP 72
and augments myocardial endogenous antioxidants, without causing
any cellular injury and offered better cardioprotection against
oxidative stress associated with myocardial IR injury.
Abstract: This research work is aimed at speech recognition
using scaly neural networks. A small vocabulary of 11 words were
established first, these words are “word, file, open, print, exit, edit,
cut, copy, paste, doc1, doc2". These chosen words involved with
executing some computer functions such as opening a file, print
certain text document, cutting, copying, pasting, editing and exit.
It introduced to the computer then subjected to feature extraction
process using LPC (linear prediction coefficients). These features are
used as input to an artificial neural network in speaker dependent
mode. Half of the words are used for training the artificial neural
network and the other half are used for testing the system; those are
used for information retrieval.
The system components are consist of three parts, speech
processing and feature extraction, training and testing by using neural
networks and information retrieval.
The retrieve process proved to be 79.5-88% successful, which is
quite acceptable, considering the variation to surrounding, state of
the person, and the microphone type.
Abstract: Nevertheless the widespread application of finite
mixture models in segmentation, finite mixture model selection is
still an important issue. In fact, the selection of an adequate number
of segments is a key issue in deriving latent segments structures and
it is desirable that the selection criteria used for this end are effective.
In order to select among several information criteria, which may
support the selection of the correct number of segments we conduct a
simulation study. In particular, this study is intended to determine
which information criteria are more appropriate for mixture model
selection when considering data sets with only categorical
segmentation base variables. The generation of mixtures of
multinomial data supports the proposed analysis. As a result, we
establish a relationship between the level of measurement of
segmentation variables and some (eleven) information criteria-s
performance. The criterion AIC3 shows better performance (it
indicates the correct number of the simulated segments- structure
more often) when referring to mixtures of multinomial segmentation
base variables.
Abstract: Image Compression using Artificial Neural Networks
is a topic where research is being carried out in various directions
towards achieving a generalized and economical network.
Feedforward Networks using Back propagation Algorithm adopting
the method of steepest descent for error minimization is popular and
widely adopted and is directly applied to image compression.
Various research works are directed towards achieving quick
convergence of the network without loss of quality of the restored
image. In general the images used for compression are of different
types like dark image, high intensity image etc. When these images
are compressed using Back-propagation Network, it takes longer
time to converge. The reason for this is, the given image may
contain a number of distinct gray levels with narrow difference with
their neighborhood pixels. If the gray levels of the pixels in an image
and their neighbors are mapped in such a way that the difference in
the gray levels of the neighbors with the pixel is minimum, then
compression ratio as well as the convergence of the network can be
improved. To achieve this, a Cumulative distribution function is
estimated for the image and it is used to map the image pixels. When
the mapped image pixels are used, the Back-propagation Neural
Network yields high compression ratio as well as it converges
quickly.
Abstract: This paper presents the region based segmentation method for ultrasound images using local statistics. In this segmentation approach the homogeneous regions depends on the image granularity features, where the interested structures with dimensions comparable to the speckle size are to be extracted. This method uses a look up table comprising of the local statistics of every pixel, which are consisting of the homogeneity and similarity bounds according to the kernel size. The shape and size of the growing regions depend on this look up table entries. The algorithms are implemented by using connected seeded region growing procedure where each pixel is taken as seed point. The region merging after the region growing also suppresses the high frequency artifacts. The updated merged regions produce the output in formed of segmented image. This algorithm produces the results that are less sensitive to the pixel location and it also allows a segmentation of the accurate homogeneous regions.
Abstract: Let X be a connected space, X be a space, let p : X -→ X be a continuous map and let (X, p) be a covering space of X. In the first section we give some preliminaries from covering spaces and their automorphism groups. In the second section we derive some algebraic properties of both universal and regular covering spaces (X, p) of X and also their automorphism groups A(X, p).
Abstract: This paper analytically investigates the 3D flow
pattern at the confluences of two rectangular channels having 900
angles using Navier-Stokes equations based on Reynolds Stress
Turbulence Model (RSM). The equations are solved by the Finite-
Volume Method (FVM) and the flow is analyzed in terms of steadystate
(single-phased) conditions. The Shumate experimental findings
were used to test the validity of data. Comparison of the simulation
model with the experimental ones indicated a close proximity
between the flow patterns of the two sets. Effects of the discharge
ratio on separation zone dimensions created in the main-channel
downstream of the confluence indicated an inverse relation, where a
decrease in discharge ratio, will entail an increase in the length and
width of the separation zone. The study also found the model as a
powerful analytical tool in the feasibility study of hydraulic
engineering projects.
Abstract: One major issue that is regularly cited as a block to
the widespread use of online assessments in eLearning, is that of the
authentication of the student and the level of confidence that an
assessor can have that the assessment was actually completed by that
student. Currently, this issue is either ignored, in which case
confidence in the assessment and any ensuing qualification is
damaged, or else assessments are conducted at central, controlled
locations at specified times, losing the benefits of the distributed
nature of the learning programme. Particularly as we move towards
constructivist models of learning, with intentions towards achieving
heutagogic learning environments, the benefits of a properly
managed online assessment system are clear. Here we discuss some
of the approaches that could be adopted to address these issues,
looking at the use of existing security and biometric techniques,
combined with some novel behavioural elements. These approaches
offer the opportunity to validate the student on accessing an
assessment, on submission, and also during the actual production of
the assessment. These techniques are currently under development in
the DECADE project, and future work will evaluate and report their
use..
Abstract: In this study, a synthetic pathway was created by
assembling genes from Clostridium butyricum and Escherichia coli
in different combinations. Among the genes were dhaB1 and dhaB2
from C. butyricum VPI1718 coding for glycerol dehydratase (GDHt)
and its activator (GDHtAc), respectively, involved in the conversion
of glycerol to 3-hydroxypropionaldehyde (3-HPA). The yqhD gene
from E.coli BL21 was also included which codes for an NADPHdependent
1,3-propanediol oxidoreductase isoenzyme (PDORI)
reducing 3-HPA to 1,3-propanediol (1,3-PD). Molecular modeling
analysis indicated that the conformation of fusion protein of YQHD
and DHAB1 was favorable for direct molecular channeling of the
intermediate 3-HPA. According to the simulation results, the yqhD
and dhaB1 gene were assembled in the upstream of dhaB2 to express
a fusion protein, yielding the recombinant strain E. coliBL21
(DE3)//pET22b+::yqhD-dhaB1_dhaB2 (strain BP41Y3). Strain
BP41Y3 gave 10-fold higher 1,3-PD concentration than E. coliBL21
(DE3)//pET22b+::yqhD-dhaB1_dhaB2 (strain BP31Y2) expressing
the recombinant enzymes simultaneously but in a non-fusion mode.
This is the first report using a gene fusion approach to enhance the
biological conversion of glycerol to the value added compound 1,3-
PD.
Abstract: Grid computing is a group of clusters connected over
high-speed networks that involves coordinating and sharing
computational power, data storage and network resources operating
across dynamic and geographically dispersed locations. Resource
management and job scheduling are critical tasks in grid computing.
Resource selection becomes challenging due to heterogeneity and
dynamic availability of resources. Job scheduling is a NP-complete
problem and different heuristics may be used to reach an optimal or
near optimal solution. This paper proposes a model for resource and
job scheduling in dynamic grid environment. The main focus is to
maximize the resource utilization and minimize processing time of
jobs. Grid resource selection strategy is based on Max Heap Tree
(MHT) that best suits for large scale application and root node of
MHT is selected for job submission. Job grouping concept is used to
maximize resource utilization for scheduling of jobs in grid
computing. Proposed resource selection model and job grouping
concept are used to enhance scalability, robustness, efficiency and
load balancing ability of the grid.
Abstract: In general, image-based 3D scenes can now be found in many popular vision systems, computer games and virtual reality tours. So, It is important to segment ROI (region of interest) from input scenes as a preprocessing step for geometric stricture detection in 3D scene. In this paper, we propose a method for segmenting ROI based on tensor voting and Dirichlet process mixture model. In particular, to estimate geometric structure information for 3D scene from a single outdoor image, we apply the tensor voting and Dirichlet process mixture model to a image segmentation. The tensor voting is used based on the fact that homogeneous region in an image are usually close together on a smooth region and therefore the tokens corresponding to centers of these regions have high saliency values. The proposed approach is a novel nonparametric Bayesian segmentation method using Gaussian Dirichlet process mixture model to automatically segment various natural scenes. Finally, our method can label regions of the input image into coarse categories: “ground", “sky", and “vertical" for 3D application. The experimental results show that our method successfully segments coarse regions in many complex natural scene images for 3D.
Abstract: The performance and complexity of QoS routing depends on the complex interaction between a large set of parameters. This paper investigated the scaling properties of source-directed link-state routing in large core networks. The simulation results show that the routing algorithm, network topology, and link cost function each have a significant impact on the probability of successfully routing new connections. The experiments confirm and extend the findings of other studies, and also lend new insight designing efficient quality-of-service routing policies in large networks.