Abstract: With the development of ubiquitous computing,
current user interaction approaches with keyboard, mouse and pen
are not sufficient. Due to the limitation of these devices the useable
command set is also limited. Direct use of hands as an input device is
an attractive method for providing natural Human Computer
Interaction which has evolved from text-based interfaces through 2D
graphical-based interfaces, multimedia-supported interfaces, to fully
fledged multi-participant Virtual Environment (VE) systems.
Imagine the human-computer interaction of the future: A 3Dapplication
where you can move and rotate objects simply by moving
and rotating your hand - all without touching any input device. In this
paper a review of vision based hand gesture recognition is presented.
The existing approaches are categorized into 3D model based
approaches and appearance based approaches, highlighting their
advantages and shortcomings and identifying the open issues.
Abstract: This paper proposes an effective adaptation learning
algorithm based on artificial neural networks for speed control of an
induction motor assumed to operate in a high-performance drives
environment. The structure scheme consists of a neural network
controller and an algorithm for changing the NN weights in order that
the motor speed can accurately track of the reference command. This
paper also makes uses a very realistic and practical scheme to
estimate and adaptively learn the noise content in the speed load
torque characteristic of the motor. The availability of the proposed
controller is verified by through a laboratory implementation and
under computation simulations with Matlab-software. The process is
also tested for the tracking property using different types of reference
signals. The performance and robustness of the proposed control
scheme have evaluated under a variety of operating conditions of the
induction motor drives. The obtained results demonstrate the
effectiveness of the proposed control scheme system performances,
both in steady state error in speed and dynamic conditions, was found
to be excellent and those is not overshoot.
Abstract: Computer game industry has experienced exponential
growth in recent years. A game is a recreational activity involving
one or more players. Game input is information such as data,
commands, etc., which is passed to the game system at run time from
an external source. Conversely, game outputs are information which
are generated by the game system and passed to an external target,
but which is not used internally by the game. This paper identifies a
new classification scheme for game input and output, which is based
on player-s input and output. Using this, relationship table for game
input classifier and output classifier is developed.
Abstract: Command and Control (C2) system and its interfacethe
Common Operational Picture (COP) are main means that
supports commander in its decision making process. COP contains
information about friendly and enemy unit positions. The friendly
position is gathered via tactical network. In the case of tactical
network failure the information about units are not available. The
tactical simulator can be used as a tool that is capable to predict
movements of units in respect of terrain features. Article deals with
an experiment that was based on Czech C2 system that is in the case
of connectivity lost fed by VR Forces simulator. Article analyzes
maximum time interval in which the position created by simulator is
still usable and truthful for commander in real time.
Abstract: A new and cost effective robotic device was designed
for remote tele surgery using dual tone multi frequency technology
(DTMF). Tele system with Dual Tone Multiple Frequency has a large
capability in sending and receiving of data in hardware and software.
The robot consists of DC motors for arm movements and it is
controlled manually through a mobile phone through DTMF
Technology. The system enables the surgeon from base station to
send commands through mobile phone to the patient’s robotic system
which includes two robotic arms that translate the input into actual
instrument manipulation. A mobile phone attached to the
microcontroller 8051 which can activate robot through relays. The
Remote robot-assisted tele surgery eliminates geographic constraints
for getting surgical expertise where it is needed and allows an expert
surgeon to teach or proctor the performance of surgical technique by
real-time intervention.
Abstract: Effectiveness of Artificial Neural Networks (ANN)
and Support Vector Machines (SVM) classifiers for fault diagnosis of
rolling element bearings are presented in this paper. The
characteristic features of vibration signals of rotating driveline that
was run in its normal condition and with faults introduced were used
as input to ANN and SVM classifiers. Simple statistical features such
as standard deviation, skewness, kurtosis etc. of the time-domain
vibration signal segments along with peaks of the signal and peak of
power spectral density (PSD) are used as features to input the ANN
and SVM classifier. The effect of preprocessing of the vibration
signal by Discreet Wavelet Transform (DWT) prior to feature
extraction is also studied. It is shown from the experimental results
that the performance of SVM classifier in identification of bearing
condition is better then ANN and pre-processing of vibration signal
by DWT enhances the effectiveness of both ANN and SVM classifier
Abstract: This article discusses superordinate national identity as a means for immigrants integration into democratic polities. It is suggested that a superordinate national identity perceived as inclusive, by immigrants and by the native population, would be conducive to such integration. Command of the dominant language of society is seen as most important of the inclusive criteria. Other such criteria are respect of the country's political institutions and feelings of belonging to the country where you live. The argument is supported by data, showing a majority in favour of inclusive criteria for 'Swedishness', from a recent study among 1000 secondary school students of 'Swedish' and non-'Swedish' backgrounds.
Abstract: Automated operations based on voice commands will become more and more important in many applications, including robotics, maintenance operations, etc. However, voice command recognition rates drop quite a lot under non-stationary and chaotic noise environments. In this paper, we tried to significantly improve the speech recognition rates under non-stationary noise environments. First, 298 Navy acronyms have been selected for automatic speech recognition. Data sets were collected under 4 types of noisy environments: factory, buccaneer jet, babble noise in a canteen, and destroyer. Within each noisy environment, 4 levels (5 dB, 15 dB, 25 dB, and clean) of Signal-to-Noise Ratio (SNR) were introduced to corrupt the speech. Second, a new algorithm to estimate speech or no speech regions has been developed, implemented, and evaluated. Third, extensive simulations were carried out. It was found that the combination of the new algorithm, the proper selection of language model and a customized training of the speech recognizer based on clean speech yielded very high recognition rates, which are between 80% and 90% for the four different noisy conditions. Fourth, extensive comparative studies have also been carried out.
Abstract: In this paper by using the port-controlled Hamiltonian
(PCH) systems theory, a full-order nonlinear controlled model is first
developed. Then a nonlinear passivity-based robust adaptive control
(PBRAC) of switched reluctance motor in the presence of external
disturbances for the purpose of torque ripple reduction and
characteristic improvement is presented. The proposed controller
design is separated into the inner loop and the outer loop controller.
In the inner loop, passivity-based control is employed by using
energy shaping techniques to produce the proper switching function.
The outer loop control is employed by robust adaptive controller to
determine the appropriate Torque command. It can also overcome the
inherent nonlinear characteristics of the system and make the whole
system robust to uncertainties and bounded disturbances. A 4KW 8/6
SRM with experimental characteristics that takes magnetic saturation
into account is modeled, simulation results show that the proposed
scheme has good performance and practical application prospects.
Abstract: This paper addresses the development of an intelligent vision system for human-robot interaction. The two novel contributions of this paper are 1) Detection of human faces and 2) Localizing the eye. The method is based on visual attributes of human skin colors and geometrical analysis of face skeleton. This paper introduces a spatial domain filtering method named ?Fuzzily skewed filter' which incorporates Fuzzy rules for deciding the gray level of pixels in the image in their neighborhoods and takes advantages of both the median and averaging filters. The effectiveness of the method has been justified over implementing the eye tracking commands to an entertainment robot, named ''AIBO''.
Abstract: Food and fibre production in arid and semi-arid regions has emerged as one of the major challenges for various socio-economic and political reasons such as the food security and self-sufficiency. Productive use of the renewable water resources has risen on top ofthe decision-making agenda. For this reason, efficient operation and maintenance of modern irrigation and drainage schemes become part and parcel and indispensible reality in agricultural policy making arena. The aim of this paper is to investigate the complexity of operating and maintaining such schemes, mainly focussing on challenges which enhance and opportunities that impedsustainable food and fibre production. The methodology involved using secondary data complemented byroutine observations and stakeholders views on issues that influence the O&M in the Dez command area. The SPSS program was used as an analytical framework for data analysis and interpretation.Results indicate poor application efficiency in most croplands, much of which is attributed to deficient operation of conveyance and distribution canals. These in turn, are reportedly linked to inadequate maintenance of the pumping stations and hydraulic structures like turnouts,flumes and other control systems particularly in the secondary and tertiary canals. Results show that the aforementioned deficiencies have been the major impediment to establishing regular flow toward the farm gates which subsequently undermine application efficiency and tillage operationsat farm level. Results further show that accumulative impact of such deficiencies has been the major causes of poorcrop yield and quality that deem production system in these croplands uneconomic. Results further show that the present state might undermine the sustainability of agricultural system in the command area. The overall conclusion being that present water management is unlikely to be responsive to challenges that the sector faces. And in the absence of coherent measures to shift the status quo situation in favour of more productive resource use, it would be hard to fulfil the objectives of the National Economic and Socio-cultural Development Plans.
Abstract: A DC servomotor position control system using a Fuzzy Logic Sliding mode Model Following Control or FLSMFC approach is presented. The FLSMFC structure consists of an integrator and variable structure system. The integral control is introduced into it in order to eliminated steady state error due to step and ramp command inputs and improve control precision, while the fuzzy control would maintain the insensitivity to parameter variation and disturbances. The FLSMFC strategy is implemented and applied to a position control of a DC servomotor drives. Experimental results indicated that FLSMFC system performance with respect to the sensitivity to parameter variations is greatly reduced. Also, excellent control effects and avoids the chattering phenomenon.
Abstract: The new programming technologies allow for the
creation of components which can be automatically or manually
assembled to reach a new experience in knowledge understanding
and mastering or in getting skills for a specific knowledge area. The
project proposes an interactive framework that permits the creation,
combination and utilization of components that are specific to
mathematical training in high schools.
The main framework-s objectives are:
• authoring lessons by the teacher or the students; all they need
are simple operating skills for Equation Editor (or something
similar, or Latex); the rest are just drag & drop operations,
inserting data into a grid, or navigating through menus
• allowing sonorous presentations of mathematical texts and
solving hints (easier understood by the students)
• offering graphical representations of a mathematical function
edited in Equation
• storing of learning objects in a database
• storing of predefined lessons (efficient for expressions and
commands, the rest being calculations; allows a high
compression)
• viewing and/or modifying predefined lessons, according to the
curricula
The whole thing is focused on a mathematical expressions minicompiler,
storing the code that will be later used for different
purposes (tables, graphics, and optimisations).
Programming technologies used. A Visual C# .NET
implementation is proposed. New and innovative digital learning
objects for mathematics will be developed; they are capable to
interpret, contextualize and react depending on the architecture
where they are assembled.
Abstract: Sedimentation formation is a complex hydraulic phenomenon that has emerged as a major operational and maintenance consideration in modern hydraulic engineering in general and river engineering in particular. Sediments accumulation along the river course and their eventual storage in a form of islands affect water intake in the canal systems that are fed by the storage reservoirs. Without proper management, sediment transport can lead to major operational challenges in water distribution system of arid regions like the Dez and Hamidieh command areas. The paper aims to investigate sedimentation in the Western Canal of Dez Diversion Weir using the SHARC model and compare the results with the two intake structures of the Hamidieh dam in Iran using SSIIM model. The objective was to identify the factors which influence the process, check reliability of outcome and provide ways in which to mitigate the implications on operation and maintenance of the structures. Results estimated sand and silt bed loads concentrations to be 193 ppm and 827ppm respectively. This followed ,ore or less similar pattern in Hamidieh where the sediment formation impeded water intake in the canal system. Given the available data on average annual bed loads and average suspended sediment loads of 165ppm and 837ppm in the Dez, there was a significant statistical difference (16%) between the sand grains, whereas no significant difference (1.2%) was find in the silt grain sizes. One explanation for such finding being that along the 6 Km river course there was considerable meandering effects which explains recent shift in the hydraulic behavior along the stream course under investigation. The sand concentration in downstream relative to present state of the canal showed a steep descending curve. Sediment trapping on the other hand indicated a steep ascending curve. These occurred because the diversion weir was not considered in the simulation model. The comparative study showed very close similarities in the results which explains the fact that both software can be used as accurate and reliable analytical tools for simulation of the sedimentation in hydraulic engineering.
Abstract: The indistinctness of the manufacturing processes makes that a parts cannot be realized in an absolutely exact way towards the specifications on the dimensions. It is thus necessary to assume that the effectively realized product has to belong in a very strict way to compatible intervals with a correct functioning of the parts. In this paper we present an approach based on mixing tow different characteristics theories, the fuzzy system and Petri net system. This tool has been proposed to model and control the quality in an assembly system. A robust command of a mechanical assembly process is presented as an application. This command will then have to maintain the specifications interval of parts in front of the variations. It also illustrates how the technique reacts when the product quality is high, medium, or low.
Abstract: Social resilience has role to govern the local community and coastal fisheries resources toward sustainable fisheries development in tsunami affected area. This paper asses, explore and investigates of indigenous institutions, external and internal facilitators toward strengthening social resilience. Identification of the genuine organizations role had been conducted twice by using Rapid Assessment Appraisal, Focus Group Discussion, and in-depth interview for collecting primary and secondary data. Local wisdom had a contribution and adaptable to rebound social resilience. The Panglima Laot Lhok (sea commander) had determined and adapted role on recovery of the fishing community, particularly facilitated aid delivery to fishermen, as shown in anchovy fisheries relief case in Krueng Raya Bay. Toke Bangku (financial trader) had stimulated for reinforcement of advance payment and market channel. The other institutions supported upon linking and bridging connectivity among stakeholders. Collaborative governance can avoid conflict, reduce donor dependency and strengthen social resilience within fishing community.
Abstract: This paper presents preliminary results on modeling
and control of a quadrotor UAV. With aerodynamic concepts, a
mathematical model is firstly proposed to describe the dynamics
of the quadrotor UAV. Parameters of this model are identified by
experiments with Matlab Identify Toolbox. A group of PID controllers
are then designed based on the developed model. To verify
the developed model and controllers, simulations and experiments for
altitude control, position control and trajectory tracking are carried
out. The results show that the quadrotor UAV well follows the
referenced commands, which clearly demonstrates the effectiveness
of the proposed approach.
Abstract: Iterative learning control aims to achieve zero tracking
error of a specific command. This is accomplished by iteratively
adjusting the command given to a feedback control system, based on
the tracking error observed in the previous iteration. One would like
the iterations to converge to zero tracking error in spite of any error
present in the model used to design the learning law. First, this need
for stability robustness is discussed, and then the need for robustness
of the property that the transients are well behaved. Methods of
producing the needed robustness to parameter variations and to
singular perturbations are presented. Then a method involving
reverse time runs is given that lets the world behavior produce the
ILC gains in such a way as to eliminate the need for a mathematical
model. Since the real world is producing the gains, there is no issue
of model error. Provided the world behaves linearly, the approach
gives an ILC law with both stability robustness and good transient
robustness, without the need to generate a model.
Abstract: The dynamical contouring error is a critical element for the accuracy of machine tools. The contouring error is defined as the difference between the processing actual path and commanded path, which is implemented by following the command curves from feeding driving system in machine tools. The contouring error is resulted from various factors, such as the external loads, friction, inertia moment, feed rate, speed control, servo control, and etc. Thus, the study proposes a 2D compensating system for the contouring accuracy of machine tools. Optical method is adopted by using stable frequency laser diode and the high precision position sensor detector (PSD) to performno-contact measurement. Results show the related accuracy of position sensor detector (PSD) of 2D contouring accuracy compensating system was ±1.5 μm for a calculated range of ±3 mm, and improvement accuracy is over 80% at high-speed feed rate.
Abstract: The Norwegian Military Academy (Army) has
initiated a project with the main ambition to explore possible avenues
to enhancing operational effectiveness through an increased use of
simulation-based training and exercises. Within a cost/benefit
framework, we discuss opportunities and limitations of vertical and
horizontal integration of the existing tactical training system. Vertical
integration implies expanding the existing training system to span the
full range of training from tactical level (platoon, company) to
command and staff level (battalion, brigade). Horizontal integration
means including other domains than army tactics and staff
procedures in the training, such as military ethics, foreign languages,
leadership and decision making. We discuss each of the integration
options with respect to purpose and content of training, "best
practice" for organising and conducting simulation-based training,
and suggest how to evaluate training procedures and measure
learning outcomes. We conclude by giving guidelines towards further
explorative work and possible implementation.