Abstract: In this paper the neural network-based controller is
designed for motion control of a mobile robot. This paper treats the
problems of trajectory following and posture stabilization of the
mobile robot with nonholonomic constraints. For this purpose the
recurrent neural network with one hidden layer is used. It learns
relationship between linear velocities and error positions of the
mobile robot. This neural network is trained on-line using the
backpropagation optimization algorithm with an adaptive learning
rate. The optimization algorithm is performed at each sample time to
compute the optimal control inputs. The performance of the proposed
system is investigated using a kinematic model of the mobile robot.
Abstract: Environment both endowed and built are essential for
tourism. However tourism and environment maintains a complex
relationship, where in most cases environment is at the receiving end.
Many tourism development activities have adverse environmental
effects, mainly emanating from construction of general infrastructure
and tourism facilities. These negative impacts of tourism can lead to
the destruction of precious natural resources on which it depends.
These effects vary between locations; and its effect on a hill
destination is highly critical. This study aims at developing a
Sustainable Tourism Planning Model for an environmentally
sensitive tourism destination in Kerala, India. Being part of the
Nilgiri mountain ranges, Munnar falls in the Western Ghats, one of
the biological hotspots in the world. Endowed with a unique high
altitude environment Munnar inherits highly significant ecological
wealth. Giving prime importance to the protection of this ecological
heritage, the study proposes a tourism planning model with resource
conservation and sustainability as the paramount focus. Conceiving a
novel approach towards sustainable tourism planning, the study
proposes to assess tourism attractions using Ecological Sensitivity
Index (ESI) and Tourism Attractiveness Index (TAI). Integration of
these two indices will form the Ecology – Tourism Matrix (ETM),
outlining the base for tourism planning in an environmentally
sensitive destination. The ETM Matrix leads to a classification of
tourism nodes according to its Conservation Significance and
Tourism Significance. The spatial integration of such nodes based on
the Hub & Spoke Principle constitutes sub – regions within the STZ.
Ensuing analyses lead to specific guidelines for the STZ as a whole,
specific tourism nodes, hubs and sub-regions. The study results in a
multi – dimensional output, viz., (1) Classification system for tourism
nodes in an environmentally sensitive region/ destination (2)
Conservation / Tourism Development Strategies and Guidelines for
the micro and macro regions and (3) A Sustainable Tourism Planning
Tool particularly for Ecologically Sensitive Destinations, which can
be adapted for other destinations as well.
Abstract: This paper provides a new approach to solve the motion planning problems of flying robots in uncertain 3D dynamic environments. The robots controlled by this method can adaptively choose the fast way to avoid collision without information about the shapes and trajectories of obstacles. Based on sphere coordinates the new method accomplishes collision avoidance of flying robots without any other auxiliary positioning systems. The Self-protection System gives robots self-protection abilities to work in uncertain 3D dynamic environments. Simulations illustrate the validity of the proposed method.
Abstract: Recent medical studies have investigated the importance of enteral feeding and the use of feeding pumps for recovering patients unable to feed themselves or gain nourishment and nutrients by natural means. The most of enteral feeding system uses a peristaltic tube pump. A peristaltic pump is a form of positive displacement pump in which a flexible tube is progressively squeezed externally to allow the resulting enclosed pillow of fluid to progress along it. The squeezing of the tube requires a precise and robust controller of the geared motor to overcome parametric uncertainty of the pumping system which generates due to a wide variation of friction and slip between tube and roller. So, this paper proposes fuzzy adaptive controller for the robust control of the peristaltic tube pump. This new adaptive controller uses a fuzzy multi-layered architecture which has several independent fuzzy controllers in parallel, each with different robust stability area. Out of several independent fuzzy controllers, the most suited one is selected by a system identifier which observes variations in the controlled system parameter. This paper proposes a design procedure which can be carried out mathematically and systematically from the model of a controlled system. Finally, the good control performance, accurate dose rate and robust system stability, of the developed feeding pump is confirmed through experimental and clinic testing.
Abstract: Movable power sources of proton exchange
membrane fuel cells (PEMFC) are the important research done in the
current fuel cells (FC) field. The PEMFC system control influences
the cell performance greatly and it is a control system for industrial
complex problems, due to the imprecision, uncertainty and partial
truth and intrinsic nonlinear characteristics of PEMFCs. In this paper
an adaptive PI control strategy using neural network adaptive Morlet
wavelet for control is proposed. It is based on a single layer feed
forward neural networks with hidden nodes of adaptive morlet
wavelet functions controller and an infinite impulse response (IIR)
recurrent structure. The IIR is combined by cascading to the network
to provide double local structure resulting in improving speed of
learning. The proposed method is applied to a typical 1 KW PEMFC
system and the results show the proposed method has more accuracy
against to MLP (Multi Layer Perceptron) method.
Abstract: RoboCup Rescue simulation as a large-scale Multi
agent system (MAS) is one of the challenging environments for
keeping coordination between agents to achieve the objectives
despite sensing and communication limitations. The dynamicity of
the environment and intensive dependency between actions of
different kinds of agents make the problem more complex. This point
encouraged us to use learning-based methods to adapt our decision
making to different situations. Our approach is utilizing
reinforcement leaning. Using learning in rescue simulation is one of
the current ways which has been the subject of several researches in
recent years. In this paper we present an innovative learning method
implemented for Police Force (PF) Agent. This method can cope
with the main difficulties that exist in other learning approaches.
Different methods used in the literature have been examined. Their
drawbacks and possible improvements have led us to the method
proposed in this paper which is fast and accurate. The Brain
Emotional Learning Based Intelligent Controller (BELBIC) is our
solution for learning in this environment. BELBIC is a
physiologically motivated approach based on a computational model
of amygdale and limbic system. The paper presents the results
obtained by the proposed approach, showing the power of BELBIC
as a decision making tool in complex and dynamic situation.
Abstract: This research documents a qualitative study of
selected Native Americans who have successfully graduated from
mainstream higher education institutions. The research framework
explored the Bicultural Identity Formation Model as a means of
understanding the expressions of the students' adaptations to
mainstream education. This approach lead to an awareness of how
the participants in the study used specific cultural and social
strategies to enhance their educational success and also to an
awareness of how they coped with cultural dissonance to achieve a
new academic identity. Research implications impact a larger
audience of bicultural, foreign, or international students experiencing
cultural dissonance.
Abstract: This paper propose a new circuit design which
monitor total leakage current during standby mode and generates the
optimal reverse body bias voltage, by using the adaptive body bias
(ABB) technique to compensate die-to-die parameter variations.
Design details of power monitor are examined using simulation
framework in 65nm and 32nm BTPM model CMOS process.
Experimental results show the overhead of proposed circuit in terms
of its power consumption is about 10 μW for 32nm technology and
about 12 μW for 65nm technology at the same power supply voltage
as the core power supply. Moreover the results show that our
proposed circuit design is not far sensitive to the temperature
variations and also process variations. Besides, uses the simple
blocks which offer good sensitivity, high speed, the continuously
feedback loop.
Abstract: Nonlinear system identification is becoming an important tool which can be used to improve control performance. This paper describes the application of adaptive neuro-fuzzy inference system (ANFIS) model for controlling a car. The vehicle must follow a predefined path by supervised learning. Backpropagation gradient descent method was performed to train the ANFIS system. The performance of the ANFIS model was evaluated in terms of training performance and classification accuracies and the results confirmed that the proposed ANFIS model has potential in controlling the non linear system.
Abstract: Text categorization - the assignment of natural language documents to one or more predefined categories based on their semantic content - is an important component in many information organization and management tasks. Performance of neural networks learning is known to be sensitive to the initial weights and architecture. This paper discusses the use multilayer neural network initialization with decision tree classifier for improving text categorization accuracy. An adaptation of the algorithm is proposed in which a decision tree from root node until a final leave is used for initialization of multilayer neural network. The experimental evaluation demonstrates this approach provides better classification accuracy with Reuters-21578 corpus, one of the standard benchmarks for text categorization tasks. We present results comparing the accuracy of this approach with multilayer neural network initialized with traditional random method and decision tree classifiers.
Abstract: Recent scientific investigations indicate that
multimodal biometrics overcome the technical limitations of
unimodal biometrics, making them ideally suited for everyday life
applications that require a reliable authentication system. However,
for a successful adoption of multimodal biometrics, such systems
would require large heterogeneous datasets with complex multimodal
fusion and privacy schemes spanning various distributed
environments. From experimental investigations of current
multimodal systems, this paper reports the various issues related to
speed, error-recovery and privacy that impede the diffusion of such
systems in real-life. This calls for a robust mechanism that caters to
the desired real-time performance, robust fusion schemes,
interoperability and adaptable privacy policies.
The main objective of this paper is to present a framework that
addresses the abovementioned issues by leveraging on the
heterogeneous resource sharing capacities of Grid services and the
efficient machine learning capabilities of artificial neural networks
(ANN). Hence, this paper proposes a Grid-based neural network
framework for adopting multimodal biometrics with the view of
overcoming the barriers of performance, privacy and risk issues that
are associated with shared heterogeneous multimodal data centres.
The framework combines the concept of Grid services for reliable
brokering and privacy policy management of shared biometric
resources along with a momentum back propagation ANN (MBPANN)
model of machine learning for efficient multimodal fusion and
authentication schemes. Real-life applications would be able to adopt
the proposed framework to cater to the varying business requirements
and user privacies for a successful diffusion of multimodal
biometrics in various day-to-day transactions.
Abstract: This article describes a Web pages automatic filtering system. It is an open and dynamic system based on multi agents architecture. This system is built up by a set of agents having each a quite precise filtering task of to carry out (filtering process broken up into several elementary treatments working each one a partial solution). New criteria can be added to the system without stopping its execution or modifying its environment. We want to show applicability and adaptability of the multi-agents approach to the networks information automatic filtering. In practice, most of existing filtering systems are based on modular conception approaches which are limited to centralized applications which role is to resolve static data flow problems. Web pages filtering systems are characterized by a data flow which varies dynamically.
Abstract: The evolution of information and communication
technology has made a very powerful support for the improvement of
online learning platforms in creation of courses. This paper presents a
study that attempts to explore new web architecture for creating an
adaptive online learning system to profiles of learners, using the Web
as a source for the automatic creation of courses for the online
training platform. This architecture will reduce the time and decrease
the effort performed by the drafters of the current e-learning
platform, and direct adaptation of the Web content will greatly enrich
the quality of online training courses.
Abstract: Some theoretical and experimental aspects related to
the conceptual analyses concerning the direct correspondence
identification between the shape, area and orientation of plantar
pressure and obtaining adequate corrective insoles by rapid
prototyping are presented in this paper. In the first part of the paper
there is the theoretical-correlative concept, which is the fundament of
correspondence deduction between plantar surface characteristics and
respectively corrective insoles. In the second part of the paper the
experimental equipment used to analyze and perform the
correspondence stages and then the integral ones between the
analyzed foot shapes and the ones with corrective insoles is
presented. In the final parte the results used to adapt the insoles
obtained by rapid prototyping but also some specific aspects and
conclusions of the conceptual analysis of direct and rapid
correspondence are shown.
Abstract: In this research, the researchers have managed to
design a model to investigate the current trend of stock price of the
"IRAN KHODRO corporation" at Tehran Stock Exchange by
utilizing an Adaptive Neuro - Fuzzy Inference system. For the Longterm
Period, a Neuro-Fuzzy with two Triangular membership
functions and four independent Variables including trade volume,
Dividend Per Share (DPS), Price to Earning Ratio (P/E), and also
closing Price and Stock Price fluctuation as an dependent variable are
selected as an optimal model. For the short-term Period, a neureo –
fuzzy model with two triangular membership functions for the first
quarter of a year, two trapezoidal membership functions for the
Second quarter of a year, two Gaussian combination membership
functions for the third quarter of a year and two trapezoidal
membership functions for the fourth quarter of a year were selected
as an optimal model for the stock price forecasting. In addition, three
independent variables including trade volume, price to earning ratio,
closing Stock Price and a dependent variable of stock price
fluctuation were selected as an optimal model. The findings of the
research demonstrate that the trend of stock price could be forecasted
with the lower level of error.
Abstract: Location-aware computing is a type of pervasive
computing that utilizes user-s location as a dominant factor for
providing urban services and application-related usages. One of the
important urban services is navigation instruction for wayfinders in a
city especially when the user is a tourist. The services which are
presented to the tourists should provide adapted location aware
instructions. In order to achieve this goal, the main challenge is to
find spatial relevant objects and location-dependent information. The
aim of this paper is the development of a reusable location-aware
model to handle spatial relevancy parameters in urban location-aware
systems. In this way we utilized ontology as an approach which could
manage spatial relevancy by defining a generic model. Our
contribution is the introduction of an ontological model based on the
directed interval algebra principles. Indeed, it is assumed that the
basic elements of our ontology are the spatial intervals for the user
and his/her related contexts. The relationships between them would
model the spatial relevancy parameters. The implementation language
for the model is OWLs, a web ontology language. The achieved
results show that our proposed location-aware model and the
application adaptation strategies provide appropriate services for the
user.
Abstract: In order to accelerate the similarity search in highdimensional database, we propose a new hierarchical indexing method. It is composed of offline and online phases. Our contribution concerns both phases. In the offline phase, after gathering the whole of the data in clusters and constructing a hierarchical index, the main originality of our contribution consists to develop a method to construct bounding forms of clusters to avoid overlapping. For the online phase, our idea improves considerably performances of similarity search. However, for this second phase, we have also developed an adapted search algorithm. Our method baptized NOHIS (Non-Overlapping Hierarchical Index Structure) use the Principal Direction Divisive Partitioning (PDDP) as algorithm of clustering. The principle of the PDDP is to divide data recursively into two sub-clusters; division is done by using the hyper-plane orthogonal to the principal direction derived from the covariance matrix and passing through the centroid of the cluster to divide. Data of each two sub-clusters obtained are including by a minimum bounding rectangle (MBR). The two MBRs are directed according to the principal direction. Consequently, the nonoverlapping between the two forms is assured. Experiments use databases containing image descriptors. Results show that the proposed method outperforms sequential scan and SRtree in processing k-nearest neighbors.
Abstract: To determine the presence and location of faults in a transmission by the adaptation of protective distance relay based on the measurement of fixed settings as line impedance is achieved by several different techniques. Moreover, a fast, accurate and robust technique for real-time purposes is required for the modern power systems. The appliance of radial basis function neural network in transmission line protection is demonstrated in this paper. The method applies the power system via voltage and current signals to learn the hidden relationship presented in the input patterns. It is experiential that the proposed technique is competent to identify the particular fault direction more speedily. System simulations studied show that the proposed approach is able to distinguish the direction of a fault on a transmission line swiftly and correctly, therefore suitable for the real-time purposes.
Abstract: This paper is aimed at describing a delay-based endto-
end (e2e) congestion control algorithm, called Very FAST TCP
(VFAST), which is an enhanced version of FAST TCP. The main
idea behind this enhancement is to smoothly estimate the Round-Trip
Time (RTT) based on a nonlinear filter, which eliminates throughput
and queue oscillation when RTT fluctuates. In this context, an evaluation
of the suggested scheme through simulation is introduced, by
comparing our VFAST prototype with FAST in terms of throughput,
queue behavior, fairness, stability, RTT and adaptivity to changes in
network. The achieved simulation results indicate that the suggested
protocol offer better performance than FAST TCP in terms of RTT
estimation and throughput.
Abstract: This paper proposes new enhancement models to the
methods of nonlinear anisotropic diffusion to greatly reduce speckle
and preserve image features in medical ultrasound images. By
incorporating local physical characteristics of the image, in this case
scatterer density, in addition to the gradient, into existing tensorbased
image diffusion methods, we were able to greatly improve the
performance of the existing filtering methods, namely edge
enhancing (EE) and coherence enhancing (CE) diffusion. The new
enhancement methods were tested using various ultrasound images,
including phantom and some clinical images, to determine the
amount of speckle reduction, edge, and coherence enhancements.
Scatterer density weighted nonlinear anisotropic diffusion
(SDWNAD) for ultrasound images consistently outperformed its
traditional tensor-based counterparts that use gradient only to weight
the diffusivity function. SDWNAD is shown to greatly reduce
speckle noise while preserving image features as edges, orientation
coherence, and scatterer density. SDWNAD superior performances
over nonlinear coherent diffusion (NCD), speckle reducing
anisotropic diffusion (SRAD), adaptive weighted median filter
(AWMF), wavelet shrinkage (WS), and wavelet shrinkage with
contrast enhancement (WSCE), make these methods ideal
preprocessing steps for automatic segmentation in ultrasound
imaging.