Abstract: This paper presents an optimized algorithm for robot localization which increases the correctness and accuracy of the estimating position of mobile robot to more than 150% of the past methods [1] in the uncertain and noisy environment. In this method the odometry and vision sensors are combined by an adapted well-known discrete kalman filter [2]. This technique also decreased the computation process of the algorithm by DKF simple implementation. The experimental trial of the algorithm is performed on the robocup middle size soccer robot; the system can be used in more general environments.
Abstract: The neural stimulation has been gaining much interest in neuromodulation research and clinical trials. For efficiency, there is a need for variable electrical stimulation such as current and voltage stimuli as well as wireless framework. In this regard, we develop the wireless neural stimulator capable of voltage and current stimuli. The system consists of ZigBee which is a wireless communication module and stimulus generator. The stimulus generator with 8-bits resolution enable both mono-polar and bi-polar waveform in voltage (-3.3~3.3V) and current(-330~330µA) stimulus mode which is controllable. The experimental results suggest that the proposed neural stimulator can play a role as an effective approach for neuromodulation.
Abstract: In this work, we present a reliable framework to solve boundary value problems with particular significance in solid mechanics. These problems are used as mathematical models in deformation of beams. The algorithm rests mainly on a relatively new technique, the Variational Iteration Method. Some examples are given to confirm the efficiency and the accuracy of the method.
Abstract: In this paper we present an off line system for the
recognition of the handwritten numeric chains. Our work is divided
in two big parts. The first part is the realization of a recognition
system of the isolated handwritten digits. In this case the study is
based mainly on the evaluation of neural network performances,
trained with the gradient back propagation algorithm. The used
parameters to form the input vector of the neural network are
extracted on the binary images of the digits by several methods: the
distribution sequence, the Barr features and the centred moments of
the different projections and profiles. The second part is the
extension of our system for the reading of the handwritten numeric
chains constituted of a variable number of digits. The vertical
projection is used to segment the numeric chain at isolated digits and
every digit (or segment) will be presented separately to the entry of
the system achieved in the first part (recognition system of the
isolated handwritten digits). The result of the recognition of the
numeric chain will be displayed at the exit of the global system.
Abstract: This paper focuses on a critical component of the situational awareness (SA), the control of autonomous vertical flight for tactical unmanned aerial vehicle (TUAV). With the SA strategy, we proposed a two stage flight control procedure using two autonomous control subsystems to address the dynamics variation and performance requirement difference in initial and final stages of flight trajectory for an unmanned helicopter model with coaxial rotor and ducted fan configuration. This control strategy for chosen model of TUAV has been verified by simulation of hovering maneuvers using software package Simulink and demonstrated good performance for fast stabilization of engines in hovering, consequently, fast SA with economy in energy can be asserted during search-and-rescue operations.
Abstract: This study investigates the performance of radial basis function networks (RBFN) in forecasting the monthly CO2 emissions of an electric power utility. We also propose a method for input variable selection. This method is based on identifying the general relationships between groups of input candidates and the output. The effect that each input has on the forecasting error is examined by removing all inputs except the variable to be investigated from its group, calculating the networks parameter and performing the forecast. Finally, the new forecasting error is compared with the reference model. Eight input variables were identified as the most relevant, which is significantly less than our reference model with 30 input variables. The simulation results demonstrate that the model with the 8 inputs selected using the method introduced in this study performs as accurate as the reference model, while also being the most parsimonious.
Abstract: Alcohol and water extracts of Cymbopogon citratus
was investigated for anti-bacterial properties and phytochemical
constituents. The extract was screened against four gram-negative
bacteria Escherichia coli, Klebsiella pneumoniae, Pseudomonas
aeruginosa, Proteus vulgaris) and two grampositive bacteria Bacillus
subtilis and Staphylococcus aureus at four different concentrations
(1:1, 1:5, 1:10 and 1:20) using disc diffusion method. The antibacterial
examination was by disc diffusion techniques, while the
photochemical constituents were investigated using standard
chemical methods. Results showed that the extracts inhibited the
growth of standard and local strains of the organisms used. The
treatments were significantly different (P = 0.05). The minimum
inhibitory concentration of the extracts against the tested
microorganisms ranged between 150mg/ml and 50mg/ml. The
alcohol extracts were found to be generally more effective than the
water extract. The photochemical analysis revealed the presence of
alkaloids and phenol but absence of cardiac and cyanogenic
glycosides. The presence of alkaloid and phenols were inferred as
being responsible for the anti-bacterial properties of the extracts.
Abstract: Dynamics of laser radiation – metal target interaction
in water at 1064 nm by applying Mach-Zehnder interference
technique was studied. The mechanism of generating the well
developed regime of evaporation of a metal surface and a spherical
shock wave in water is proposed. Critical intensities of the NIR for
the well developed evaporation of silver and gold targets were
determined. Dynamics of shock waves was investigated for earlier
(dozens) and later (hundreds) nanoseconds of time. Transparent
expanding plasma-vapor-compressed water object was visualized and
measured. The thickness of compressed layer of water and pressures
behind the front of a shock wave for later time delays were obtained
from the optical treatment of interferograms.
Abstract: The steady mixed convection boundary layer flow from
a vertical cone in a porous medium filled with a nanofluid is
numerically investigated using different types of nanoparticles as Cu
(copper), Al2O3 (alumina) and TiO2 (titania). The boundary value
problem is solved by using the shooting technique by reducing it
into an ordinary differential equation. Results of interest for the local
Nusselt number with various values of the constant mixed convection
parameter and nanoparticle volume fraction parameter are evaluated.
It is found that dual solutions exist for a certain range of mixed
convection parameter.
Abstract: A dead leg is a typical subsea production system
component. CFD is required to model heat transfer within the dead
leg. Unfortunately its solution is time demanding and thus not
suitable for fast prediction or repeated simulations. Therefore there is
a need to create a thermal FEA model, mimicking the heat flows and
temperatures seen in CFD cool down simulations.
This paper describes the conventional way of tuning and a new
automated way using parametric model order reduction (PMOR)
together with an optimization algorithm. The tuned FE analyses
replicate the steady state CFD parameters within a maximum error in
heat flow of 6 % and 3 % using manual and PMOR method
respectively. During cool down, the relative error of the tuned FEA
models with respect to temperature is below 5% comparing to the
CFD. In addition, the PMOR method obtained the correct FEA setup
five times faster than the manually tuned FEA.
Abstract: The cup method is applied for the measurement of water vapor transport properties of porous materials worldwide. However, in practical applications the experimental results are often used without taking into account some secondary effects which can play an important role under specific conditions. In this paper, the effect of temperature on water vapor transport properties of cellular concrete is studied, together with the influence of sample thickness. At first, the bulk density, matrix density, total open porosity and sorption and desorption isotherms are measured for material characterization purposes. Then, the steady state cup method is used for determination of water vapor transport properties, whereas the measurements are performed at several temperatures and for three different sample thicknesses.
Abstract: Free Hemoglobin promotes the accumulation of
hydroxyl radicals by the heme iron, which can react with endogenous
hydrogen peroxide to produce free radicals which may cause severe
oxidative cell damage. Haptoglobin binds to Hemoglobin strongly
and Haptoglobin-Hemoglobin binding is irreversible. Peroxidase
activity of Haptoglobin(2-2)-Hemoglobin complex was assayed by
following increase of absorption of produced tetraguaiacol as the
second substrate of Haptoglobin-Hemoglobin complex at 470 nm and
42°C by UV-Vis spectrophotometer. The results have shown that
peroxidase activity of Haptoglobin(2-2)-Hemoglobin complex is
modulated via homotropic effect of hydrogen peroxide as allostric
substrate. On the other hand antioxidant property of Haptoglobin(2-
2)-Hemoglobin was increased via heterotropic effect of the two drugs
(especially ampicillin) on peroxidase activity of the complex. Both
drugs also have mild effect on quality of homotropic property of
peroxidase activity of Haptoglobin(2-2)-Hemoglobin complex.
Therefore, in vitro studies show that the two drugs may help Hp-Hb
complex to remove hydrogen peroxide from serum at pathologic
temperature ature (42 C).
Abstract: In the world of Peer-to-Peer (P2P) networking
different protocols have been developed to make the resource sharing
or information retrieval more efficient. The SemPeer protocol is a
new layer on Gnutella that transforms the connections of the nodes
based on semantic information to make information retrieval more
efficient. However, this transformation causes high clustering in the
network that decreases the number of nodes reached, therefore the
probability of finding a document is also decreased. In this paper we
describe a mathematical model for the Gnutella and SemPeer
protocols that captures clustering-related issues, followed by a
proposition to modify the SemPeer protocol to achieve moderate
clustering. This modification is a sort of link management for the
individual nodes that allows the SemPeer protocol to be more
efficient, because the probability of a successful query in the P2P
network is reasonably increased. For the validation of the models, we
evaluated a series of simulations that supported our results.
Abstract: Software project effort estimation is frequently seen
as complex and expensive for individual software engineers.
Software production is in a crisis. It suffers from excessive costs.
Software production is often out of control. It has been suggested that
software production is out of control because we do not measure.
You cannot control what you cannot measure. During last decade, a
number of researches on cost estimation have been conducted. The
metric-set selection has a vital role in software cost estimation
studies; its importance has been ignored especially in neural network
based studies. In this study we have explored the reasons of those
disappointing results and implemented different neural network
models using augmented new metrics. The results obtained are
compared with previous studies using traditional metrics. To be able
to make comparisons, two types of data have been used. The first
part of the data is taken from the Constructive Cost Model
(COCOMO'81) which is commonly used in previous studies and the
second part is collected according to new metrics in a leading
international company in Turkey. The accuracy of the selected
metrics and the data samples are verified using statistical techniques.
The model presented here is based on Multi-Layer Perceptron
(MLP). Another difficulty associated with the cost estimation studies
is the fact that the data collection requires time and care. To make a
more thorough use of the samples collected, k-fold, cross validation
method is also implemented. It is concluded that, as long as an
accurate and quantifiable set of metrics are defined and measured
correctly, neural networks can be applied in software cost estimation
studies with success
Abstract: One of the main trouble in a steel strip manufacturing
line is the breakage of whatever weld carried out between steel coils,
that are used to produce the continuous strip to be processed. A weld
breakage results in a several hours stop of the manufacturing line. In
this process the damages caused by the breakage must be repaired.
After the reparation and in order to go on with the production it will
be necessary a restarting process of the line. For minimizing this
problem, a human operator must inspect visually and manually each
weld in order to avoid its breakage during the manufacturing process.
The work presented in this paper is based on the Bayesian decision
theory and it presents an approach to detect, on real-time, steel strip
defective welds. This approach is based on quantifying the tradeoffs
between various classification decisions using probability and the
costs that accompany such decisions.
Abstract: There are various overlay structures that provide
efficient and scalable solutions for point and range query in a peer-topeer
network. Overlay structure based on m-Binary Search Tree
(BST) is one such popular technique. It deals with the division of the
tree into different key intervals and then assigning the key intervals to
a BST. The popularity of the BST makes this overlay structure
vulnerable to different kinds of attacks. Here we present four such
possible attacks namely index poisoning attack, eclipse attack,
pollution attack and syn flooding attack. The functionality of BST is
affected by these attacks. We also provide different security
techniques that can be applied against these attacks.
Abstract: ''Cocktail party problem'' is well known as one of the human auditory abilities. We can recognize the specific sound that we want to listen by this ability even if a lot of undesirable sounds or noises are mixed. Blind source separation (BSS) based on independent component analysis (ICA) is one of the methods by which we can separate only a special signal from their mixed signals with simple hypothesis. In this paper, we propose an online approach for blind source separation using the sliding DFT and the time domain independent component analysis. The proposed method can reduce calculation complexity in comparison with conventional methods, and can be applied to parallel processing by using digital signal processors (DSPs) and so on. We evaluate this method and show its availability.
Abstract: The influence of eccentric discharge of stored solids in
squat silos has been highly valued by many researchers. However,
calculation method of lateral pressure under eccentric flowing still
needs to be deeply studied. In particular, the lateral pressure
distribution on vertical wall could not be accurately recognized
mainly because of its asymmetry. In order to build mechanical model
of lateral pressure, flow channel and flow pattern of stored solids in
squat silo are studied. In this passage, based on Janssen-s theory, the
method for calculating lateral static pressure in squat silos after
eccentric discharge is proposed. Calculative formulae are deduced for
each of three possible cases. This method is also focusing on
unsymmetrical distribution characteristic of silo wall normal
pressure. Finite element model is used to analysis and compare the
results of lateral pressure and the numerical results illustrate the
practicability of the theoretical method.
Abstract: This article is dedicated to development of
mathematical models for determining the dynamics of
concentration of hazardous substances in urban turbulent
atmosphere. Development of the mathematical models implied
taking into account the time-space variability of the fields of
meteorological items and such turbulent atmosphere data as vortex
nature, nonlinear nature, dissipativity and diffusivity. Knowing the
turbulent airflow velocity is not assumed when developing the
model. However, a simplified model implies that the turbulent and
molecular diffusion ratio is a piecewise constant function that
changes depending on vertical distance from the earth surface.
Thereby an important assumption of vertical stratification of urban
air due to atmospheric accumulation of hazardous substances
emitted by motor vehicles is introduced into the mathematical
model. The suggested simplified non-linear mathematical model of
determining the sought exhaust concentration at a priori unknown
turbulent flow velocity through non-degenerate transformation is
reduced to the model which is subsequently solved analytically.
Abstract: On the basis of the linearized Phillips-Herffron model of a single-machine power system, a novel method for designing unified power flow controller (UPFC) based output feedback controller is presented. The design problem of output feedback controller for UPFC is formulated as an optimization problem according to with the time domain-based objective function which is solved by iteration particle swarm optimization (IPSO) that has a strong ability to find the most optimistic results. To ensure the robustness of the proposed damping controller, the design process takes into account a wide range of operating conditions and system configurations. The simulation results prove the effectiveness and robustness of the proposed method in terms of a high performance power system. The simulation study shows that the designed controller by Iteration PSO performs better than Classical PSO in finding the solution.