Abstract: In recent years, Japanese society has been aging, engendering a labor shortage of young workers. Robots are therefore expected to perform tasks such as rehabilitation, nursing elderly people, and day-to-day work support for elderly people. The pneumatic balloon actuator is a rubber artificial muscle developed for use in a robot hand in such environments. This actuator has a long stroke and a high power-to-weight ratio compared with the present pneumatic artificial muscle. Moreover, the dynamic characteristics of this actuator resemble those of human muscle. This study evaluated characteristics of force control of balloon actuator using a predictive functional control (PFC) system with disturbance observer. The predictive functional control is a model-based predictive control (MPC) scheme that predicts the future outputs of the actual plants over the prediction horizon and computes the control effort over the control horizon at every sampling instance. For this study, a 1-link finger system using a pneumatic balloon actuator is developed. Then experiments of PFC control with disturbance observer are performed. These experiments demonstrate the feasibility of its control of a pneumatic balloon actuator for a robot hand.
Abstract: Paper presents an comparative evaluation of features extraction algorithm for a real-time isolated word recognition system
based on FPGA. The Mel-frequency cepstral, linear frequency cepstral, linear predictive and their cepstral coefficients were
implemented in hardware/software design. The proposed system was investigated in speaker dependent mode for 100 different
Lithuanian words. The robustness of features extraction algorithms was tested recognizing the speech records at different signal to noise rates. The experiments on clean records show highest accuracy for Mel-frequency cepstral and linear frequency cepstral coefficients. For records with 15 dB signal to noise rate the linear predictive cepstral coefficients gives best result. The hard and soft part of the system is clocked on 50 MHz and 100 MHz accordingly. For the classification purpose the pipelined dynamic time warping core was implemented. The proposed word recognition system satisfy the real-time requirements and is suitable for applications in embedded systems.
Abstract: This paper focuses on the critical components of the situational awareness (SA), the controls of position and orientation of an autonomous surface vessel (ASV). Moving of vessel into desired area in particular sea is a challenging but important task for ASVs to achieve high level of autonomy under adverse conditions. With the SA strategy, the approach motion by neural control of an initial stage of an ASV trajectory using neural network predictive controller and the circular motion by control of yaw moment in the final stage of trajectory were proposed. This control system has been demonstrated and evaluated by simulation of maritime maneuvers using software package Simulink. From the simulation results it can be seen that the fast SA of similar ASVs with economy in energy can be asserted during the maritime missions in search-and-rescue operations.
Abstract: One of the most significant threats to the economy of a nation is the bankruptcy of its banks. This study evaluates the susceptibility of Nigerian banks to failure with a view to identifying ratios and financial data that are sensitive to solvency of the bank. Further, a predictive model is generated to guide all stakeholders in the industry. Thirty quoted banks that had published Annual Reports for the year preceding the consolidation i.e. year 2004 were selected. They were examined for distress using the Multilayer Perceptron Neural Network Analysis. The model was used to analyze further reforms by the Central Bank of Nigeria using published Annual Reports of twenty quoted banks for the year 2008 and 2011. The model can thus be used for future prediction of failure in the Nigerian banking system.
Abstract: The article is concerned with analysis of failure rate (shape parameter) under the Topp Leone distribution using a Bayesian framework. Different loss functions and a couple of noninformative priors have been assumed for posterior estimation. The posterior predictive distributions have also been derived. A simulation study has been carried to compare the performance of different estimators. A real life example has been used to illustrate the applicability of the results obtained. The findings of the study suggest that the precautionary loss function based on Jeffreys prior and singly type II censored samples can effectively be employed to
obtain the Bayes estimate of the failure rate under Topp Leone distribution.
Abstract: Human society, there are many uncertainties, such as economic growth rate forecast of the financial crisis, many scholars have, since the the Song Chissom two scholars in 1993 the concept of the so-called fuzzy time series (Fuzzy Time Series)different mode to deal with these problems, a previous study, however, usually does not consider the relevant variables selected and fuzzy process based solely on subjective opinions the fuzzy semantic discrete, so can not objectively reflect the characteristics of the data set, in addition to carrying outforecasts are often fuzzy rules as equally important, failed to consider the importance of each fuzzy rule. For these reasons, the variable selection (Factor Selection) through self-organizing map (Self-Organizing Map, SOM) and proposed high-end weighted multivariate fuzzy time series model based on fuzzy neural network (Fuzzy-BPN), and using the the sequential weighted average operator (Ordered Weighted Averaging operator, OWA) weighted prediction. Therefore, in order to verify the proposed method, the Taiwan stock exchange (Taiwan Stock Exchange Corporation) Taiwan Weighted Stock Index (Taiwan Stock Exchange Capitalization Weighted Stock Index, TAIEX) as experimental forecast target, in order to filter the appropriate variables in the experiment Finally, included in other studies in recent years mode in conjunction with this study, the results showed that the predictive ability of this study further improve.
Abstract: This paper focuses on a critical component of the situational awareness (SA), the control of autonomous vertical flight for vectored thrust aerial vehicle (VTAV). With the SA strategy, we proposed a flight control procedure to address the dynamics variation and performance requirement difference of flight trajectory for an unmanned helicopter model with vectored thrust configuration. This control strategy for chosen model of VTAV has been verified by simulation of take-off and forward maneuvers using software package Simulink and demonstrated good performance for fast stabilization of motors, consequently, fast SA with economy in energy can be asserted during search-and-rescue operations.
Abstract: This paper presents a predictive model of sensor readings for mobile robot. The model predicts sensor readings for given time horizon based on current sensor readings and velocities of wheels assumed for this horizon. Similar models for such anticipation have been proposed in the literature. The novelty of the model presented in the paper comes from the fact that its structure takes into account physical phenomena and is not just a black box, for example a neural network. From this point of view it may be regarded as a semi-phenomenological model. The model is developed for the Khepera robot, but after certain modifications, it may be applied for any robot with distance sensors such as infrared or ultrasonic sensors.
Abstract: Prediction of sinusoidal signals with time-varying
frequencies has been an important research topic in power electronics
systems. To solve this problem, we propose a new fuzzy
predictive filtering scheme, which is based on a Finite Impulse
Response (FIR) filter bank. Fuzzy logic is introduced here to provide
appropriate interpolation of individual filter outputs. Therefore,
instead of regular 'hard' switching, our method has the advantageous
'soft' switching among different filters. Simulation
comparisons between the fuzzy predictive filtering and conventional
filter bank-based approach are made to demonstrate that the
new scheme can achieve an enhanced prediction performance for
slowly changing sinusoidal input signals.
Abstract: The main purpose of this study is to analyze climbers
involved in motivation and risk perception and analysis of the
predictive ability of the risk perception "mountaineering" involved in
motivation. This study used questionnaires, to have to climb the
3000m high mountain in Taiwan climbers object to carry out an
investigation in order to non-random sampling, a total of 231 valid
questionnaires were. After statistical analysis, the study found that: 1.
Climbers the highest climbers involved in motivation "to enjoy the
natural beauty of the fun. 2 climbers for climbers "risk perception" the
highest: the natural environment of risk. 3. Climbers “seeking
adventure stimulate", “competence achievement" motivation highly
predictive of risk perception. Based on these findings, this study not
only practices the recommendations of the outdoor leisure industry,
and also related research proposals for future researchers.
Abstract: The prediction of meteorological parameters at a
meteorological station is an interesting and open problem. A firstorder
linear dynamic model GM(1,1) is the main component of the
grey system theory. The grey model requires only a few previous data
points in order to make a real-time forecast. In this paper, we
consider the daily average ambient temperature as a time series and
the grey model GM(1,1) applied to local prediction (short-term
prediction) of the temperature. In the same case study we use a fuzzy
predictive model for global prediction. We conclude the paper with a
comparison between local and global prediction schemes.
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: Technological newness and innovativeness are
important aspects of small firm development, growth and wealth
creation. The contribution of the study to entrepreneurship
personality research and to technology-related research in
entrepreneurship is that the model of the general personality driven
technological development was developed and empirically tested.
Hypotheses relating the big five personality factors (OCEAN:
openness, conscientiousness, extraversion, agreeableness, and
neuroticism) and technological developments were tested by using
multiple regression analysis on survey data from a sample of 160
entrepreneurs from Slovenia. The model reveals two personality
factors, which are predictive of technological developments:
openness (positive impact) and neuroticism (negative impact). In
addition, a positive impact of firm age on technological
developments was found. Other personality factors
(conscientiousness, extraversion and agreeableness) of entrepreneurs
may not be considered important for their firm technological
developments.
Abstract: The objective of this research was to study the
influence of marketing mix on customers purchasing behavior. A
total of 397 respondents were collected from customers who were the
patronages of the Chatuchak Plaza market. A questionnaire was
utilized as a tool to collect data. Statistics utilized in this research
included frequency, percentage, mean, standard deviation, and
multiple regression analysis. Data were analyzed by using Statistical
Package for the Social Sciences. The findings revealed that the
majority of respondents were male with the age between 25-34 years
old, hold undergraduate degree, married and stay together. The
average income of respondents was between 10,001-20,000 baht. In
terms of occupation, the majority worked for private companies. The
research analysis disclosed that there were three variables of
marketing mix which included price (X2), place (X3), and product
(X1) which had an influence on the frequency of customer
purchasing. These three variables can predict a purchase about 30
percent of the time by using the equation; Y1 = 6.851 + .921(X2) +
.949(X3) + .591(X1). It also found that in terms of marketing mixed,
there were two variables had an influence on the amount of customer
purchasing which were physical characteristic (X6), and the process
(X7). These two variables are 17 percent predictive of a purchasing
by using the equation: Y2 = 2276.88 + 2980.97(X6) + 2188.09(X7).
Abstract: This paper describes the application of a model
predictive controller to the problem of batch reactor temperature
control. Although a great deal of work has been done to improve
reactor throughput using batch sequence control, the control of the
actual reactor temperature remains a difficult problem for many
operators of these processes. Temperature control is important as
many chemical reactions are sensitive to temperature for formation of
desired products. This controller consist of two part (1) a nonlinear
control method GLC (Global Linearizing Control) to create a linear
model of system and (2) a Model predictive controller used to obtain
optimal input control sequence. The temperature of reactor is tuned
to track a predetermined temperature trajectory that applied to the
batch reactor. To do so two input signals, electrical powers and the
flow of coolant in the coil are used. Simulation results show that the
proposed controller has a remarkable performance for tracking
reference trajectory while at the same time it is robust against noise
imposed to system output.
Abstract: Feature selection has recently been the subject of intensive research in data mining, specially for datasets with a large number of attributes. Recent work has shown that feature selection can have a positive effect on the performance of machine learning algorithms. The success of many learning algorithms in their attempts to construct models of data, hinges on the reliable identification of a small set of highly predictive attributes. The inclusion of irrelevant, redundant and noisy attributes in the model building process phase can result in poor predictive performance and increased computation. In this paper, a novel feature search procedure that utilizes the Ant Colony Optimization (ACO) is presented. The ACO is a metaheuristic inspired by the behavior of real ants in their search for the shortest paths to food sources. It looks for optimal solutions by considering both local heuristics and previous knowledge. When applied to two different classification problems, the proposed algorithm achieved very promising results.
Abstract: Text Mining is around applying knowledge discovery
techniques to unstructured text is termed knowledge discovery in text
(KDT), or Text data mining or Text Mining. In decision tree
approach is most useful in classification problem. With this
technique, tree is constructed to model the classification process.
There are two basic steps in the technique: building the tree and
applying the tree to the database. This paper describes a proposed
C5.0 classifier that performs rulesets, cross validation and boosting
for original C5.0 in order to reduce the optimization of error ratio.
The feasibility and the benefits of the proposed approach are
demonstrated by means of medial data set like hypothyroid. It is
shown that, the performance of a classifier on the training cases from
which it was constructed gives a poor estimate by sampling or using a
separate test file, either way, the classifier is evaluated on cases that
were not used to build and evaluate the classifier are both are large. If
the cases in hypothyroid.data and hypothyroid.test were to be
shuffled and divided into a new 2772 case training set and a 1000
case test set, C5.0 might construct a different classifier with a lower
or higher error rate on the test cases. An important feature of see5 is
its ability to classifiers called rulesets. The ruleset has an error rate
0.5 % on the test cases. The standard errors of the means provide an
estimate of the variability of results. One way to get a more reliable
estimate of predictive is by f-fold –cross- validation. The error rate of
a classifier produced from all the cases is estimated as the ratio of the
total number of errors on the hold-out cases to the total number of
cases. The Boost option with x trials instructs See5 to construct up to
x classifiers in this manner. Trials over numerous datasets, large and
small, show that on average 10-classifier boosting reduces the error
rate for test cases by about 25%.
Abstract: The perfect operation of common Active Filters is depended on accuracy of identification system distortion. Also, using a suitable method in current injection and reactive power compensation, leads to increased filter performance. Due to this fact, this paper presents a method based on predictive current control theory in shunt active filter applications. The harmonics of the load current is identified by using o–d–q reference frame on load current and eliminating the DC part of d–q components. Then, the rest of these components deliver to predictive current controller as a Threephase reference current by using Park inverse transformation. System is modeled in discreet time domain. The proposed method has been tested using MATLAB model for a nonlinear load (with Total Harmonic Distortion=20%). The simulation results indicate that the proposed filter leads to flowing a sinusoidal current (THD=0.15%) through the source. In addition, the results show that the filter tracks the reference current accurately.
Abstract: This paper addresses the design of predictive
networked controller with adaptation of a communication delay. The
networked control system contains random delays from sensor to
controller and from controller to actuator. The proposed predictive
controller includes an adaptation loop which decreases the influence
of communication delay on the control performance. Also, the
predictive controller contains a filter which improves the robustness
of the control system. The performance of the proposed adaptive
predictive controller is demonstrated by simulation results in
comparison with PI controller and predictive controller with constant
delay.
Abstract: In this paper, a new model predictive PID controller
design method for the slip suppression control of EVs (electric
vehicles) is proposed. The proposed method aims to improve the
maneuverability and the stability of EVs by controlling the wheel
slip ratio. The optimal control gains of PID framework are derived
by the model predictive control (MPC) algorithm. There also include
numerical simulation results to demonstrate the effectiveness of the
method.