Abstract: This paper introduces our first efforts of developing a
new team for RoboCup Middle Size Competition. In our robots we
have applied omni directional based mobile system with omnidirectional
vision system and fuzzy control algorithm to navigate
robots. The control architecture of MRL middle-size robots is a three
layered architecture, Planning, Sequencing, and Executing. It also
uses Blackboard system to achieve coordination among agents.
Moreover, the architecture should have minimum dependency on low
level structure and have a uniform protocol to interact with real
robot.
Abstract: This paper presents a new and efficient approach for
capacitor placement in radial distribution systems that determine
the optimal locations and size of capacitor with an objective of
improving the voltage profile and reduction of power loss. The
solution methodology has two parts: in part one the loss sensitivity
factors are used to select the candidate locations for the capacitor
placement and in part two a new algorithm that employs Plant growth
Simulation Algorithm (PGSA) is used to estimate the optimal size
of capacitors at the optimal buses determined in part one. The main
advantage of the proposed method is that it does not require any
external control parameters. The other advantage is that it handles the
objective function and the constraints separately, avoiding the trouble
to determine the barrier factors. The proposed method is applied to 9
and 34 bus radial distribution systems. The solutions obtained by the
proposed method are compared with other methods. The proposed
method has outperformed the other methods in terms of the quality
of solution.
Abstract: Diagnostic and detection of the arterial stiffness is
very important; which gives indication of the associated increased risk of cardiovascular diseases. To make a cheap and easy method for general screening technique to avoid the future cardiovascular
complexes , due to the rising of the arterial stiffness ; a proposed algorithm depending on photoplethysmogram to be used. The
photoplethysmograph signals would be processed in MATLAB. The
signal will be filtered, baseline wandering removed, peaks and
valleys detected and normalization of the signals should be achieved
.The area under the catacrotic phase of the photoplethysmogram
pulse curve is calculated using trapezoidal algorithm ; then will used
in cooperation with other parameters such as age, height, blood
pressure in neural network for arterial stiffness detection. The Neural
network were implemented with sensitivity of 80%, accuracy 85%
and specificity of 90% were got from the patients data. It is
concluded that neural network can detect the arterial STIFFNESS
depending on risk factor parameters.
Abstract: The myoelectric signal (MES) is one of the Biosignals
utilized in helping humans to control equipments. Recent approaches
in MES classification to control prosthetic devices employing pattern
recognition techniques revealed two problems, first, the classification
performance of the system starts degrading when the number of
motion classes to be classified increases, second, in order to solve the
first problem, additional complicated methods were utilized which
increase the computational cost of a multifunction myoelectric
control system. In an effort to solve these problems and to achieve a
feasible design for real time implementation with high overall
accuracy, this paper presents a new method for feature extraction in
MES recognition systems. The method works by extracting features
using Wavelet Packet Transform (WPT) applied on the MES from
multiple channels, and then employs Fuzzy c-means (FCM)
algorithm to generate a measure that judges on features suitability for
classification. Finally, Principle Component Analysis (PCA) is
utilized to reduce the size of the data before computing the
classification accuracy with a multilayer perceptron neural network.
The proposed system produces powerful classification results (99%
accuracy) by using only a small portion of the original feature set.
Abstract: Nowadays, driving support systems, such as car
navigation systems, are getting common, and they support drivers in
several aspects. It is important for driving support systems to detect
status of driver's consciousness. Particularly, detecting driver's
drowsiness could prevent drivers from collisions caused by drowsy
driving. In this paper, we discuss the various artificial detection
methods for detecting driver's drowsiness processing technique. This
system is based on facial images analysis for warning the driver of
drowsiness or in attention to prevent traffic accidents.
Abstract: Topological changes in mobile ad hoc networks
frequently render routing paths unusable. Such recurrent path failures
have detrimental effects on quality of service. A suitable technique
for eliminating this problem is to use multiple backup paths between
the source and the destination in the network. This paper proposes an
effective and efficient protocol for backup and disjoint path set in ad
hoc wireless network. This protocol converges to a highly reliable
path set very fast with no message exchange overhead. The paths
selection according to this algorithm is beneficial for mobile ad hoc
networks, since it produce a set of backup paths with more high
reliability. Simulation experiments are conducted to evaluate the
performance of our algorithm in terms of route numbers in the path
set and its reliability. In order to acquire link reliability estimates, we
use link expiration time (LET) between two nodes.
Abstract: Global approximation using metamodel for complex
mathematical function or computer model over a large variable
domain is often needed in sensibility analysis, computer simulation,
optimal control, and global design optimization of complex, multiphysics
systems. To overcome the limitations of the existing
response surface (RS), surrogate or metamodel modeling methods for
complex models over large variable domain, a new adaptive and
regressive RS modeling method using quadratic functions and local
area model improvement schemes is introduced. The method applies
an iterative and Latin hypercube sampling based RS update process,
divides the entire domain of design variables into multiple cells,
identifies rougher cells with large modeling error, and further divides
these cells along the roughest dimension direction. A small number
of additional sampling points from the original, expensive model are
added over the small and isolated rough cells to improve the RS
model locally until the model accuracy criteria are satisfied. The
method then combines local RS cells to regenerate the global RS
model with satisfactory accuracy. An effective RS cells sorting
algorithm is also introduced to improve the efficiency of model
evaluation. Benchmark tests are presented and use of the new
metamodeling method to replace complex hybrid electrical vehicle
powertrain performance model in vehicle design optimization and
optimal control are discussed.
Abstract: This paper summarizes the results of some experiments for finding the effective features for disambiguation of Turkish verbs. Word sense disambiguation is a current area of investigation in which verbs have the dominant role. Generally verbs have more senses than the other types of words in the average and detecting these features for verbs may lead to some improvements for other word types. In this paper we have considered only the syntactical features that can be obtained from the corpus and tested by using some famous machine learning algorithms.
Abstract: Sudoku is a kind of logic puzzles. Each puzzle consists
of a board, which is a 9×9 cells, divided into nine 3×3 subblocks
and a set of numbers from 1 to 9. The aim of this puzzle is to
fill in every cell of the board with a number from 1 to 9 such
that in every row, every column, and every subblock contains each
number exactly one. Sudoku puzzles belong to combinatorial problem
(NP complete). Sudoku puzzles can be solved by using a variety of
techniques/algorithms such as genetic algorithms, heuristics, integer
programming, and so on. In this paper, we propose a new approach for
solving Sudoku which is by modelling them as block-world problems.
In block-world problems, there are a number of boxes on the table
with a particular order or arrangement. The objective of this problem
is to change this arrangement into the targeted arrangement with the
help of two types of robots. In this paper, we present three models
for Sudoku. We modellized Sudoku as parameterized multi-agent
systems. A parameterized multi-agent system is a multi-agent system
which consists of several uniform/similar agents and the number of
the agents in the system is stated as the parameter of this system. We
use Temporal Logic of Actions (TLA) for formalizing our models.
Abstract: In this paper, a data mining model to SMEs for detecting financial and operational risk indicators by data mining is presenting. The identification of the risk factors by clarifying the relationship between the variables defines the discovery of knowledge from the financial and operational variables. Automatic and estimation oriented information discovery process coincides the definition of data mining. During the formation of model; an easy to understand, easy to interpret and easy to apply utilitarian model that is far from the requirement of theoretical background is targeted by the discovery of the implicit relationships between the data and the identification of effect level of every factor. In addition, this paper is based on a project which was funded by The Scientific and Technological Research Council of Turkey (TUBITAK).
Abstract: Artifact is one of the most important factors in
degrading the CT image quality and plays an important role in
diagnostic accuracy. In this paper, some artifacts typically appear in
Spiral CT are introduced. The different factors such as patient,
equipment and interpolation algorithm which cause the artifacts are
discussed and new developments and image processing algorithms to
prevent or reduce them are presented.
Abstract: In this paper, novel statistical sampling based equalization techniques and CNN based detection are proposed to increase the spectral efficiency of multiuser communication systems over fading channels. Multiuser communication combined with selective fading can result in interferences which severely deteriorate the quality of service in wireless data transmission (e.g. CDMA in mobile communication). The paper introduces new equalization methods to combat interferences by minimizing the Bit Error Rate (BER) as a function of the equalizer coefficients. This provides higher performance than the traditional Minimum Mean Square Error equalization. Since the calculation of BER as a function of the equalizer coefficients is of exponential complexity, statistical sampling methods are proposed to approximate the gradient which yields fast equalization and superior performance to the traditional algorithms. Efficient estimation of the gradient is achieved by using stratified sampling and the Li-Silvester bounds. A simple mechanism is derived to identify the dominant samples in real-time, for the sake of efficient estimation. The equalizer weights are adapted recursively by minimizing the estimated BER. The near-optimal performance of the new algorithms is also demonstrated by extensive simulations. The paper has also developed a (Cellular Neural Network) CNN based approach to detection. In this case fast quadratic optimization has been carried out by t, whereas the task of equalizer is to ensure the required template structure (sparseness) for the CNN. The performance of the method has also been analyzed by simulations.
Abstract: In this paper, multiobjective design of multi-machine Power System Stabilizers (PSSs) using Particle Swarm Optimization (PSO) is presented. The stabilizers are tuned to simultaneously shift the lightly damped and undamped electro-mechanical modes of all machines to a prescribed zone in the s-plane. A multiobjective problem is formulated to optimize a composite set of objective functions comprising the damping factor, and the damping ratio of the lightly damped electromechanical modes. The PSSs parameters tuning problem is converted to an optimization problem which is solved by PSO with the eigenvalue-based multiobjective function. The proposed PSO based PSSs is tested on a multimachine power system under different operating conditions and disturbances through eigenvalue analysis and some performance indices to illustrate its robust performance.
Abstract: Signal processing applications which are iterative in
nature are best represented by data flow graphs (DFG). In these
applications, the maximum sampling frequency is dependent on the
topology of the DFG, the cyclic dependencies in particular. The
determination of the iteration bound, which is the reciprocal of the
maximum sampling frequency, is critical in the process of hardware
implementation of signal processing applications. In this paper, a
novel technique to compute the iteration bound is proposed. This
technique is different from all previously proposed techniques, in the
sense that it is based on the natural flow of tokens into the DFG
rather than the topology of the graph. The proposed algorithm has
lower run-time complexity than all known algorithms. The
performance of the proposed algorithm is illustrated through
analytical analysis of the time complexity, as well as through
simulation of some benchmark problems.
Abstract: The purposes of this paper are to (1) promote
excellence in computer science by suggesting a cohesive innovative
approach to fill well documented deficiencies in current computer
science education, (2) justify (using the authors- and others anecdotal
evidence from both the classroom and the real world) why this
approach holds great potential to successfully eliminate the
deficiencies, (3) invite other professionals to join the authors in proof
of concept research. The authors- experiences, though anecdotal,
strongly suggest that a new approach involving visual modeling
technologies should allow computer science programs to retain a
greater percentage of prospective and declared majors as students
become more engaged learners, more successful problem-solvers,
and better prepared as programmers. In addition, the graduates of
such computer science programs will make greater contributions to
the profession as skilled problem-solvers. Instead of wearily
rememorizing code as they move to the next course, students will
have the problem-solving skills to think and work in more
sophisticated and creative ways.
Abstract: In this study, we are interested in the economic lot
scheduling problem (ELSP) that considers manufacturing of the
serviceable products and remanufacturing of the reworked products. In
this paper, we formulate a mathematical model for the ELSP with
reworks using the basic period approach. In order to solve this
problem, we propose a search algorithm to find the cyclic multiplier ki
of each product that can be cyclically produced for every ki basic
periods. This research also uses two heuristics to search for the optimal
production sequence of all lots and the optimal time length of the basic
period so as to minimize the average total cost. This research uses a
numerical example to show the effectiveness of our approach.
Abstract: Least Development Countries (LDC) like
Bangladesh, whose 25% revenue earning is achieved from Textile
export, requires producing less defective textile for minimizing
production cost and time. Inspection processes done on these
industries are mostly manual and time consuming. To reduce error
on identifying fabric defects requires more automotive and
accurate inspection process. Considering this lacking, this research
implements a Textile Defect Recognizer which uses computer
vision methodology with the combination of multi-layer neural
networks to identify four classifications of textile defects. The
recognizer, suitable for LDC countries, identifies the fabric defects
within economical cost and produces less error prone inspection
system in real time. In order to generate input set for the neural
network, primarily the recognizer captures digital fabric images by
image acquisition device and converts the RGB images into binary
images by restoration process and local threshold techniques.
Later, the output of the processed image, the area of the faulty
portion, the number of objects of the image and the sharp factor of
the image, are feed backed as an input layer to the neural network
which uses back propagation algorithm to compute the weighted
factors and generates the desired classifications of defects as an
output.
Abstract: The vehicle fleet of public transportation companies is often equipped with intelligent on-board passenger information systems. A frequently used but time and labor-intensive way for keeping the on-board controllers up-to-date is the manual update using different memory cards (e.g. flash cards) or portable computers. This paper describes a compression algorithm that enables data transmission using low bandwidth wireless radio networks (e.g. GPRS) by minimizing the amount of data traffic. In typical cases it reaches a compression rate of an order of magnitude better than that of the general purpose compressors. Compressed data can be easily expanded by the low-performance controllers, too.
Abstract: In this paper performance of Puma 560
manipulator is being compared for hybrid gradient descent
and least square method learning based ANFIS controller with
hybrid Genetic Algorithm and Generalized Pattern Search
tuned radial basis function based Neuro-Fuzzy controller.
ANFIS which is based on Takagi Sugeno type Fuzzy
controller needs prior knowledge of rule base while in radial
basis function based Neuro-Fuzzy rule base knowledge is not
required. Hybrid Genetic Algorithm with generalized Pattern
Search is used for tuning weights of radial basis function
based Neuro- fuzzy controller. All the controllers are checked
for butterfly trajectory tracking and results in the form of
Cartesian and joint space errors are being compared. ANFIS
based controller is showing better performance compared to
Radial Basis Function based Neuro-Fuzzy Controller but rule
base independency of RBF based Neuro-Fuzzy gives it an
edge over ANFIS
Abstract: Given a large sparse signal, great wishes are to
reconstruct the signal precisely and accurately from lease number of
measurements as possible as it could. Although this seems possible
by theory, the difficulty is in built an algorithm to perform the
accuracy and efficiency of reconstructing. This paper proposes a new
proved method to reconstruct sparse signal depend on using new
method called Least Support Matching Pursuit (LS-OMP) merge it
with the theory of Partial Knowing Support (PSK) given new method
called Partially Knowing of Least Support Orthogonal Matching
Pursuit (PKLS-OMP).
The new methods depend on the greedy algorithm to compute the
support which depends on the number of iterations. So to make it
faster, the PKLS-OMP adds the idea of partial knowing support of its
algorithm. It shows the efficiency, simplicity, and accuracy to get
back the original signal if the sampling matrix satisfies the Restricted
Isometry Property (RIP).
Simulation results also show that it outperforms many algorithms
especially for compressible signals.