Abstract: A robust still image face localization algorithm
capable of operating in an unconstrained visual environment is
proposed. First, construction of a robust skin classifier within a
shifted HSV color space is described. Then various filtering
operations are performed to better isolate face candidates and
mitigate the effect of substantial non-skin regions. Finally, a novel
Bhattacharyya-based face detection algorithm is used to compare
candidate regions of interest with a unique illumination-dependent
face model probability distribution function approximation.
Experimental results show a 90% face detection success rate despite
the demands of the visually noisy environment.
Abstract: Recent fifteen years witnessed fast improvements in the field of humanoid robotics. The human-like robot structure is
more suitable to human environment with its supreme obstacle avoidance properties when compared with wheeled service robots.
However, the walking control for bipedal robots is a challenging task
due to their complex dynamics. Stable reference generation plays a very important role in control.
Linear Inverted Pendulum Model (LIPM) and the Zero Moment Point (ZMP) criterion are applied in a number of studies for stable
walking reference generation of biped walking robots. This paper follows this main approach too. We propose a natural and continuous ZMP reference trajectory for a stable and human-like walk. The ZMP reference trajectories move forward under the sole of the support foot when the robot body is supported by a single leg. Robot center of mass trajectory is obtained
from predefined ZMP reference trajectories by a Fourier series
approximation method. The Gibbs phenomenon problem common with Fourier approximations of discontinuous functions is avoided by employing continuous ZMP references. Also, these ZMP reference
trajectories possess pre-assigned single and double support phases,
which are very useful in experimental tuning work.
The ZMP based reference generation strategy is tested via threedimensional
full-dynamics simulations of a 12-degrees-of-freedom
biped robot model. Simulation results indicate that the proposed reference trajectory generation technique is successful.
Abstract: Here we have considered non uniform microstrip
leaky-wave antenna implemented on a dielectric waveguide by a
sinusoidal profile of periodic metallic grating. The non distribution of
the attenuation constant α along propagation axis, optimize the
radiating characteristics and performances of such antennas. The
method developped here is based on an integral method where the
formalism of the admittance operator is combined to a BKW
approximation. First, the effect of the modeling in the modal analysis
of complex waves is studied in detail. Then, the BKW model is used
for the dispersion analysis of the antenna of interest. According to
antenna theory, a forced continuity of the leaky-wave magnitude at
discontinuities of the non uniform structure is established. To test the
validity of our dispersion analysis, computed radiation patterns are
presented and compared in the millimeter band.
Abstract: The performance of high-resolution schemes is investigated for unsteady, inviscid and compressible multiphase flows. An Eulerian diffuse interface approach has been chosen for the simulation of multicomponent flow problems. The reduced fiveequation and seven equation models are used with HLL and HLLC approximation. The authors demonstrated the advantages and disadvantages of both seven equations and five equations models studying their performance with HLL and HLLC algorithms on simple test case. The seven equation model is based on two pressure, two velocity concept of Baer–Nunziato [10], while five equation model is based on the mixture velocity and pressure. The numerical evaluations of two variants of Riemann solvers have been conducted for the classical one-dimensional air-water shock tube and compared with analytical solution for error analysis.
Abstract: This paper presents the application of a signal intensity
independent similarity criterion for rigid and non-rigid body
registration of binary objects. The criterion is defined as the
weighted ratio image of two images. The ratio is computed on a
voxel per voxel basis and weighting is performed by setting the raios
between signal and background voxels to a standard high value. The
mean squared value of the weighted ratio is computed over the union
of the signal areas of the two images and it is minimized using the
Chebyshev polynomial approximation.
Abstract: Sinc-collocation scheme is one of the new techniques
used in solving numerical problems involving integral equations. This
method has been shown to be a powerful numerical tool for finding
fast and accurate solutions. So, in this paper, some properties of the
Sinc-collocation method required for our subsequent development
are given and are utilized to reduce integral equation of the first
kind to some algebraic equations. Then convergence with exponential
rate is proved by a theorem to guarantee applicability of numerical
technique. Finally, numerical examples are included to demonstrate
the validity and applicability of the technique.
Abstract: Both the minimum energy consumption and
smoothness, which is quantified as a function of jerk, are generally
needed in many dynamic systems such as the automobile and the
pick-and-place robot manipulator that handles fragile equipments.
Nevertheless, many researchers come up with either solely
concerning on the minimum energy consumption or minimum jerk
trajectory. This research paper proposes a simple yet very interesting
relationship between the minimum direct and indirect jerks
approaches in designing the time-dependent system yielding an
alternative optimal solution. Extremal solutions for the cost functions
of direct and indirect jerks are found using the dynamic optimization
methods together with the numerical approximation. This is to allow
us to simulate and compare visually and statistically the time history
of control inputs employed by minimum direct and indirect jerk
designs. By considering minimum indirect jerk problem, the
numerical solution becomes much easier and yields to the similar
results as minimum direct jerk problem.
Abstract: Since 2004, we have been developing an in-situ storage image sensor (ISIS) that captures more than 100 consecutive images at a frame rate of 10 Mfps with ultra-high sensitivity as well as the video camera for use with this ISIS. Currently, basic research is continuing in an attempt to increase the frame rate up to 100 Mfps and above. In order to suppress electro-magnetic noise at such high frequency, a digital-noiseless imaging transfer scheme has been developed utilizing solely sinusoidal driving voltages. This paper presents highly efficient-yet-accurate expressions to estimate attenuation as well as phase delay of driving voltages through RC networks of an ultra-high-speed image sensor. Elmore metric for a fundamental RC chain is employed as the first-order approximation. By application of dimensional analysis to SPICE data, we found a simple expression that significantly improves the accuracy of the approximation. Similarly, another simple closed-form model to estimate phase delay through fundamental RC networks is also obtained. Estimation error of both expressions is much less than previous works, only less 2% for most of the cases . The framework of this analysis can be extended to address similar issues of other VLSI structures.
Abstract: A new numerical method for simultaneously updating mass and stiffness matrices based on incomplete modal measured data is presented. By using the Kronecker product, all the variables that are to be modified can be found out and then can be updated directly. The optimal approximation mass matrix and stiffness matrix which satisfy the required eigenvalue equation and orthogonality condition are found under the Frobenius norm sense. The physical configuration of the analytical model is preserved and the updated model will exactly reproduce the modal measured data. The numerical example seems to indicate that the method is quite accurate and efficient.
Abstract: The paper presents an analytical solution for dispersion
of a solute in the peristaltic motion of a couple stress fluid
through a porous medium with slip condition in the presence of both
homogeneous and heterogeneous chemical reactions. The average
effective dispersion coefficient has been found using Taylor-s limiting
condition and long wavelength approximation. The effects of various
relevant parameters on the average coefficient of dispersion have been
studied. The average effective dispersion coefficient tends to increase
with permeability parameter but tends to decrease with homogeneous
chemical reaction rate parameter, couple stress parameter, slip parameter
and heterogeneous reaction rate parameter.
Abstract: Both the minimum energy consumption and
smoothness, which is quantified as a function of jerk, are generally
needed in many dynamic systems such as the automobile and the
pick-and-place robot manipulator that handles fragile equipments.
Nevertheless, many researchers come up with either solely
concerning on the minimum energy consumption or minimum jerk
trajectory. This research paper considers the indirect minimum Jerk
method for higher order differential equation in dynamics
optimization proposes a simple yet very interesting indirect jerks
approaches in designing the time-dependent system yielding an
alternative optimal solution. Extremal solutions for the cost functions
of indirect jerks are found using the dynamic optimization methods
together with the numerical approximation. This case considers the
linear equation of a simple system, for instance, mass, spring and
damping. The simple system uses two mass connected together by
springs. The boundary initial is defined the fix end time and end
point. The higher differential order is solved by Galerkin-s methods
weight residual. As the result, the 6th higher differential order shows
the faster solving time.
Abstract: In this paper, an alternating implicit block method for
solving two dimensional scalar wave equation is presented. The
new method consist of two stages for each time step implemented
in alternating directions which are very simple in computation. To
increase the speed of computation, a group of adjacent points is
computed simultaneously. It is shown that the presented method
increase the maximum time step size and more accurate than the
conventional finite difference time domain (FDTD) method and other
existing method of natural ordering.
Abstract: This work examines thermal convection in two porous
layers. Flow in the upper layer is governed by Brinkman-s equations
model and in the lower layer is governed by Darcy-s model.
Legendre polynomials are used to obtain numerical solution when the
lower layer is heated from below.
Abstract: We present an explicit expression to estimate driving voltage attenuation through RC networks representation of an ultrahigh- speed image sensor. Elmore delay metric for a fundamental RC chain is employed as the first-order approximation. By application of dimensional analysis to SPICE simulation data, we found a simple expression that significantly improves the accuracy of the approximation. Estimation error of the resultant expression for uniform RC networks is less than 2%. Similarly, another simple closed-form model to estimate 50 % delay through fundamental RC networks is also derived with sufficient accuracy. The framework of this analysis can be extended to address delay or attenuation issues of other VLSI structures.
Abstract: The paper presents an analytical solution for dispersion
of a solute in the peristaltic motion of a micropolar fluid in the
presence of magnetic field and both homogeneous and heterogeneous
chemical reactions. The average effective dispersion coefficient has
been found using Taylor-s limiting condition under long wavelength
approximation. The effects of various relevant parameters on the average
coefficient of dispersion have been studied. The average effective
dispersion coefficient increases with amplitude ratio, cross viscosity
coefficient and heterogeneous chemical reaction rate parameter. But it
decreases with magnetic field parameter and homogeneous chemical
reaction rate parameter. It can be noted that the presence of peristalsis
enhances dispersion of a solute.
Abstract: This paper presents the application of a signal intensity independent registration criterion for non-rigid body registration of medical images. The criterion is defined as the weighted ratio image of two images. The ratio is computed on a voxel per voxel basis and weighting is performed by setting the ratios between signal and background voxels to a standard high value. The mean squared value of the weighted ratio is computed over the union of the signal areas of the two images and it is minimized using the Chebyshev polynomial approximation. The geometric transformation model adopted is a local cubic B-splines based model.
Abstract: Unsteady natural convection and heat transfer in a square cavity partially filled with porous media using a thermal
non-equilibrium model is studied in this paper. The left vertical wall is
maintained at a constant hot temperature Th and the right vertical wall
is maintained at a constant cold temperature Tc, while the horizontal
walls are adiabatic. The governing equations are obtained by applying
the Darcy model and Boussinesq approximation. COMSOL’s finite
element method is used to solve the non-dimensional governing
equations together with specified boundary conditions. The governing
parameters of this study are the Rayleigh number (Ra = 10^5, and Ra = 10^6 ), Darcy namber (Da = 10^−2, and Da = 10^−3),
the modified thermal conductivity ratio (10^−1 ≤ γ ≤ 10^4), the inter-phase heat transfer coefficien (10^−1 ≤ H ≤ 10^3) and the
time dependent (0.001 ≤ τ ≤ 0.2). The results presented for
values of the governing parameters in terms of streamlines in both
fluid/porous-layer, isotherms of fluid in fluid/porous-layer, isotherms
of solid in porous layer, and average Nusselt number.
Abstract: In this paper we study some numerical methods to solve a model one-dimensional convection–diffusion equation. The semi-discretisation of the space variable results into a system of ordinary differential equations and the solution of the latter involves the evaluation of a matrix exponent. Since the calculation of this term is computationally expensive, we study some methods based on Krylov subspace and on Restrictive Taylor series approximation respectively. We also consider the Chebyshev Pseudospectral collocation method to do the spatial discretisation and we present the numerical solution obtained by these methods.
Abstract: Arbitrarily shaped video objects are an important
concept in modern video coding methods. The techniques presently
used are not based on image elements but rather video objects having
an arbitrary shape. In this paper, spatial shape error concealment
techniques to be used for object-based image in error-prone
environments are proposed. We consider a geometric shape
representation consisting of the object boundary, which can be
extracted from the α-plane. Three different approaches are used to
replace a missing boundary segment: Bézier interpolation, Bézier
approximation and NURBS approximation. Experimental results on
object shape with different concealment difficulty demonstrate the
performance of the proposed methods. Comparisons with proposed
methods are also presented.
Abstract: This paper presented two new efficient algorithms
for contour approximation. The proposed algorithm is compared
with Ramer (good quality), Triangle (faster) and Trapezoid (fastest)
in this work; which are briefly described. Cartesian co-ordinates of
an input contour are processed in such a manner that finally
contours is presented by a set of selected vertices of the edge of the
contour. In the paper the main idea of the analyzed procedures for
contour compression is performed. For comparison, the mean
square error and signal-to-noise ratio criterions are used.
Computational time of analyzed methods is estimated depending on
a number of numerical operations. Experimental results are
obtained both in terms of image quality, compression ratios, and
speed. The main advantages of the analyzed algorithm is small
numbers of the arithmetic operations compared to the existing
algorithms.