Search results for: local maximum filtering

Authors: Abdullah H. Özcan, Dilara Hisar, Yetkin Sayar, Cem Ünsalan

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In this study, an automated building and tree detection method is proposed using DSM data and true orthophoto image. A multiscale matched filtering is used on DSM data. Therefore, first watershed transform is applied. Then, Otsu’s thresholding method is used as an adaptive threshold to segment each watershed region. Detected objects are masked with NDVI to separate buildings and trees. The proposed method is able to detect buildings and trees without entering any elevation threshold. We tested our method on ISPRS semantic labeling dataset and obtained promising results.

Keywords: building detection, local maximum filtering, matched filtering, multiscale

Procedia PDF Downloads 320

Authors: Hossein Javidnia, Salehe Taheri

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The Electrocardiogram (ECG) is the recording of the heart’s electrical potential versus time. ECG signals are often contaminated with noise such as baseline wander and muscle noise. As these signals have been widely used in clinical studies to detect heart diseases, it is essential to filter these noises. In this paper we compare performance of Wiener Filtering and Median Filtering methods to filter Additive White Gaussian (AWG) noise with the determined signal to noise ratio (SNR) ranging from 3 to 5 dB applied to long-term ECG recordings samples. Root mean square error (RMSE) and coefficient of determination (R2) between the filtered ECG and original ECG was used as the filter performance indicator. Experimental results show that Wiener filter has better noise filtering performance than Median filter.

Keywords: ECG noise filtering, Wiener filtering, median filtering, Gaussian noise, filtering performance

Procedia PDF Downloads 529

Authors: Prasannakumar Palaniappan, Dong Ho Shin, Chul Gyu Song

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The photoacoustic images are obtained from a custom developed linear array photoacoustic tomography system. The biological specimens are imitated by conducting phantom tests in order to retrieve a fully functional photoacoustic image. The acquired image undergoes the active region based contour filtering to remove the noise and accurately segment the object area for further processing. The universal back projection method is used as the image reconstruction algorithm. The active contour filtering is analyzed by evaluating the signal to noise ratio and comparing it with the other filtering methods.

Keywords: contour filtering, linear array, photoacoustic tomography, universal back projection

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Authors: Sašo Pečnik, Borut Žalik

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This paper presents a real-time visualization technique and filtering of classified LiDAR point clouds. The visualization is capable of displaying filtered information organized in layers by the classification attribute saved within LiDAR data sets. We explain the used data structure and data management, which enables real-time presentation of layered LiDAR data. Real-time visualization is achieved with LOD optimization based on the distance from the observer without loss of quality. The filtering process is done in two steps and is entirely executed on the GPU and implemented using programmable shaders.

Keywords: filtering, graphics, level-of-details, LiDAR, real-time visualization

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Authors: Tabassum Husain, Shen Peng Li, Zhaolin Chen

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This paper evaluates the usability of 3D Guided Image Filtering to enhance the quality of short-time binned dynamic PET images by using MRI images. Guided image filtering is an edge-preserving filter proposed to enhance 2D images. The 3D filter is applied on 1 and 5-minute binned images. The results are compared with 15-minute binned images and the Gaussian filtering. The guided image filter enhances the quality of dynamic PET images while also preserving important information of the voxels.

Keywords: dynamic PET images, guided image filter, image enhancement, information preservation filtering

Procedia PDF Downloads 132

Authors: Mohammad Javad Mollakazemi, Farhad Asadi, Aref Ghafouri

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Performance of different filtering approaches depends on modeling of dynamical system and algorithm structure. For modeling and smoothing the data the evaluation of posterior distribution in different filtering approach should be chosen carefully. In this paper different filtering approaches like filter KALMAN, EKF, UKF, EKS and smoother RTS is simulated in some trajectory tracking of path and accuracy and limitation of these approaches are explained. Then probability of model with different filters is compered and finally the effect of the noise variance to estimation is described with simulations results.

Keywords: Gaussian approximation, Kalman smoother, parameter estimation, noise variance

Procedia PDF Downloads 439

Authors: Pei-Chann Chang, Jhen-Fu Liao, Chin-Hung Teng, Meng-Hui Chen

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This research combines artificial immune system with user and item based collaborative filtering to create an efficient and accurate recommendation system. By applying the characteristic of antibodies and antigens in the artificial immune system and using Pearson correlation coefficient as the affinity threshold to cluster the data, our collaborative filtering can effectively find useful users and items for rating prediction. This research uses MovieLens dataset as our testing target to evaluate the effectiveness of the algorithm developed in this study. The experimental results show that the algorithm can effectively and accurately predict the movie ratings. Compared to some state of the art collaborative filtering systems, our system outperforms them in terms of the mean absolute error on the MovieLens dataset.

Keywords: artificial immune system, collaborative filtering, recommendation system, similarity

Procedia PDF Downloads 535

Authors: Vinai K. Singh

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For reducing impulsive noise without degrading image contours, median filtering is a powerful tool. In multiband images as for example colour images or vector fields obtained by optic flow computation, a vector median filter can be used. Vector median filters are defined on the basis of a suitable distance, the best performing distance being the Euclidean. Euclidean distance is evaluated by using the Euclidean norms which is quite demanding from the point of view of computation given that a square root is required. In this paper an optimal piece-wise linear approximation of the Euclidean norm is presented which is applied to vector median filtering.

Keywords: euclidean norm, quasi euclidean norm, vector median filtering, applied mathematics

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Authors: Takanori Tanaka, Daisuke Kitao, Daisuke Ikeda

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The aurora is an attractive phenomenon but it is difficult to understand the whole mechanism of it. An approach of data-intensive science might be an effective approach to elucidate such a difficult phenomenon. To do that we need labeled data, which shows when and what types of auroras, have appeared. In this paper, we propose an image retrieval system for auroral all-sky images, some of which include discrete and diffuse aurora, and the other do not any aurora. The proposed system retrieves images which are similar to the query image by using a popular image recognition method. Using 300 all-sky images obtained at Tromso Norway, we evaluate two methods of image recognition methods with or without our original color filtering method. The best performance is achieved when SIFT with the color filtering is used and its accuracy is 81.7% for discrete auroras and 86.7% for diffuse auroras.

Keywords: data-intensive science, image classification, content-based image retrieval, aurora

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Authors: Lakhdar Zaid, Albane Sangiovanni

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A reconfigurable microstrip patch antenna with polyphase filter for polarization diversity and cross polarization filtering operation is presented in this paper. In our approach, a polyphase filter is used to obtain the four 90° phase shift outputs to feed a square microstrip patch antenna. The antenna can be switched between four states of polarization in transmission as well as in receiving mode. Switches are interconnected with the polyphase filter network to produce left-hand circular polarization, right-hand circular polarization, horizontal linear polarization, and vertical linear polarization. Additional advantage of using polyphase filter is its filtering capability for cross polarization filtering in right-hand circular polarization and left-hand circular polarization operation. The theoretical and simulated results demonstrated that polyphase filter is a good candidate to drive microstrip patch antenna to accomplish polarization diversity and cross polarization filtering operation.

Keywords: active antenna, polarization diversity, patch antenna, polyphase filter

Procedia PDF Downloads 411

Authors: Sun H. Hwang, Young E. Lee, Yunhan Ga, Gilwon Yoon

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EEG is a very complex signal with noises and other bio-potential interferences. EOG is the most distinct interfering signal when EEG signals are measured and analyzed. It is very important how to process raw EEG signals in order to obtain useful information. In this study, the EEG signal processing techniques such as EOG filtering and outlier removal were examined to minimize unwanted EOG signals and other noises. The two different mental states of resting and focusing were examined through EEG analysis. A focused state was induced by letting subjects to watch a red dot on the white screen. EEG data for 32 healthy subjects were measured. EEG data after 60-Hz notch filtering were processed by a commercially available EOG filtering and our presented algorithm based on the removal of outliers. The ratio of beta wave to theta wave was used as a parameter for determining the degree of focusing. The results show that our algorithm was more appropriate than the existing EOG filtering.

Keywords: EEG, focus, mental state, outlier, signal processing

Procedia PDF Downloads 283

Authors: Said Elkassimi, Said Safi, B. Manaut

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This paper presented a study of three algorithms, the equalization algorithm to equalize the transmission channel with ZF and MMSE criteria, application of channel Bran A, and adaptive filtering algorithms LMS and RLS to estimate the parameters of the equalizer filter, i.e. move to the channel estimation and therefore reflect the temporal variations of the channel, and reduce the error in the transmitted signal. So far the performance of the algorithm equalizer with ZF and MMSE criteria both in the case without noise, a comparison of performance of the LMS and RLS algorithm.

Keywords: adaptive filtering second equalizer, LMS, RLS Bran A, Proakis (B) MMSE, ZF

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Authors: Mesias Alfeus, Kirsty Fitzhenry, Alessia Lederer

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The present paper provides empirical studies to estimate defaultable bonds in the South African financial market. The main goal is to estimate the unobservable factors affecting bond yields for South African major banks. The maximum likelihood approach is adopted for the estimation methodology. Extended Kalman filtering techniques are employed in order to tackle the situation that the factors cannot be observed directly. Multi-dimensional Cox-Ingersoll-Ross (CIR)-type factor models are considered. Results show that default risk increased sharply in the South African financial market during COVID-19 and the CIR model with jumps exhibits a better performance.

Keywords: default intensity, unobservable state variables, CIR, α-CIR, extended kalman filtering

Procedia PDF Downloads 111

Authors: Nileshkumar Vaishnav, Aditya Tatu

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An algebraic framework for processing graph signals axiomatically designates the graph adjacency matrix as the shift operator. In this setup, we often encounter a problem wherein we know the filtered output and the filter coefficients, and need to find out the input graph signal. Solution to this problem using direct approach requires O(N3) operations, where N is the number of vertices in graph. In this paper, we adapt the spectral graph partitioning method for partitioning of graphs and use it to reduce the computational cost of the filtering problem. We use the example of denoising of the temperature data to illustrate the efficacy of the approach.

Keywords: graph signal processing, graph partitioning, inverse filtering on graphs, algebraic signal processing

Procedia PDF Downloads 311

Authors: Rodrigo Montufar-Chaveznava, Fernando Brambila-Paz, Ivette Caldelas

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In this paper, we present the advances corresponding to the denoising processing of magnetotelluric signals using several filters. In particular, we use the most common spatial domain filters such as median and mean, but we are also using the Fourier and wavelet transform for frequency domain filtering. We employ three datasets obtained at the different sampling rate (128, 4096 and 8192 bps) and evaluate the mean square error, signal-to-noise relation, and peak signal-to-noise relation to compare the kernels and determine the most suitable for each case. The magnetotelluric signals correspond to earth exploration when water is searched. The object is to find a denoising strategy different to the one included in the commercial equipment that is employed in this task.

Keywords: denoising, filtering, magnetotelluric signals, wavelet transform

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Authors: Feng Tao, Han Ye, Shaoyi Liao

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City constructions collapse after earthquake and people will be buried under ruins. Search and rescue should be conducted as soon as possible to save them. Therefore, according to the complicated environment, irregular aftershocks and rescue allow of no delay, a kind of target localization method based on RSSI (Received Signal Strength Indication) is proposed in this article. The target localization technology based on RSSI with the features of low cost and low complexity has been widely applied to nodes localization in WSN (Wireless Sensor Networks). Based on the theory of RSSI transmission and the environment impact to RSSI, this article conducts the experiments in five scenes, and multiple filtering algorithms are applied to original RSSI value in order to establish the signal propagation model with minimum test error respectively. Target location can be calculated from the distance, which can be estimated from signal propagation model, through improved centroid algorithm. Result shows that the localization technology based on RSSI is suitable for large-scale nodes localization. Among filtering algorithms, mixed filtering algorithm (average of average, median and Gaussian filtering) performs better than any other single filtering algorithm, and by using the signal propagation model, the minimum error of distance between known nodes and target node in the five scene is about 3.06m.

Keywords: signal propagation model, centroid algorithm, localization, mixed filtering, RSSI

Procedia PDF Downloads 300

Authors: Samig Ibayev

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This research addresses the problem of illegal child abuse content on the Twitter platform bypassing filtering systems and appearing before users from a social-anthropological perspective. Although the wide access opportunities provided by social media platforms to their users are beneficial in many ways, it is seen that they contain gaps that pave the way for the spread of harmful and illegal content. The aim of the study is to examine the inadequacies of the current content filtering mechanisms of the Twitter platform, to understand the psychological effects of young users unintentionally encountering such content and the social dimensions of this situation. The research was conducted with a qualitative approach and was conducted using digital ethnography, content analysis and user experiences on the Twitter platform. Digital ethnography was used to observe the frequency of child abuse content on the platform and how these contents were presented. The content analysis method was used to reveal the gaps in Twitter's current filtering mechanisms. In addition, detailed information was collected on the extent of psychological effects and how the perception of trust in social media changed through interviews with young users exposed to such content. The main contributions of the research are to highlight the weaknesses in the content moderation and filtering mechanisms of social media platforms, to reveal the negative effects of illegal content on users, and to offer suggestions for preventing the spread of such content. As a result, it is suggested that platforms such as Twitter should improve their content filtering policies in order to increase user security and fulfill their social responsibilities. This research aims to create significant awareness about social media content management and ethical responsibilities on digital platforms.

Keywords: Twitter, child exploitation, content filtering, digital ethnography, social anthropology

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Authors: Hana Rabbouch

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In recent years, there has been considerable growth of denoising techniques mainly devoted to medical imaging. This important evolution is not only due to the progress of computing techniques, but also to the emergence of multi-resolution analysis (MRA) on both mathematical and algorithmic bases. In this paper, a comparative study is conducted between the two best-known MRA-based decomposition techniques: the Empirical Mode Decomposition (EMD) and the Discrete Wavelet Transform (DWT). The comparison is carried out in a framework of multi-scale denoising, where a Non-Local Means (NLM) filter is performed scale-by-scale to a sample of benchmark medical images. The results prove the effectiveness of the multiscaled denoising, especially when the NLM filtering is coupled with the EMD.

Keywords: medical imaging, non local means, denoising, multiscaled analysis, empirical mode decomposition, wavelets

Procedia PDF Downloads 141

Authors: Reji Thankachan, Varsha PS

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Both image capturing devices and human visual systems are nonlinear. Hence nonlinear filtering methods outperforms its linear counterpart in many applications. Linear methods are unable to remove impulsive noise in images by preserving its edges and fine details. In addition, linear algorithms are unable to remove signal dependent or multiplicative noise in images. This paper presents an approach to denoise and smoothen the Bipolar impulse noised images and videos using improved Kuwahara filter. It involves a 2 stage algorithm which includes a noise detection followed by filtering. Numerous simulation demonstrate that proposed method outperforms the existing method by eliminating the painting like flattening effect along the local feature direction while preserving edge with improvement in PSNR and MSE.

Keywords: bipolar impulse noise, Kuwahara, PSNR MSE, PDF

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Authors: Fathi Kallel, Saida Khachira, Mohamed Ben Slima, Ahmed Ben Hamida

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Speckle noise is a main characteristic of cardiac ultrasound images, it corresponding to grainy appearance that degrades the image quality. For this reason, the ultrasound images are difficult to use automatically in clinical use, then treatments are required for this type of images. Then a filtering procedure of these images is necessary to eliminate the speckle noise and to improve the quality of ultrasound images which will be then segmented to extract the necessary forms that exist. In this paper, we present the importance of the pre-treatment step for segmentation. This work is applied to cardiac ultrasound images. In a first step, a comparative study of speckle filtering method will be presented and then we use a segmentation algorithm to locate and extract cardiac structures.

Keywords: medical image processing, ultrasound images, Speckle noise, image enhancement, speckle filtering, segmentation, snakes

Procedia PDF Downloads 530

Authors: Camille Van Eupen, Dirk Maes, Marc Herremans, Kristijn R. R. Swinnen, Ben Somers, Stijn Luca

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In ecology, species distribution models are commonly implemented to study species-environment relationships. These models increasingly rely on opportunistic citizen science data when high-quality species records collected through standardized recording protocols are unavailable. While these opportunistic data are abundant, uncertainty is usually high, e.g., due to observer effects or a lack of metadata. Data quality filtering is often used to reduce these types of uncertainty in an attempt to increase the value of studies relying on opportunistic data. However, filtering should not be performed blindly. In this study, recommendations are built for data quality filtering of opportunistic species occurrence data that are used as input for species distribution models. Using an extensive database of 5.7 million citizen science records from 255 species in Flanders, the impact on model performance was quantified by applying three data quality filters, and these results were linked to species traits. More specifically, presence records were filtered based on record attributes that provide information on the observation process or post-entry data validation, and changes in the area under the receiver operating characteristic (AUC), sensitivity, and specificity were analyzed using the Maxent algorithm with and without filtering. Controlling for sample size enabled us to study the combined impact of data quality filtering, i.e., the simultaneous impact of an increase in data quality and a decrease in sample size. Further, the variation among species in their response to data quality filtering was explored by clustering species based on four traits often related to data quality: commonness, popularity, difficulty, and body size. Findings show that model performance is affected by i) the quality of the filtered data, ii) the proportional reduction in sample size caused by filtering and the remaining absolute sample size, and iii) a species ‘quality profile’, resulting from a species classification based on the four traits related to data quality. The findings resulted in recommendations on when and how to filter volunteer generated and opportunistically collected data. This study confirms that correctly processed citizen science data can make a valuable contribution to ecological research and species conservation.

Keywords: citizen science, data quality filtering, species distribution models, trait profiles

Procedia PDF Downloads 203

Authors: Seulbi Choi, Hyunchul Ahn

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Collaborative filtering (CF) algorithm has been popularly used for recommender systems in both academic and practical applications. It basically generates recommendation results using users’ numeric ratings. However, the additional use of the information other than user ratings may lead to better accuracy of CF. Considering that a lot of people are likely to share their honest opinion on the items they purchased recently due to the advent of the Web 2.0, user's review can be regarded as the new informative source for identifying user's preference with accuracy. Under this background, this study presents a hybrid recommender system that fuses CF and user's review mining. Our system adopts conventional memory-based CF, but it is designed to use both user’s numeric ratings and his/her text reviews on the items when calculating similarities between users.

Keywords: Recommender system, Collaborative filtering, Text mining, Review mining

Procedia PDF Downloads 356

Authors: Xochilt Ramirez-Garcia, Mario Garcia-Valdez

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Contextual recommendations are implemented in Recommender Systems to improve user satisfaction, recommender system makes accurate and suitable recommendations for a particular situation reaching personalized recommendations. The context provides information relevant to the Recommender System and is used as a filter for selection of relevant items for the user. This paper presents a Context-aware Recommender System, which uses techniques based on Collaborative Filtering and Content-Based, as well as fuzzy rules, to recommend items inside the context. The dataset used to test the system is Trip Advisor. The accuracy in the recommendations was evaluated with the Mean Absolute Error.

Keywords: algorithms, collaborative filtering, intelligent systems, fuzzy logic, recommender systems

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Authors: Shiksha Jain, Ramesh Mishra

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One of the most widely used complex signals processing operation is filtering. The most important FIR digital filter are widely used in DSP for filtering to alter the spectrum according to some given specifications. Power consumption and Area complexity in the algorithm of Finite Impulse Response (FIR) filter is mainly caused by multipliers. So we present a multiplier less technique (DA technique). In this technique, precomputed value of inner product is stored in LUT. Which are further added and shifted with number of iterations equal to the precision of input sample. But the exponential growth of LUT with the order of FIR filter, in this basic structure, makes it prohibitive for many applications. The significant area and power reduction over traditional Distributed Arithmetic (DA) structure is presented in this paper, by the use of slicing of LUT to the desired length. An architecture of 16 tap FIR filter is presented, with different length of slice of LUT. The result of FIR Filter implementation on Xilinx ISE synthesis tool (XST) vertex-4 FPGA Tool by using proposed method shows the increase of the maximum frequency, the decrease of the resources as usage saving in area with more number of slices and the reduction dynamic power.

Keywords: multiplier less technique, linear phase symmetric FIR filter, FPGA tool, look up table

Procedia PDF Downloads 390

Authors: Bruna Luisa Ramos Prado Vasques, Mariane Rembold Petraglia, Antonio Petraglia

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This paper investigates MIMO (Multiple-Input Multiple-Output) adaptive filtering techniques for the application of supervised source separation in the context of convolutive mixtures. From the observation that there is correlation among the signals of the different mixtures, an improvement in the NSAF (Normalized Subband Adaptive Filter) algorithm is proposed in order to accelerate its convergence rate. Simulation results with mixtures of speech signals in reverberant environments show the superior performance of the proposed algorithm with respect to the performances of the NLMS (Normalized Least-Mean-Square) and conventional NSAF, considering both the convergence speed and SIR (Signal-to-Interference Ratio) after convergence.

Keywords: adaptive filtering, multi-rate processing, normalized subband adaptive filter, source separation

Procedia PDF Downloads 435

Authors: John Tarus, Zhendong Niu, Bakhti Khadidja

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In recent years, e-learning recommender systems has attracted great attention as a solution towards addressing the problem of information overload in e-learning environments and providing relevant recommendations to online learners. E-learning recommenders continue to play an increasing educational role in aiding learners to find appropriate learning materials to support the achievement of their learning goals. Although general recommender systems have recorded significant success in solving the problem of information overload in e-commerce domains and providing accurate recommendations, e-learning recommender systems on the other hand still face some issues arising from differences in learner characteristics such as learning style, skill level and study level. Conventional recommendation techniques such as collaborative filtering and content-based deal with only two types of entities namely users and items with their ratings. These conventional recommender systems do not take into account the learner characteristics in their recommendation process. Therefore, conventional recommendation techniques cannot make accurate and personalized recommendations in e-learning environment. In this paper, we propose a recommendation technique combining collaborative filtering and ontology to recommend personalized learning materials to online learners. Ontology is used to incorporate the learner characteristics into the recommendation process alongside the ratings while collaborate filtering predicts ratings and generate recommendations. Furthermore, ontological knowledge is used by the recommender system at the initial stages in the absence of ratings to alleviate the cold-start problem. Evaluation results show that our proposed recommendation technique outperforms collaborative filtering on its own in terms of personalization and recommendation accuracy.

Keywords: collaborative filtering, e-learning, ontology, recommender system

Procedia PDF Downloads 380

Authors: Abdullah Eqal Al Mazrooei

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Kalman filter is a famous algorithm that utilizes to estimate the state in the linear systems. It has numerous applications in technology and science. Since of the most of applications in real life can be described by nonlinear systems. So, Kalman filter does not work with the nonlinear systems because it is suitable to linear systems only. In this work, a nonlinear filtering algorithm is presented which is suitable to use with the special kinds of nonlinear systems. This filter generalizes the Kalman filter. This means that this filter also can be used for the linear systems. Our algorithm depends on a special linearization of the second degree. We introduced the nonlinear algorithm with a bilinear state-space model. A simulation example is presented to illustrate the efficiency of the algorithm.

Keywords: Kalman filter, filtering algorithm, nonlinear systems, state-space model

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Authors: Ailing Yang, Penghan Song, Aihua Cai

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The nonlinear maneuvering target tracking problem is mainly a state estimation problem when the target motion model is uncertain. Traditional solutions include Kalman filtering based on Bayesian filtering framework and extended Kalman filtering. However, these methods need prior knowledge such as kinematics model and state system distribution, and their performance is poor in state estimation of nonprior complex dynamic systems. Therefore, in view of the problems existing in traditional algorithms, a convolution LSTM target state estimation (SAConvLSTM-SE) algorithm based on Self-Attention memory (SAM) is proposed to learn the historical motion state of the target and the error distribution information measured at the current time. The measured track point data of airborne radar are processed into data sets. After supervised training, the data-driven deep neural network based on SAConvLSTM can directly obtain the target state at the next moment. Through experiments on two different maneuvering targets, we find that the network has stronger robustness and better tracking accuracy than the existing tracking methods.

Keywords: maneuvering target, state estimation, Kalman filter, LSTM, self-attention

Procedia PDF Downloads 176

Authors: Xudong He, Jian Wang, Jiqiang Liu, Lei Han, Yang Yu, Shaohua Lv

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Nowadays, the threats of the internet are enormous and increasing; however, the classification of huge alert messages generated in this environment is relatively monotonous. It affects the accuracy of the network situation assessment, and also brings inconvenience to the security managers to deal with the emergency. In order to deal with potential network threats effectively and provide more effective data to improve the network situation awareness. It is essential to build a hierarchical filtering method to prevent the threats. In this paper, it establishes a model for data monitoring, which can filter systematically from the original data to get the grade of threats and be stored for using again. Firstly, it filters the vulnerable resources, open ports of host devices and services. Then use the entropy theory to calculate the performance changes of the host devices at the time of the threat occurring and filter again. At last, sort the changes of the performance value at the time of threat occurring. Use the alerts and performance data collected in the real network environment to evaluate and analyze. The comparative experimental analysis shows that the threat filtering method can effectively filter the threat alerts effectively.

Keywords: correlation analysis, hierarchical filtering, multisource data, network security

Procedia PDF Downloads 201

Authors: Syed Misbahuddin, Sagufta Kapadia

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Autonomous indoor drone navigation has been posed with various challenges, including the inability to use a Global Positioning System (GPS). As of now, Unmanned Aerial Vehicles (UAVs) either rely on 3D mapping systems or utilize external camera arrays to track the UAV in an enclosed environment. The objective of this paper is to develop an algorithm that utilizes Kalman Filtering to reduce noise, allowing the UAV to be navigated indoors using only the flight controller and an onboard companion computer. In this paper, open-source libraries are used to control the UAV, which will only use the onboard accelerometer on the flight controller to estimate the position through double integration. One of the advantages of such a system is that it allows for low-cost and lightweight UAVs to autonomously navigate indoors without advanced mapping of the environment or the use of expensive high-precision-localization sensors.

Keywords: accelerometer, indoor-navigation, Kalman-filtering, position-control

Procedia PDF Downloads 350