Search results for: fast generalized multi-directional Radon transform
1353 The Role of Artificial Intelligence in Criminal Procedure
Authors: Herke Csongor
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The artificial intelligence (AI) has been used in the United States of America in the decisionmaking process of the criminal justice system for decades. In the field of law, including criminal law, AI can provide serious assistance in decision-making in many places. The paper reviews four main areas where AI still plays a role in the criminal justice system and where it is expected to play an increasingly important role. The first area is the predictive policing: a number of algorithms are used to prevent the commission of crimes (by predicting potential crime locations or perpetrators). This may include the so-called linking hot-spot analysis, crime linking and the predictive coding. The second area is the Big Data analysis: huge amounts of data sets are already opaque to human activity and therefore unprocessable. Law is one of the largest producers of digital documents (because not only decisions, but nowadays the entire document material is available digitally), and this volume can only and exclusively be handled with the help of computer programs, which the development of AI systems can have an increasing impact on. The third area is the criminal statistical data analysis. The collection of statistical data using traditional methods required enormous human resources. The AI is a huge step forward in that it can analyze the database itself, based on the requested aspects, a collection according to any aspect can be available in a few seconds, and the AI itself can analyze the database and indicate if it finds an important connection either from the point of view of crime prevention or crime detection. Finally, the use of AI during decision-making in both investigative and judicial fields is analyzed in detail. While some are skeptical about the future role of AI in decision-making, many believe that the question is not whether AI will participate in decision-making, but only when and to what extent it will transform the current decision-making system.Keywords: artificial intelligence, international criminal cooperation, planning and organizing of the investigation, risk assessment
Procedia PDF Downloads 381352 Urban Logistics Dynamics: A User-Centric Approach to Traffic Modelling and Kinetic Parameter Analysis
Authors: Emilienne Lardy, Eric Ballot, Mariam Lafkihi
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Efficient urban logistics requires a comprehensive understanding of traffic dynamics, particularly as it pertains to kinetic parameters influencing energy consumption and trip duration estimations. While real-time traffic information is increasingly accessible, current high-precision forecasting services embedded in route planning often function as opaque 'black boxes' for users. These services, typically relying on AI-processed counting data, fall short in accommodating open design parameters essential for management studies, notably within Supply Chain Management. This work revisits the modelling of traffic conditions in the context of city logistics, emphasizing its significance from the user’s point of view, with two focuses. Firstly, the focus is not on the vehicle flow but on the vehicles themselves and the impact of the traffic conditions on their driving behaviour. This means opening the range of studied indicators beyond vehicle speed, to describe extensively the kinetic and dynamic aspects of the driving behaviour. To achieve this, we leverage the Art. Kinema parameters are designed to characterize driving cycles. Secondly, this study examines how the driving context (i.e., exogenous factors to the traffic flow) determines the mentioned driving behaviour. Specifically, we explore how accurately the kinetic behaviour of a vehicle can be predicted based on a limited set of exogenous factors, such as time, day, road type, orientation, slope, and weather conditions. To answer this question, statistical analysis was conducted on real-world driving data, which includes high-frequency measurements of vehicle speed. A Factor Analysis and a Generalized Linear Model have been established to link kinetic parameters with independent categorical contextual variables. The results include an assessment of the adjustment quality and the robustness of the models, as well as an overview of the model’s outputs.Keywords: factor analysis, generalised linear model, real world driving data, traffic congestion, urban logistics, vehicle kinematics
Procedia PDF Downloads 661351 Ten Patterns of Organizational Misconduct and a Descriptive Model of Interactions
Authors: Ali Abbas
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This paper presents a descriptive model of organizational misconduct based on observed patterns that occur before and after an ethical collapse. The patterns were classified by categorizing media articles in both "for-profit" and "not-for-profit" organizations. Based on the model parameters, the paper provides a descriptive model of various organizational deflection strategies under numerous scenarios, including situations where ethical complaints build-up, situations under which whistleblowers become more prevalent, situations where large scandals that relate to leadership occur, and strategies by which organizations deflect blame when pressure builds up or when media finds out. The model parameters start with the premise of a tolerance to double standards in unethical acts when conducted by leadership or by members of corporate governance. Following this premise, the model explains how organizations engage in discursive strategies to cover up the potential conflicts that arise, including secret agreements and weakening stakeholders who may oppose the organizational acts. Deflection strategies include "preemptive" and "post-complaint" secret agreements, absence of (or vague) documented procedures, engaging in blame and scapegoating, remaining silent on complaints until the media finds out, as well as being slow (if at all) to acknowledge misconduct and fast to cover it up. The results of this paper may be used to guide organizational leaders into the implications of such shortsighted strategies toward unethical acts, even if they are deemed legal. Validation of the model assumptions through numerous media articles is provided.Keywords: ethical decision making, prediction, scandals, organizational strategies
Procedia PDF Downloads 1251350 Tick Induced Facial Nerve Paresis: A Narrative Review
Authors: Jemma Porrett
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Background: We present a literature review examining the research surrounding tick paralysis resulting in facial nerve palsy. A case of an intra-aural paralysis tick bite resulting in unilateral facial nerve palsy is also discussed. Methods: A novel case of otoacariasis with associated ipsilateral facial nerve involvement is presented. Additionally, we conducted a review of the literature, and we searched the MEDLINE and EMBASE databases for relevant literature published between 1915 and 2020. Utilising the following keywords; 'Ixodes', 'Facial paralysis', 'Tick bite', and 'Australia', 18 articles were deemed relevant to this study. Results: Eighteen articles included in the review comprised a total of 48 patients. Patients' ages ranged from one year to 84 years of age. Ten studies estimated the possible duration between a tick bite and facial nerve palsy, averaging 8.9 days. Forty-one patients presented with a single tick within the external auditory canal, three had a single tick located on the temple or forehead region, three had post-auricular ticks, and one patient had a remarkable 44 ticks removed from the face, scalp, neck, back, and limbs. A complete ipsilateral facial nerve palsy was present in 45 patients, notably, in 16 patients, this occurred following tick removal. House-Brackmann classification was utilised in 7 patients; four patients with grade 4, one patient with grade three, and two patients with grade 2 facial nerve palsy. Thirty-eight patients had complete recovery of facial palsy. Thirteen studies were analysed for time to recovery, with an average time of 19 days. Six patients had partial recovery at the time of follow-up. One article reported improvement in facial nerve palsy at 24 hours, but no further follow-up was reported. One patient was lost to follow up, and one article failed to mention any resolution of facial nerve palsy. One patient died from respiratory arrest following generalized paralysis. Conclusions: Tick paralysis is a severe but preventable disease. Careful examination of the face, scalp, and external auditory canal should be conducted in patients presenting with otalgia and facial nerve palsy, particularly in tropical areas, to exclude the possibility of tick infestation.Keywords: facial nerve palsy, tick bite, intra-aural, Australia
Procedia PDF Downloads 1131349 An Application of Path Planning Algorithms for Autonomous Inspection of Buried Pipes with Swarm Robots
Authors: Richard Molyneux, Christopher Parrott, Kirill Horoshenkov
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This paper aims to demonstrate how various algorithms can be implemented within swarms of autonomous robots to provide continuous inspection within underground pipeline networks. Current methods of fault detection within pipes are costly, time consuming and inefficient. As such, solutions tend toward a more reactive approach, repairing faults, as opposed to proactively seeking leaks and blockages. The paper presents an efficient inspection method, showing that autonomous swarm robotics is a viable way of monitoring underground infrastructure. Tailored adaptations of various Vehicle Routing Problems (VRP) and path-planning algorithms provide a customised inspection procedure for complicated networks of underground pipes. The performance of multiple algorithms is compared to determine their effectiveness and feasibility. Notable inspirations come from ant colonies and stigmergy, graph theory, the k-Chinese Postman Problem ( -CPP) and traffic theory. Unlike most swarm behaviours which rely on fast communication between agents, underground pipe networks are a highly challenging communication environment with extremely limited communication ranges. This is due to the extreme variability in the pipe conditions and relatively high attenuation of acoustic and radio waves with which robots would usually communicate. This paper illustrates how to optimise the inspection process and how to increase the frequency with which the robots pass each other, without compromising the routes they are able to take to cover the whole network.Keywords: autonomous inspection, buried pipes, stigmergy, swarm intelligence, vehicle routing problem
Procedia PDF Downloads 1661348 Transport Medium That Prevents the Conversion of Helicobacter Pylori to the Coccoid Form
Authors: Eldar Mammadov, Konul Mammadova, Aytaj Ilyaszada
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Background: According to many studies, it is known that H. pylori transform into the coccoid form, which cannot be cultured and has poor metabolic activity.In this study, we succeeded in preserving the spiral shape of H.pylori for a long time by preparing a biphase transport medium with a hard bottom (Muller Hinton with 7% HRBC (horse red blood cells) agar 5ml) and liquid top part (BH (brain heart) broth + HS (horse serum)+7% HRBC+antibiotics (Vancomycin 5 mg, Trimethoprim lactate 25 mg, Polymyxin B 1250 I.U.)) in cell culture flasks with filter caps. For comparison, we also used a BH broth medium with 7% HRBC used for the transport of H.pylori. Methods: Rapid urease test positive 7 biopsy specimens were also inoculated into biphasic and BH broth medium with 7% HRBC, then put in CO2 Gaspak packages and sent to the laboratory. Then both mediums were kept in the thermostat at 37 °C for 1 day. After microscopic, PCR and urease test diagnosis, they were transferred to Columbia Agar with 7% HRBC. Incubated at 37°C for 5-7 days, cultures were examined for colony characteristics and bacterial morphology. E-test antimicrobial susceptibility test was performed. Results: There were 3 growths from biphasic transport medium passed to Columbia agar with 7% HRBC and only 1 growth from BH broth medium with 7% HRBC. It was also observed that after the first 3 days in BH broth medium with 7%, H.pylori passed into coccoid form and its biochemical activity weakened, while its spiral shape did not change for 2-3 weeks in the biphase transport medium. Conclusions: By using the biphase transport medium we have prepared; we can culture the bacterium by preventing H.pylori from spiraling into the coccoid form. In our opinion, this may result in the wide use of culture method for diagnosis of H.pylori, study of antibiotic susceptibility and molecular genetic analysis.Keywords: clinical trial, H.pylori, coccoid form, transport medium
Procedia PDF Downloads 731347 Rapid Identification and Diagnosis of the Pathogenic Leptospiras through Comparison among Culture, PCR and Real Time PCR Techniques from Samples of Human and Mouse Feces
Authors: S. Rostampour Yasouri, M. Ghane, M. Doudi
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Leptospirosis is one of the most significant infectious and zoonotic diseases along with global spreading. This disease is causative agent of economoic losses and human fatalities in various countries, including Northern provinces of Iran. The aim of this research is to identify and compare the rapid diagnostic techniques of pathogenic leptospiras, considering the multifacetedness of the disease from a clinical manifestation and premature death of patients. In the spring and summer of 2020-2022, 25 fecal samples were collected from suspected leptospirosis patients and 25 Fecal samples from mice residing in the rice fields and factories in Tonekabon city. Samples were prepared by centrifugation and passing through membrane filters. Culture technique was used in liquid and solid EMJH media during one month of incubation at 30°C. Then, the media were examined microscopically. DNA extraction was conducted by extraction Kit. Diagnosis of leptospiras was enforced by PCR and Real time PCR (SYBR Green) techniques using lipL32 specific primer. Out of the patients, 11 samples (44%) and 8 samples (32%) were determined to be pathogenic Leptospira by Real time PCR and PCR technique, respectively. Out of the mice, 9 Samples (36%) and 3 samples (12%) were determined to be pathogenic Leptospira by the mentioned techniques, respectively. Although the culture technique is considered to be the gold standard technique, but due to the slow growth of pathogenic Leptospira and lack of colony formation of some species, it is not a fast technique. Real time PCR allowed rapid diagnosis with much higher accuracy compared to PCR because PCR could not completely identify samples with lower microbial load.Keywords: culture, pathogenic leptospiras, PCR, real time PCR
Procedia PDF Downloads 851346 Cache Analysis and Software Optimizations for Faster on-Chip Network Simulations
Authors: Khyamling Parane, B. M. Prabhu Prasad, Basavaraj Talawar
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Fast simulations are critical in reducing time to market in CMPs and SoCs. Several simulators have been used to evaluate the performance and power consumed by Network-on-Chips. Researchers and designers rely upon these simulators for design space exploration of NoC architectures. Our experiments show that simulating large NoC topologies take hours to several days for completion. To speed up the simulations, it is necessary to investigate and optimize the hotspots in simulator source code. Among several simulators available, we choose Booksim2.0, as it is being extensively used in the NoC community. In this paper, we analyze the cache and memory system behaviour of Booksim2.0 to accurately monitor input dependent performance bottlenecks. Our measurements show that cache and memory usage patterns vary widely based on the input parameters given to Booksim2.0. Based on these measurements, the cache configuration having least misses has been identified. To further reduce the cache misses, we use software optimization techniques such as removal of unused functions, loop interchanging and replacing post-increment operator with pre-increment operator for non-primitive data types. The cache misses were reduced by 18.52%, 5.34% and 3.91% by employing above technology respectively. We also employ thread parallelization and vectorization to improve the overall performance of Booksim2.0. The OpenMP programming model and SIMD are used for parallelizing and vectorizing the more time-consuming portions of Booksim2.0. Speedups of 2.93x and 3.97x were observed for the Mesh topology with 30 × 30 network size by employing thread parallelization and vectorization respectively.Keywords: cache behaviour, network-on-chip, performance profiling, vectorization
Procedia PDF Downloads 1971345 Magnetized Cellulose Nanofiber Extracted from Natural Resources for the Application of Hexavalent Chromium Removal Using the Adsorption Method
Authors: Kebede Gamo Sebehanie, Olu Emmanuel Femi, Alberto Velázquez Del Rosario, Abubeker Yimam Ali, Gudeta Jafo Muleta
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Water pollution is one of the most serious worldwide issues today. Among water pollution, heavy metals are becoming a concern to the environment and human health due to their non-biodegradability and bioaccumulation. In this study, a magnetite-cellulose nanocomposite derived from renewable resources is employed for hexavalent chromium elimination by adsorption. Magnetite nanoparticles were synthesized directly from iron ore using solvent extraction and co-precipitation technique. Cellulose nanofiber was extracted from sugarcane bagasse using the alkaline treatment and acid hydrolysis method. Before and after the adsorption process, the MNPs-CNF composites were evaluated using X-ray diffraction (XRD), Scanning electron microscope (SEM), Fourier transform infrared (FTIR), and Vibrator sample magnetometer (VSM), and Thermogravimetric analysis (TGA). The impacts of several parameters such as pH, contact time, initial pollutant concentration, and adsorbent dose on adsorption efficiency and capacity were examined. The kinetic and isotherm adsorption of Cr (VI) was also studied. The highest removal was obtained at pH 3, and it took 80 minutes to establish adsorption equilibrium. The Langmuir and Freundlich isotherm models were used, and the experimental data fit well with the Langmuir model, which has a maximum adsorption capacity of 8.27 mg/g. The kinetic study of the adsorption process using pseudo-first-order and pseudo-second-order equations revealed that the pseudo-second-order equation was more suited for representing the adsorption kinetic data. Based on the findings, pure MNPs and MNPs-CNF nanocomposites could be used as effective adsorbents for the removal of Cr (VI) from wastewater.Keywords: magnetite-cellulose nanocomposite, hexavalent chromium, adsorption, sugarcane bagasse
Procedia PDF Downloads 1291344 Economic Recession and its Psychological Effects on Educated Youth: A Case Study of Pakistan
Authors: Aroona Hashmi
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An economic recession can lead people to feel more insecure about their financial situation. The series of events leading into a recession can be especially distressing for Educated Youth. One of the most salient factors linking economic recession to psychological distress is unemployment. It is proved that a large number of educated young people are facing higher unemployment rate in Pakistan. Young people are likely to get frustrated at the lack of opportunities made available to them. If the young population increases more rapidly than job opportunities, then number of unemployment is likely to increase. The aim of present study was to investigate the relationship between economic instability, growing rate of aggression and frustration among educated youth. The study aimed to find out the impact of increased economic instability on the learning abilities of the students. Data was gathered from six university students of Punjab, Pakistan. The sample of the study consisted of three hundred male and female university students. The data was analyzed by applying Chi -square test. The results of the research indicate that there is a significant relationship between low household income and growing rate of aggression among educated youth. The increasing trend of economic instability significantly influences the learning abilities of the students. The study concludes that feeling of deprivation produce frustration and could be expressed through aggression. Therefore, if factors that are responsible for youth unemployment in Pakistan are addressed, psychological effects will be reduced. The right way of tackling the youth bulge is to turn the youth into a productive workforce. There is a dire need to transform the education system to societal needs. At the same time creating demand for the young workforce is achieved through dynamic changes in the economic structure.Keywords: psychological effects, economic recession, educated youth, environmental factors
Procedia PDF Downloads 3881343 Case Study: Geomat Installation against Slope Erosion
Authors: Serap Kaymakci, Dogan Gundogdu, M. Bugra Yagcioglu
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Erosion (soil erosion) is a phenomenon in which the soil on the slope surface is exposed to natural influences such as wind, rainfall, etc. in open areas. The most natural solution to prevent erosion is to plant surfaces exposed to erosion. However, proper ground and natural conditions must be provided in order for planting to occur. Erosion is prevented in a fast and natural way and the loss of soil is reduced mostly. Lead to allowing plants to hold onto the soil with its three-dimensional and hollow structure are as follows: The types of geomat called MacMat that is used in a case study in Turkey in order to prevent water carry over due to rainfall. The geosynthetic combined with double twisted steel wire mesh. That consists of 95% Zn–5% Al alloy coated double twisted steel wire based that is a reinforced MacMat (geosynthetic three-dimensional erosion control mat) obtained by a polypropylene consisted (mesh type 8x10-Wire diam. 2.70 mm–95% Zn–5% Al alloy coated). That is developed by the progress of the technology. When using reinforced MacMat on top clay liners, fixing pins should not be used as they will rupture the mats. Mats are simply anchored (J Type) in the top trench and, if necessary, in intermediate berm trenches. If the slope angle greater than 20°, it is necessary to use additional rebar depending soil properties also. These applications may have specific technical and installation requirements. In that project, the main purpose is erosion control after that is greening. There is a slope area around the factory which is located in Gebze, İstanbul.Keywords: erosion, GeoMat, geosynthetic, slope
Procedia PDF Downloads 1761342 Research on Audiovisual Perception in Stairway Spaces of Mountain City Parks Based on Real-Scene EEG Monitoring
Authors: Yang Xinyu, Gong Cong, Hu Changjuan
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Stairway spaces are a crucial component of the pathway systems and vertical transportation networks in mountain city parks. These spaces are closely integrated with the undulating terrain of mountain environments, resulting in continuously changing spatial conditions that can significantly influence participants' behavioral characteristics, thereby affecting their perception. EEG signals, which have been proven to reflect various non-attentive physiological activities in the brain, are widely used in studies related to stress recovery effects and emotional perception. Existing research predominantly examines the impact of spatial characteristics and landscape elements of trails and greenways in plain cities on participants' perception, utilizing EEG signals in laboratory-simulated environments. These studies have preliminarily revealed the relationship between spatial environments and perception preferences. However, on-site ergonomics research in mountain environments remains relatively underdeveloped. To address this gap, the Stairway spaces in Pipashan Park, Chongqing, were selected as the research object. Wearable hydrogel EEG devices were employed to monitor participants' EEG data in real environments, and a Generalized Linear Mixed Model (GLMM) was constructed to explore differences in participants' perception under different paths and modes of movement, as well as the impact of visual and auditory environmental elements within each path on their perception. The model analysis results indicate significant differences in EEG data across different paths and movement modes. Additionally, typical mountainous spatial characteristics, such as openness, green view index, and elevation difference, are identified as key factors influencing participants' EEG data. Higher levels of natural sound and green view index were shown to effectively alleviate participants' stress perception in mountain stairway spaces. The findings reveal the intrinsic connections between environment, behavior, and perception in stairway spaces of mountain city parks, providing a theoretical basis for optimizing the design of stairway spaces in mountain cities.Keywords: audio-visual perception, EEG monitoring, mountain city park, real environment, stairway space
Procedia PDF Downloads 171341 Role of Green Ecology in Business Development
Authors: Ashfaq Ahmed Kharal
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The study asserts that environment-friendly practices are increasingly being used by businesses throughout the world. Today, there is a great deal of interest in green management from both practitioners and academics. People expect managers to use resources intelligently and responsibly and to minimize the use of water, minerals, and other components in the finished products, as a crucial factor in this passion. The ethical or moral relevance of green management cannot be overstated. Employee Green Behavior (EGB) and environmental sustainability were shown to be significantly influenced by green human resource management (GHRM) in this study. Environmental issues, such as climate change, global warming, and resource conservation have a direct impact on business activities. The environment, society, and economy all suffer as a result of such obstacles. The depletion of natural resources needs immediate replenishment. As a result of government, non-governmental organizations (NGOs), environmental activists, and labor unions putting pressure on businesses and firms are now required to operate in ecologically responsible ways. Organizations are increasingly concerned about environmental sustainability in light of contemporary environmental circumstances and commercial marketplaces. Companies that emphasize long-term viability will benefit from integrating green employee behavior, green human resource management techniques, and environmental sustainability. Competition drives firms to respond to external causes, adapt, and evolve in response to changing conditions in the marketplace. Organizations develop strategic capabilities to transform their resources and acquire a competitive edge while implementing a business plan. The study of GHRM's function is being prioritized since environmental sustainability is becoming a more important strategic goal.Keywords: EGB, GHRM, environment sustainability, green ecology
Procedia PDF Downloads 1051340 Ex-Offenders’ Labelling, Stigmatisation and Unsuccessful Re-Integration as Factors Leading into Recidivism: A South African Context
Authors: Tshimangadzo Oscar Magadze
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For successful re-integration, the individual offender must adapt and transform, which requires that the offender should adopt and internalise socially approved norms, attitudes, values, and beliefs. However, the offender’s labelling and community stigmatisation decide the destination of the offender. Community involvement in ex-offenders’ re-integration is an important issue in efforts to reduce recidivism and to control overcrowding in our correctional facilities. Crime is a social problem that requires society to come together to fight against it. This study was conducted in the Limpopo Province in Vhembe District Municipality within four local municipalities, namely Musina, Makhado, Mutale, and Thulamela. A total number of 30 participants were interviewed, and all were members of the Community Corrections Forums. This was necessitated by the fact that Musina is a very small area, which compelled the Department of Correctional Services to combine the two (Musina and Makhado) into one social re-integration entity. This is a qualitative research study where participants were selected through the use of purposive sampling. Participants were selected based on the value they would add to this study in order to achieve the objectives. The data collection method of this study was the focus group, which comprised of three groups of 10 participants each. Thulamela and Mutale local municipalities formed a group with (10) participants each, whereas Musina (2) and Makhado (8) formed another. Results indicate that the current situation is not conducive for re-integration to be successful. Participants raised many factors that need serious redress, namely offenders’ discrimination, lack of forgiveness by members of the community, which is fuelled by lack of community awareness due to the failure of the Department of Correctional Services in educating communities on ex-offenders’ re-integration.Keywords: ex-offender, labeling, re-integration, stigmatization
Procedia PDF Downloads 1471339 Non-Invasive Data Extraction from Machine Display Units Using Video Analytics
Authors: Ravneet Kaur, Joydeep Acharya, Sudhanshu Gaur
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Artificial Intelligence (AI) has the potential to transform manufacturing by improving shop floor processes such as production, maintenance and quality. However, industrial datasets are notoriously difficult to extract in a real-time, streaming fashion thus, negating potential AI benefits. The main example is some specialized industrial controllers that are operated by custom software which complicates the process of connecting them to an Information Technology (IT) based data acquisition network. Security concerns may also limit direct physical access to these controllers for data acquisition. To connect the Operational Technology (OT) data stored in these controllers to an AI application in a secure, reliable and available way, we propose a novel Industrial IoT (IIoT) solution in this paper. In this solution, we demonstrate how video cameras can be installed in a factory shop floor to continuously obtain images of the controller HMIs. We propose image pre-processing to segment the HMI into regions of streaming data and regions of fixed meta-data. We then evaluate the performance of multiple Optical Character Recognition (OCR) technologies such as Tesseract and Google vision to recognize the streaming data and test it for typical factory HMIs and realistic lighting conditions. Finally, we use the meta-data to match the OCR output with the temporal, domain-dependent context of the data to improve the accuracy of the output. Our IIoT solution enables reliable and efficient data extraction which will improve the performance of subsequent AI applications.Keywords: human machine interface, industrial internet of things, internet of things, optical character recognition, video analytics
Procedia PDF Downloads 1091338 Low Energy Technology for Leachate Valorisation
Authors: Jesús M. Martín, Francisco Corona, Dolores Hidalgo
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Landfills present long-term threats to soil, air, groundwater and surface water due to the formation of greenhouse gases (methane gas and carbon dioxide) and leachate from decomposing garbage. The composition of leachate differs from site to site and also within the landfill. The leachates alter with time (from weeks to years) since the landfilled waste is biologically highly active and their composition varies. Mainly, the composition of the leachate depends on factors such as characteristics of the waste, the moisture content, climatic conditions, degree of compaction and the age of the landfill. Therefore, the leachate composition cannot be generalized and the traditional treatment models should be adapted in each case. Although leachate composition is highly variable, what different leachates have in common is hazardous constituents and their potential eco-toxicological effects on human health and on terrestrial ecosystems. Since leachate has distinct compositions, each landfill or dumping site would represent a different type of risk on its environment. Nevertheless, leachates consist always of high organic concentration, conductivity, heavy metals and ammonia nitrogen. Leachate could affect the current and future quality of water bodies due to uncontrolled infiltrations. Therefore, control and treatment of leachate is one of the biggest issues in urban solid waste treatment plants and landfills design and management. This work presents a treatment model that will be carried out "in-situ" using a cost-effective novel technology that combines solar evaporation/condensation plus forward osmosis. The plant is powered by renewable energies (solar energy, biomass and residual heat), which will minimize the carbon footprint of the process. The final effluent quality is very high, allowing reuse (preferred) or discharge into watercourses. In the particular case of this work, the final effluents will be reused for cleaning and gardening purposes. A minority semi-solid residual stream is also generated in the process. Due to its special composition (rich in metals and inorganic elements), this stream will be valorized in ceramic industries to improve the final products characteristics.Keywords: forward osmosis, landfills, leachate valorization, solar evaporation
Procedia PDF Downloads 2021337 Meta Model for Optimum Design Objective Function of Steel Frames Subjected to Seismic Loads
Authors: Salah R. Al Zaidee, Ali S. Mahdi
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Except for simple problems of statically determinate structures, optimum design problems in structural engineering have implicit objective functions where structural analysis and design are essential within each searching loop. With these implicit functions, the structural engineer is usually enforced to write his/her own computer code for analysis, design, and searching for optimum design among many feasible candidates and cannot take advantage of available software for structural analysis, design, and searching for the optimum solution. The meta-model is a regression model used to transform an implicit objective function into objective one and leads in turn to decouple the structural analysis and design processes from the optimum searching process. With the meta-model, well-known software for structural analysis and design can be used in sequence with optimum searching software. In this paper, the meta-model has been used to develop an explicit objective function for plane steel frames subjected to dead, live, and seismic forces. Frame topology is assumed as predefined based on architectural and functional requirements. Columns and beams sections and different connections details are the main design variables in this study. Columns and beams are grouped to reduce the number of design variables and to make the problem similar to that adopted in engineering practice. Data for the implicit objective function have been generated based on analysis and assessment for many design proposals with CSI SAP software. These data have been used later in SPSS software to develop a pure quadratic nonlinear regression model for the explicit objective function. Good correlations with a coefficient, R2, in the range from 0.88 to 0.99 have been noted between the original implicit functions and the corresponding explicit functions generated with meta-model.Keywords: meta-modal, objective function, steel frames, seismic analysis, design
Procedia PDF Downloads 2431336 A Multi-Templated Fe-Ni-Cu Ion Imprinted Polymer for the Selective and Simultaneous Removal of Toxic Metallic Ions from Wastewater
Authors: Morlu Stevens, Bareki Batlokwa
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The use of treated wastewater is widely employed to compensate for the scarcity of safe and uncontaminated freshwater. However, the existence of toxic heavy metal ions in the wastewater pose a health hazard to animals and the environment, hence, the importance for an effective technique to tackle the challenge. A multi-templated ion imprinted sorbent (Fe,Ni,Cu-IIP) for the simultaneous removal of heavy metal ions from waste water was synthesised employing molecular imprinting technology (MIT) via thermal free radical bulk polymerization technique. Methacrylic acid (MAA) was employed as the functional monomer, and ethylene glycol dimethylacrylate (EGDMA) as cross-linking agent, azobisisobutyronitrile (AIBN) as the initiator, Fe, Ni, Cu ions as template ions, and 1,10-phenanthroline as the complexing agent. The template ions were exhaustively washed off the synthesized polymer by solvent extraction in several washing steps, while periodically increasing solvent (HCl) concentration from 1.0 M to 10.0 M. The physical and chemical properties of the sorbents were investigated using Fourier Transform Infrared Spectroscopy (FT-IR), X-ray Diffraction (XRD) and Atomic Force Microscopy (AFM) were employed. Optimization of operational parameters such as time, pH and sorbent dosage to evaluate the effectiveness of sorbents were investigated and found to be 15 min, 7.5 and 666.7 mg/L respectively. Selectivity of ion-imprinted polymers and competitive sorption studies between the template and similar ions were carried out and showed good selectivity towards the targeted metal ion by removing 90% - 98% of the templated ions as compared to 58% - 62% of similar ions. The sorbents were further applied for the selective removal of Fe, Ni and Cu from real wastewater samples and recoveries of 92.14 ± 0.16% - 106.09 ± 0.17% and linearities of R2 = 0.9993 - R2 = 0.9997 were achieved.Keywords: ion imprinting, ion imprinted polymers, heavy metals, wastewater
Procedia PDF Downloads 3141335 Chrysin-Loaded PLGA-PEG Nanoparticles Designed for Enhanced Inhibitory Effect on the Breast Cancer Cell Line
Authors: Faraz Zarghami, Elham Anari, Nosratollah Zarghami, Yones Pilehvar-Soltanahmadi, Abolfazl Akbarzadeh, Sepideh Jalilzadeh-Tabrizi
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The development of nanotherapy has presented a new method of drug delivery targeted directly to the neoplasmic tissues, to maximize the action with fewer dose requirements. In the past two decades, poly(lactic-co-glycolic acid) (PLGA) has frequently been investigated by many researchers and is a popular polymeric candidate, due to its biocompatibility and biodegradability, exhibition of a wide range of erosion times, tunable mechanical properties, and most notably, because it is a FDA-approved polymer. Chrysin is a natural flavonoid which has been reported to have some significant biological effects on the processes of chemical defense, nitrogen fixation, inflammation, and oxidation. However, the low solubility in water decreases its bioavailability and consequently disrupts the biomedical benefits. Being loaded with PLGA-PEG increases chrysin solubility and drug tolerance, and decreases the discordant effects of the drug. The well-structured chrysin efficiently accumulates in the breast cancer cell line (T47D). In the present study, the structure and chrysin loading were delineated using proton nuclear magnetic resonance (HNMR), Fourier-transform infrared spectroscopy (FT-IR), and scanning electron microscopy (SEM), and the in vitro cytotoxicity of pure and nanochrysin was studied by the MTT assay. Next, the RNA was exploited and the cytotoxic effects of chrysin were studied by real-time PCR. In conclusion, the nanochrysin therapy developed is a novel method that could increase cytotoxicity to cancer cells without damaging the normal cells, and would be promising in breast cancer therapy.Keywords: MTT assay, chrysin, flavonoids, nanotherapy
Procedia PDF Downloads 2511334 Phytochemical Analysis and Antioxidant Activity of Colocasia esculenta (L.) Leaves
Authors: Amit Keshav, Alok Sharma, Bidyut Mazumdar
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Colocasia esculenta leaves and roots are widely used in Asian countries, such as, India, Srilanka and Pakistan, as food and feed material. The root is high in carbohydrates and rich in zinc. The leaves and stalks are often traditionally preserved to be eaten in dry season. Leaf juice is stimulant, expectorant, astringent, appetizer, and otalgia. Looking at the medicinal uses of the plant leaves; phytochemicals were extracted from the plant leaves and were characterized using Fourier-transform infrared spectroscopy (FTIR) to find the functional groups. Phytochemical analysis of Colocasia esculenta (L.) leaf was studied using three solvents (methanol, chloroform, and ethanol) with soxhlet apparatus. Powder of the leaves was employed to obtain the extracts, which was qualitatively and quantitatively analyzed for phytochemical content using standard methods. Phytochemical constituents were abundant in the leave extract. Leaf was found to have various phytochemicals such as alkaloids, glycosides, flavonoids, terpenoids, saponins, oxalates and phenols etc., which could have lot of medicinal benefits such as reducing headache, treatment of congestive heart failure, prevent oxidative cell damage etc. These phytochemicals were identified using UV spectrophotometer and results were presented. In order to find the antioxidant activity of the extract, DPPH (2,2-diphenyl-1-picrylhydrazyl) method was employed using ascorbic acid as standard. DPPH scavenging activity of ascorbic acid was found to be 84%, whereas for ethanol it was observed to be 78.92%, for methanol: 76.46% and for chloroform: 72.46%. Looking at the high antioxidant activity, Colocasia esculenta may be recommended for medicinal applications. The characterizations of functional groups were analyzed using FTIR spectroscopy.Keywords: antioxidant activity, Colocasia esculenta, leaves, characterization, FTIR
Procedia PDF Downloads 2351333 Comparative Study on the Effect of Substitution of Li and Mg Instead of Ca on Structural and Biological Behaviors of Silicate Bioactive Glass
Authors: Alireza Arab, Morteza Elsa, Amirhossein Moghanian
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In this study, experiments were carried out to achieve a promising multifunctional and modified silicate based bioactive glass (BG). The main aim of the study was investigating the effect of lithium (Li) and magnesium (Mg) substitution, on in vitro bioactivity of substituted-58S BG. Moreover, it is noteworthy to state that modified BGs were synthesized in 60SiO2–(36-x)CaO–4P2O5–(x)Li2O and 60SiO2–(36-x)CaO–4P2O5–(x)MgO (where x = 0, 5, 10 mol.%) quaternary systems, by sol-gel method. Their performance was investigated through different aspects such as biocompatibility, antibacterial activity as well as their effect on alkaline phosphatase (ALP) activity, and proliferation of MC3T3 cells. The antibacterial efficiency was evaluated against methicillin-resistant Staphylococcus aureus bacteria. To do so, CaO was substituted with Li2O and MgO up to 10 mol % in 58S-BGs and then samples were immersed in simulated body fluid up to 14 days and then, characterized by X-ray diffraction, Fourier transform infrared spectroscopy, inductively coupled plasma atomic emission spectrometry, and scanning electron microscopy. Results indicated that this modification led to a retarding effect on in vitro hydroxyapatite (HA) formation due to the lower supersaturation degree for nucleation of HA compared with 58s-BG. Meanwhile, magnesium revealed further pronounced effect. The 3-(4,5 dimethylthiazol-2-yl)-2,5 diphenyltetrazolium bromide (MTT) and ALP analysis illustrated that substitutions of both Li2O and MgO, up to 5 mol %, had increasing effect on biocompatibility and stimulating proliferation of the pre-osteoblast MC3T3 cells in comparison to the control specimen. Regarding to bactericidal efficiency, the substitution of either Li or Mg for Ca in the 58s BG composition led to statistically significant difference in antibacterial behaviors of substituted-BGs. Meanwhile, the sample containing 5 mol % CaO/Li2O substitution (BG-5L) was selected as a multifunctional biomaterial in bone repair/regeneration due to the improved biocompatibility, enhanced ALP activity and antibacterial efficiency among all of the synthesized L-BGs and M-BGs.Keywords: alkaline, alkaline earth, bioactivity, biomedical applications, sol-gel processes
Procedia PDF Downloads 1081332 Chitosan Doped Curcumin Gold Clusters Flexible Nanofiber for Wound Dressing and Anticancer Activities
Authors: Saravanan Govindaraju, Kyusik Yun
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The purpose of this study is to develop the chitosan doped curcumin gold cluster nanofiber for wound healing and skin cancer drug delivery applications. Chitosan is a typical marine polysaccharide composed of glucosamine and n-acetyl glucosamine biodegradable and biocompatible polymer. Curcumin is a natural bioactive molecule obtained from Curcuma longo, it mostly occurs in some Asian countries like India and China. It has naturally antioxidant, antimicrobial, wound healing and anticancer property. Due to this advantage, we prepared a combination of natural polymer chitosan with Curcumin and gold nanocluster nanofiber (CH-CUR-AuNCs nanofibers). The prepared nanofiber was characterized by using Fourier transform infrared spectroscopy (FT-IR), and scanning electron microscopy (SEM). Antibacterial studies were performed with E.coli and S.aureus. Antioxidant assay, drug release test, and cytotoxicity will be evaluated. Prepared nanofiber emits low intensity of red fluorescent. The FTIR confirm the presence of chitosan and Curcumin in the nanofiber. In vitro study clearly shows the antibacterial activity against the gram negative and gram positive bacteria. Particularly, synthesised nanofibers provide better antibacterial activity against gram negative than gram positive. Cytotoxicity study also provides better killing rate in cancer cell, biocompatible with normal cell. Prepared CH-CUR-AuNCs nanofibers provide the better killing rate to bacterial strains and cancer cells. Finally, prepared nanofiber can be possible to use for wound healing dressing, patch for skin cancer and other biomedical applications.Keywords: curcumin, chitosan, gold clusters, nanofibers
Procedia PDF Downloads 2611331 Prototype Development of Knitted Buoyant Swimming Vest for Children
Authors: Nga-Wun Li, Chu-Po Ho, Kit-Lun Yick, Jin-Yun Zhou
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The use of buoyant vests incorporated with swimsuits can develop children’s confidence in the water, particularly for novice swimmers. Consequently, parents intend to purchase buoyant swimming vests for the children to reduce their anxiety to water. Although the conventional buoyant swimming vests can provide the buoyant function to the wearer, their bulkiness and hardness make children feel uncomfortable and not willing to wear. This study aimed to apply inlay knitting technology to design new functional buoyant swimming vests for children. This prototype involved a shell and a buoyant knitted layer, which is the main media to provide buoyancy. Polypropylene yarn and 6.4 mm of Expandable Polyethylene (EPE) foam were fabricated in Full needle stitch with inlay knitting technology and were then linked by sewing to form the buoyant layer. The shell of the knitted buoyant vest was made of Polypropylene circular knitted fabric. The structure of knitted fabrics of the buoyant swimsuit makes them inherently stretchable, and the arrangement of the inlaid material was designed based on the body movement that can improve the ease with which the swimmer moves. Further, the shoulder seam is designed at the back to minimize the irritation of the wearer. Apart from maintaining the buoyant function to them, this prototype shows its contribution in reducing bulkiness and improving softness to the conventional buoyant swimming vest by taking the advantages of a knitted garment. The results in this study are significant to the development of the buoyant swimming vest for both the textile and the fast-growing sportswear industry.Keywords: knitting technology, buoyancy, inlay, swimming vest, functional garment
Procedia PDF Downloads 1121330 Review of Numerical Models for Granular Beds in Solar Rotary Kilns for Thermal Applications
Authors: Edgar Willy Rimarachin Valderrama, Eduardo Rojas Parra
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Thermal energy from solar radiation is widely present in power plants, food drying, chemical reactors, heating and cooling systems, water treatment processes, hydrogen production, and others. In the case of power plants, one of the technologies available to transform solar energy into thermal energy is by solar rotary kilns where a bed of granular matter is heated through concentrated radiation obtained from an arrangement of heliostats. Numerical modeling is a useful approach to study the behavior of granular beds in solar rotary kilns. This technique, once validated with small-scale experiments, can be used to simulate large-scale processes for industrial applications. This study gives a comprehensive classification of numerical models used to simulate the movement and heat transfer for beds of granular media within solar rotary furnaces. In general, there exist three categories of models: 1) continuum, 2) discrete, and 3) multiphysics modeling. The continuum modeling considers zero-dimensional, one-dimensional and fluid-like models. On the other hand, the discrete element models compute the movement of each particle of the bed individually. In this kind of modeling, the heat transfer acts during contacts, which can occur by solid-solid and solid-gas-solid conduction. Finally, the multiphysics approach considers discrete elements to simulate grains and a continuous modeling to simulate the fluid around particles. This classification allows to compare the advantages and disadvantages for each kind of model in terms of accuracy, computational cost and implementation.Keywords: granular beds, numerical models, rotary kilns, solar thermal applications
Procedia PDF Downloads 341329 A Study of Indoor Comfort in Affordable Contemporary Courtyard Housing with Outdoor Welfare in Afghan Sustainable Neighborhoods
Authors: Mohammad Saraj Sharifzai, Keisuke Kitagawa, Ahmad Javid Habib Mohammad Kamil Halimee, Daishi Sakaguchi
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The main purpose of this research is to recognize indoor comfort in contemporary Afghan courtyard house with outdoor welfare in housing layout and neighborhood design where sustainability is a local consideration. This research focuses on three new neighborhoods (Gawoond) in three different provinces of Afghanistan. Since 2001, the capital Kabul and major cities including Kandahar, which will be compared with Peshawar city in Pakistan, have faced a fast, rough-and-tumble process of urban innovation. The effects of this innovation necessitate reconsideration of the formation of sustainable urban environments and in-house thermal comfort. The lack of sustainable urban life in many newly developed Afghan neighborhoods can pose a major challenge to the process of sustainable urban development. Several factors can affect the success or failure of new neighborhoods in the context of urban life. For thermal analysis, we divide our research into three different climatic zones. This study is an evaluation of the environmental impacts of the interior comfort of contemporary courtyard housing with the exterior welfare of neighborhood sustainable design strategy in dry and cold, semi-hot and arid, and semi-humid and hot climates in Afghan cities and Peshawar.Keywords: Afghan contemporary courtyard house, neighbourhood, street pattern and housing layout, sustainability, welfare, comfort, climate zone, Afghanistan
Procedia PDF Downloads 4291328 CFD-Parametric Study in Stator Heat Transfer of an Axial Flux Permanent Magnet Machine
Authors: Alireza Rasekh, Peter Sergeant, Jan Vierendeels
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This paper copes with the numerical simulation for convective heat transfer in the stator disk of an axial flux permanent magnet (AFPM) electrical machine. Overheating is one of the main issues in the design of AFMPs, which mainly occurs in the stator disk, so that it needs to be prevented. A rotor-stator configuration with 16 magnets at the periphery of the rotor is considered. Air is allowed to flow through openings in the rotor disk and channels being formed between the magnets and in the gap region between the magnets and the stator surface. The rotating channels between the magnets act as a driving force for the air flow. The significant non-dimensional parameters are the rotational Reynolds number, the gap size ratio, the magnet thickness ratio, and the magnet angle ratio. The goal is to find correlations for the Nusselt number on the stator disk according to these non-dimensional numbers. Therefore, CFD simulations have been performed with the multiple reference frame (MRF) technique to model the rotary motion of the rotor and the flow around and inside the machine. A minimization method is introduced by a pattern-search algorithm to find the appropriate values of the reference temperature. It is found that the correlations are fast, robust and is capable of predicting the stator heat transfer with a good accuracy. The results reveal that the magnet angle ratio diminishes the stator heat transfer, whereas the rotational Reynolds number and the magnet thickness ratio improve the convective heat transfer. On the other hand, there a certain gap size ratio at which the stator heat transfer reaches a maximum.Keywords: AFPM, CFD, magnet parameters, stator heat transfer
Procedia PDF Downloads 2501327 The Right to Development as Constitutive and Prescriptive Right: The Lower Omo Valley Case of Ethiopia
Authors: Kebene K. Wodajo
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The right to development (RTD) has gone through different phases of metamorphoses, from the right to economic growth to full human development. Despite the fact that Africa has taken the lead in articulating and recognizing the RTD in a binding multilateral human rights treaty, realization of the right poses a challenge at the operational level. The challenge is worse in Sub-Saharan Africa, mainly because governments often tend to set economic growth as their ultimate goal, with very little consideration to the local peoples’ welfare in their territory. Ethiopia is not an exception to this. While recording a fast economic growth, yet this has been accompanied by increasing severity of multidimensional poverty. This paper explores the place of the ‘people’ in the development trajectory Ethiopia is pursuing and if and how a right-based approach to development could be brought to practice beyond the rhetoric. By inquiring into the place of the ‘people’, the paper attempts to show whether the people are at the center or at the periphery, beneficiary or victims of the ongoing development. In doing so, it divulges the gulf between the rhetoric and the reality of development practice. By asking/discussing if and how a right-based approach to development could bridge the gap, the paper shows how this approach could translate ‘people’s’ need into right, and recognize them as active subjects and stakeholders of the process of development. As an instance of showing the gap, the paper takes the Lower Omo valley sugar plantation project as a case in point. Through analysis the paper demonstrates that the development trajectory being followed by Ethiopia falls short of fitting into the human development discourse of UN Declaration on the Right to Development (DRD), the African Charter on People and Human Rights (the Charter) and the Ethiopian constitution. The paper argues that Ethiopia’s development efforts must take account of both the constitutive and prescriptive nature of the RTD if social equity is to be met.Keywords: development, Ethiopia, lower Omo valley, right-based approach, right to development, people, people’s right
Procedia PDF Downloads 3231326 Unsupervised Segmentation Technique for Acute Leukemia Cells Using Clustering Algorithms
Authors: N. H. Harun, A. S. Abdul Nasir, M. Y. Mashor, R. Hassan
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Leukaemia is a blood cancer disease that contributes to the increment of mortality rate in Malaysia each year. There are two main categories for leukaemia, which are acute and chronic leukaemia. The production and development of acute leukaemia cells occurs rapidly and uncontrollable. Therefore, if the identification of acute leukaemia cells could be done fast and effectively, proper treatment and medicine could be delivered. Due to the requirement of prompt and accurate diagnosis of leukaemia, the current study has proposed unsupervised pixel segmentation based on clustering algorithm in order to obtain a fully segmented abnormal white blood cell (blast) in acute leukaemia image. In order to obtain the segmented blast, the current study proposed three clustering algorithms which are k-means, fuzzy c-means and moving k-means algorithms have been applied on the saturation component image. Then, median filter and seeded region growing area extraction algorithms have been applied, to smooth the region of segmented blast and to remove the large unwanted regions from the image, respectively. Comparisons among the three clustering algorithms are made in order to measure the performance of each clustering algorithm on segmenting the blast area. Based on the good sensitivity value that has been obtained, the results indicate that moving k-means clustering algorithm has successfully produced the fully segmented blast region in acute leukaemia image. Hence, indicating that the resultant images could be helpful to haematologists for further analysis of acute leukaemia.Keywords: acute leukaemia images, clustering algorithms, image segmentation, moving k-means
Procedia PDF Downloads 2911325 A Fast Community Detection Algorithm
Authors: Chung-Yuan Huang, Yu-Hsiang Fu, Chuen-Tsai Sun
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Community detection represents an important data-mining tool for analyzing and understanding real-world complex network structures and functions. We believe that at least four criteria determine the appropriateness of a community detection algorithm: (a) it produces useable normalized mutual information (NMI) and modularity results for social networks, (b) it overcomes resolution limitation problems associated with synthetic networks, (c) it produces good NMI results and performance efficiency for Lancichinetti-Fortunato-Radicchi (LFR) benchmark networks, and (d) it produces good modularity and performance efficiency for large-scale real-world complex networks. To our knowledge, no existing community detection algorithm meets all four criteria. In this paper, we describe a simple hierarchical arc-merging (HAM) algorithm that uses network topologies and rule-based arc-merging strategies to identify community structures that satisfy the criteria. We used five well-studied social network datasets and eight sets of LFR benchmark networks to validate the ground-truth community correctness of HAM, eight large-scale real-world complex networks to measure its performance efficiency, and two synthetic networks to determine its susceptibility to resolution limitation problems. Our results indicate that the proposed HAM algorithm is capable of providing satisfactory performance efficiency and that HAM-identified communities were close to ground-truth communities in social and LFR benchmark networks while overcoming resolution limitation problems.Keywords: complex network, social network, community detection, network hierarchy
Procedia PDF Downloads 2271324 Fast Return Path Planning for Agricultural Autonomous Terrestrial Robot in a Known Field
Authors: Carlo Cernicchiaro, Pedro D. Gaspar, Martim L. Aguiar
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The agricultural sector is becoming more critical than ever in view of the expected overpopulation of the Earth. The introduction of robotic solutions in this field is an increasingly researched topic to make the most of the Earth's resources, thus going to avoid the problems of wear and tear of the human body due to the harsh agricultural work, and open the possibility of a constant careful processing 24 hours a day. This project is realized for a terrestrial autonomous robot aimed to navigate in an orchard collecting fallen peaches below the trees. When it receives the signal indicating the low battery, it has to return to the docking station where it will replace its battery and then return to the last work point and resume its routine. Considering a preset path in orchards with tree rows with variable length by which the robot goes iteratively using the algorithm D*. In case of low battery, the D* algorithm is still used to determine the fastest return path to the docking station as well as to come back from the docking station to the last work point. MATLAB simulations were performed to analyze the flexibility and adaptability of the developed algorithm. The simulation results show an enormous potential for adaptability, particularly in view of the irregularity of orchard field, since it is not flat and undergoes modifications over time from fallen branch as well as from other obstacles and constraints. The D* algorithm determines the best route in spite of the irregularity of the terrain. Moreover, in this work, it will be shown a possible solution to improve the initial points tracking and reduce time between movements.Keywords: path planning, fastest return path, agricultural autonomous terrestrial robot, docking station
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