Search results for: localization and mapping

Authors: P. S. Jagadeesh Kumar, Yang Yung, Wenli Hu

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Speech emotion classification is a dominant research field in finding a sturdy and profligate classifier appropriate for different real-life applications. This effort accentuates on classifying different emotions from speech signal quarried from the features related to pitch, formants, energy contours, jitter, shimmer, spectral, perceptual and temporal features. Tensor deep stacking neural networks were supported to examine the factors that influence the classification success rate. Facial electromyography signals were composed of several forms of focuses in a controlled atmosphere by means of audio-visual stimuli. Proficient facial electromyography signals were pre-processed using moving average filter, and a set of arithmetical features were excavated. Extracted features were mapped into consistent emotions using bilinear mapping. With facial electromyography signals, a database comprising diverse emotions will be exposed with a suitable fine-tuning of features and training data. A success rate of 92% can be attained deprived of increasing the system connivance and the computation time for sorting diverse emotional states.

Keywords: speech emotion classification, tensor deep stacking neural networks, facial electromyography, bilinear mapping, audio-visual stimuli

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Authors: Loha Hashimy, Isabella Castillo

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In today's rapidly evolving technological landscape, the importance of precise navigation and mapping systems cannot be understated. As various sectors undergo transformative changes, the market potential for Advanced Mapping and Management Systems (AMMS) emerges as a critical focus area. The Galileo/GNSS-Based Autonomous Mobile Mapping System (GAMMS) project, specifically targeted toward high-definition mapping (HDM), endeavours to provide insights into this market within the broader context of the geomatics and navigation fields. With the growing integration of Autonomous Vehicles (AVs) into our transportation systems, the relevance and demand for sophisticated mapping solutions like HDM have become increasingly pertinent. The research employed a meticulous, lean, stepwise, and interconnected methodology to ensure a comprehensive assessment. Beginning with the identification of pivotal project results, the study progressed into a systematic market screening. This was complemented by an exhaustive desk research phase that delved into existing literature, data, and trends. To ensure the holistic validity of the findings, extensive consultations were conducted. Academia and industry experts provided invaluable insights through interviews, questionnaires, and surveys. This multi-faceted approach facilitated a layered analysis, juxtaposing secondary data with primary inputs, ensuring that the conclusions were both accurate and actionable. Our investigation unearthed a plethora of drivers steering the HD maps landscape. These ranged from technological leaps, nuanced market demands, and influential economic factors to overarching socio-political shifts. The meteoric rise of Autonomous Vehicles (AVs) and the shift towards app-based transportation solutions, such as Uber, stood out as significant market pull factors. A nuanced PESTEL analysis further enriched our understanding, shedding light on political, economic, social, technological, environmental, and legal facets influencing the HD maps market trajectory. Simultaneously, potential roadblocks were identified. Notable among these were barriers related to high initial costs, concerns around data quality, and the challenges posed by a fragmented and evolving regulatory landscape. The GAMMS project serves as a beacon, illuminating the vast opportunities that lie ahead for the HD mapping sector. It underscores the indispensable role of HDM in enhancing navigation, ensuring safety, and providing pinpoint, accurate location services. As our world becomes more interconnected and reliant on technology, HD maps emerge as a linchpin, bridging gaps and enabling seamless experiences. The research findings accentuate the imperative for stakeholders across industries to recognize and harness the potential of HD mapping, especially as we stand on the cusp of a transportation revolution heralded by Autonomous Vehicles and advanced geomatic solutions.

Keywords: high-definition mapping (HDM), autonomous vehicles, PESTEL analysis, market drivers

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Authors: Mokhtar Nikgoo

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Civil engineering is one of the disciplines that shows the application of science in creating construction and civil engineering. That is, everything that returns to the population of a country, such as dams, airports, roads, bridges, towers, tunnels, telecommunication towers, buildings resistant to earthquakes, floods and fires, power plants and light, cheap and quality materials for construction. And the construction is included in the scope of work of the civil engineer. Civil engineering covers a wide range of tasks. That is, for the construction of buildings, bridges, towers, tunnels, roads, silos, or sewage networks, an efficient civil engineer is needed at the beginning, in addition to complying with the technical and operational aspects, he also works economically. Because being economical is a principle in civil engineering. Is. This field at the undergraduate level has three majors: civil-building, civil-mapping and civil-water.

Keywords: civil engineering, construction, surveying, mapping, pile

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Authors: G. Shabib, Esam H. Abd-Elhameed, G. Magdy

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In this paper, a comparison of discrete time PID, PSS controllers is presented through small signal stability of power system comprising of one machine connected to infinite bus system. This comparison achieved by using a new approach of discretization which converts the S-domain model of analog controllers to a Z-domain model to enhance the damping of a single machine power system. The new method utilizes the Plant Input Mapping (PIM) algorithm. The proposed algorithm is stable for any sampling rate, as well as it takes the closed loop characteristic into consideration. On the other hand, the traditional discretization methods such as Tustin’s method is produce satisfactory results only; when the sampling period is sufficiently low.

Keywords: PSS, power system stabilizer PID, proportional-integral-derivative PIM, plant input mapping

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Authors: Twarakavi Venkata Suresh Kumar, Sailaja Kumar, B. Eswara Reddy

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In a world of tremendous technical developments, effective and efficient higher education has always been a major challenge. The rising number of educational institutions have made it mandatory for healthy competitions among the institutions. To evaluate the qualitative competence of these educations institutions in engineering and technology and related disciplines, an efficient assessment technique in internal and external quality has to be followed. To achieve this, the curriculum is to be developed into courses, and each course has to be presented in the form teaching lesson plan consisting of topics and session outcome known as Course Outcomes (COs), that easily map into different Programme Outcomes (POs). The major objective of these methodologies is to provide quality technical education to its students. Detailed clear weightage in CO-PO mapping helps in proper measurable COs and to devise the POs attainment is an important issue. This ensures in assisting the achievement of the POs with proper weightage to POs, and also improves the successive curriculum development. In this paper, we presented a methodology for mapping CO and PO considering the key elements supported by each PO. This approach is useful in evaluating the attainment of POs which is based on the attainment of COs using the existing data from students' marks taken from various test items. Such direct assessment tools are used to measure the degree to which each student has achieved each course learning outcome by the completion of the course. Hence, these results are also useful in measuring the PO attainment for improving the programme vision and mission.

Keywords: attainment, course outcomes, programme outcomes, educational institutions

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Authors: Ching-Pin Tseng

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Cultural heritages are tangible and intangible catalysts for recollecting collective memories and cultural signification. Through visiting the heritage and with the aid of exhibition and visual indications, the visitor may visually and spatially grasp some fragments of the stories and occurrences of the site. However, there may be some discrepancies between the narration of historical happenings that occurred at the place and the spatial exhibition of the historic monument. Narratives of collective events may not be revealed merely by physical relics or objects. In order to build up a connection between the past and the present, the paper thus intends to discuss what means can engender vitalizations within cultural heritages. As the preservation of cultural heritages has been a universal consensus and common interests, its association with modern lives has also been an important issue. The paper will explore some site-specific theatres held in the art festivals in the south of Taiwan so as to examine the correlation between site-specific performances and the conservation of historic monuments. In the light of Victor Hugo’s argument that the place where events happened before can be silent characters for representing the reality of art and for impressing the spectator, this paper argues that site-specific theatres may bring vitality into tangible cultural heritages. At the end of this paper, the notion of localization will be utilized to examine the spatial setting and the materiality of scenic design in relation to the site-specific theatres within cultural heritages.

Keywords: site-specificity, cultural heritage, localization, materiality

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Authors: Theodoros Tziolas, Konstantinos Papageorgiou, Theodosios Theodosiou, Sebastian Pantoja, Nikos Dimitriou Dimosthenis, Elpiniki Papageorgiou

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Assembly processes involve disparate materials that possess dissimilar resiliencies and, therefore, are prone to generating defective products. Manually performed quality inspection of such products is a time-consuming and susceptible to error process. The emerging computer vision techniques in smart manufacturing can alleviate the need for thorough, manually performed quality control. Object detection techniques provide crucial localization abilities, thus helping the operators further validate the identified defect with ease. In this work, several state-of-the-art object detection models are assessed in a real industrial imagery dataset and with the use of transfer learning. EfficientDet D2 is proposed for the identification and localization of antenna defects that are generated during the assembly process. To further enhance the dataset, heavy on-the-fly data augmentation was employed, along with synthetic samples generated with the use of image processing software. The proposed approach utilizing EfficientDet D2 can increase the Average Precision from 0.90 (at IoU 0.5) to 0.97 (at IoU 0.3). The overall performance is further evaluated by applying the F1-Score at each confidence score. For conducting the experiments, the TensorFlow object detection API is employed.

Keywords: defect detection, EfficientDet, deep learning, smart manufacturing, classification

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Authors: Aliyu J. Abubakar, Mazlan Hashim, Amin B. Pour

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Exploiting geothermal resources for either power, home heating, Spa, greenhouses, industrial or tourism requires an initial identification of suitable areas. This can be done cost-effectively using remote sensing satellite imagery which has synoptic capabilities of covering large areas in real time and by identifying possible areas of hydrothermal alteration and minerals related to Geothermal systems. Earth features and minerals are known to have unique diagnostic spectral reflectance characteristics that can be used to discriminate them. The focus of this paper is to investigate the applicability of mapping hydrothermal alteration in relation to geothermal systems (thermal springs) at Yankari Park Northeastern Nigeria, using Advanced Spaceborne Thermal Emission and Reflection Radiometer (ASTER) satellite data for resource exploration. The ASTER Short Wave Infrared (SWIR) bands are used to highlight and discriminate alteration areas by employing sophisticated digital image processing techniques including image transformations and spectral mapping methods. Field verifications are conducted at the Yankari Park using hand held Global Positioning System (GPS) monterra to identify locations of hydrothermal alteration and rock samples obtained at the vicinity and surrounding areas of the ‘Mawulgo’ and ‘Wikki’ thermal springs. X-Ray Diffraction (XRD) results of rock samples obtained from the field validated hydrothermal alteration by the presence of indicator minerals including; Dickite, Kaolinite, Hematite and Quart. The study indicated the applicability of mapping geothermal anomalies for resource exploration in unmapped sparsely vegetated savanna environment characterized by subtle surface manifestations such as thermal springs. The results could have implication for geothermal resource exploration especially at the prefeasibility stages by narrowing targets for comprehensive surveys and in unexplored savanna regions where expensive airborne surveys are unaffordable.

Keywords: geothermal exploration, image enhancement, minerals, spectral mapping

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Authors: Kirsten A. Bartels

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'Never again' and 'Lest we forget' have long been messages associated with the events of the Shoah. Yet as we attempt to learn from the past, we must find new ways to engage with its memories. The preservation of the culture and the value of tradition are critical factors in Jane Yolen's works of Holocaust fiction, The Devil's Arithmetic and Mapping the Bones, emphasized through the importance of remembering. That word, in its multitude of forms (remember, remembering, memories), occurs no less than ten times in the first four pages and over one hundred times in the one hundred and sixty-four-page narrative The Devil’s Arithmetic. While Yolen takes a different approach to showcasing the importance of memory in Mapping the Bones, it is of equal import in this work and arguably to the future of Holocaust knowing. The idea of remembering, the desire to remember, and the ability to remember, are explored in three divergent ways in The Devil’s Arithmetic. First, in the importance to remember a past which is not her own – to understand history or acquired memories. Second, in the protagonist's actual or initial memories, those of her life in modern-day New York. Third, in a reverse mode of forgetting and trying to reacquire that which has been lost -- as Hannah is processed in the camp and she forgets everything, all worlds prior to the camp are lost to her. As numbers replace names, Yolen stresses the importance of self-identity or owned memories. In addition, the importance of relaying memory, the transitions of memory from perspective, and the ideas of reflective telling are explored in Mapping the Bones -- through the telling of the story through the lens of one of the twins as the events are unfolding; and then the through the reflective telling from the lens of the other twin. Parallel to the exploration of the intersemiosis of memory is the discussion of literary shadows (foreshadowing, backshadowing, and side-shadowing) and their impact on the reader's experience with Yolen's narrative. For in this type of exploration, one cannot look at the events described in Yolen's work and not also contemplate the figurative shadows cast.

Keywords: holocaust literature, memory, narrative, Yolen

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Authors: Aminu Abdullahi Isyaku

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Semi-arid Bornu basin in northeast Nigeria is characterised with flat topography, thick cover sediments and lack of continuous bedrock outcrops discernible for field geology. This paper presents the methodology for the characterisation of neotectonic surface structures and surface lithology in the north-eastern Bornu basin in northeast Nigeria as an alternative approach to field geological mapping using free multispectral Landsat 7 ETM+, SRTM DEM and ASAR Earth Observation datasets. Spectral lithological mapping herein developed utilised spectral discrimination of the surface features identified on Landsat 7 ETM+ images to infer on the lithology using four steps including; computations of band combination images; band ratio images; supervised image classification and inferences of the lithological compositions. Two complementary approaches to lineament mapping are carried out in this study involving manual digitization and automatic lineament extraction to validate the structural lineaments extracted from the Landsat 7 ETM+ image mosaic covering the study. A comparison between the mapped surface lineaments and lineament zones show good geospatial correlation and identified the predominant NE-SW and NW-SE structural trends in the basin. Topographic profiles across different parts of the Bama Beach Ridge palaeoshorelines in the basin appear to show different elevations across the feature. It is determined that most of the drainage systems in the northeastern Bornu basin are structurally controlled with drainage lines terminating against the paleo-lake border and emptying into the Lake Chad mainly arising from the extensive topographic high-stand Bama Beach Ridge palaeoshoreline.

Keywords: Bornu Basin, lineaments, spectral lithology, tectonics

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Authors: Mohd Azraei Pangah Pa'at, Mohd Ruzlin Mohd Mokhtar, Norhidayu Rameli, Tashia Marie Anthony, Huzainie Shafi Abd Halim

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Partial Discharge (PD) diagnostic mapping testing is one of the main diagnostic testing techniques that are widely used in the field or onsite testing for underground power cable in medium voltage level. The existence of PD activities is an early indication of insulation weakness hence early detection of PD activities can be determined and provides an initial prediction on the condition of the cable. To effectively manage the results of PD Mapping test, it is important to have acceptable criteria to facilitate prioritization of mitigation action. Tenaga Nasional Berhad (TNB) through Distribution Network (DN) division have developed PD severity model name Severity Index (SI) for offline PD mapping test since 2007 based on onsite test experience. However, this severity index recommendation action had never been revised since its establishment. At presence, PD measurements data have been extensively increased, hence the severity level indication and the effectiveness of the recommendation actions can be analyzed and verified again. Based on the new revision, the recommended action to be taken will be able to reflect the actual defect condition. Hence, will be accurately prioritizing preventive action plan and minimizing maintenance expenditure.

Keywords: partial discharge, severity index, diagnostic testing, medium voltage, power cable

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Authors: A. Khan, H. Mahmood

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In Underwater Wireless Sensor Networks (UWSNs), sensor nodes close to water surface (final destination) are often preferred for selection as forwarders. However, their frequent selection makes them depleted of their limited battery power. In consequence, these nodes die during early stage of network operation and create energy holes where forwarders are not available for packets forwarding. These holes severely affect network throughput. As a result, system performance significantly degrades. In this paper, a routing protocol is proposed to avoid energy holes during packets forwarding. The proposed protocol does not require the conventional position information (localization) of holes to avoid them. Localization is cumbersome; energy is inefficient and difficult to achieve in underwater environment where sensor nodes change their positions with water currents. Forwarders with the lowest water pressure level and the maximum number of neighbors are preferred to forward packets. These two parameters together minimize packet drop by following the paths where maximum forwarders are available. To avoid interference along the paths with the maximum forwarders, a packet holding time is defined for each forwarder. Simulation results reveal superior performance of the proposed scheme than the counterpart technique.

Keywords: energy holes, interference, routing, underwater

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Authors: Fernando C. Labouriau, Ricardo M. Naveiro

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This paper presents a model for mapping the evolutive pattern of products in order to generate new ideas, to perceive emerging technologies and to manage product’s portfolios in new product development (NPD). According to the proposed model, the information extracted from the patent system is filtered and analyzed with TRIZ tools to produce the input information to the NPD process. The authors acknowledge that the NPD process is well integrated within the enterprises business strategic planning and that new products are vital in the competitive market nowadays. In the other hand, it has been observed the proactive use of patent information in some methodologies for selecting projects, mapping technological change and generating product concepts. And one of these methodologies is TRIZ, a theory created to favor innovation and to improve product design that provided the analytical framework for the model. Initially, it is presented an introduction to TRIZ mainly focused on the patterns of evolution of technical systems and its strategic uses, a brief and absolutely non-comprehensive description as the theory has several others tools being widely employed in technical and business applications. Then, it is introduced the model for mapping the products evolutive pattern with its three basic pillars, namely patent information, TRIZ and NPD, and the methodology for implementation. Following, a case study of a Brazilian bike manufacturing is presented to proceed the mapping of a product evolutive pattern by decomposing and analyzing one of its assemblies along ten evolution lines in order to envision opportunities for further product development. Some of these lines are illustrated in more details to evaluate the features of the product in relation to the TRIZ concepts using a comparison perspective with patents in the state of the art to validate the product’s evolutionary potential. As a result, the case study provided several opportunities for a product improvement development program in different project categories, identifying technical and business impacts as well as indicating the lines of evolution that can mostly benefit from each opportunity.

Keywords: product development, patents, product strategy, systems evolution

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Authors: Somaye Zare

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The critical beam radius is a significant factor that predicts the behavior of the laser beam in the plasma, so if the laser beam radius is adequately greater in comparison to it, the beam will experience stable focusing on the plasma; otherwise, the beam will diverge after entering into the plasma. In this work, considering the paraxial approximation and moment theories, the localization of a relativistic laser beam in thermal quantum plasma is investigated. Using the dielectric function obtained in the quantum hydrodynamic model, the mathematical equation for the laser beam width parameter is attained and solved numerically by the fourth-order Runge-Kutta method. The results demonstrate that the stouter focusing effect is occurred in the moment theory compared to the paraxial approximation. Besides, similar to the two theories, with increasing Fermi temperature, plasma density, and laser intensity, the oscillation rate of the beam width parameter growths and focusing length reduces which means improving the focusing effect. Furthermore, it is understood that behaviors of the critical laser radius are different in the two theories, in the paraxial approximation, the critical radius after a minimum value is enhanced with increasing laser intensity, but in the moment theory, with increasing laser intensity, the critical radius decreases until it becomes independent of the laser intensity.

Keywords: laser localization, quantum plasma, paraxial approximation, moment theory, quantum hydrodynamic model

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Authors: Annalisa Gaetani, Anna Nora Tassetti, Gianna Fabi

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The hydroacoustic technology is an efficient tool to study the sea environment: the most recent advancement in artificial habitat mapping involves acoustic systems to investigate fish abundance, distribution and behavior in specific areas. Along with a detailed high-coverage bathymetric mapping of the seabed, the high-frequency Multibeam Echosounder (MBES) offers the potential of detecting fine-scale distribution of fish aggregation, combining its ability to detect at the same time the seafloor and the water column. Surveying fish schools distribution around artificial structures, MBES allows to evaluate how their presence modifies the biological natural habitat overtime in terms of fish attraction and abundance. In the last years, artificial habitat mapping experiences have been carried out by CNR-ISMAR in the Adriatic sea: fish assemblages aggregating at offshore gas platforms and artificial reefs have been systematically monitored employing different kinds of methodologies. This work focuses on two case studies: a gas extraction platform founded at 80 meters of depth in the central Adriatic sea, 30 miles far from the coast of Ancona, and the concrete and steel artificial reef of Senigallia, deployed by CNR-ISMAR about 1.2 miles offshore at a depth of 11.2 m . Relating the MBES data (metrical dimensions of fish assemblages, shape, depth, density etc.) with the results coming from other methodologies, such as experimental fishing surveys and underwater video camera, it has been possible to investigate the biological assemblage attracted by artificial structures hypothesizing which species populate the investigated area and their spatial dislocation from these artificial structures. Processing MBES bathymetric and water column data, 3D virtual scenes of the artificial habitats have been created, receiving an intuitive-looking depiction of their state and allowing overtime to evaluate their change in terms of dimensional characteristics and depth fish schools’ disposition. These MBES surveys play a leading part in the general multi-year programs carried out by CNR-ISMAR with the aim to assess potential biological changes linked to human activities on.

Keywords: artificial habitat mapping, fish assemblages, hydroacustic technology, multibeam echosounder

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Authors: Tripti Singhal, C. Tara Satyavathi, S. P. Singh, Aruna Kumar, Mukesh Sankar S., C. Bhardwaj, Mallik M., Jayant Bhat, N. Anuradha, Nirupma Singh

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Pearl millet is a climate-resilient nutritious crop. We report iron and zinc content QTLs from 3 divergent locations. The content of grain Fe in the RILs ranged between 36 and 114 mg/kg, and that of Zn from 20 to 106 mg/kg across the three years at over 3 locations (Delhi, Dharwad, and Jodhpur). We used SSRs to generate a linkage map using 210 F₆ RIL derived from the (PPMI 683 × PPMI 627) cross. The linkage map of 151 loci was 3403.6 cM in length. QTL analysis revealed a total of 22 QTLs for both traits at all locations. Inside QTLs, candidate genes were identified using bioinformatics approaches.

Keywords: yield, pearl millet, QTL mapping, multi-environment, RILs

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Authors: Balgaisha G. Mukanova, Yelbek B. Utepov, Aida G. Nazarova, Alisher Z. Imanov

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The problem of identifying local noise sources on a construction site using a sensor system is considered. Mathematical modeling of detected signals on sensors was carried out, considering signal decay and signal delay time between the source and detector. Recordings of noises produced by construction tools were used as a dependence of noise on time. Synthetic sensor data was constructed based on these data, and a model of the propagation of acoustic waves from a point source in the three-dimensional space was applied. All sensors and sources are assumed to be located in the same plane. A source localization method is checked based on the signal time delay between two adjacent detectors and plotting the direction of the source. Based on the two direct lines' crossline, the noise source's position is determined. Cases of one dominant source and the case of two sources in the presence of several other sources of lower intensity are considered. The number of detectors varies from three to eight detectors. The intensity of the noise field in the assessed area is plotted. The signal of a two-second duration is considered. The source is located for subsequent parts of the signal with a duration above 0.04 sec; the final result is obtained by computing the average value.

Keywords: acoustic model, direction of arrival, inverse source problem, sound localization, urban noises

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Authors: Moschos Vogiatzis, K. Perakis

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Spatial-explicit and up-to-date land use/land cover information is fundamental for spatial planning, land management, sustainable development, and sound decision-making. In the last decade, many satellite-derived land cover products at different spatial, spectral, and temporal resolutions have been developed, such as the European Copernicus Land Cover product. However, more efficient and detailed information for land use/land cover is required at the regional or local scale. A typical Mediterranean basin with a complex landscape comprised of various forest types, crops, artificial surfaces, and wetlands was selected to test and develop our approach. In this study, we investigate the improvement of Copernicus Land Cover product (CLC2018) using Landsat 8 and Sentinel-2 pixel-based classification based on all available existing geospatial data (Forest Maps, LPIS, Natura2000 habitats, cadastral parcels, etc.). We examined and compared the performance of the Random Forest classifier for land use/land cover mapping. In total, 10 land use/land cover categories were recognized in Landsat 8 and 11 in Sentinel-2A. A comparison of the overall classification accuracies for 2018 shows that Landsat 8 classification accuracy was slightly higher than Sentinel-2A (82,99% vs. 80,30%). We concluded that the main land use/land cover types of CLC2018, even within a heterogeneous area, can be successfully mapped and updated according to CLC nomenclature. Future research should be oriented toward integrating spatiotemporal information from seasonal bands and spectral indexes in the classification process.

Keywords: classification, land use/land cover, mapping, random forest

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Authors: Julian Y. Raheema, Michael R. Hess, Raymond C. Provost, Mark Bilinski

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The world is rapidly moving towards advancing and utilizing artificial intelligence and autonomous robotics. The ground-breaking Boston Dynamics quadruped robot, SPOT, was designed for industrial and commercial tasks requiring limited autonomous navigation. Out of the box, SPOT has route memorization and playback – it can repeat a path that it has been manually piloted through, but it cannot autonomously navigate an area that has not been previously explored. The presented SPOT payload package is built on ROS framework to support autonomous navigation and mapping of an unexplored environment. The package is fully integrated with SPOT to take advantage of motor controls and collision avoidance that comes natively with the robot. The payload runs all computations onboard, takes advantage of visual odometry SLAM and uses an Intel RealSense depth camera and Velodyne LiDAR sensor to generate 2D and 3D maps while in autonomous navigation mode. These maps are fused into the navigation stack to generate a costmap to enable the robot to safely navigate the environment without causing damage to the surroundings or the robot. The operator defines the operational zone and start location and then sends the explore command to have SPOT explore, generate 2D and 3D maps of the environment and return to the start location to await the operator's next command. The benefit of the presented package is that it is much lighter weight and less expensive than previous approaches and, importantly, operates in GPS-denied scenarios, which is ideal for indoor mapping. There are numerous applications that are hazardous to humans for SPOT enhanced with the autonomy payload, including disaster response, nuclear inspection, mine inspection, and so on. Other less extreme uses cases include autonomous 3D and 2D scanning of facilities for inspection, engineering and construction purposes.

Keywords: autonomous, SLAM, quadruped, mapping, exploring, ROS, robotics, navigation

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Authors: Laabidi Mounira, Zayani Rafk, Bouallegue Ridha

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Filter Bank Multicarrier with Offset Quadrature Amplitude Modulation (FBMC/OQAM) is presently known as a sustainable alternative to conventional Orthogonal Frequency Division Multiplexing (OFDM) for signal transmission over multi-path fading channels. Like all multicarrier systems, FBMC/OQAM suffers from high Peak to Average Power Ratio (PAPR). Due to the symbol overlap inherent in the FBMC/OQAM system, the direct application of conventional OFDM PAPR reduction scheme is far from being effective. This paper suggests a novel scheme termed Multi-Blocks Selective Mapping (MB-SLM) whose simulation results show that its performance in terms of PAPR reduction is almost identical to that of OFDM system.

Keywords: FBMC/OQAM, multi-blocks, OFDM, PAPR, SLM

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Authors: Jasmal A. Syamsu, Muhammad Yusuf, Hikmah M. Ali, Mawardi A. Asja, Zulkharnaim

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This study was conducted and aimed in identifying and mapping the pasture as an ecological base of beef cattle. A survey was carried out during a period of April to June 2016, in Suppa, Mattirobulu, the district of Pinrang, South Sulawesi province. The mapping process of grazing area was conducted in several stages; inputting and tracking of data points into Google Earth Pro (version 7.1.4.1529), affirmation and confirmation of tracking line visualized by satellite with a variety of records at the point, a certain point and tracking input data into ArcMap Application (ArcGIS version 10.1), data processing DEM/SRTM (S04E119) with respect to the location of the grazing areas, creation of a contour map (a distance of 5 m) and mapping tilt (slope) of land and land cover map-making. Analysis of land cover, particularly the state of the vegetation was done through the identification procedure NDVI (Normalized Differences Vegetation Index). This procedure was performed by making use of the Landsat-8. The results showed that the topography of the grazing areas of hills and some sloping surfaces and flat with elevation vary from 74 to 145 above sea level (asl), while the requirements for growing superior grass and legume is an altitude of up to 143-159 asl. Slope varied between 0 - > 40% and was dominated by a slope of 0-15%, according to the slope/topography pasture maximum of 15%. The range of NDVI values for pasture image analysis results was between 0.1 and 0.27. Characteristics of vegetation cover of pasture land in the category of vegetation density were low, 70% of the land was the land for cattle grazing, while the remaining approximately 30% was a grove and forest included plant water where the place for shelter of the cattle during the heat and drinking water supply. There are seven types of graminae and 5 types of legume that was dominant in the region. Proportionally, graminae class dominated up 75.6% and legume crops up to 22.1% and the remaining 2.3% was another plant trees that grow in the region. The dominant weed species in the region were Cromolaenaodorata and Lantana camara, besides that there were 6 types of floor plant that did not include as forage fodder.

Keywords: pastoral, ecology, mapping, beef cattle

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Authors: Amruta D. S. Pathare, Indira Hinduja, Kusum Zaveri

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Implantation failure (IF) even after the good-quality embryo transfer (ET) in the physiologically normal endometrium is the main obstacle in in vitro fertilization (IVF). Various microarray studies have been performed worldwide to elucidate the genes requisite for endometrial receptivity. These studies have included the population based on different phases of menstrual cycle during natural cycle and stimulated cycle in normal fertile women. Additionally, the literature is also available in recurrent implantation failure patients versus oocyte donors in natural cycle. However, for the first time, we aim to study the genomics of endometrial receptivity in IF patients under controlled ovarian stimulation (COS) during which ET is generally practised in IVF. Endometrial gene expression profiling in IF patients (n=10) and oocyte donors (n=8) were compared during window of implantation under COS by whole genome microarray (using Illumina platform). Enrichment analysis of microarray data was performed to determine dys-regulated biological functions and pathways using Database for Annotation, Visualization and Integrated Discovery, v6.8 (DAVID). The enrichment mapping was performed with the help of Cytoscape software. Microarray results were validated by real-time PCR. Localization of genes related to immune response (Progestagen-Associated Endometrial Protein (PAEP), Leukaemia Inhibitory Factor (LIF), Interleukin-6 Signal Transducer (IL6ST) was detected by immunohistochemistry. The study revealed 418 genes downregulated and 519 genes upregulated in IF patients compared to healthy fertile controls. The gene ontology, pathway analysis and enrichment mapping revealed significant downregulation in activation and regulation of immune and inflammation response in IF patients under COS. The lower expression of Progestagen Associated Endometrial Protein (PAEP), Leukemia Inhibitory Factor (LIF) and Interleukin 6 Signal Transducer (IL6ST) in cases compared to controls by real time and immunohistochemistry suggests the functional importance of these genes. The study was proved useful to uncover the probable reason of implantation failure being imbalance of immune and inflammatory regulation in our group of subjects. Based on the present study findings, a panel of significant dysregulated genes related to immune and inflammatory pathways needs to be further substantiated in larger cohort in natural as well as stimulated cycle. Upon which these genes could be screened in IF patients during window of implantation (WOI) before going for embryo transfer or any other immunological treatment. This would help to estimate the regulation of specific immune response during WOI in a patient. The appropriate treatment of either activation of immune response or suppression of immune response can be then attempted in IF patients to enhance the receptivity of endometrium.

Keywords: endometrial receptivity, immune and inflammatory response, gene expression microarray, window of implantation

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Authors: Mohammed Raza Mehdi, Kamran Ahmed

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Mega-city Karachi has numerous unplanned slum areas and squatter settlements with irregular growth of building structures. Due to weak development policy and lack of development control, such settlements are increasing at a rapid pace. Mapping such areas for planning and infrastructure development requires an integrated approach of socio-spatial and technological tools. Therefore in this study, an attempt is made to create GIS information layers on complex inbound built-up areas of slums at the coastal belt of Karachi by using a stereo pair of satellite images. The outcome expected is technological application to aid planning institutions for crisis management and infrastructure development in irregularly developed slum areas of Karachi, Pakistan.

Keywords: slum, satellite imageries, GIS, Karachi, Pakistan

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Authors: Ella Sèdé Maforikan

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Accurate land cover mapping is essential for effective environmental monitoring and natural resources management. This study focuses on assessing the classification performance of two satellite datasets and evaluating the impact of different input feature combinations on classification accuracy in the Beterou catchment, situated in the northern part of Benin. Landsat-8 and Sentinel-2 images from June 1, 2020, to March 31, 2021, were utilized. Employing the Random Forest (RF) algorithm on Google Earth Engine (GEE), a supervised classification categorized the land into five classes: forest, savannas, cropland, settlement, and water bodies. GEE was chosen due to its high-performance computing capabilities, mitigating computational burdens associated with traditional land cover classification methods. By eliminating the need for individual satellite image downloads and providing access to an extensive archive of remote sensing data, GEE facilitated efficient model training on remote sensing data. The study achieved commendable overall accuracy (OA), ranging from 84% to 85%, even without incorporating spectral indices and terrain metrics into the model. Notably, the inclusion of additional input sources, specifically terrain features like slope and elevation, enhanced classification accuracy. The highest accuracy was achieved with Sentinel-2 (OA = 91%, Kappa = 0.88), slightly surpassing Landsat-8 (OA = 90%, Kappa = 0.87). This underscores the significance of combining diverse input sources for optimal accuracy in land cover mapping. The methodology presented herein not only enables the creation of precise, expeditious land cover maps but also demonstrates the prowess of cloud computing through GEE for large-scale land cover mapping with remarkable accuracy. The study emphasizes the synergy of different input sources to achieve superior accuracy. As a future recommendation, the application of Light Detection and Ranging (LiDAR) technology is proposed to enhance vegetation type differentiation in the Beterou catchment. Additionally, a cross-comparison between Sentinel-2 and Landsat-8 for assessing long-term land cover changes is suggested.

Keywords: land cover mapping, Google Earth Engine, random forest, Beterou catchment

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Authors: Alberti Pascal, Mustapha Mouloua

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Companies are confronted with complex and competitive markets. The dynamics of these markets are becoming more and more fluid, requiring companies to provide competitive, definite and technological responses within increasingly short timeframes. To meet this demand, companies must rely on the cognitive abilities of actors of creativity to provide tangible answers to current contextual problems. It therefore seems appropriate to provide instruments to support this particular stage of innovation. Various methods and tools can meet this requirement. For a number of years we have been conducting experiments on the use of mind maps in the context of innovation projects with teams of different nationalities. After presenting the main research carried out on this theme, we discuss the possible correlation between the different uses of iconic tools and certain types of innovation. We then provide a link with different cognitive logic. Finally, we conclude by putting our research into perspective.

Keywords: creativity, innovation, causal logic, effectual logic, mind mapping

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Authors: Kush Kumar, Varun Joshi

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Slope instability is a major problem of the mountainous region, especially in parts of the Indian Himalayan Region (IHR). The on-going tectonic, rugged topography, steep slope, heavy precipitation, toe erosion, structural discontinuities, and deformation are the main triggering factors of landslides in this region. Besides the loss of life, property, and infrastructure caused by a landslide, it also results in various environmental problems, i.e., degradation of slopes, land use, river quality by increased sediments, and loss of well-established vegetation. The Indian state of Uttarakhand, being a part of the active Himalayas, also faces numerous cases of slope instability. Therefore, the vulnerable landslide zones need to be delineated to safeguard various losses. The study area is focused in Garhwal and Tehri -Garhwal district of Uttarakhand state along National Highway 58, which is a strategic road and also connects the four important sacred pilgrims (Char Dham) of India. The lithology of these areas mainly comprises of sandstone, quartzite of Chakrata formation, and phyllites of Chandpur formation. The greywacke and sandstone rock of Saknidhar formation dips northerly and is overlain by phyllite of Chandpur formation. The present research incorporates the lineament density mapping using remote sensing satellite data supplemented by a detailed field study via kinematic analysis. The DEM data of ALOS PALSAR (12.5 m resolution) is resampled to 10 m resolution and used for preparing various thematic maps such as slope, aspect, drainage, hill shade, lineament, and lineament density using ARCGIS 10.6 software. Furthermore, detailed field mapping, including structural mapping, geomorphological mapping, is integrated for kinematic analysis of the slope using Dips 6.0 software of Rockscience. The kinematic analysis of 40 locations was carried out, among which 15 show the planar type of failure, five-show wedge failure, and rest, 20 show no failures. The lineament density map is overlapped with the location of the unstable slope inferred from kinematic analysis to infer the association of the field information and remote sensing derived information, and significant compatibility was observed. With the help of the present study, location-specific mitigation measures could be suggested. The mitigation measures would be helping in minimizing the probability of slope instability, especially during the rainy season, and reducing the hampering of road traffic.

Keywords: Indian Himalayan Region, kinematic analysis, lineament density mapping, slope instability

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Authors: Yahya Al Nahdi

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Even though efforts to increase the participation of nationals in the workforce have been in place for more than a decade in the Sultanate of Oman, the results are not impressive. Citizens’ workforce participation – it is argued in the literature – is hindered by institutional, as well as attitudinal concerns. The purpose of this study was to determine barriers to Omanization (employment of Omani nationals) in the private sector as perceived by the senior managers in government and private sector. Data were collected predominantly through in-depth, semi-structured interviews with managers who directly deal with Omanization policies from both the public and private sector. Results from the data analysis have shown that the majority of participants acknowledged a work preference in the movement (public sector). The private sector employees' compensation and benefits package was perceived to be less attractive than that offered in the government (public sector). The negative perceptions (stereotypes) shared by expatriates regarding work attitudes and competencies of citizens in the local labour market was also overwhelmingly perceived as a major hindrance. Furthermore, institutional issues such as, ineffectiveness of rules and regulation regarding Omanization, inappropriate quota system and lack of public awareness towards private sector’s jobs, are also perceived problematic to successful Omanization. Finally, results from the data analysis were used in recommending strategies for potential consideration in the pursuit of a successful Omanization programme.

Keywords: localization, job security, labour force structure, Omanization, private sector, public sector

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Authors: Sahil Imtiyaz

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One of the biggest challenges has emerged from the ever-expanding, dynamic, and instantaneously changing space-Big Data; and to find a data point and inherit wisdom to this space is a hard task. In this paper, we reduce the space of big data in Hamiltonian formalism that is in concordance with Ising Model. For this formulation, we simulate the system using dye laser in FORTRAN and analyse the dynamics of the data point in energy well of rhodium atom. After mapping the photon intensity and pulse width with energy and potential we concluded that as we increase the energy there is also increase in probability of tunnelling up to some point and then it starts decreasing and then shows a randomizing behaviour. It is due to decoherence with the environment and hence there is a loss of ‘quantumness’. This interprets the efficiency parameter and the extent of quantum evolution. The results are strongly encouraging in favour of the use of ‘Topological Property’ as a source of information instead of the qubit.

Keywords: big data, optimization, quantum evolution, hamiltonian, dye laser, fermionic computations

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Authors: RAM PAL SINGH, VIKASH CHAUDHARY, MONIKA VERMA

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In this paper, we proposed the implementation of optimization based Extreme Learning Machine (ELM) for watermarking of B-channel of color image in discrete wavelet transform (DWT) domain. ELM, a regularization algorithm, works based on generalized single-hidden-layer feed-forward neural networks (SLFNs). However, hidden layer parameters, generally called feature mapping in context of ELM need not to be tuned every time. This paper shows the embedding and extraction processes of watermark with the help of ELM and results are compared with already used machine learning models for watermarking.Here, a cover image is divide into suitable numbers of non-overlapping blocks of required size and DWT is applied to each block to be transformed in low frequency sub-band domain. Basically, ELM gives a unified leaning platform with a feature mapping, that is, mapping between hidden layer and output layer of SLFNs, is tried for watermark embedding and extraction purpose in a cover image. Although ELM has widespread application right from binary classification, multiclass classification to regression and function estimation etc. Unlike SVM based algorithm which achieve suboptimal solution with high computational complexity, ELM can provide better generalization performance results with very small complexity. Efficacy of optimization method based ELM algorithm is measured by using quantitative and qualitative parameters on a watermarked image even though image is subjected to different types of geometrical and conventional attacks.

Keywords: BER, DWT, extreme leaning machine (ELM), PSNR

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Authors: Muhammad Arif Khan, Haroon Idrees, Imran Aziz, Sidra Mushtaq

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The purpose of this study is to investigate the current level of knowledge mapping skills of the public sector employees in Pakistan. National Institute of Management is one of the premiere public sector training organization for mid-career public sector employees in Pakistan. This study is conducted on participants of fourteen weeks long training course called Mid-Career Management Course (MCMC) which is mandatory for public sector employees in order to ascertain how to enhance their knowledge mapping skills. Methodology: Researcher used both qualitative and quantitative approach to conduct this study. Primary data about current level of participants’ understanding of knowledge mapping was collected through structured questionnaire. Later on, Participant Observation method was used where researchers acted as part of the group to gathered data from the trainees during their performance in training activities and tasks. Findings: Respondents of the study were examined for skills and abilities to organizing ideas, helping groups to develop conceptual framework, identifying critical knowledge areas of an organization, study large networks and identifying the knowledge flow using nodes and vertices, visualizing information, represent organizational structure etc. Overall, the responses varied in different skills depending on the performance and presentations. However, generally all participants have demonstrated average level of using both the IT and Non-IT K-mapping tools and techniques during simulation exercises, analysis paper de-briefing, case study reports, post visit presentation, course review, current issue presentation, syndicate meetings, and daily synopsis. Research Limitations: This study is conducted on a small-scale population of 67 public sector employees nominated by federal government to undergo 14 weeks extensive training program called MCMC (Mid-Career Management Course) at National Institute of Management, Peshawar, Pakistan. Results, however, reflects only a specific class of public sector employees i.e. working in grade 18 and having more than 5 years of work. Practical Implications: Research findings are useful for trainers, training agencies, government functionaries, and organizations working for capacity building of public sector employees.

Keywords: knowledge management, km in public sector, knowledge management and professional development, knowledge management in training, knowledge mapping

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