Search results for: design and analysis of algorithms

Authors: Aleksandar Tsenov

Abstract:

The main goal of this work is to propose a way for combined use of two nontraditional algorithms by solving topological problems on telecommunications concentrator networks. The algorithms suggested are the Simulated Annealing algorithm and the Genetic Algorithm. The Algorithm of Simulated Annealing unifies the well known local search algorithms. In addition - Simulated Annealing allows acceptation of moves in the search space witch lead to decisions with higher cost in order to attempt to overcome any local minima obtained. The Genetic Algorithm is a heuristic approach witch is being used in wide areas of optimization works. In the last years this approach is also widely implemented in Telecommunications Networks Planning. In order to solve less or more complex planning problem it is important to find the most appropriate parameters for initializing the function of the algorithm.

Keywords: Concentrator network, genetic algorithm, simulated annealing, UCPL.

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Authors: Amir Gholami Pastaki, Ali Reza Sahab, Seyed Mehdi Sadeghi

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LSP routing is among the prominent issues in MPLS networks traffic engineering. The objective of this routing is to increase number of the accepted requests while guaranteeing the quality of service (QoS). Requested bandwidth is the most important QoS criterion that is considered in literatures, and a various number of heuristic algorithms have been presented with that regards. Many of these algorithms prevent flows through bottlenecks of the network in order to perform load balancing, which impedes optimum operation of the network. Here, a modern routing algorithm is proposed as MIRAD: having a little information of the network topology, links residual bandwidth, and any knowledge of the prospective requests it provides every request with a maximum bandwidth as well as minimum end-to-end delay via uniform load distribution across the network. Simulation results of the proposed algorithm show a better efficiency in comparison with similar algorithms.

Keywords: new generation networks, QoS, traffic engineering, MPLS, QoS based routing, LSP

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Authors: Zhou Xiong, Kang Shao Bo, Yang Bo

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To date, high-performance structural steel has been widely used for columns in construction practices due to its significant advantages over conventional steel. However, the same design approach with conventional steel columns is still adopted in the design of high-performance steel columns. As a result, its superior properties cannot be fully considered in design. This paper conducts a test and finite element analysis on the overall stability behaviour of welded Q460GJ steel box columns. In the test, four steel columns with different slenderness and width-to-thickness ratio were compressed under an axial compression testing machine. And finite element models were established in which material nonlinearity and residual stress distributions of test columns were included. Then, comparisons were made between test results and finite element result, it showed that finite element analysis results are agree well with the test result. It means that the test and finite element model are reliable. Then, we compared the test result with the design value calculated by current code, the result showed that Q460GJ steel box columns have the higher overall buckling capacity than the design value. It is necessary to update the design curves for Q460GJ steel columns so that the overall stability capacity of Q460GJ box columns can be designed appropriately.

Keywords: Axial compression, Finite element analysis, Overall stability, Q460GJ steel, Welded box columns.

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Authors: Ali E. Abbas

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Industrial Engineering is a broad multidisciplinary field with intersections and applications in numerous areas. When designing a product, it is important to determine the appropriate attributes of value and the preference function for which the product is optimized. This paper provides some guidelines on appropriate selection of attributes for preference and value functions for engineering design.

Keywords: Decision analysis, engineering design, direct vs. indirect values.

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Authors: Vassilios Moussas, Dimos N. Pantazis, Panagiotis Stratakis

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The aim of this paper is to present the optimization methodology developed in the frame of a Coastal Transport Information System. The system will be used for the effective design of coastal transportation lines and incorporates subsystems that implement models, tools and techniques that may support the design of improved networks. The role of the optimization and decision subsystem is to provide the user with better and optimal scenarios that will best fulfill any constrains, goals or requirements posed. The complexity of the problem and the large number of parameters and objectives involved led to the adoption of an evolutionary method (Genetic Algorithms). The problem model and the subsystem structure are presented in detail, and, its support for simulation is also discussed.

Keywords: Coastal transport, modeling, optimization.

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Authors: Mahdi Hamzeh, Sied Mehdi Fakhraie, Caro Lucas

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All practical real-time scheduling algorithms in multiprocessor systems present a trade-off between their computational complexity and performance. In real-time systems, tasks have to be performed correctly and timely. Finding minimal schedule in multiprocessor systems with real-time constraints is shown to be NP-hard. Although some optimal algorithms have been employed in uni-processor systems, they fail when they are applied in multiprocessor systems. The practical scheduling algorithms in real-time systems have not deterministic response time. Deterministic timing behavior is an important parameter for system robustness analysis. The intrinsic uncertainty in dynamic real-time systems increases the difficulties of scheduling problem. To alleviate these difficulties, we have proposed a fuzzy scheduling approach to arrange real-time periodic and non-periodic tasks in multiprocessor systems. Static and dynamic optimal scheduling algorithms fail with non-critical overload. In contrast, our approach balances task loads of the processors successfully while consider starvation prevention and fairness which cause higher priority tasks have higher running probability. A simulation is conducted to evaluate the performance of the proposed approach. Experimental results have shown that the proposed fuzzy scheduler creates feasible schedules for homogeneous and heterogeneous tasks. It also and considers tasks priorities which cause higher system utilization and lowers deadline miss time. According to the results, it performs very close to optimal schedule of uni-processor systems.

Keywords: Computational complexity, Deadline, Feasible scheduling, Fuzzy scheduling, Priority, Real-time multiprocessor systems, Robustness, System utilization.

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Authors: M. Kalamani, S. Valarmathy, M. Krishnamoorthi

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In this paper, Fuzzy C-Means clustering with Expectation Maximization-Gaussian Mixture Model based hybrid modeling algorithm is proposed for Continuous Tamil Speech Recognition. The speech sentences from various speakers are used for training and testing phase and objective measures are between the proposed and existing Continuous Speech Recognition algorithms. From the simulated results, it is observed that the proposed algorithm improves the recognition accuracy and F-measure up to 3% as compared to that of the existing algorithms for the speech signal from various speakers. In addition, it reduces the Word Error Rate, Error Rate and Error up to 4% as compared to that of the existing algorithms. In all aspects, the proposed hybrid modeling for Tamil speech recognition provides the significant improvements for speechto- text conversion in various applications.

Keywords: Speech Segmentation, Feature Extraction, Clustering, HMM, EM-GMM, CSR.

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Authors: F. Sarabchi, M. E. Kalantari

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In this paper, Optimum adaptive loading algorithms are applied to multicarrier system with Space-Time Block Coding (STBC) scheme associated with space-time processing based on singular-value decomposition (SVD) of the channel matrix over Rayleigh fading channels. SVD method has been employed in MIMO-OFDM system in order to overcome subchannel interference. Chaw-s and Compello-s algorithms have been implemented to obtain a bit and power allocation for each subcarrier assuming instantaneous channel knowledge. The adaptive loaded SVD-STBC scheme is capable of providing both full-rate and full-diversity for any number of transmit antennas. The effectiveness of these techniques has demonstrated through the simulation of an Adaptive loaded SVDSTBC system, and the comparison shown that the proposed algorithms ensure better performance in the case of MIMO.

Keywords: OFDM, MIMO, SVD, STBC, Adaptive Loading.

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Authors: Said Elkassimi, Said Safi, B. Manaut

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In recent years, multi-antenna techniques are being considered as a potential solution to increase the flow of future wireless communication systems. The objective of this article is to study the emission and reception system MIMO (Multiple Input Multiple Output), and present the different reception decoding techniques. First we will present the least complex technical, linear receivers such as the zero forcing equalizer (ZF) and minimum mean squared error (MMSE). Then a nonlinear technique called ordered successive cancellation of interferences (OSIC) and the optimal detector based on the maximum likelihood criterion (ML), finally, we simulate the associated decoding algorithms for MIMO system such as ZF, MMSE, OSIC and ML, thus a comparison of performance of these algorithms in MIMO context.

Keywords: Multiple Input Multiple Outputs (MIMO), ZF, MMSE, Ordered Interference Successive Cancellation (OSIC), ML, Interference Successive Cancellation (SIC).

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Authors: Su Xiaohan, Jin Chicheng, Liu Yijing, Burra Venkata Durga Kumar

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Energy-aware scheduling in real-time systems aims to minimize energy consumption, but issues related to resource reservation and timing constraints remain challenges. This study focuses on analyzing two scheduling algorithms, Fair-Share Scheduling (FFS) and Priority-Driven Preemptive Scheduling (PDPS), for solving these issues and energy-aware scheduling in real-time systems. Based on research on both algorithms and the processes of solving two problems, it can be found that FFS ensures fair allocation of resources but needs to improve with an imbalanced system load. And PDPS prioritizes tasks based on criticality to meet timing constraints through preemption but relies heavily on task prioritization and may not be energy efficient. Therefore, improvements to both algorithms with energy-aware features will be proposed. Future work should focus on developing hybrid scheduling techniques that minimize energy consumption through intelligent task prioritization, resource allocation, and meeting time constraints.

Keywords: Energy-aware scheduling, fair-share scheduling, priority-driven preemptive scheduling, real-time systems, optimization, resource reservation, timing constraints.

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Authors: M. G. C. A. Cimino, G. Frosini, B. Lazzerini, F. Marcelloni

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In the last decades, a number of robust fuzzy clustering algorithms have been proposed to partition data sets affected by noise and outliers. Robust fuzzy C-means (robust-FCM) is certainly one of the most known among these algorithms. In robust-FCM, noise is modeled as a separate cluster and is characterized by a prototype that has a constant distance δ from all data points. Distance δ determines the boundary of the noise cluster and therefore is a critical parameter of the algorithm. Though some approaches have been proposed to automatically determine the most suitable δ for the specific application, up to today an efficient and fully satisfactory solution does not exist. The aim of this paper is to propose a novel method to compute the optimal δ based on the analysis of the distribution of the percentage of objects assigned to the noise cluster in repeated executions of the robust-FCM with decreasing values of δ . The extremely encouraging results obtained on some data sets found in the literature are shown and discussed.

Keywords: noise prototype, robust fuzzy clustering, robustfuzzy C-means

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Authors: Ahlem Fatnassi, Hamza Gharsellaoui, Sadok Bouamama

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This paper deals with the study of interest in the fields of Steganography and Steganalysis. Steganography involves hiding information in a cover media to obtain the stego media in such a way that the cover media is perceived not to have any embedded message for its unintended recipients. Steganalysis is the mechanism of detecting the presence of hidden information in the stego media and it can lead to the prevention of disastrous security incidents. In this paper, we provide a critical review of the steganalysis algorithms available to analyze the characteristics of an image stego media against the corresponding cover media and understand the process of embedding the information and its detection. We anticipate that this paper can also give a clear picture of the current trends in steganography so that we can develop and improvise appropriate steganalysis algorithms.

Keywords: Optimization, heuristics and metaheuristics algorithms, embedded systems, low-power consumption, Steganalysis Heuristic approach.

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Authors: Francisca Grimón, Marylin Giugni, Josep Monguet F., Joaquín Fernández, Luis León G.

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In blended learning environments, the Internet can be combined with other technologies. The aim of this research was to design, introduce and validate a model to support synchronous and asynchronous activities by managing content domains in an Adaptive Hypermedia System (AHS). The application is based on information recovery techniques, clustering algorithms and adaptation rules to adjust the user's model to contents and objects of study. This system was applied to blended learning in higher education. The research strategy used was the case study method. Empirical studies were carried out on courses at two universities to validate the model. The results of this research show that the model had a positive effect on the learning process. The students indicated that the synchronous and asynchronous scenario is a good option, as it involves a combination of work with the lecturer and the AHS. In addition, they gave positive ratings to the system and stated that the contents were adapted to each user profile.

Keywords: Blended Learning, System Adaptive, Model, Clustering Algorithms.

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Authors: Muhammad Arslan Usman, Muhammad Rehan Usman, Soo Young Shin

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Live video streaming is one of the most widely used service among end users, yet it is a big challenge for the network operators in terms of quality. The only way to provide excellent Quality of Experience (QoE) to the end users is continuous monitoring of live video streaming. For this purpose, there are several objective algorithms available that monitor the quality of the video in a live stream. Subjective tests play a very important role in fine tuning the results of objective algorithms. As human perception is considered to be the most reliable source for assessing the quality of a video stream subjective tests are conducted in order to develop more reliable objective algorithms. Temporal impairments in a live video stream can have a negative impact on the end users. In this paper we have conducted subjective evaluation tests on a set of video sequences containing temporal impairment known as frame freezing. Frame Freezing is considered as a transmission error as well as a hardware error which can result in loss of video frames on the reception side of a transmission system. In our subjective tests, we have performed tests on videos that contain a single freezing event and also for videos that contain multiple freezing events. We have recorded our subjective test results for all the videos in order to give a comparison on the available No Reference (NR) objective algorithms. Finally, we have shown the performance of no reference algorithms used for objective evaluation of videos and suggested the algorithm that works better. The outcome of this study shows the importance of QoE and its effect on human perception. The results for the subjective evaluation can serve the purpose for validating objective algorithms.

Keywords: Objective evaluation, subjective evaluation, quality of experience (QoE), video quality assessment (VQA).

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Authors: Peyman Honarmandi, Mazen Alhirsh

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Banner towing is a major form of advertisement. It consists of a banner showing a logo or a selection of words or letters being towed by an aircraft. Traditionally bush planes have been used to tow banners given their high thrust capabilities, however, with the development of Remote-Controlled (RC) aircraft, they could be a good replacement as RC planes mitigate the risk of human life and can be easier to operate. This paper studies the best banner design to be towed by an RC aircraft. This is done by conducting wind tunnel testing on an array of banners with different materials and designs. A pull gauge is used to record the drag force during testing which is then used to calculate the coefficient of drag, Cd. The testing results show that the best banner design would be a hybrid design with a solid and mesh material. The design with the lowest Cd of 0.082 was a half ripstop nylon half polyester mesh design. On the other hand, the design with highest Cd of 0.305 involved incorporating a tail chute to decrease fluttering.

Keywords: Aerodynamics of banner, banner design, banner towing, drag coefficients of banner, RC aircraft banner.

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Authors: Kung-Jen Tu

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Many public housing properties developed by local governments in Taiwan in the 1980s have deteriorated severely as these rental apartment buildings aged. The lack of building maintainability considerations during project design phase as well as insufficient maintenance funds have made it difficult and costly for local governments to maintain and keep public housing properties in good shape. In order to assist the local governments in achieving and delivering sustainable public housing, this paper intends to present a developed design evaluation method to be used to evaluate the presented design schemes from property management and financial feasibility perspectives during project design phase of public housing projects. The design evaluation results, i.e. the property management and financial implications of presented design schemes that could occur later during the building operation and maintenance phase, will be reported to the client (the government) and design schemes revised consequently. It is proposed that the design evaluation be performed from two main perspectives: (1) Operation and property management perspective: Three criteria such as spatial appropriateness, people and vehicle circulation and control, property management working spaces are used to evaluate the ‘operation and PM effectiveness’ of a design scheme. (2) Financial feasibility perspective: Four types of financial analyses are performed to assess the long term financial feasibility of a presented design scheme, such as operational and rental income analysis, management fund analysis, regular operational and property management service expense analysis, capital expense analysis. The ongoing Chung-Li Public Housing Project developed by the Taoyuan City Government will be used as a case to demonstrate how the presented design evaluation method is implemented. The results of property management assessment as well as the annual operational and capital expenses of a proposed design scheme are presented.

Keywords: Design evaluation method, management fund, operational and capital expenses, rental apartment buildings.

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Authors: Muhammad Ridhuan Tony Lim Abdullah, Saedah Siraj

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The learning society has currently transformed from 'wired society' to become 'mobile society' which is facilitated by wireless network. To suit to this new paradigm, m-learning was given birth and rapidly building its prospect to be included in the future curriculum. Research and studies on m-learning spruced up in numerous aspects but there is still scarcity in studies on curriculum design of m-learning. This study is a part of an ongoing bigger study probing into the m-learning curriculum for secondary schools. The paper reports on the first phase of the study which aims to probe into the needs of curriculum design for m-learning at the secondary school level and the researcher adopted the needs analysis method. Data accrued from responses on survey questionnaires based on Lickert-point scale were analyzed statistically. The findings from this preliminary study serve as a basis for m-learning curriculum development for secondary schools.

Keywords: curriculum design, e-learning, future curriculum, m-learning

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Authors: S.A.Ahmad, M.N.Taib, N.E.A.Khalid, R.Ahmad, H.Taib

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The purpose of this research is to compare the original intra-oral digital dental radiograph images with images that are enhanced using a combination of image processing algorithms. Intraoral digital dental radiograph images are often noisy, blur edges and low in contrast. A combination of sharpening and enhancement method are used to overcome these problems. Three types of proposed compound algorithms used are Sharp Adaptive Histogram Equalization (SAHE), Sharp Median Adaptive Histogram Equalization (SMAHE) and Sharp Contrast adaptive histogram equalization (SCLAHE). This paper presents an initial study of the perception of six dentists on the details of abnormal pathologies and improvement of image quality in ten intra-oral radiographs. The research focus on the detection of only three types of pathology which is periapical radiolucency, widen periodontal ligament space and loss of lamina dura. The overall result shows that SCLAHE-s slightly improve the appearance of dental abnormalities- over the original image and also outperform the other two proposed compound algorithms.

Keywords: intra-oral dental radiograph, histogram equalization, sharpening, CLAHE.

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Authors: Yessine Hadj Kacem, Adel Mahfoudhi, Hedi Tmar, Mohamed Abid

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Unified Modeling Language (UML) extensions for real time embedded systems (RTES) co-design, are taking a growing interest by a great number of industrial and research communities. The extension mechanism is provided by UML profiles for RTES. It aims at improving an easily-understood method of system design for non-experts. On the other hand, one of the key items of the co- design methods is the Hardware/Software partitioning and scheduling tasks. Indeed, it is mandatory to define where and when tasks are implemented and run. Unfortunately the main goals of co-design are not included in the usual practice of UML profiles. So, there exists a need for mapping used models to an execution platform for both schedulability test and HW/SW partitioning. In the present work, test schedulability and design space exploration are performed at an early stage. The proposed approach adopts Model Driven Engineering MDE. It starts from UML specification annotated with the recent profile for the Modeling and Analysis of Real Time Embedded systems MARTE. Following refinement strategy, transformation rules allow to find a feasible schedule that satisfies timing constraints and to define where tasks will be implemented. The overall approach is experimented for the design of a football player robot application.

Keywords: MDE, UML profile, scheduling analysis, HW/SW partitioning.

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Authors: Anthony Spiteri Staines

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This paper examines and compares several of the most common real time methods. These methods are CORE, YSM, MASCOT, JSD, DARTS, RTSAD, ADARTS, CODARTS, HOOD, HRT-HOOD, ROOM, UML, UML-RT. The methods are compared using attributes like i) usability, ii) compositionality and iii) proper RT notations available. Finally some comparison results are given and discussed.

Keywords: Software Engineering Methods, MethodComparison, Real Time Analysis and Design.

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Authors: Tami Alghamdi, Terence Soule

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To study how to transfer knowledge from multiple source problems to the target problem, we modeled the Transfer Learning (TL) process using Genetic Algorithms as the model solver. TL is the process that aims to transfer learned data from one problem to another problem. The TL process aims to help Machine Learning (ML) algorithms find a solution to the problems. The Genetic Algorithms (GA) give researchers access to information that we have about how the old problem is solved. In this paper, we have five different source problems, and we transfer the knowledge to the target problem. We studied different scenarios of the target problem. The results showed that combined knowledge from multiple source problems improves the GA performance. Also, the process of combining knowledge from several problems results in promoting diversity of the transferred population.

Keywords: Transfer Learning, Multiple Sources, Knowledge Transfer, Domain Adaptation, Source, Target.

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Authors: Nayera E. El-Gharably, Khaled S. El-Kilany, Aziz E. El-Sayed

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A key element of many distribution systems is the routing and scheduling of vehicles servicing a set of customers. A wide variety of exact and approximate algorithms have been proposed for solving the vehicle routing problems (VRP). Exact algorithms can only solve relatively small problems of VRP, which is classified as NP-Hard. Several approximate algorithms have proven successful in finding a feasible solution not necessarily optimum. Although different parts of the problem are stochastic in nature; yet, limited work relevant to the application of discrete event system simulation has addressed the problem. Presented here is optimization using simulation of VRP; where, a simplified problem has been developed in the ExtendSimTM simulation environment; where, ExtendSimTM evolutionary optimizer is used to minimize the total transportation cost of the problem. Results obtained from the model are very satisfactory. Further complexities of the problem are proposed for consideration in the future.

Keywords: Discrete event system simulation, optimization using simulation, vehicle routing problem.

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Authors: Mohammad Ghavami, Reza S. Dilmaghani

Abstract:

This paper presents an adaptive framework for modelling financial markets using equity risk premiums, risk free rates and volatilities. The recorded economic factors are initially used to train four adaptive filters for a certain limited period of time in the past. Once the systems are trained, the adjusted coefficients are used for modelling and prediction of an important financial market index. Two different approaches based on least mean squares (LMS) and recursive least squares (RLS) algorithms are investigated. Performance analysis of each method in terms of the mean squared error (MSE) is presented and the results are discussed. Computer simulations carried out using recorded data show MSEs of 4% and 3.4% for the next month prediction using LMS and RLS adaptive algorithms, respectively. In terms of twelve months prediction, RLS method shows a better tendency estimation compared to the LMS algorithm.

Keywords: Prediction of financial markets, Adaptive methods, MSE, LSE.

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Authors: Valeriy Naumov, Olli Martikainen

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In this paper we propose new method for simultaneous generating multiple quantiles corresponding to given probability levels from data streams and massive data sets. This method provides a basis for development of single-pass low-storage quantile estimation algorithms, which differ in complexity, storage requirement and accuracy. We demonstrate that such algorithms may perform well even for heavy-tailed data.

Keywords: Quantile estimation, data stream, heavy-taileddistribution, tail index.

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Authors: Shashank N. Mathur, Anil K. Ahlawat, Virendra P. Vishwakarma

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In this paper, a comparative study of application of supervised and unsupervised learning algorithms on illumination invariant face recognition has been carried out. The supervised learning has been carried out with the help of using a bi-layered artificial neural network having one input, two hidden and one output layer. The gradient descent with momentum and adaptive learning rate back propagation learning algorithm has been used to implement the supervised learning in a way that both the inputs and corresponding outputs are provided at the time of training the network, thus here is an inherent clustering and optimized learning of weights which provide us with efficient results.. The unsupervised learning has been implemented with the help of a modified Counterpropagation network. The Counterpropagation network involves the process of clustering followed by application of Outstar rule to obtain the recognized face. The face recognition system has been developed for recognizing faces which have varying illumination intensities, where the database images vary in lighting with respect to angle of illumination with horizontal and vertical planes. The supervised and unsupervised learning algorithms have been implemented and have been tested exhaustively, with and without application of histogram equalization to get efficient results.

Keywords: Artificial Neural Networks, back propagation, Counterpropagation networks, face recognition, learning algorithms.

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Authors: V. Kabeer, N.K.Narayanan

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This paper reports a new pattern recognition approach for face recognition. The biological model of light receptors - cones and rods in human eyes and the way they are associated with pattern vision in human vision forms the basis of this approach. The functional model is simulated using CWD and WPD. The paper also discusses the experiments performed for face recognition using the features extracted from images in the AT & T face database. Artificial Neural Network and k- Nearest Neighbour classifier algorithms are employed for the recognition purpose. A feature vector is formed for each of the face images in the database and recognition accuracies are computed and compared using the classifiers. Simulation results show that the proposed method outperforms traditional way of feature extraction methods prevailing for pattern recognition in terms of recognition accuracy for face images with pose and illumination variations.

Keywords: Face recognition, Image analysis, Wavelet feature extraction, Pattern recognition, Classifier algorithms

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Authors: E. Rahmathulla Noufal

Abstract:

Investigating the dynamic responses of high rise structures under the effect of siesmic ground motion is extremely important for the proper analysis and design of multitoried structures. Since the presence of infilled walls strongly influences the behaviour of frame systems in multistoried buildings, there is an increased need for developing guidelines for the analysis and design of infilled frames under the effect of dynamic loads for safe and proper design of buildings. In this manuscript, we evaluate the natural frequencies and natural periods of single bay single storey frames considering the effect of infill walls by using the Eigen value analysis and validating with SAP 2000 (free vibration analysis). Various parameters obtained from the diagonal strut model followed for the free vibration analysis is then compared with the Finite Element model, where infill is modeled as shell elements (four noded). We also evaluated the effect of various parameters on the natural periods of vibration obtained by free vibration analysis in SAP 2000 comparing them with those obtained by the empirical expressions presented in I.S. 1893(Part I)- 2002.

Keywords: Infilled frame, eigen value analysis, free vibration analysis, diagonal strut model, finite element model, SAP 2000, natural period.

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Authors: Jagath Samarabandu, Xiaoqing Liu

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Using bottom-up image processing algorithms to predict human eye fixations and extract the relevant embedded information in images has been widely applied in the design of active machine vision systems. Scene text is an important feature to be extracted, especially in vision-based mobile robot navigation as many potential landmarks such as nameplates and information signs contain text. This paper proposes an edge-based text region extraction algorithm, which is robust with respect to font sizes, styles, color/intensity, orientations, and effects of illumination, reflections, shadows, perspective distortion, and the complexity of image backgrounds. Performance of the proposed algorithm is compared against a number of widely used text localization algorithms and the results show that this method can quickly and effectively localize and extract text regions from real scenes and can be used in mobile robot navigation under an indoor environment to detect text based landmarks.

Keywords: Landmarks, mobile robot navigation, scene text, text localization and extraction.

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Authors: Yuekun Chen, Yousef Sardahi, Salam Hajjar, Christopher Greer

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This paper presents a multi-objective optimal design of a cascade control system for an underactuated mechanical system. Cascade control structures usually include two control algorithms (inner and outer). To design such a control system properly, the following conflicting objectives should be considered at the same time: 1) the inner closed-loop control must be faster than the outer one, 2) the inner loop should fast reject any disturbance and prevent it from propagating to the outer loop, 3) the controlled system should be insensitive to measurement noise, and 4) the controlled system should be driven by optimal energy. Such a control problem can be formulated as a multi-objective optimization problem such that the optimal trade-offs among these design goals are found. To authors best knowledge, such a problem has not been studied in multi-objective settings so far. In this work, an underactuated mechanical system consisting of a rotary servo motor and a ball and beam is used for the computer simulations, the setup parameters of the inner and outer control systems are tuned by NSGA-II (Non-dominated Sorting Genetic Algorithm), and the dominancy concept is used to find the optimal design points. The solution of this problem is not a single optimal cascade control, but rather a set of optimal cascade controllers (called Pareto set) which represent the optimal trade-offs among the selected design criteria. The function evaluation of the Pareto set is called the Pareto front. The solution set is introduced to the decision-maker who can choose any point to implement. The simulation results in terms of Pareto front and time responses to external signals show the competing nature among the design objectives. The presented study may become the basis for multi-objective optimal design of multi-loop control systems.

Keywords: Cascade control, multi-loop control systems, multi-objective optimization, optimal control.

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Authors: V. B. Bastos, M. P. Lima, P. R. G. Kurka

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This paper applies to the creation of virtual 3D environments for the study and development of mobile robot image based navigation algorithms and techniques, which need to operate robustly and efficiently. The test of these algorithms can be performed in a physical way, from conducting experiments on a prototype, or by numerical simulations. Current simulation platforms for robotic applications do not have flexible and updated models for image rendering, being unable to reproduce complex light effects and materials. Thus, it is necessary to create a test platform that integrates sophisticated simulated applications of real environments for navigation, with data and image processing. This work proposes the development of a high-level platform for building 3D model’s environments and the test of image-based navigation algorithms for mobile robots. Techniques were used for applying texture and lighting effects in order to accurately represent the generation of rendered images regarding the real world version. The application will integrate image processing scripts, trajectory control, dynamic modeling and simulation techniques for physics representation and picture rendering with the open source 3D creation suite - Blender.

Keywords: Simulation, visual navigation, mobile robot, data visualization.

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