Search results for: hybrid systems and recurrent neural networks.

Authors: Phong Tran

Abstract:

A research effort to find the reality of the business of Japan-s software globalization of enterprise-level business software systems has found that while the number of Japan-made enterpriselevel software systems is comparable with those of the other G7 countries, the business is limited to the East and Southeast Asian markets. This indicates that this business has a problem in the European and USA markets. Based on the knowledge that the research has established, the research concludes that the communication problems arise from the lack of individualists' communication styles and foreign language skills in Japan's software globalization is compensated by similarities in certain Japanese cultural factors and Japan's cultural power in the East and Southeast Asian markets and that this business does not have this compensation factor in the European and American markets due to dissimilarities and no cultural power.

Keywords: Cultural factors, global business, Japan, software globalization.

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Authors: Jin Fan, M. Ala Saadeghvaziri

Abstract:

Unmanned aerial vehicles (UAVs), also referred to as drones, equipped with various kinds of advanced detecting or surveying systems, are effective and low-cost in data acquisition, data delivery and sharing, which can benefit the building of infrastructures. This paper will give an overview of applications of drones in planning, designing, construction and maintenance of infrastructures. The drone platform, detecting and surveying systems, and post-data processing systems will be introduced, followed by cases with details of the applications. Challenges from different aspects will be addressed. Opportunities of drones in infrastructure include but not limited to the following. Firstly, UAVs equipped with high definition cameras or other detecting equipment are capable of inspecting the hard to reach infrastructure assets. Secondly, UAVs can be used as effective tools to survey and map the landscape to collect necessary information before infrastructure construction. Furthermore, an UAV or multi-UVAs are useful in construction management. UVAs can also be used in collecting roads and building information by taking high-resolution photos for future infrastructure planning. UAVs can be used to provide reliable and dynamic traffic information, which is potentially helpful in building smart cities. The main challenges are: limited flight time, the robustness of signal, post data analyze, multi-drone collaboration, weather condition, distractions to the traffic caused by drones. This paper aims to help owners, designers, engineers and architects to improve the building process of infrastructures for higher efficiency and better performance.

Keywords: Bridge, construction, drones, infrastructure, information.

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Authors: M. Taha, Hala H. Zayed, T. Nazmy, M. Khalifa

Abstract:

Recently, traffic monitoring has attracted the attention of computer vision researchers. Many algorithms have been developed to detect and track moving vehicles. In fact, vehicle tracking in daytime and in nighttime cannot be approached with the same techniques, due to the extreme different illumination conditions. Consequently, traffic-monitoring systems are in need of having a component to differentiate between daytime and nighttime scenes. In this paper, a HSV-based day/night detector is proposed for traffic monitoring scenes. The detector employs the hue-histogram and the value-histogram on the top half of the image frame. Experimental results show that the extraction of the brightness features along with the color features within the top region of the image is effective for classifying traffic scenes. In addition, the detector achieves high precision and recall rates along with it is feasible for real time applications.

Keywords: Day/night detector, daytime/nighttime classification, image classification, vehicle tracking, traffic monitoring.

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Authors: Hooman Jafarabadi

Abstract:

In this paper application of artificial intelligence for baby and children caring is studied. Then a new idea for injury prevention and safety announcement is presented by using digital image processing. The paper presents the structure of the proposed system. The system determines the possibility of the dangers for children and babies in yards, gardens and swimming pools or etc. In the presented idea, multi camera System is used and receiver videos are processed to find the hazardous areas then the entrance of children and babies in the determined hazardous areas are analyzed. In this condition the system does the programmed action capture, produce alarm or tone or send message.

Keywords: Baby and children Care and Nursing, Intelligent Control Systems for Nursing, Electronic Care and Nursing, Dangers and safety for children and babies, Motion detection, Expert danger alarm systems.

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Authors: Cheng-Lung Huang, Han-Yu Chien, Michael Conyette

Abstract:

Social bookmarking is an environment in which the user gradually changes interests over time so that the tag data associated with the current temporal period is usually more important than tag data temporally far from the current period. This implies that in the social tagging system, the newly tagged items by the user are more relevant than older items. This study proposes a novel recommender system that considers the users- recent tag preferences. The proposed system includes the following stages: grouping similar users into clusters using an E-M clustering algorithm, finding similar resources based on the user-s bookmarks, and recommending the top-N items to the target user. The study examines the system-s information retrieval performance using a dataset from del.icio.us, which is a famous social bookmarking web site. Experimental results show that the proposed system is better and more effective than traditional approaches.

Keywords: Recommender systems, Social bookmarking, Tag

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Authors: Ebtehal Alawi Alsaggaf, Shehab A. Gamalel-Din

Abstract:

Exploring an autistic child in Elementary school is a difficult task that must be fully thought out and the teachers should be aware of the many challenges they face raising their child especially the behavioral problems of autistic children. Hence there arises a need for developing Artificial intelligence (AI) Contemporary Techniques to help diagnosis to discover autistic people. In this research, we suggest designing architecture of expert system that combine Cognitive Maps (CM) with Case Based Reasoning technique (CBR) in order to reduce time and costs of traditional diagnosis process for the early detection to discover autistic children. The teacher is supposed to enter child's information for analyzing by CM module. Then, the reasoning processor would translate the output into a case to be solved a current problem by CBR module. We will implement a prototype for the model as a proof of concept using java and MYSQL. This will be provided a new hybrid approach that will achieve new synergies and improve problem solving capabilities in AI. And we will predict that will reduce time, costs, the number of human errors and make expertise available to more people who want who want to serve autistic children and their families.

Keywords: Autism, Cognitive Maps (CM), Case Based Reasoning technique (CBR).

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Authors: Hendriëtte van der Walt, Lesley Chown, Richard Harris, Ndabenhle Sosibo, Robert Tshikhudo

Abstract:

The use of magnetic and magnetic/gold core/shell nanoparticles in biotechnology or medicine has shown good promise due to their hybrid nature which possesses superior magnetic and optical properties. Some of these potential applications include hyperthermia treatment, bio-separations, diagnostics, drug delivery and toxin removal. Synthesis refinement to control geometric and magnetic/optical properties, and finding functional surfactants for biomolecular attachment, are requirements to meet application specifics. Various high-temperature preparative methods were used for the synthesis of iron oxide and gold-coated iron oxide nanoparticles. Different surface functionalities, such as 11-aminoundecanoic and 11-mercaptoundecanoic acid, were introduced on the surface of the particles to facilitate further attachment of biomolecular functionality and drug-like molecules. Nanoparticle thermal stability, composition, state of aggregation, size and morphology were investigated and the results from techniques such as Fourier Transform-Infra Red spectroscopy (FT-IR), Ultraviolet visible spectroscopy (UV-vis), Transmission Electron Microscopy (TEM) and thermal analysis are discussed.

Keywords: Core/shell, Iron oxide, Gold coating, Nanoparticles.

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Authors: Manal Rayes

Abstract:

In its efforts to utilize the information and communication technology to enhance the quality of public service delivery, national and local governments around the world are competing to introduce more ICT applications as tools to automate processes related to law enforcement or policy execution, increase citizen orientation, trust, and satisfaction, and create one-stop-shops for public services. In its implementation, e-Government ICTs need to maintain transparency, participation, and collaboration. Due to this diverse of mixed goals and requirements, e-Government systems need to be designed based on special design considerations in order to eliminate the risks of failure to compliance to government regulations, citizen dissatisfaction, or market repulsion. In this article we suggest a framework with guidelines for designing government information systems that takes into consideration the special requirements of the public sector. Then we introduce two case studies and show how applying those guidelines would result in a more solid system design.

Keywords: e-government, framework, guidelines, system design.

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Authors: Yannick Verbelen, Tim Dekegel, Ann Peeters, Klara Stinders, Niek Blondeel, Sam De Winne, An Braeken, Abdellah Touhafi

Abstract:

Matching an embedded electronic application with a cantilever vibration energy harvester remains a difficult endeavour due to the large number of factors influencing the output power. In the presented work, complementary balanced energy harvester parametrization is used as a methodology for simplification of harvester integration in electronic applications. This is achieved by a dual approach consisting of an adaptation of the general parametrization methodology in conjunction with a straight forward harvester benchmarking strategy. For this purpose, the design and implementation of a suitable user friendly cantilever energy harvester benchmarking platform is discussed. Its effectiveness is demonstrated by applying the methodology to a commercially available Mide V21BL vibration energy harvester, with excitation amplitude and frequency as variables.

Keywords: Energy harvesting, vibrations, piezoelectric transducers, embedded systems, harvester parametrization.

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Authors: Matta S. N. S. Kiran, Manikantadhar Maheswaram, Akshat Upadhyay, Rohit Mishra, Bhagat Singh

Abstract:

A bearing is a very common and useful component of mechanical systems in order to transfer power from one end to another. Therefore, to ensure the accountability and robustness of the rotating mechanical systems, the bearing part's health condition must be checked at regular intervals, also known as preventive maintenance. This condition may lead to unnecessary higher maintenance costs and later result in higher production costs. These costs can be minimized by diagnosing the faulty bearing in its incipient stage. This paper describes an approach to detect rolling bearing defects based on Empirical Mode Decomposition. The novelty of the proposed methodology is validated experimentally using Case Western Reserve University bearing's data sets. The selected data sets comprise the two vibration signals, i.e., inner race and outer, for healthy and faulty conditions.

Keywords: Ball bearing, denoising, signal processing, statistical indicators.

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Authors: Swapnil Singh, Sanjoy Das

Abstract:

Mobile Ad-Hoc Network (MANET) is a network without infrastructure dynamically formed by autonomous system of mobile nodes that are connected via wireless links. Mobile nodes communicate with each other on the fly. In this network each node also acts as a router. The battery power and the bandwidth are very scarce resources in this network. The network lifetime and connectivity of nodes depend on battery power. Therefore, energy is a valuable constraint which should be efficiently used. In this paper we survey various energy efficient routing protocols. The energy efficient routing protocols are classified on the basis of approaches they use to minimize the energy consumption. The purpose of this paper is to facilitate the research work and combine the existing solution and to develop a more energy efficient routing mechanism.

Keywords: Delaunay Triangulation, deployment, energy efficiency, MANET.

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Authors: Amit Kumar, Pushpinder Singh, Parampreet Kaur, Amarpreet Kaur

Abstract:

Ranking of fuzzy numbers play an important role in decision making, optimization, forecasting etc. Fuzzy numbers must be ranked before an action is taken by a decision maker. In this paper, with the help of several counter examples it is proved that ranking method proposed by Chen and Chen (Expert Systems with Applications 36 (2009) 6833-6842) is incorrect. The main aim of this paper is to propose a new approach for the ranking of generalized trapezoidal fuzzy numbers. The main advantage of the proposed approach is that the proposed approach provide the correct ordering of generalized and normal trapezoidal fuzzy numbers and also the proposed approach is very simple and easy to apply in the real life problems. It is shown that proposed ranking function satisfies all the reasonable properties of fuzzy quantities proposed by Wang and Kerre (Fuzzy Sets and Systems 118 (2001) 375-385).

Keywords: Ranking function, Generalized trapezoidal fuzzy numbers

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Authors: M. R. Vaezi, R. Ghasemi, A. Akramizadeh

Abstract:

Frequency stability of microgrids under islanded operation attracts particular attention recently. A new cooperative frequency control strategy based on centralized multi-agent system (CMAS) is proposed in this study. Based on this strategy, agents sent data and furthermore each component has its own to center operating decisions (MGCC).After deciding on the information, they are returned. Frequency control strategies include primary and secondary frequency control and disposal of multi-stage load in which this study will also provide a method and algorithm for load shedding. This could also be a big problem for the performance of micro-grid in times of disaster. The simulation results show the promising performance of the proposed structure of the controller based on multi agent systems.

Keywords: Frequency Control, Islanded Micro-grid, Load shedding, Multi-agent System.

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Authors: Nemat Abazari, Ilgin Sager

Abstract:

In this paper smooth trajectories are computed in the Lie group SO(2, 1) as a motion planning problem by assigning a Frenet frame to the rigid body system to optimize the cost function of the elastic energy which is spent to track a timelike curve in Minkowski space. A method is proposed to solve a motion planning problem that minimize the integral of the square norm of Darboux vector of a timelike curve. This method uses the coordinate free Maximum Principle of Optimal control and results in the theory of integrable Hamiltonian systems. The presence of several conversed quantities inherent in these Hamiltonian systems aids in the explicit computation of the rigid body motions.

Keywords: Optimal control, Hamiltonian vector field, Darboux vector, maximum principle, lie group, Rigid body motion, Lorentz metric.

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Authors: Tarek Mohammad

Abstract:

The amplitude response of infrared (IR) sensors depends on the reflectance properties of the target. Therefore, in order to use IR sensor for measuring distances accurately, prior knowledge of the surface must be known. This paper describes the Phong Illumination Model for determining the properties of a surface and subsequently calculating the distance to the surface. The angular position of the IR sensor is computed as normal to the surface for simplifying the calculation. Ultrasonic (US) sensor can provide the initial information on distance to obtain the parameters for this method. In addition, the experimental results obtained by using LabView are discussed. More care should be taken when placing the objects from the sensors during acquiring data since the small change in angle could show very different distance than the actual one. Since stereo camera vision systems do not perform well under some environmental conditions such as plain wall, glass surfaces, or poor lighting conditions, the IR and US sensors can be used additionally to improve the overall vision systems of mobile robots.

Keywords: Distance Measurement, Infrared sensor, Surface properties, Ultrasonic sensor.

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Authors: Vishal Awasthi, Krishna Raj

Abstract:

Any digital processing performed on a signal with larger nyquist interval requires more computation than signal processing performed on smaller nyquist interval. The sampling rate alteration generates the unwanted effects in the system such as spectral aliasing and spectral imaging during signal processing. Multirate-multistage implementation of digital filter can result a significant computational saving than single rate filter designed for sample rate conversion. In this paper, we presented an efficient cascaded integrator comb (CIC) decimation filter that perform fast down sampling using signed digit adder algorithm with compensated frequency droop that arises due to aliasing effect during the decimation process. This proposed compensated CIC decimation filter structure with a hybrid signed digit (HSD) fast adder provide an improved performance in terms of down sampling speed by 65.15% than ripple carry adder (RCA) and reduced area and power by 57.5% and 0.01 % than signed digit (SD) adder algorithms respectively.

Keywords: Sampling rate conversion, Multirate Filtering, Compensation Theory, Decimation filter, CIC filter, Redundant signed digit arithmetic, Fast adders.

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Authors: Pushkar Umaranikar, Chris Pollett

Abstract:

An online advertisement system and its implementation for the Yioop open source search engine are presented. This system supports both selling advertisements and displaying them within search results. The selling of advertisements is done using a system to auction off daily impressions for keyword searches. This is an open, ascending price auction system in which all accepted bids will receive a fraction of the auctioned day’s impressions. New bids in our system are required to be at least one half of the sum of all previous bids ensuring the number of accepted bids is logarithmic in the total ad spend on a keyword for a day. The mechanics of creating an advertisement, attaching keywords to it, and adding it to an advertisement inventory are described. The algorithm used to go from accepted bids for a keyword to which ads are displayed at search time is also presented. We discuss properties of our system and compare it to existing auction systems and systems for selling online advertisements.

Keywords: Online markets, online ad system, online auctions, search engines.

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Authors: K. M. Ravikumar, Balakrishna Reddy, R. Rajagopal, H. C. Nagaraj

Abstract:

Automatic detection of syllable repetition is one of the important parameter in assessing the stuttered speech objectively. The existing method which uses artificial neural network (ANN) requires high levels of agreement as prerequisite before attempting to train and test ANNs to separate fluent and nonfluent. We propose automatic detection method for syllable repetition in read speech for objective assessment of stuttered disfluencies which uses a novel approach and has four stages comprising of segmentation, feature extraction, score matching and decision logic. Feature extraction is implemented using well know Mel frequency Cepstra coefficient (MFCC). Score matching is done using Dynamic Time Warping (DTW) between the syllables. The Decision logic is implemented by Perceptron based on the score given by score matching. Although many methods are available for segmentation, in this paper it is done manually. Here the assessment by human judges on the read speech of 10 adults who stutter are described using corresponding method and the result was 83%.

Keywords: Assessment, DTW, MFCC, Objective, Perceptron, Stuttering.

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Authors: Yoshimoto Kurihara, Tad Gonsalves

Abstract:

Currently, in the field of object posture estimation, there is research on estimating the position and angle of an object by storing a 3D model of the object to be estimated in advance in a computer and matching it with the model. However, in this research, we have succeeded in creating a module that is much simpler, smaller in scale, and faster in operation. Our 6D pose estimation model consists of two different networks – a classification network and a regression network. From a single RGB image, the trained model estimates the class of the object in the image, the coordinates of the object, and its rotation angle in 3D space. In addition, we compared the estimation accuracy of each camera position, i.e., the angle from which the object was captured. The highest accuracy was recorded when the camera position was 75°, the accuracy of the classification was about 87.3%, and that of regression was about 98.9%.

Keywords: AlexNet, Deep learning, image recognition, 6D posture estimation.

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Authors: Malika Yaici, Anis Oussayah, Mohamed Ahmed Takerrabet

Abstract:

Security of context-aware ubiquitous systems is paramount, and authentication plays an important aspect in cloud computing and ubiquitous computing. Trust management has been identified as vital component for establishing and maintaining successful relational exchanges between trading partners in cloud and ubiquitous systems. Establishing trust is the way to build good relationship with both client and provider which positive activates will increase trust level, otherwise destroy trust immediately. We propose a new context-aware authentication system using a trust management system between client and server, and between servers, a trust which induces partnership, thus to a close cooperation between these servers. We defined the rules (algorithms), as well as the formulas to manage and calculate the trusting degrees depending on context, in order to uniquely authenticate a user, thus a single sign-on, and to provide him better services.

Keywords: Ubiquitous computing, context-awareness, authentication, trust management.

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Authors: Seyed Mostafa Torabi

Abstract:

A Wireless sensor network (WSN) consists of a set of battery-powered nodes, which collaborate to perform sensing tasks in a given environment. Each node in WSN should be capable to act for long periods of time with scrimpy or no external management. One requirement for this independent is: in the presence of adverse positions, the sensor nodes must be capable to configure themselves. Hence, the nodes for determine the existence of unusual events in their surroundings should make use of position awareness mechanisms. This work approaches the problem by considering the possible unusual events as diseases, thus making it possible to diagnose them through their symptoms, namely, their side effects. Considering these awareness mechanisms as a foundation for highlevel monitoring services, this paper also shows how these mechanisms are included in the primal plan of an intrusion detection system.

Keywords: Awareness Mechanism, Intrusion Detection, Independent, Wireless Sensor Network

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Authors: Weng Ming Chu

Abstract:

When faced with stochastic networks with an uncertain duration for their activities, the securing of network completion time becomes problematical, not only because of the non-identical pdf of duration for each node, but also because of the interdependence of network paths. As evidenced by Adlakha & Kulkarni [1], many methods and algorithms have been put forward in attempt to resolve this issue, but most have encountered this same large-size network problem. Therefore, in this research, we focus on network reduction through a Series/Parallel combined mechanism. Our suggested algorithm, named the Activity Network Reduction Algorithm (ANRA), can efficiently transfer a large-size network into an S/P Irreducible Network (SPIN). SPIN can enhance stochastic network analysis, as well as serve as the judgment of symmetry for the Graph Theory.

Keywords: Series/Parallel network, Stochastic network, Network reduction, Interdictive Graph, Complexity Index.

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Authors: Smko Zangana, Ergun Ercelebi

Abstract:

The alternating current is the main power in all industries and other aspects especially for the short and mid distances, but as far as long a distance which exceeds 500 KMs, using the alternating current technically will face many difficulties and more costs because it's difficult to control the current and also other restrictions. Therefore, recently those reasons led to building transmission lines HVDC to transmit power for long distances. This document presents technical comparison and assessments for power transmission system among distances either ways and studying the stability of the system regarding the proportion of losses in the actual power sent and received between both sides in different systems and also categorizing filters used in the HVDC system and its impact and effect on reducing Harmonic in the power transmission. MATLAB /Simulink simulation software is used to simulate both HVAC & HVDC power transmission system topologies.

Keywords: HVAC power system, HVDC power system, power system simulation (MATLAB), the alternating current, voltage stability.

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Authors: T. Tambovceva, A. Tambovcevs

Abstract:

The activities which are mostly related to the environmental performance need to be pointed, especially how logistics systems influence on environmental performance. This paper analyses how company could lead the initiative in this area by incorporating environmental management principles into their daily activities. The analysis is based on literature review about logistics and environment, the information from company R website as well as face-to-face interviews. A case study is given to show how they can turn practices into green while simultaneously meet the efficiency objectives. The research results show that the adoption of EMS and ISO 14001 certification is an effective tool for the logistics management. Such practices simultaneously reduce the negative contribute to better company performance. The results also show that the emissions to air and water, and energy consumption are the main logistics impacts to the environment.

Keywords: environmental management system, green logistics, information technology, information systems.

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Authors: Taras Agryzkov, Almudena Nolasco-Cirugeda, Jos´e L. Oliver, Leticia Serrano-Estrada, Leandro Tortosa, Jos´e F. Vicent

Abstract:

This paper aims to represent the commercial activity of a city taking as source data the social network Foursquare. The city of Murcia is selected as case study, and the location-based social network Foursquare is the main source of information. After carrying out a reorganisation of the user-generated data extracted from Foursquare, it is possible to graphically display on a map the various city spaces and venues especially those related to commercial, food and entertainment sector businesses. The obtained visualisation provides information about activity patterns in the city of Murcia according to the people‘s interests and preferences and, moreover, interesting facts about certain characteristics of the town itself.

Keywords: Social networks, Foursquare, spatial analysis, data visualization, geocomputation.

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Authors: R. Haghighat far, H. Yarahmadi

Abstract:

A mobile agent is a software which performs an action autonomously and independently as a person or an organizations assistance. Mobile agents are used for searching information, retrieval information, filtering, intruder recognition in networks, and so on. One of the important issues of mobile agent is their security. It must consider different security issues in effective and secured usage of mobile agent. One of those issues is the integrity-s protection of mobile agents. In this paper, the advantages and disadvantages of each method, after reviewing the existing methods, is examined. Regarding to this matter that each method has its own advantage or disadvantage, it seems that by combining these methods, one can reach to a better method for protecting the integrity of mobile agents. Therefore, this method is provided in this paper and then is evaluated in terms of existing method. Finally, this method is simulated and its results are the sign of improving the possibility of integrity-s protection of mobile agents.

Keywords: Integrity, Mobile Agent, Security.

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Authors: Luthful A. Kawsar, Noraida A. Ghani, Anton A. Kamil, Adli Mustafa

Abstract:

In this paper, we use an M/G/C/C state dependent queuing model within a complex network topology to determine the different performance measures for pedestrian traffic flow. The occupants in this network topology need to go through some source corridors, from which they can choose their suitable exiting corridors. The performance measures were calculated using arrival rates that maximize the throughputs of source corridors. In order to increase the throughput of the network, the result indicates that the flow direction of pedestrian through the corridors has to be restricted and the arrival rates to the source corridor need to be controlled.

Keywords: Arrival rate, Multiple arrival sources, Probability of blocking, State dependent queuing networks, Throughput.

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Authors: Zixin Liu, Jian Yu, Daoyun Xu

Abstract:

This paper aims to establish a delayed dynamical relationship between payoffs of players in a zero-sum game. By introducing Markovian chain and time delay in the network model, a delayed game network model with sector bounds and slope bounds restriction nonlinear function is first proposed. As a result, a direct dynamical relationship between payoffs of players in a zero-sum game can be illustrated through a delayed singular system. Combined with Finsler-s Lemma and Lyapunov stable theory, a sufficient condition guaranteeing the unique existence and stability of zero-sum game-s Nash equilibrium is derived. One numerical example is presented to illustrate the validity of the main result.

Keywords: Game networks, zero-sum game, delayed singular system, nonlinear perturbation, time delay.

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Authors: Ahmed A. Helal, Nahla E. Zakzouk, Yasser G. Desouky

Abstract:

This paper presents a fuzzy logic controlled shunt active power filter used to compensate for harmonic distortion in three-phase four-wire systems. The shunt active filter employs a simple method for the calculation of the reference compensation current based of Fast Fourier Transform. This presented filter is able to operate in both balanced and unbalanced load conditions. A fuzzy logic based current controller strategy is used to regulate the filter current and hence ensure harmonic free supply current. The validity of the presented approach in harmonic mitigation is verified via simulation results of the proposed test system under different loading conditions.

Keywords: Active power filters, Fuzzy logic controller, Power quality

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Authors: A. Puras Trueba, J. R. Llata García

Abstract:

A nonlinear optimal controller with a fuzzy gain scheduler has been designed and applied to a Line-Of-Sight (LOS) stabilization system. Use of Linear Quadratic Regulator (LQR) theory is an optimal and simple manner of solving many control engineering problems. However, this method cannot be utilized directly for multigimbal LOS systems since they are nonlinear in nature. To adapt LQ controllers to nonlinear systems at least a linearization of the model plant is required. When the linearized model is only valid within the vicinity of an operating point a gain scheduler is required. Therefore, a Takagi-Sugeno Fuzzy Inference System gain scheduler has been implemented, which keeps the asymptotic stability performance provided by the optimal feedback gain approach. The simulation results illustrate that the proposed controller is capable of overcoming disturbances and maintaining a satisfactory tracking performance.

Keywords: Fuzzy Gain-Scheduling, Gimbal, Line-Of-SightStabilization, LQR, Optimal Control

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