Search results for: Automatic mapping

Authors: Lubna Eljabu, Mohammad Etemad, Stan Matwin

Abstract:

The automatic extraction of shipping routes is advantageous for intelligent traffic management systems to identify events and support decision-making in maritime surveillance. At present, there is a high demand for the extraction of maritime traffic networks that resemble the real traffic of vessels accurately, which is valuable for further analytical processing tasks for vessels trajectories (e.g., naval routing and voyage planning, anomaly detection, destination prediction, time of arrival estimation). With the help of big data and processing huge amounts of vessels’ trajectory data, it is possible to learn these shipping routes from the navigation history of past behaviour of other, similar ships that were travelling in a given area. In this paper, we propose a spatial clustering model of vessels’ trajectories (SPTCLUST) to extract spatial representations of sailing routes from historical Automatic Identification System (AIS) data. The whole model consists of three main parts: data preprocessing, path finding, and route extraction, which consists of clustering and representative trajectory extraction. The proposed clustering method provides techniques to overcome the problems of: (i) optimal input parameters selection; (ii) the high complexity of processing a huge volume of multidimensional data; (iii) and the spatial representation of complete representative trajectory detection in the context of trajectory clustering algorithms. The experimental evaluation showed the effectiveness of the proposed model by using a real-world AIS dataset from the Port of Halifax. The results contribute to further understanding of shipping route patterns. This could aid surveillance authorities in stable and sustainable vessel traffic management.

Keywords: Vessel trajectory clustering, trajectory mining, Spatial Clustering, marine intelligent navigation, maritime traffic network extraction, sdailing routes extraction.

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Authors: Jorge Cardoso

Abstract:

Semantic Web services will enable the semiautomatic and automatic annotation, advertisement, discovery, selection, composition, and execution of inter-organization business logic, making the Internet become a common global platform where organizations and individuals communicate with each other to carry out various commercial activities and to provide value-added services. There is a growing consensus that Web services alone will not be sufficient to develop valuable solutions due the degree of heterogeneity, autonomy, and distribution of the Web. This paper deals with two of the hottest R&D and technology areas currently associated with the Web – Web services and the Semantic Web. It presents the synergies that can be created between Web Services and Semantic Web technologies to provide a new generation of eservices.

Keywords: Semantic Web, Web service, Web process, WWW.

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Authors: Y. J. Huang, J. D. Yu, B. W. Hong, C. H. Tai, T. C. Kuo

Abstract:

In this paper, a multi-agent robot system is presented. The system consists of four robots. The developed robots are able to automatically enter and patrol a harmful environment, such as the building infected with virus or the factory with leaking hazardous gas. Further, every robot is able to perform obstacle avoidance and search for the victims. Several operation modes are designed: remote control, obstacle avoidance, automatic searching, and so on.

Keywords: autonomous robot, field programmable gate array, obstacle avoidance, ultrasonic sensor, wireless communication.

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Authors: H.R. Balouchi

Abstract:

To evaluate genetic variation of wheat (Triticum aestivum) affected by heat and drought stress on eight Australian wheat genotypes that are parents of Doubled Haploid (HD) mapping populations at the vegetative stage, the water stress experiment was conducted at 65% field capacity in growth room. Heat stress experiment was conducted in the research field under irrigation over summer. Result show that water stress decreased dry shoot weight and RWC but increased osmolarity and means of Fv/Fm values in all varieties except for Krichauff. Krichauff and Kukri had the maximum RWC under drought stress. Trident variety was shown maximum WUE, osmolarity (610 mM/Kg), dry mater, quantum yield and Fv/Fm 0.815 under water stress condition. However, the recovery of quantum yield was apparent between 4 to 7 days after stress in all varieties. Nevertheless, increase in water stress after that lead to strong decrease in quantum yield. There was a genetic variation for leaf pigments content among varieties under heat stress. Heat stress decreased significantly the total chlorophyll content that measured by SPAD. Krichauff had maximum value of Anthocyanin content (2.978 A/g FW), chlorophyll a+b (2.001 mg/g FW) and chlorophyll a (1.502 mg/g FW). Maximum value of chlorophyll b (0.515 mg/g FW) and Carotenoids (0.234 mg/g FW) content belonged to Kukri. The quantum yield of all varieties decreased significantly, when the weather temperature increased from 28 ÔùªC to 36 ÔùªC during the 6 days. However, the recovery of quantum yield was apparent after 8th day in all varieties. The maximum decrease and recovery in quantum yield was observed in Krichauff. Drought and heat tolerant and moderately tolerant wheat genotypes were included Trident, Krichauff, Kukri and RAC875. Molineux, Berkut and Excalibur were clustered into most sensitive and moderately sensitive genotypes. Finally, the results show that there was a significantly genetic variation among the eight varieties that were studied under heat and water stress.

Keywords: Abiotic stress, Genetic variation, Fluorescence, Wheat genotypes.

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Authors: H.R. Balouchi

Abstract:

To evaluate genetic variation of wheat (Triticum aestivum) affected by heat and drought stress on eight Australian wheat genotypes that are parents of Doubled Haploid (HD) mapping populations at the vegetative stage, the water stress experiment was conducted at 65% field capacity in growth room. Heat stress experiment was conducted in the research field under irrigation over summer. Result show that water stress decreased dry shoot weight and RWC but increased osmolarity and means of Fv/Fm values in all varieties except for Krichauff. Krichauff and Kukri had the maximum RWC under drought stress. Trident variety was shown maximum WUE, osmolarity (610 mM/Kg), dry mater, quantum yield and Fv/Fm 0.815 under water stress condition. However, the recovery of quantum yield was apparent between 4 to 7 days after stress in all varieties. Nevertheless, increase in water stress after that lead to strong decrease in quantum yield. There was a genetic variation for leaf pigments content among varieties under heat stress. Heat stress decreased significantly the total chlorophyll content that measured by SPAD. Krichauff had maximum value of Anthocyanin content (2.978 A/g FW), chlorophyll a+b (2.001 mg/g FW) and chlorophyll a (1.502 mg/g FW). Maximum value of chlorophyll b (0.515 mg/g FW) and Carotenoids (0.234 mg/g FW) content belonged to Kukri. The quantum yield of all varieties decreased significantly, when the weather temperature increased from 28 ÔùªC to 36 ÔùªC during the 6 days. However, the recovery of quantum yield was apparent after 8th day in all varieties. The maximum decrease and recovery in quantum yield was observed in Krichauff. Drought and heat tolerant and moderately tolerant wheat genotypes were included Trident, Krichauff, Kukri and RAC875. Molineux, Berkut and Excalibur were clustered into most sensitive and moderately sensitive genotypes. Finally, the results show that there was a significantly genetic variation among the eight varieties that were studied under heat and water stress.

Keywords: Abiotic stress, genetic variation, fluorescence, wheat genotypes.

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Authors: S. Malek, N. Zenati-Henda, M. Belhocine, S. Benbelkacem

Abstract:

In geometrical camera calibration, the objective is to determine a set of camera parameters that describe the mapping between 3D references coordinates and 2D image coordinates. In this paper, a technique of calibration and tracking based on both a least squares method is presented and a correlation technique developed as part of an augmented reality system. This approach is fast and it can be used for a real time system

Keywords: Camera calibration, pinhole model, least squares method, augmented reality, strong calibration.

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Authors: Pei-Chann Chang, Jui-Chien Hsieh, Jyun-Jie Lin, Feng-Ming Yeh

Abstract:

Atrial Fibrillation is the most common sustained arrhythmia encountered by clinicians. Because of the invisible waveform of atrial fibrillation in atrial activation for human, it is necessary to develop an automatic diagnosis system. 12-Lead ECG now is available in hospital and is appropriate for using Independent Component Analysis to estimate the AA period. In this research, we also adopt a second-order blind identification approach to transform the sources extracted by ICA to more precise signal and then we use frequency domain algorithm to do the classification. In experiment, we gather a significant result of clinical data.

Keywords: 12-Lead ECG, Atrial Fibrillation, Blind SourceSeparation, Kurtosis

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Authors: Y. Rhazali, Y. Hadi, A. Mouloudi

Abstract:

This paper proposes a method to automatic transformation of CIM level to PIM level respecting the MDA approach. Our proposal is based on creating a good CIM level through well-defined rules allowing as achieving rich models that contain relevant information to facilitate the task of the transformation to the PIM level. We define, thereafter, an appropriate PIM level through various UML diagram. Next, we propose set rules to move from CIM to PIM. Our method follows the MDA approach by considering the business dimension in the CIM level through the use BPMN, standard modeling business of OMG, and the use of UML in PIM advocated by MDA in this level.

Keywords: Model transformation, MDA, CIM, PIM.

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Authors: M. Uysal, M. Yilmaz, I. Tiryakioğlu

Abstract:

Digital Terrain Model (DTM) is a digital numerical representation of the Earth's surface. DTMs have been applied to a diverse field of tasks, such as urban planning, military, glacier mapping, disaster management. In the expression of the Earth' surface as a mathematical model, an infinite number of point measurements are needed. Because of the impossibility of this case, the points at regular intervals are measured to characterize the Earth's surface and DTM of the Earth is generated. Hitherto, the classical measurement techniques and photogrammetry method have widespread use in the construction of DTM. At present, RADAR, LiDAR, and stereo satellite images are also used for the construction of DTM. In recent years, especially because of its superiorities, Airborne Light Detection and Ranging (LiDAR) has an increased use in DTM applications. A 3D point cloud is created with LiDAR technology by obtaining numerous point data. However recently, by the development in image mapping methods, the use of unmanned aerial vehicles (UAV) for photogrammetric data acquisition has increased DTM generation from image-based point cloud. The accuracy of the DTM depends on various factors such as data collection method, the distribution of elevation points, the point density, properties of the surface and interpolation methods. In this study, the random data reduction method is compared for DTMs generated from image based point cloud data. The original image based point cloud data set (100%) is reduced to a series of subsets by using random algorithm, representing the 75, 50, 25 and 5% of the original image based point cloud data set. Over the ANS campus of Afyon Kocatepe University as the test area, DTM constructed from the original image based point cloud data set is compared with DTMs interpolated from reduced data sets by Kriging interpolation method. The results show that the random data reduction method can be used to reduce the image based point cloud datasets to 50% density level while still maintaining the quality of DTM.

Keywords: DTM, unmanned aerial vehicle, UAV, random, Kriging.

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Authors: Yong-Gyu Lee, Jin Hee Park, Youngdae Seo, Gilwon Yoon

Abstract:

Automatic determination of blood in less bright or noisy capsule endoscopic images is difficult due to low S/N ratio. Especially it may not be accurate to analyze these images due to the influence of external disturbance. Therefore, we proposed detection methods that are not dependent only on color bands. In locating bleeding regions, the identification of object outlines in the frame and features of their local colors were taken into consideration. The results showed that the capability of detecting bleeding was much improved.

Keywords: Endoscopy, object recognition, bleeding, image processing, RGB.

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Authors: H.Soussi, M.Hussain, H.Afifi, D.Seret

Abstract:

Key management is a vital component in any modern security protocol. Due to scalability and practical implementation considerations automatic key management seems a natural choice in significantly large virtual private networks (VPNs). In this context IETF Internet Key Exchange (IKE) is the most promising protocol under permanent review. We have made a humble effort to pinpoint IKEv2 net gain over IKEv1 due to recent modifications in its original structure, along with a brief overview of salient improvements between the two versions. We have used US National Institute of Technology NIIST VPN simulator to get some comparisons of important performance metrics.

Keywords: Quantitative Analyses, IKEv1, IKEv2, NIIST.

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Authors: Alae El Alami, Mohamed Bahaj

Abstract:

This article discusses the passage of RDB to XML documents (schema and data) based on metadata and semantic enrichment, which makes the RDB under flattened shape and is enriched by the object concept. The integration and exploitation of the object concept in the XML uses a syntax allowing for the verification of the conformity of the document XML during the creation. The information extracted from the RDB is therefore analyzed and filtered in order to adjust according to the structure of the XML files and the associated object model. Those implemented in the XML document through a SQL query are built dynamically. A prototype was implemented to realize automatic migration, and so proves the effectiveness of this particular approach.

Keywords: RDB, XML, DTD, semantic enrichment.

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Authors: Ricardo Avila, Gabriel Lopes, Vania Vidal, Jose Macedo

Abstract:

This article offers a approach to the automatic discovery of semantic concepts and links in the domain of Oil Exploration and Production (E&P). Machine learning methods combined with textual pre-processing techniques were used to detect local patterns in texts and, thus, generate new concepts and new semantic links. Even using more specific vocabularies within the oil domain, our approach has achieved satisfactory results, suggesting that the proposal can be applied in other domains and languages, requiring only minor adjustments.

Keywords: Semantic links, data mining, linked data, SKOS.

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Authors: Amy LeBar, Kim L. Trenbath, Bennett Doherty, William Livingood

Abstract:

Plug and process loads (PPLs) account for a large portion of U.S. commercial building energy use. There is a huge potential to reduce whole building consumption by targeting PPLs for energy savings measures or implementing some form of plug load management (PLM). Despite this potential, there has yet to be a widely adopted commercial PLM technology. This paper describes the Automatic Type and Location Identification System (ATLIS), a PLM system framework with automatic and dynamic load detection (ADLD). ADLD gives PLM systems the ability to automatically identify devices as they are plugged into the outlets of a building. The ATLIS framework takes advantage of smart, connected devices to identify device locations in a building, meter and control their power, and communicate this information to a central database. ATLIS includes five primary capabilities: location identification, communication, control, energy metering, and data storage. A laboratory proof of concept (PoC) demonstrated all but the energy metering capability, and these capabilities were validated using a series of system tests. The PoC was able to identify when a device was plugged into an outlet and the location of the device in the building. When a device was moved, the PoC’s dashboard and database were automatically updated with the new location. The PoC implemented controls to devices from the system dashboard so that devices maintained correct schedules regardless of where they were plugged in within the building. ATLIS’s primary technology application is improved PLM, but other applications include asset management, energy audits, and interoperability for grid-interactive efficient buildings. An ATLIS-based system could also be used to direct power to critical devices, such as ventilators, during a brownout or blackout. Such a framework is an opportunity to make PLM more widespread and reduce the amount of energy consumed by PPLs in current and future commercial buildings.

Keywords: commercial buildings, grid-interactive efficient buildings, miscellaneous electric loads, plug loads, plug load management

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Authors: Stanzin Gawa, Nalini Ranjan Kumar, Gohar Bilal Wani, Vinay Maruti Hatte, A. Vinay

Abstract:

Rainbow trout (Oncorhynchus mykiss) and Brown trout (Salmo trutta fario) are the two species of trout which were once introduced by British in waters of Kashmir has well adapted to favorable climatic conditions. Cold water fisheries are one of the emerging sectors in Kashmir valley and trout holds an important place Jammu and Kashmir fisheries. Realizing the immense potential of trout culture in Kashmir region, the state fisheries department started privatizing trout culture under the centrally funded scheme of RKVY in which they provide 80 percent subsidy for raceway construction and supply of feed and seed for the first year since 2009-10 and at present there are 362 private trout farms. To cater the growing demand for trout in the valley, it is important to understand the bottlenecks faced in the propagation of trout culture. Value chain analysis provides a generic framework to understand the various activities and processes, mapping and studying linkages is first step that needs to be done in any value chain analysis. In Kashmir, it is found that trout hatcheries play a crucial role in insuring the continuous supply of trout seed in valley. Feed is most limiting factor in trout culture and the farmer has to incur high cost in payment and in the transportation of feed from the feed mill to farm. Lack of aqua clinic in the Kashmir valley needs to be addressed. Brood stock maintenance, breeding and seed production, technical assistance to private farmer, extension services have to be strengthened and there is need to development healthier environment for new entrepreneurs. It was found that trout farmers do not avail credit facility as there is no well define credit scheme for fisheries in the state. The study showed weak institutional linkages. Research and development should focus more on applied science rather than basic science.

Keywords: Trout, Kashmir, value chain, linkages, culture.

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Authors: A. S. Tolba, A.H. El-Baz, A.A. El-Harby

Abstract:

The task of face recognition has been actively researched in recent years. This paper provides an up-to-date review of major human face recognition research. We first present an overview of face recognition and its applications. Then, a literature review of the most recent face recognition techniques is presented. Description and limitations of face databases which are used to test the performance of these face recognition algorithms are given. A brief summary of the face recognition vendor test (FRVT) 2002, a large scale evaluation of automatic face recognition technology, and its conclusions are also given. Finally, we give a summary of the research results.

Keywords: Combined classifiers, face recognition, graph matching, neural networks.

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Authors: Rafat Alshorman, Walter Hussak

Abstract:

Most of the concurrent transactional protocols consider serializability as a correctness criterion of the transactions execution. Usually, the proof of the serializability relies on mathematical proofs for a fixed finite number of transactions. In this paper, we introduce a protocol to deal with an infinite number of transactions which are iterated infinitely often. We specify serializability of the transactions and the protocol using a specification language based on temporal logics. It is worthwhile using temporal logics such as LTL (Lineartime Temporal Logic) to specify transactions, to gain full automatic verification by using model checkers.

Keywords: Multi-step transactions, LTL specifications, Model Checking.

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Authors: Jorge Cardoso

Abstract:

It has been recognized that due to the autonomy and heterogeneity, of Web services and the Web itself, new approaches should be developed to describe and advertise Web services. The most notable approaches rely on the description of Web services using semantics. This new breed of Web services, termed semantic Web services, will enable the automatic annotation, advertisement, discovery, selection, composition, and execution of interorganization business logic, making the Internet become a common global platform where organizations and individuals communicate with each other to carry out various commercial activities and to provide value-added services. This paper deals with two of the hottest R&D and technology areas currently associated with the Web – Web services and the semantic Web. It describes how semantic Web services extend Web services as the semantic Web improves the current Web, and presents three different conceptual approaches to deploying semantic Web services, namely, WSDL-S, OWL-S, and WSMO.

Keywords: Semantic Web, Web service, Web process, WWW

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Authors: Sepulveda Juan

Abstract:

This article explains the elements and considerations taken into account when implementing and applying patent evaluation and scientometric study in the identifications of technology trends, and the tools that led to the implementation of a software application for patent revision. Univariate analysis helped recognize the technological leaders in the field of energy, and steered the way for a multivariate analysis of this sample, which allowed for a graphical description of the techniques of mature technologies, as well as the detection of emerging technologies. This article ends with a validation of the methodology as applied to the case of fuel cells.

Keywords: Energy, technology mapping, patents.

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Authors: Nakhoon Baek

Abstract:

Stipples are desired for pattern fillings and transparency effects. In contrast, some graphics standards, including OpenGL ES 1.1 and 2.0, omitted this feature. We represent details of providing line stipples and polygon stipples, through combining texture mapping and alpha blending functions. We start from the OpenGL-specified stipple-related API functions. The details of mathematical transformations are explained to get the correct texture coordinates. Then, the overall algorithm is represented, and its implementation results are followed. We accomplished both of line and polygon stipples, and verified its result with conformance test routines.

Keywords: Stipple operation, OpenGL ES, Implementation.

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Authors: Mazin Z. Othman, Maan M. Shaker, Mohammed F. Abdullah

Abstract:

This study introduces a new method for detecting, sorting, and localizing spikes from multiunit EEG recordings. The method combines the wavelet transform, which localizes distinctive spike features, with Super-Paramagnetic Clustering (SPC) algorithm, which allows automatic classification of the data without assumptions such as low variance or Gaussian distributions. Moreover, the method is capable of setting amplitude thresholds for spike detection. The method makes use of several real EEG data sets, and accordingly the spikes are detected, clustered and their times were detected.

Keywords: EEG time localizations, EEG spike detection, superparamagnetic algorithm, wavelet transform.

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Authors: M. R. Yadav, A. K. Sharma, B. S. Thakur

Abstract:

The purpose of this paper is to present a best proximity point theorems through rational expression for a combination of contraction condition, Kannan and Chatterjea nonlinear cyclic contraction in what we call MT-K and MT-C rational cyclic contraction. Some best proximity point theorems for a mapping satisfy these conditions have been established in metric spaces. We also give some examples to support our work.

Keywords: Cyclic contraction, rational cyclic contraction, best proximity point and complete metric space.

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Authors: Yong-Gyu Lee, Gilwon Yoon

Abstract:

Automatic detection of bleeding is of practical importance since capsule endoscopy produces an extremely large number of images. Algorithm development of bleeding detection in the digestive tract is difficult due to different contrasts among the images, food dregs, secretion and others. In this study, were assigned weighting factors derived from the independent features of the contrast and brightness between bleeding and normality. Spectral analysis based on weighting factors was fast and accurate. Results were a sensitivity of 87% and a specificity of 90% when the accuracy was determined for each pixel out of 42 endoscope images.

Keywords: bleeding, capsule endoscopy, image analysis, weighted spectrum

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Authors: M. Soyaslan, A. Fenercioglu, C. Kozkurt

Abstract:

Automated storage and retrieval systems (AS/RS) become frequently used systems in warehouses. There has been a transition from human based forklift applications to fast and safe AS/RS applications in firm-s warehouse systems. In this study, basic components and automation systems of the AS/RS are examined. Proposed system's automation components and their tasks in the system control algorithm were stated. According to this control algorithm the control system structure was obtained.

Keywords: AS/RS, Automatic Storage and Retrieval System, Warehouse Control System

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Authors: Marc Landry, Azeddine Kaddouri, Yassine Bouslimani, Mohsen Ghribi

Abstract:

In this paper, a new alignment method based on the particle swarm optimization (PSO) technique is presented. The PSO algorithm is used for locating the optimal coupling position with the highest optical power with three-degrees of freedom alignment. This algorithm gives an interesting results without a need to go thru the complex mathematical modeling of the alignment system. The proposed algorithm is validated considering practical tests considering the alignment of two Single Mode Fibers (SMF) and the alignment of SMF and PCF fibers.

Keywords: Particle-swarm optimization, optical fiber, automatic alignment.

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Authors: Zuzana Dideková, Beata Mikovičová

Abstract:

Characterization of radio communication signals aims at automatic recognition of different characteristics of radio signals in order to detect their modulation type, the central frequency, and the level. Our purpose is to apply techniques used in image processing in order to extract pertinent characteristics. To the single analysis, we add several rules for checking the consistency of hypotheses using fuzzy logic. This allows taking into account ambiguity and uncertainty that may remain after the extraction of individual characteristics. The aim is to improve the process of radio communications characterization.

Keywords: fuzzy classification, fuzzy inference system, radio communication signals, telecommunications

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Authors: Ramin Halavati, Mansour Jamzad, Mahdieh Soleymani

Abstract:

Persian (Farsi) script is totally cursive and each character is written in several different forms depending on its former and later characters in the word. These complexities make automatic handwriting recognition of Persian a very hard problem and there are few contributions trying to work it out. This paper presents a novel practical approach to online recognition of Persian handwriting which is based on representation of inputs and patterns with very simple visual features and comparison of these simple terms. This recognition approach is tested over a set of Persian words and the results have been quite acceptable when the possible words where unknown and they were almost all correct in cases that the words where chosen from a prespecified list.

Keywords: Image Processing, Pattern Recognition.

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Authors: Davod Zaravi, Habib Rostami, Alireza Malahzaheh, S. S. Mortazavi

Abstract:

In this paper a new robust and efficient algorithm to automatic text extraction from colored book and journal cover sheets is proposed. First, we perform wavelet transform. Next for edge detecting from detail wavelet coefficient, we use dynamic threshold. By blurring approximate coefficients with alternative heuristic thresholding, achieve effective edge,. Afterward, with ROI technique get binary image. Finally text boxes would be extracted with new projection profile.

Keywords: Text extraction, colored cover sheet, wavelet threshold, region of interest.

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Authors: A. R. Vazifedoost, M. Rahgozar, F. Oroumchian

Abstract:

Knowledge discovery from text and ontology learning are relatively new fields. However their usage is extended in many fields like Information Retrieval (IR) and its related domains. Human Plausible Reasoning based (HPR) IR systems for example need a knowledge base as their underlying system which is currently made by hand. In this paper we propose an architecture based on ontology learning methods to automatically generate the needed HPR knowledge base.

Keywords: Ontology Learning, Human Plausible Reasoning, knowledge extraction, knowledge representation.

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Authors: S. Mawlood, L. Dennany, N. Watson, B. Pickard

Abstract:

DNA analysis has been widely accepted as providing valuable evidence concerning the identity of the source of biological traces. Our work has showed that DNA samples can survive on cartridges even after firing. The study also raised the possibility of determining other information such as the age of the donor. Such information may be invaluable in certain cases where spent cartridges from automatic weapons are left behind at the scene of a crime. In spite of the nature of touch evidence and exposure to high chamber temperatures during shooting, we were still capable to retrieve enough DNA for profile typing. In order to estimate age of contributor, DNA methylation levels were analyzed using EpiTect system for retrieved DNA. However, results were not conclusive, due to low amount of input DNA.

Keywords: Age prediction, Fired cartridge, Trace DNA sample.

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