Search results for: pose tracking.

Authors: Maohai Li, Bingrong Hong, Zesu Cai, Ronghua Luo

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This paper presents the novel Rao-Blackwellised particle filter (RBPF) for mobile robot simultaneous localization and mapping (SLAM) using monocular vision. The particle filter is combined with unscented Kalman filter (UKF) to extending the path posterior by sampling new poses that integrate the current observation which drastically reduces the uncertainty about the robot pose. The landmark position estimation and update is also implemented through UKF. Furthermore, the number of resampling steps is determined adaptively, which seriously reduces the particle depletion problem, and introducing the evolution strategies (ES) for avoiding particle impoverishment. The 3D natural point landmarks are structured with matching Scale Invariant Feature Transform (SIFT) feature pairs. The matching for multi-dimension SIFT features is implemented with a KD-Tree in the time cost of O(log2 N). Experiment results on real robot in our indoor environment show the advantages of our methods over previous approaches.

Keywords: Mobile robot, simultaneous localization and mapping, Rao-Blackwellised particle filter, evolution strategies, scale invariant feature transform.

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Authors: Nicola Gualandi, Luca Mantecchini, Davide Serrau

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Airport capacity has always been perceived in the traditional sense as the number of aircraft operations during a specified time corresponding to a tolerable level of average delay and it mostly depends on the airside characteristics, on the fleet mix variability and on the ATM. The adoption of the Directive 2002/30/EC in the EU countries drives the stakeholders to conceive airport capacity in a different way though. Airport capacity in this sense is fundamentally driven by environmental criteria, and since acoustical externalities represent the most important factors, those are the ones that could pose a serious threat to the growth of airports and to aviation market itself in the short-medium term. The importance of the regional airports in the deregulated market grew fast during the last decade since they represent spokes for network carriers and a preferential destination for low-fares carriers. Not only regional airports have witnessed a fast and unexpected growth in traffic but also a fast growth in the complaints for the nuisance by the people living near those airports. In this paper the results of a study conducted in cooperation with the airport of Bologna G. Marconi are presented in order to investigate airport acoustical capacity as a defacto constraint of airport growth.

Keywords: Airport acoustical capacity, airport noise, air traffic noise, sustainability of regional airports.

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Authors: Sajad Farokhi, Siti Mariyam Shamsuddin, Jan Flusser, Usman Ullah Sheikh

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Although face recognition seems as an easy task for human, automatic face recognition is a much more challenging task due to variations in time, illumination and pose. In this paper, the influence of time-lapse on visible and thermal images is examined. Orthogonal moment invariants are used as a feature extractor to analyze the effect of time-lapse on thermal and visible images and the results are compared with conventional Principal Component Analysis (PCA). A new triangle square ratio criterion is employed instead of Euclidean distance to enhance the performance of nearest neighbor classifier. The results of this study indicate that the ideal feature vectors can be represented with high discrimination power due to the global characteristic of orthogonal moment invariants. Moreover, the effect of time-lapse has been decreasing and enhancing the accuracy of face recognition considerably in comparison with PCA. Furthermore, our experimental results based on moment invariant and triangle square ratio criterion show that the proposed approach achieves on average 13.6% higher in recognition rate than PCA.

Keywords: Infrared Face recognition, Time-lapse, Zernike moment invariants

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Authors: Jung-Woon Lee, Jung-Taek Kim, Jae-Chang Park, In-Koo Hwang, Sung-Pil Lyu

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Computerized alarm systems have been applied increasingly to nuclear power plants. For existing plants, an add-on computer alarm system is often installed to the control rooms. Alarm avalanches during the plant transients are major problems with the alarm systems in nuclear power plants. Computerized alarm systems can process alarms to reduce the number of alarms during the plant transients. This paper describes various alarm processing methods, an alarm cause tracking function, and various alarm presentation schemes to show alarm information to the operators effectively which are considered during the development of several computerized alarm systems for Korean nuclear power plants and are found to be helpful to the operators.

Keywords: Alarm processing, Alarm presentation, Alarm causetracking, Alarm logic diagram computerization, Alarm patternrecognition.

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Authors: Arūnas Burinskas

Abstract:

Although Europe is on the threshold of a new industrial revolution called Industry 4.0, many believe that this will increase the flexibility of production, the mass adaptation of products to consumers and the speed of their service; it will also improve product quality and dramatically increase productivity. However, as expected, all the benefits of Industry 4.0 face many of the inevitable changes and challenges they pose. One of them is the inevitable transformation of current competition and business models. This article examines the possible results of competitive conversion from the classic Bertrand and Cournot models to qualitatively new competition based on innovation. Ability to deliver a new product quickly and the possibility to produce the individual design (through flexible and quickly configurable factories) by reducing equipment failures and increasing process automation and control is highly important. This study shows that the ongoing transformation of the competition model is changing the game. This, together with the creation of complex value networks, means huge investments that make it particularly difficult for small and medium-sized enterprises. In addition, the ongoing digitalization of data raises new concerns regarding legal obligations, intellectual property, and security.

Keywords: Bertrand and Cournot Competition, competition model, Industry 4.0, industrial organization, monopolistic competition.

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Authors: Sándor Juhász, Renáta Iváncsy

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This paper describes an enhanced cookie-based method for counting the visitors of web sites by using a web log processing system that aims to cope with the ambitious goal of creating countrywide statistics about the browsing practices of real human individuals. The focus is put on describing a new more efficient way of detecting human beings behind web users by placing different identifiers on the client computers. We briefly introduce our processing system designed to handle the massive amount of data records continuously gathered from the most important content providers of the Hungary. We conclude by showing statistics of different time spans comparing the efficiency of multiple visitor counting methods to the one presented here, and some interesting charts about content providers and web usage based on real data recorded in 2007 will also be presented.

Keywords: Cookie based identification, real data, user activitytracking, web auditing, web log processing

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Authors: Mario Kubek, Herwig Unger

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Due to the large amount of information in the World Wide Web (WWW, web) and the lengthy and usually linearly ordered result lists of web search engines that do not indicate semantic relationships between their entries, the search for topically similar and related documents can become a tedious task. Especially, the process of formulating queries with proper terms representing specific information needs requires much effort from the user. This problem gets even bigger when the user's knowledge on a subject and its technical terms is not sufficient enough to do so. This article presents the new and interactive search application DocAnalyser that addresses this problem by enabling users to find similar and related web documents based on automatic query formulation and state-ofthe- art search word extraction. Additionally, this tool can be used to track topics across semantically connected web documents.

Keywords: DocAnalyser, interactive web search, search word extraction, query formulation, source topic detection, topic tracking.

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Authors: Mert Turanli, Hakan Temeltas

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In this paper, we present an adaptive controller for decentralized coordination problem of multiple non-holonomic agents. The performance of the presented Multi-Agent Bounded Gain Forgetting (BGF) Composite Adaptive controller is compared against the tracking error criterion with a Feedback Linearization controller. By using the method, the sensor nodes move and reconfigure themselves in a coordinated way in response to a sensed environment. The multi-agent coordination is achieved through Centroidal Voronoi Tessellations and Coverage Control. Also, a consensus protocol is used for synchronization of the parameter vectors. The two controllers are given with their Lyapunov stability analysis and their stability is verified with simulation results. The simulations are carried out in MATLAB and ROS environments. Better performance is obtained with BGF Adaptive Controller.

Keywords: Adaptive control, Centroidal Voronoi Tessellations, composite adaptation, coordination.

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Authors: Martin Grootveld, Benita Percival, Sarah Moumtaz, Kerry L. Grootveld

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Objectives/Hypotheses: The adverse health effect potential of dietary lipid oxidation products (LOPs) has evoked much clinical interest. Therefore, we employed a ¹H NMR-linked Principal Component Regression (PCR) chemometrics modelling strategy to explore relationships between data matrices comprising (1) aldehydic LOP concentrations generated in culinary oils/fats when exposed to laboratory-simulated shallow frying practices, and (2) the prior saturated (SFA), monounsaturated (MUFA) and polyunsaturated fatty acid (PUFA) contents of such frying media (FM), together with their heating time-points at a standard frying temperature (180 ^oC). Methods: Corn, sunflower, extra virgin olive, rapeseed, linseed, canola, coconut and MUFA-rich algae frying oils, together with butter and lard, were heated according to laboratory-simulated shallow-frying episodes at 180 ^oC, and FM samples were collected at time-points of 0, 5, 10, 20, 30, 60, and 90 min. (n = 6 replicates per sample). Aldehydes were determined by ¹H NMR analysis (Bruker AV 400 MHz spectrometer). The first (dependent output variable) PCR data matrix comprised aldehyde concentration scores vectors (PC1* and PC2*), whilst the second (predictor) one incorporated those from the fatty acid content/heating time variables (PC1-PC4) and their first-order interactions. Results: Structurally complex trans,trans- and cis,trans-alka-2,4-dienals, 4,5-epxy-trans-2-alkenals and 4-hydroxy-/4-hydroperoxy-trans-2-alkenals (group I aldehydes predominantly arising from PUFA peroxidation) strongly and positively loaded on PC1*, whereas n-alkanals and trans-2-alkenals (group II aldehydes derived from both MUFA and PUFA hydroperoxides) strongly and positively loaded on PC2*. PCR analysis of these scores vectors (SVs) demonstrated that PCs 1 (positively-loaded linoleoylglycerols and [linoleoylglycerol]:[SFA] content ratio), 2 (positively-loaded oleoylglycerols and negatively-loaded SFAs), 3 (positively-loaded linolenoylglycerols and [PUFA]:[SFA] content ratios), and 4 (exclusively orthogonal sampling time-points) all powerfully contributed to aldehydic PC1* SVs (p 10^-3 to < 10^-9), as did all PC1-3 x PC4 interaction ones (p 10^-5 to < 10^-9). PC2* was also markedly dependent on all the above PC SVs (PC2 > PC1 and PC3), and the interactions of PC1 and PC2 with PC4 (p < 10^-9 in each case), but not the PC3 x PC4 contribution. Conclusions: NMR-linked PCR analysis is a valuable strategy for (1) modelling the generation of aldehydic LOPs in heated cooking oils and other FM, and (2) tracking their unsaturated fatty acid (UFA) triacylglycerol sources therein.

Keywords: Frying oils, frying episodes, lipid oxidation products, cytotoxic/genotoxic aldehydes, chemometrics, principal component regression, NMR Analysis.

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Authors: Tin Hninn Hninn Maung

Abstract:

This paper introduces a hand gesture recognition system to recognize real time gesture in unstrained environments. Efforts should be made to adapt computers to our natural means of communication: Speech and body language. A simple and fast algorithm using orientation histograms will be developed. It will recognize a subset of MAL static hand gestures. A pattern recognition system will be using a transforrn that converts an image into a feature vector, which will be compared with the feature vectors of a training set of gestures. The final system will be Perceptron implementation in MATLAB. This paper includes experiments of 33 hand postures and discusses the results. Experiments shows that the system can achieve a 90% recognition average rate and is suitable for real time applications.

Keywords: Hand gesture recognition, Orientation Histogram, Myanmar Alphabet Language, Perceptronnetwork, MATLAB.

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Authors: H. Ghanbarpour Asl, S. H. Pourtakdoust

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Extended Kalman Filter (EKF) is probably the most widely used estimation algorithm for nonlinear systems. However, not only it has difficulties arising from linearization but also many times it becomes numerically unstable because of computer round off errors that occur in the process of its implementation. To overcome linearization limitations, the unscented transformation (UT) was developed as a method to propagate mean and covariance information through nonlinear transformations. Kalman filter that uses UT for calculation of the first two statistical moments is called Unscented Kalman Filter (UKF). Square-root form of UKF (SRUKF) developed by Rudolph van der Merwe and Eric Wan to achieve numerical stability and guarantee positive semi-definiteness of the Kalman filter covariances. This paper develops another implementation of SR-UKF for sequential update measurement equation, and also derives a new UD covariance factorization filter for the implementation of UKF. This filter is equivalent to UKF but is computationally more efficient.

Keywords: Unscented Kalman filter, Square-root unscentedKalman filter, UD covariance factorization, Target tracking.

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Authors: Irtaza M. Syed, Kaamran Raahemifar

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This paper presents a model predictive control (MPC) of a utility interactive (UI) single phase inverter (SPI) for a photovoltaic (PV) system at residential/distribution level. The proposed model uses single-phase phase locked loop (PLL) to synchronize SPI with the grid and performs MPC control in a dq reference frame. SPI model consists of boost converter (BC), maximum power point tracking (MPPT) control, and a full bridge (FB) voltage source inverter (VSI). No PI regulators to tune and carrier and modulating waves are required to produce switching sequence. Instead, the operational model of VSI is used to synthesize sinusoidal current and track the reference. Model is validated using a three kW PV system at the input of UI-SPI in Matlab/Simulink. Implementation and results demonstrate simplicity and accuracy, as well as reliability of the model.

Keywords: Matlab/Simulink, Model Predictive Control, Phase Locked Loop, Single Phase Inverter, Voltage Source Inverter.

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Authors: Abouzar Moshfegh, Mehrzad Shams, Goodarz Ahmadi, Reza Ebrahimi

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A 3D simulation study for an incompressible slip flow around a spherical aerosol particle was performed. The full Navier-Stokes equations were solved and the velocity jump at the gas-particle interface was treated numerically by imposition of the slip boundary condition. Analytical solution to the Stokesian slip flow past a spherical particle was used as a benchmark for code verification, and excellent agreement was achieved. The Simulation results showed that in addition to the Knudsen number, the Reynolds number affects the slip correction factor. Thus, the Cunningham-based slip corrections must be augmented by the inclusion of the effect of Reynolds number for application to Lagrangian tracking of fine particles. A new expression for the slip correction factor as a function of both Knudsen number and Reynolds number was developed.

Keywords: CFD, Cunningham correction, Slip correction factor, Spherical aerosol.

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Authors: Saipunidzam Mahamad, Mohammad Noor Ibrahim, Mohamad Izzriq Ab Malek Foad, ShakirahMohd Taib

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With the proliferation of the mobile device technologies, mobile learning can be used to complement and improve traditional learning problems. Both students and teachers need a proper and handy system to monitor and keep track the performance of the students. This paper presents an implementation of M-learning for primary school in Malaysia by using an open source technology. It focuses on learning mathematics using handheld devices for primary schools- students aged 11 and 12 years old. Main users for this system include students, teachers and the administrator. This application suggests a new mobile learning environment with mobile graph for tracking the students- progress and performance. The purpose of this system is not to replace traditional classroom but to complement the learning process. In a testing conducted, students who used this system performed better in their examination.

Keywords: M-Learning, Automated Mobile Graph.

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Authors: E. Shahsavari, R. Ghasemi, A. Akramizadeh

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This paper presents a new method to design nonlinear feedback linearization controller for PEMFCs (Polymer Electrolyte Membrane Fuel Cells). A nonlinear controller is designed based on nonlinear model to prolong the stack life of PEMFCs. Since it is known that large deviations between hydrogen and oxygen partial pressures can cause severe membrane damage in the fuel cell, feedback linearization is applied to the PEMFC system so that the deviation can be kept as small as possible during disturbances or load variations. To obtain an accurate feedback linearization controller, tuning the linear parameters are always important. So in proposed study NSGA (Non-Dominated Sorting Genetic Algorithm)-II method was used to tune the designed controller in aim to decrease the controller tracking error. The simulation result showed that the proposed method tuned the controller efficiently.

Keywords: Feedback Linearization controller, NSGA, Optimal Control, PEMFC.

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Authors: H. Megherbi, A. C. Megherbi, N. Megherbi, K. Benmahamed

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This paper presents three-phase evolution search methodology to automatically design fuzzy logic controllers (FLCs) that can work in a wide range of operating conditions. These include varying load, parameter variations, and unknown external disturbances. The three-phase scheme consists of an exploration phase, an exploitation phase and a robustness phase. The first two phases search for FLC with high accuracy performances while the last phase aims at obtaining FLC providing the best compromise between the accuracy and robustness performances. Simulations were performed for direct-drive two-axis robot arm. The evolved FLC with the proposed design technique found to provide a very satisfactory performance under the wide range of operation conditions and to overcome problem associated with coupling and nonlinearities characteristics inherent to robot arms.

Keywords: Fuzzy logic control, evolutionary algorithms, robustness, exploration/exploitation phase.

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Authors: Dong-Young Yoo, Jong-Whoi Shin, Gang Shin Lee, Jae-Il Lee

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As the disfunctions of the information society and social development progress, intrusion problems such as malicious replies, spam mail, private information leakage, phishing, and pharming, and side effects such as the spread of unwholesome information and privacy invasion are becoming serious social problems. Illegal access to information is also becoming a problem as the exchange and sharing of information increases on the basis of the extension of the communication network. On the other hand, as the communication network has been constructed as an international, global system, the legal response against invasion and cyber-attack from abroad is facing its limit. In addition, in an environment where the important infrastructures are managed and controlled on the basis of the information communication network, such problems pose a threat to national security. Countermeasures to such threats are developed and implemented on a yearly basis to protect the major infrastructures of information communication. As a part of such measures, we have developed a methodology for assessing the information protection level which can be used to establish the quantitative object setting method required for the improvement of the information protection level.

Keywords: Information Security Evaluation Methodology, Critical Information Infrastructure Protection.

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Authors: A. N. K. Nasir, M. A. Ahmad, R. M. T. Raja Ismail

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The research on two-wheels balancing robot has gained momentum due to their functionality and reliability when completing certain tasks. This paper presents investigations into the performance comparison of Linear Quadratic Regulator (LQR) and PID-PID controllers for a highly nonlinear 2–wheels balancing robot. The mathematical model of 2-wheels balancing robot that is highly nonlinear is derived. The final model is then represented in statespace form and the system suffers from mismatched condition. Two system responses namely the robot position and robot angular position are obtained. The performances of the LQR and PID-PID controllers are examined in terms of input tracking and disturbances rejection capability. Simulation results of the responses of the nonlinear 2–wheels balancing robot are presented in time domain. A comparative assessment of both control schemes to the system performance is presented and discussed.

Keywords: PID, LQR, Two-wheels balancing robot.

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Authors: Marco Soares dos Santos, Jorge Augusto Ferreira, Camila Nicola Boeri, Fernando Neto da Silva

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The present paper proposes high performance nonlinear force controllers for a servopneumatic real-time fatigue test machine. A CompactRIO® controller was used, being fully programmed using LabVIEW language. Fuzzy logic control algorithms were evaluated to tune the integral and derivative components in the development of hybrid controllers, namely a FLC P and a hybrid FLC PID real-time-based controllers. Their behaviours were described by using state diagrams. The main contribution is to ensure a smooth transition between control states, avoiding discrete transitions in controller outputs. Steady-state errors lower than 1.5 N were reached, without retuning the controllers. Good results were also obtained for sinusoidal tracking tasks from 1/¤Ç to 8/¤Ç Hz.

Keywords: Hybrid Fuzzy Selecting, Control, Range Controllers, Servopneumatic Fatigue System.

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Authors: Sreeyuth Lal, Yohei Sato, Bojan Niceno

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With the long-term objective of Critical Heat Flux (CHF) prediction, a Direct Numerical Simulation (DNS) framework for simulation of subcooled and saturated nucleate pool boiling is developed. One case of saturated, and three cases of subcooled boiling at different subcooling levels are simulated. Grid refinement study is also reported. Both boiling and condensation phenomena can be computed simultaneously in the proposed numerical framework. Computed bubble detachment diameters of the saturated nucleate pool boiling cases agree well with the experiment. The flow structures around the growing bubble are presented and the accompanying physics is described. The relation between heat flux evolution from the heated wall and the bubble growth is studied, along with investigations of temperature distribution and flow field evolutions.

Keywords: CFD, interface tracking method, phase change model, subcooled nucleate pool boiling.

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Authors: O. O. Olawusi-Peters, K. I. Adejugbagbe

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The concentration of heavy metal (Cd, Pb, Fe, Zn, Cu) in Clarias gariepinus collected from fish markets; Fanibi (Station I) and Fiwasaye (Station II) in Akure metropolis, Ondo state, Nigeria were investigated to ascertain the safety for the consumers. 60 samples were collected from the two markets in three batches (I, II, III) for a period of six months and analyzed for heavy metals in the gills and muscles of the fish. Also, the Health Risk Index (HRI) was used to determine the health risk of these metals to the consumer. The results showed that the investigated metal concentration was higher in station I than station II, except Pb having higher concentration in station II than station I. In both stations, the highest concentration of Fe was recorded in the gills (12.60 ± 1.51; 6.94 ± 1.38) and muscles (3.72 ± 0.09; 3.86 ± 0.33) of samples in batch I. Also, the HRI revealed that consumption of Clarias gariepinus from these study areas did not pose any health risk (HRI < 1). In addition, concentrations of the heavy metals were all below the permissible limits recommended by FAO/WHO.

Keywords: Health risk index, heavy metals, Clarias gariepinus, Akure metropolis, fish monger.

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Authors: Pradip Peter Dey, Ronald F. Gonzales, Gordon W. Romney, Mohammad Amin, Bhaskar Raj Sinha

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Natural language processing systems pose a unique challenge for software architectural design as system complexity has increased continually and systems cannot be easily constructed from loosely coupled modules. Lexical, syntactic, semantic, and pragmatic aspects of linguistic information are tightly coupled in a manner that requires separation of concerns in a special way in design, implementation and maintenance. An aspect oriented software architecture is proposed in this paper after critically reviewing relevant architectural issues. For the purpose of this paper, the syntactic aspect is characterized by an augmented context-free grammar. The semantic aspect is composed of multiple perspectives including denotational, operational, axiomatic and case frame approaches. Case frame semantics matured in India from deep thematic analysis. It is argued that lexical, syntactic, semantic and pragmatic aspects work together in a mutually dependent way and their synergy is best represented in the aspect oriented approach. The software architecture is presented with an augmented Unified Modeling Language.

Keywords: Language engineering, parsing, software design, user experience.

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Authors: Mahdi Zolfaghari, Seyed Hossein Hosseinian, Hossein Askarian Abyaneh, Mehrdad Abedi

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This paper presents a virtual active power filter (VAPF) using vehicle to grid (V2G) technology to maintain power quality requirements. The optimal discrete operation of the power converter of electric vehicle (EV) is based on recognizing desired switching states using the model predictive control (MPC) algorithm. A fast dynamic response, lower total harmonic distortion (THD) and good reference tracking performance are realized through the presented control strategy. The simulation results using MATLAB/Simulink validate the effectiveness of the scheme in improving power quality as well as good dynamic response in power transferring capability.

Keywords: Virtual active power filter, V2G technology, model predictive control, electric vehicle, power quality.

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Authors: Gopi Kandaswamy, P. Balamuralidhar

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Fully autonomous small Unmanned Aerial Vehicles (UAVs) are increasingly being used in many commercial applications. Although a lot of research has been done to develop safe, reliable and durable UAVs, accidents due to electronic and structural failures are not uncommon and pose a huge safety risk to the UAV operators and the public. Hence there is a strong need for an automated health monitoring system for UAVs with a view to minimizing mission failures thereby increasing safety. This paper describes our approach to monitoring the electronic and structural components in a small UAV without the need for additional sensors to do the monitoring. Our system monitors data from four sources; sensors, navigation algorithms, control inputs from the operator and flight controller outputs. It then does statistical analysis on the data and applies a rule based engine to detect failures. This information can then be fed back into the UAV and a decision to continue or abort the mission can be taken automatically by the UAV and independent of the operator. Our system has been verified using data obtained from real flights over the past year from UAVs of various sizes that have been designed and deployed by us for various applications.

Keywords: Fault detection, health monitoring, unmanned aerial vehicles, vibration analysis.

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Authors: F. Abujalala, A. Elmangoush, M. Ashibani

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The adoption of Blockchain technology introduces the possibility to decentralize cold chain systems. This adaptation enhances them to be more efficient, accessible, verifiable, and data security. Additionally, the Internet of Things (IoT) concept is considered as an added-value to various application domains. Cargo tracking and cold chain are a few to name. However, the security of the IoT transactions and integrated devices remains one of the key challenges to the IoT application’s success. Consequently, Blockchain technology and its consensus protocols have been used to solve many information security problems. In this paper, we discuss the advantages of integrating Blockchain technology into IoT platform to improve security and provide an overview of existing literature on integrating Blockchain and IoT platforms. Then, we present the immunization cold chain solution as a use-case that could be applied to any critical goods based on integrating Hyperledger fabric platform and IoT platform.

Keywords: Blockchain, Hyperledger fabric, internet of things, security, traceability.

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Authors: Jin Myoung Kim, Tae Ho Cho

Abstract:

Wireless Sensor networks have a wide spectrum of civil and military applications that call for secure communication such as the terrorist tracking, target surveillance in hostile environments. For the secure communication in these application areas, we propose a method for generating a hierarchical key structure for the efficient group key management. In this paper, we apply A* algorithm in generating a hierarchical key structure by considering the history data of the ratio of addition and eviction of sensor nodes in a location where sensor nodes are deployed. Thus generated key tree structure provides an efficient way of managing the group key in terms of energy consumption when addition and eviction event occurs. A* algorithm tries to minimize the number of messages needed for group key management by the history data. The experimentation with the tree shows efficiency of the proposed method.

Keywords: Heuristic search, key management, security, sensor network.

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Authors: Natasha Hussain, Maleeha Aslam, Robina Farooq

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Hepatitis B and hepatitis C are among the most significant hepatic infections all around the world that may lead to hepatocellular carcinoma. This study is first time performed at the blood transfussion centre of Omar hospital, Lahore. It aims to determine the sero-prevalence of these diseases by screening the apparently healthy blood donors who might be the carriers of HBV or HCV and pose a high risk in the transmission. It also aims the comparison between the sensitivity of two diagnostic tests; chromatographic immunoassay – one step test device and Enzyme Linked Immuno Sorbant Assay (ELISA). Blood serum of 855 apparently healthy blood donors was screened for Hepatitis B surface antigen (HBsAg) and for anti HCV antibodies. SPSS version 12.0 and X2 (Chi-square) test were used for statistical analysis. The seroprevalence of HCV was 8.07% by the device method and by ELISA 9.12% and that of HBV was 5.6% by the device and 6.43% by ELISA. The unavailability of vaccination against HCV makes it more prevalent. Comparing the two diagnostic methods, ELISA proved to be more sensitive.

Keywords: ELISA, Sensitivity comparison of diagnostic tests, seroprevalence of Hepatitis B and C

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Authors: Z.F. Fadzil, H.S. Hashim, A.I. Che-Ani, S. Aziz

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Campus sustainability is the goal of a university striving for sustainable development. This study found that of 17 popular approaches, two comprehensive campus sustainability assessment frameworks were developed in the context of Sustainability in Higher Education (SHE), and used by many university campuses around the world. Sustainability Tracking Assessment and Rating Systems (STARS) and the Campus Sustainability Assessment Framework (CSAF) approaches are more comprehensive than others. Therefore, the researchers examined aspects and elements used by CSAF and STARS in the approach to develop a campus sustainability assessment framework for Universiti Kebangsaan Malaysia (UKM). Documents analysis found that CSAF and STARS do not focus on physical development, especially the construction industry, as key elements of campus sustainability assessment. This finding is in accordance with the Sustainable UKM Programme which consists of three main components of sustainable community, ecosystem and physical development.

Keywords: Campus sustainability, campus sustainability assessment, sustainability assessment framework, sustainable campus

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Authors: D. Subedi, S. Pradhan

Abstract:

Current transformers are an integral part of power system because it provides a proportional safe amount of current for protection and measurement applications. However, when the power system experiences an abnormal situation leading to huge current flow, then this huge current is proportionally injected to the protection and metering circuit. Since the protection and metering equipment’s are designed to withstand only certain amount of current with respect to time, these high currents pose a risk to man and equipment. Therefore, during such instances, the CT saturation characteristics have a huge influence on the safety of both man and equipment and on the reliability of the protection and metering system. This paper shows the effect of burden on the Accuracy Limiting factor/ Instrument security factor of current transformers and the change in saturation characteristics of the CT’s. The response of the CT to varying levels of overcurrent at different connected burden will be captured using the data acquisition software LabVIEW. Analysis is done on the real time data gathered using LabVIEW. Variation of current transformer saturation characteristics with changes in burden will be discussed.

Keywords: Accuracy limiting factor, burden, current transformer, instrument security factor, saturation characteristics.

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Authors: Rong-Jong Wai, Chia-Ming Liu

Abstract:

Generally speaking, the mobile robot is capable of sensing its surrounding environment, interpreting the sensed information to obtain the knowledge of its location and the environment, planning a real-time trajectory to reach the object. In this process, the issue of obstacle avoidance is a fundamental topic to be challenged. Thus, an adaptive path-planning control scheme is designed without detailed environmental information, large memory size and heavy computation burden in this study for the obstacle avoidance of a mobile robot. In this scheme, the robot can gradually approach its object according to the motion tracking mode, obstacle avoidance mode, self-rotation mode, and robot state selection. The effectiveness of the proposed adaptive path-planning control scheme is verified by numerical simulations of a differential-driving mobile robot under the possible occurrence of obstacle shapes.

Keywords: Adaptive Path Planning, Mobile Robot ObstacleAvoidance

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