Search results for: variable precision.

Authors: A. Tellaeche, R. Arana, I.Maurtua

Abstract:

The exhaustive quality control is becoming more and more important when commercializing competitive products in the world's globalized market. Taken this affirmation as an undeniable truth, it becomes critical in certain sector markets that need to offer the highest restrictions in quality terms. One of these examples is the percussion cap mass production, a critical element assembled in firearm ammunition. These elements, built in great quantities at a very high speed, must achieve a minimum tolerance deviation in their fabrication, due to their vital importance in firing the piece of ammunition where they are built in. This paper outlines a machine vision development for the 100% inspection of percussion caps obtaining data from 2D and 3D simultaneous images. The acquisition speed and precision of these images from a metallic reflective piece as a percussion cap, the accuracy of the measures taken from these images and the multiple fabrication errors detected make the main findings of this work.

Keywords: critical tolerance, high speed decision makingsimultaneous 2D/3D machine vision.

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Authors: Sylvain Devie, Pierre-Philippe Robet, Yannick Aoustin, Maxime Gautier

Abstract:

The aim of this paper is to show that the observation of the external effort and the sensor-less control of a system is limited by the mechanical system. First, the model of a one-joint robot with a prismatic joint is presented. Based on this model, two different procedures were performed in order to identify the mechanical parameters of the system and observe the external effort applied on it. Experiments have proven that the accuracy of the force observer, based on the DC motor current, is limited by the mechanics of the robot. The sensor-less control will be limited by the accuracy in estimation of the mechanical parameters and by the maximum static friction force, that is the minimum force which can be observed in this case. The consequence of this limitation is that industrial robots without specific design are not well adapted to perform sensor-less precision tasks. Finally, an efficient control law is presented for high effort applications.

Keywords: Control, Identification, Robot, Co-manipulation, Sensor-less.

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Authors: Mustafa Resa Becan

Abstract:

The performance of a type of fuzzy sliding mode control is researched by considering the nonlinear characteristic of a missile-target interception problem to obtain a robust interception process. The variable boundary layer by using fuzzy logic is proposed to reduce the chattering around the switching surface then is applied to the interception model which was derived. The performances of the sliding mode control with constant and fuzzy boundary layer are compared at the end of the study and the results are evaluated.

Keywords: Sliding mode control, fuzzy, boundary layer, interception problem.

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Authors: Hossein Esbati, Jalil Shirazi

Abstract:

In this paper, in order to categorize ORL database face pictures, principle Component Analysis (PCA) and Kernel Principal Component Analysis (KPCA) methods by using Elman neural network and Support Vector Machine (SVM) categorization methods are used. Elman network as a recurrent neural network is proposed for modeling storage systems and also it is used for reviewing the effect of using PCA numbers on system categorization precision rate and database pictures categorization time. Categorization stages are conducted with various components numbers and the obtained results of both Elman neural network categorization and support vector machine are compared. In optimum manner 97.41% recognition accuracy is obtained.

Keywords: Face recognition, Principal Component Analysis, Kernel Principal Component Analysis, Neural network, Support Vector Machine.

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Authors: D. Hişam, S. İkizoğlu

Abstract:

Identifying the problem behind balance disorder is one of the most interesting topics in medical literature. This study has considerably enhanced the development of artificial intelligence (AI) algorithms applying multiple machine learning (ML) models to sensory data on gait collected from humans to classify between normal people and those suffering from Vestibular System (VS) problems. Although AI is widely utilized as a diagnostic tool in medicine, AI models have not been used to perform feature extraction and identify VS disorders through training on raw data. In this study, three ML models, the Random Forest Classifier (RF), Extreme Gradient Boosting (XGB), and K-Nearest Neighbor (KNN), have been trained to detect VS disorder, and the performance comparison of the algorithms has been made using accuracy, recall, precision, and f1-score. With an accuracy of 95.28 %, Random Forest (RF) Classifier was the most accurate model.

Keywords: Vestibular disorder, machine learning, random forest classifier, k-nearest neighbor, extreme gradient boosting.

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Authors: Belkacem Laimouche

Abstract:

With the field of Artificial Intelligence (AI) experiencing exponential growth, fueled by technological advancements that pave the way for increasingly innovative and promising applications, there is an escalating need to develop rigorous methods for assessing their performance in pursuit of transparency and equity. This article proposes a metrology-inspired statistical framework for evaluating bias and explainability in AI systems. Drawing from the principles of metrology, we propose a pioneering approach, using a concrete example, to evaluate the accuracy and precision of AI models, as well as to quantify the sources of measurement uncertainty that can lead to bias in their predictions. Furthermore, we explore a statistical approach for evaluating the explainability of AI systems based on their ability to provide interpretable and transparent explanations of their predictions.

Keywords: Artificial intelligence, metrology, measurement uncertainty, prediction error, bias, machine learning algorithms, probabilistic models, inter-laboratory comparison, data analysis, data reliability, bias impact assessment, bias measurement.

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Authors: G. Karakaya, C. Türker, M. Anaklı

Abstract:

It is necessary to test to see if optical devices such as camera, night vision devices are working properly. Therefore, a precision biaxial rotary system (gimbal) is required for mounting Unit Under Test, UUT. The Gimbal systems can be utilized for precise positioning of the UUT; hence, optical test can be performed with high accuracy. The weight of UUT, which is placed outside the axis of rotation, causes an off-axis moment to the mounting armature. The off-axis moment can act against the direction of movement for some orientation, thus the electrical motor, which rotates the gimbal axis, has to apply higher level of torque to guide and stabilize the system. Moreover, UUT and its mounting fixture to the gimbal can be changed, which causes change in applied resistance moment to the gimbals electrical motor. In this study, a preloaded spring is added to the gimbal system for minimizing applied off axis moment with the help of four bar mechanism. Two different possible methods for preloading spring are introduced and system optimization is performed to eliminate all moment which is created by off axis weight.

Keywords: Balancing, gimbal, tension, preload, spring.

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Authors: Jamal A. Gledan, Akrm H. Algnin

Abstract:

The Global Positioning System (GPS), satellite-based technology, has been utilized extensively in the last few years in a wide range of Geometrics and Geographic Information Systems’ (GIS) applications. One of the main challenges dealing with GPS-based heights consists of converting them into Mean Sea Level (MSL) heights, which is used in surveys and mapping.

In this research’s work, differences in heights of 50 points, in northern part of Libya has been carried out by using both ordinary leveling (in which Geoid is the reference datum) and GPS techniques (in which Ellipsoid is the reference datum). In addition, this study utilized the EGM2008 model to obtain the undulation values between the ellipsoidal and orthometric heights. From these values of ellipsoidal heights can be obtained from GPS observations to compute the orthomteric heights. This research presents a suitable alternative, from an economical point of view, to substitute the expensive traditional leveling technique, particularly, for topographic mapping.

Keywords: Geoid undulation, GPS, ordinary and geodetic leveling, orthometric height.

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Authors: C. Yesubai Rubavathi, R. Ravi

Abstract:

This paper presents the local mesh co-occurrence patterns (LMCoP) using HSV color space for image retrieval system. HSV color space is used in this method to utilize color, intensity and brightness of images. Local mesh patterns are applied to define the local information of image and gray level co-occurrence is used to obtain the co-occurrence of LMeP pixels. Local mesh co-occurrence pattern extracts the local directional information from local mesh pattern and converts it into a well-mannered feature vector using gray level co-occurrence matrix. The proposed method is tested on three different databases called MIT VisTex, Corel, and STex. Also, this algorithm is compared with existing methods, and results in terms of precision and recall are shown in this paper.

Keywords: Content-based image retrieval system, HSV color space, gray level co-occurrence matrix, local mesh pattern.

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Authors: C.S. Jawalkar, Apurbba Kumar Sharma, Pradeep Kumar

Abstract:

Electro Chemical Discharge Machining (ECDM) is an emerging hybrid machining process used in precision machining of hard and brittle non-conducting materials. The present paper gives a critical review on materials machined by ECDM under the prevailing machining conditions; capability indicators of the process are reported. Some results obtained while performing experiments in micro-channeling on soda lime glass using ECDM are also presented. In these experiments, Tool Wear (TW) and Material Removal (MR) were studied using design of experiments and L–4 orthogonal array. Experimental results showed that the applied voltage was the most influencing parameter in both MR and TW studies. Field emission scanning electron microscopy (FESEM) results obtained on the microchannels confirmed the presence of micro-cracks, primarily responsible for MR. Chemical etching was also seen along the edges. The Energy dispersive spectroscopy (EDS) results were used to detect the elements present in the debris and specimens.

Keywords: ECDM, applied-voltage, FESEM, EDS.

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Authors: M. F. Haroun, T. A. Gulliver

Abstract:

In this paper, an encryption algorithm is proposed for real-time image encryption. The scheme employs a dual chaotic generator based on a three dimensional (3D) discrete Lorenz attractor. Encryption is achieved using non-autonomous modulation where the data is injected into the dynamics of the master chaotic generator. The second generator is used to permute the dynamics of the master generator using the same approach. Since the data stream can be regarded as a random source, the resulting permutations of the generator dynamics greatly increase the security of the transmitted signal. In addition, a technique is proposed to mitigate the error propagation due to the finite precision arithmetic of digital hardware. In particular, truncation and rounding errors are eliminated by employing an integer representation of the data which can easily be implemented. The simple hardware architecture of the algorithm makes it suitable for secure real-time applications.

Keywords: Chaotic systems, image encryption, 3D Lorenz attractor, non-autonomous modulation, FPGA.

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Authors: Y. A. Adla, R. Soubra, M. Kasab, M. O. Diab, A. Chkeir

Abstract:

Over the past several years, researchers have shown a great interest in assessing the mobility of elderly people to measure their functional status. Usually, such an assessment is done by conducting tests that require the subject to walk a certain distance, turn around, and finally sit back down. Consequently, this study aims to provide an at home monitoring system to assess the patient’s status continuously. Thus, we proposed a technique to automatically detect when a subject sits down while walking at home. In this study, we utilized a Doppler radar system to capture the motion of the subjects. More than 20 features were extracted from the radar signals out of which 11 were chosen based on their Intraclass Correlation Coefficient (ICC > 0.75). Accordingly, the sequential floating forward selection wrapper was applied to further narrow down the final feature vector. Finally, five features were introduced to the Linear Discriminant Analysis classifier and an accuracy of 93.75% was achieved as well as a precision and recall of 95% and 90% respectively.

Keywords: Doppler radar system, stand-to-sit phase, TUG test, machine learning, classification

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Authors: Hamed Harrafi, Masoumeh Khedri, Karim Karaminejad

Abstract:

Measurement of the COD of a spent caustic solution involves firstly digestion of a test sample with dichromate solution and secondly measurement of dichromate remained by titration by ferrous ammonium sulfate [FAS] to an end point. In this paper we study by a potentiometric end point with Ag/AgCl reference electrode and gold rode electrode. The potentiometric end point is sharp and easily identified especially for the samples with high turbidity and color that other methods such as colorimetric in this type of sample do not result in high precision. Because interim of titration responds quickly to potential changes within the [Cr+6/Cr+3& Fe+2/Fe+3] solution producing stable readings that is lead to accurate COD measurement. Finally results are compared with data determined using colorimetric method for standard samples. It is shown that the potentiometric end point titration with gold rode electrode can be used with equal or better facility

Keywords: chemical oxygen demand, spent caustic and potentiometric determination

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Authors: I. Rodionov, A. Semenov, E. Gosteva, O. Sokolova

Abstract:

The venture capital becomes more and more advanced and effective source of the innovation project financing, connected with a high-risk level. In the developed countries, it plays a key role in transforming innovation projects into successful businesses and creating the prosperity of the modern economy. In Russia, there are many necessary preconditions for creation of the effective venture investment system: the network of the public institutes for innovation financing operates; there is a significant number of the small and medium-sized enterprises, capable to sell production with good market potential. However, the current system does not confirm the necessary level of efficiency in practice that can be substantially explained by the absence of the accurate plan of action to form the national venture model and by the lack of experience of successful venture deals with profitable exits in Russian economy. This paper studies the influence of various factors on the venture industry development by the example of the IT-sector in Russia. The choice of the sector is based on the fact, that this segment is the main driver of the venture capital market growth in Russia, and the necessary set of data exists. The size of investment of the second round is used as the dependent variable. To analyse the influence of the previous round, such determinant as the volume of the previous (first) round investments is used. There is also used a dummy variable in regression to examine that the participation of an investor with high reputation and experience in the previous round can influence the size of the next investment round. The regression analysis of short-term interrelations between studied variables reveals prevailing influence of the volume of the first round investments on the venture investments volume of the second round. The most important determinant of the value of the second-round investment is the value of first–round investment, so it means that the most competitive on the Russian market are the start-up teams that can attract more money on the start, and the target market growth is not the factor of crucial importance. This supports the point of view that VC in Russia is driven by endogenous factors and not by exogenous ones that are based on global market growth.

Keywords: Venture industry, venture investment, determinants of the venture sector development, IT-sector.

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Authors: R. Heydari, M. R. Salehi

Abstract:

A tunable photonic microwave bandpass filter with negative coefficient based on an electro-optic phase modulator (EOPM) and a variable polarization beamsplitter (VPBS) is demonstrated. A two-tap microwave bandpass filter with one negative coefficient is presented. The chromatic dispersion and optical coherence are not affected on this filter.

Keywords: Bandpass filter, EOPM, photonic microwave filter, polarization beamsplitter.

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Authors: Wojciech P. Gajewski

Abstract:

The problem of spam has been seriously troubling the Internet community during the last few years and currently reached an alarming scale. Observations made at CERN (European Organization for Nuclear Research located in Geneva, Switzerland) show that spam mails can constitute up to 75% of daily SMTP traffic. A naïve Bayesian classifier based on a Bag Of Words representation of an email is widely used to stop this unwanted flood as it combines good performance with simplicity of the training and classification processes. However, facing the constantly changing patterns of spam, it is necessary to assure online adaptability of the classifier. This work proposes combining such a classifier with another NBC (naïve Bayesian classifier) based on pairs of adjacent words. Only the latter will be retrained with examples of spam reported by users. Tests are performed on considerable sets of mails both from public spam archives and CERN mailboxes. They suggest that this architecture can increase spam recall without affecting the classifier precision as it happens when only the NBC based on single words is retrained.

Keywords: Text classification, naïve Bayesian classification, spam, email.

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Authors: Bhupendra C. S. Chauhan, P. S. Bisht, O. P. S. Negi

Abstract:

According to celebrated Hurwitz theorem, there exists four division algebras consisting of R (real numbers), C (complex numbers), H (quaternions) and O (octonions). Keeping in view the utility of octonion variable we have tried to extend the three dimensional vector analysis to seven dimensional one. Starting with the scalar and vector product in seven dimensions, we have redefined the gradient, divergence and curl in seven dimension. It is shown that the identity n(n - 1)(n - 3)(n - 7) = 0 is satisfied only for 0, 1, 3 and 7 dimensional vectors. We have tried to write all the vector inequalities and formulas in terms of seven dimensions and it is shown that same formulas loose their meaning in seven dimensions due to non-associativity of octonions. The vector formulas are retained only if we put certain restrictions on octonions and split octonions.

Keywords: Octonions, Vector Space and seven dimensions

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Authors: A. Ourici

Abstract:

This paper proposes a direct power control for doubly-fed induction machine for variable speed wind power generation. It provides decoupled regulation of the primary side active and reactive power and it is suitable for both electric energy generation and drive applications. In order to control the power flowing between the stator of the DFIG and the network, a decoupled control of active and reactive power is synthesized using PI controllers.The obtained simulation results show the feasibility and the effectiveness of the suggested method

Keywords: Doubly fed induction machine , decoupled power control , vector control , active and reactive power, PWM inverter

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Authors: V.Rezaie, M.Khanmohammady

Abstract:

An original DEA model is to evaluate each DMU optimistically, but the interval DEA Model proposed in this paper has been formulated to obtain an efficiency interval consisting of Evaluations from both the optimistic and the pessimistic view points. DMUs are improved so that their lower bounds become so large as to attain the maximum Value one. The points obtained by this method are called ideal points. Ideal PPS is calculated by ideal of efficiency DMUs. The purpose of this paper is to rank DMUs by this ideal PPS. Finally we extend the efficiency interval of a DMU under variable RTS technology.

Keywords: Data envelopment analysis (DEA), Decision makingunit (DMU), Interval DEA, Ideal points, Ideal PPS, Return to scale(RTS).

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Authors: Petr Morávek, Miloš Šeda

Abstract:

In practice, we often come across situations where it is necessary to make decisions based on incomplete or uncertain data. In control systems it may be due to the unknown exact mathematical model, or its excessive complexity (e.g. nonlinearity) when it is necessary to simplify it, respectively, to solve it using a rule base. In the case of databases, searching data we compare a similarity measure with of the requirements of the selection with stored data, where both the select query and the data itself may contain vague terms, for example in the form of linguistic qualifiers. In this paper, we focus on the processing of uncertain data in databases and demonstrate it on the example multi-criteria decision making in the selection of variants, specified by higher number of technical parameters.

Keywords: fuzzy logic, linguistic variable, multicriteria decision

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Authors: K. Diwakar, N. Vasudevan, C. Senthilpari

Abstract:

This paper presents MOSFET based analog to digital converter which is simple in design, has high resolution, and conversion rate better than dual slope ADC. It has no DAC which will limit the performance, no error in conversion, can operate for wide range of inputs and never become unstable. One of the industrial applications, where the proposed high resolution MOSFET ADC can be used is, for the positioning of control valves in a multi channel data acquisition and control system (DACS), using stepper motors as actuators of control valves. It is observed that in a DACS having ten control valves, 0.02% of positional accuracy of control valves can be achieved with the data update period of 250ms and with stepper motors of maximum pulse rate 20 Kpulses per sec. and minimum pulse width of 2.5 μsec. The reported accuracy so far by other authors is 0.2%, with update period of 255 ms and with 8 bit DAC. The accuracy in the proposed configuration is limited by the available precision stepper motor and not by the MOSFET based ADC.

Keywords: MOSFET based ADC, Actuators, Positional accuracy, Stepper Motors.

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Authors: Huey-Kuo Chen

Abstract:

Travel demand forecasting including four travel choices, i.e., trip generation, trip distribution, modal split and traffic assignment constructs the core of transportation planning. In its current application, travel demand forecasting has associated with three important issues, i.e., interface inconsistencies among four travel choices, inefficiency of commonly used solution algorithms, and undesirable multiple path solutions. In this paper, each of the three issues is extensively elaborated. An ideal unified framework for the combined model consisting of the four travel choices and variable demand functions is also suggested. Then, a few remarks are provided in the end of the paper

Keywords: Travel choices, B algorithm, entropy maximization, dynamic traffic assignment.

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Authors: Adeniran Ademuwagun, Alastair Allen

Abstract:

The relationship dependence between RSS and distance in an enclosed environment is an important consideration because it is a factor that can influence the reliability of any localization algorithm founded on RSS. Several algorithms effectively reduce the variance of RSS to improve localization or accuracy performance. Our proposed algorithm essentially avoids this pitfall and consequently, its high adaptability in the face of erratic radio signal. Using 3 anchors in close proximity of each other, we are able to establish that RSS can be used as reliable indicator for localization with an acceptable degree of accuracy. Inherent in this concept, is the ability for each prospective anchor to validate (guarantee) the position or the proximity of the other 2 anchors involved in the localization and vice versa. This procedure ensures that the uncertainties of radio signals due to multipath effects in enclosed environments are minimized. A major driver of this idea is the implicit topological relationship among sensors due to raw radio signal strength. The algorithm is an area based algorithm; however, it does not trade accuracy for precision (i.e the size of the returned area).

Keywords: Anchor nodes, centroid algorithm, communication graph, received signal strength (RSS).

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Authors: Akella Amarendra Babu, Rama Devi Yellasiri, Natukula Sainath

Abstract:

Where human beings can easily learn and adopt pronunciation variations, machines need training before put into use. Also humans keep minimum vocabulary and their pronunciation variations are stored in front-end of their memory for ready reference, while machines keep the entire pronunciation dictionary for ready reference. Supervised methods are used for preparation of pronunciation dictionaries which take large amounts of manual effort, cost, time and are not suitable for real time use. This paper presents an unsupervised adaptation model for building agile and dynamic pronunciation dictionaries online. These methods mimic human approach in learning the new pronunciations in real time. A new algorithm for measuring sound distances called Dynamic Phone Warping is presented and tested. Performance of the system is measured using an adaptation model and the precision metrics is found to be better than 86 percent.

Keywords: Pronunciation variations, dynamic programming, machine learning, natural language processing.

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Authors: Roengruen P., Tipsuwanporn V., Puawade P., Numsomran A.

Abstract:

Smith Predictor control is theoretically a good solution to the problem of controlling the time delay systems. However, it seldom gets use because it is almost impossible to find out a precise mathematical model of the practical system and very sensitive to uncertain system with variable time-delay. In this paper is concerned with a design method of smith predictor for temperature control system by Coefficient Diagram Method (CDM). The simulation results show that the control system with smith predictor design by CDM is stable and robust whilst giving the desired time domain system performance.

Keywords: CDM, Smith Predictor, temperature process

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Authors: Hamioud Saida, Khalfallah Salah

Abstract:

In this study, a spectral element method (SEM) is employed to predict the free vibration of a Euler-Bernoulli beam resting on a Winkler foundation with elastically restrained ends. The formulation of the dynamic stiffness matrix has been established by solving the differential equation of motion which was transformed to frequency domain. Non-dimensional natural frequencies and shape modes are obtained by solving the partial differential equations, numerically. Numerical comparisons and examples are performed to show the effectiveness of the SEM and to investigate the effects of various parameters, such as the springs at the boundaries and the elastic foundation parameter on the vibration frequencies. The obtained results demonstrate that the present method can also be applied to solve the more general problem of the dynamic analysis of structures with higher order precision.

Keywords: Elastically supported Euler-Bernoulli beam, free-vibration, spectral element method, Winkler foundation.

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Authors: S. Seyedtabaii, L. Seyedtabaii

Abstract:

Artifact free photoplethysmographic (PPG) signals are necessary for non-invasive estimation of oxygen saturation (SpO2) in arterial blood. Movement of a patient corrupts the PPGs with motion artifacts, resulting in large errors in the computation of Sp02. This paper presents a study on using Kalman Filter in an innovative way by modeling both the Artillery Blood Pressure (ABP) and the unwanted signal, additive motion artifact, to reduce motion artifacts from corrupted PPG signals. Simulation results show acceptable performance regarding LMS and variable step LMS, thus establishing the efficacy of the proposed method.

Keywords: Kalman filter, Motion artifact, PPG, Photoplethysmography.

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Authors: Saunah Zainon, Ruhaya Atan, Yap Bee Wah, Zarina Abu Bakar

Abstract:

The primary objective of this study is to test whether there is any difference in performance between funded and nonfunded registered charity organizations. In this study, performance as the dependent variable is measured using total donations. Using a sample of 101 charity organizations registered with the Registry of Society, analysis of variance (ANOVA) results indicate that there is a difference in financial performance between funded and non-funded charity organizations. The study provides empirical evidence to resource providers and the policy makers in scrutinizing the decision to disburse their funds and resources to these charity organizations.

Keywords: charity organizations, donations, funded, non-funded

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Authors: K. Kalaiselvan, A. Elango, N. M. Nagarajan

Abstract:

Laser beam welding for the dissimilar Titanium and Aluminium thin sheets is an emerging area which is having wider applications in aerospace, aircraft, automotive, electronics and in other industries due to its high speed, non-contact, precision with low heat effects, least welding distortion, low labor costs and convenient operation. Laser beam welding of dissimilar metal combinations are increasingly demanded due to high energy densities with small fusion and heat affected zones. Furthermore, no filler or electrode material is required and contamination of weld is also very small. The present study is to reviews the influence of different parameters like laser power, welding speed, power density, beam diameter, focusing distance and type of shielding gas on the mechanical properties of dissimilar metal combinations like SS/Al, Cu/Al and Ti/Al focusing on aluminum to other materials. Research findings reveal that Ti/Al combination gives better metallurgical and mechanical properties than other combinations such as SS/Al and Cu/Al.

Keywords: Laser Beam Welding, dissimilar metals, SS/Al, Cu/Al and Ti/Al sheets.

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Authors: Jeffrey L. Duffany

Abstract:

An optimal solution for a large number of constraint satisfaction problems can be found using the technique of substitution and elimination of variables analogous to the technique that is used to solve systems of equations. A decision function f(A)=max(A2) is used to determine which variables to eliminate. The algorithm can be expressed in six lines and is remarkable in both its simplicity and its ability to find an optimal solution. However it is inefficient in that it needs to square the updated A matrix after each variable elimination. To overcome this inefficiency the algorithm is analyzed and it is shown that the A matrix only needs to be squared once at the first step of the algorithm and then incrementally updated for subsequent steps, resulting in significant improvement and an algorithm complexity of O(n3).

Keywords: Algorithm, complexity, constraint, np-complete.

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