Search results for: Multiple robots

Authors: Youkyung Park, SeungYup Kang, SungHo Kim, SimKyun Yook

Abstract:

IMCS is Integrated Monitoring and Control System for thermal power plant. This system consists of mainly two parts; controllers and OIS (Operator Interface System). These two parts are connected by Ethernet-based communication. The controller side of communication is managed by CNet module and OIS side is managed by data server of OIS. CNet module sends the data of controller to data server and receives commend data from data server. To minimizes or balance the load of data server, this module buffers data created by controller at every cycle and send buffered data to data server on request of data server. For multiple data server, this module manages the connection line with each data server and response for each request from multiple data server. CNet module is included in each controller of redundant system. When controller fail-over happens on redundant system, this module can provide data of controller to data sever without loss. This paper presents three main features – separation of get task, usage of ring buffer and monitoring communication status –of CNet module to carry out these functions.

Keywords: Ethernet communication, DCS, power plant, ring buffer, data integrity

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Authors: Hyunjin Rho, Bongjin Shin, Okbok Lee, Yu-Hyun Choi, Jiyoung Lee, Jaerang Rho

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The increasing usage of antibiotics in the animal farming industry is an emerging worldwide problem contributing to the development of antibiotic resistance. The purpose of this work was to investigate the prevalence and antibiotic resistance profile of bacterial isolates collected from aquatic environments and meats in a peri-urban community in Daejeon, Korea. In an antibacterial susceptibility test, the bacterial isolates showed a high incidence of resistance (~ 26.04 %) to cefazolin, tetracycline, gentamycin, norfloxacin, erythromycin and vancomycin. The results from a test for multiple antibiotic resistance indicated that the isolates were displaying an approximately 5-fold increase in the incidence of multiple antibiotic resistance to combinations of two different antibiotics compared to combinations of three or more antibiotics. Most of the isolates showed multi-antibiotic resistance, and the resistance patterns were similar among the sampling groups. Sequencing data analysis of 16S rRNA showed that most of the resistant isolates appeared to be dominated by the classes Betaproteobacteria and Gammaproteobacteria in the phylum Proteobacteria.

Keywords: Antibiotics, Antibiotic resistance, Antimicrobial resistance, Multi-resistance

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Authors: Radovan Holubek, Daynier Rolando Delgado Sobrino, Roman Ruzarovsky

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Current trends in manufacturing are characterized by production broadening, innovation cycle shortening, and the products having a new shape, material and functions. The production strategy focused on time needed change from the traditional functional production structure to flexible manufacturing cells and lines. Production by automated manufacturing system (AMS) is one of the most important manufacturing philosophies in the last years. The main goals of the project we are involved in lies on building a laboratory in which will be located a flexible manufacturing system consisting of at least two production machines with NC control (milling machines, lathe). These machines will be linked to a transport system and they will be served by industrial robots. Within this flexible manufacturing system a station for the quality control consisting of a camera system and rack warehouse will be also located. The design, analysis and improvement of this manufacturing system, specially with a special focus on the communication among devices constitute the main aims of this paper. The key determining factors for the manufacturing system design are: the product, the production volume, the used machines, the disposable manpower, the disposable infrastructure and the legislative frame for the specific cases.

Keywords: Paperless manufacturing, flexible manufacturing, robotized manufacturing, material flow, iCIM.

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Authors: Azli Abd. Razak, Yusli Yaakob, Mohd Nazir Ramli

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This study comprehensively simulate the use of k-ε model for predicting flow and heat transfer with measured flow field data in a stationary duct with elucidates on the detailed physics encountered in the fully developed flow region, and the sharp 180° bend region. Among the major flow features predicted with accuracy are flow transition at the entrance of the duct, the distribution of mean and turbulent quantities in the developing, fully developed, and sharp 180° bend, the development of secondary flows in the duct cross-section and the sharp 180° bend, and heat transfer augmentation. Turbulence intensities in the sharp 180° bend are found to reach high values and local heat transfer comparisons show that the heat transfer augmentation shifts towards the wall and along the duct. Therefore, understanding of the unsteady heat transfer in sharp 180° bends is important. The design and simulation are related to concept of fluid mechanics, heat transfer and thermodynamics. Simulation study has been conducted on the response of turbulent flow in a rectangular duct in order to evaluate the heat transfer rate along the small scale multiple rectangular duct

Keywords: Heat transfer, turbulence, rectangular duct, simulation.

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Authors: Mahshid Hatamzad, Geanette Polanco

Abstract:

Improving the performance of Winter Road Maintenance (WRM) can increase the traffic safety and reduce the cost as well as environmental impacts. This study evaluates the efficiency of WRM technique, named salting, in the Arctic area by using Data Envelopment Analysis (DEA), which is a non-parametric linear method to measure the efficiencies of decision-making units (DMUs) based on handling multiple inputs and multiple outputs at the same time that their associated weights are not known. Here, roads are considered as DMUs for which the efficiency must be determined. The three input variables considered are traffic flow, road area and WRM cost. In addition, the two output variables included are level of safety in the roads and environment impacts resulted from WRM, which is also considered as an uncontrollable factor in the second scenario. The results show the performance of DMUs from the most efficient WRM to the inefficient/least efficient one and this information provides decision makers with technical support and the required suggested improvements for inefficient WRM, in order to achieve a cost-effective WRM and a safe road transportation during wintertime in the Arctic areas.

Keywords: DEA, environmental impacts, risk and safety, WRM.

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Authors: B. E. Narkhede, S. K. Mahajan, B. T. Patil, R. D. Raut

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Information quality is a major performance measure for an Enterprise Resource Planning (ERP) system of any firm. This study identifies various critical success factors of information quality. The effect of various critical success factors like project management, reengineering efforts and interdepartmental communications on information quality is analyzed using a multiple regression model. Here quantitative data are collected from respondents from various firms through structured questionnaire for assessment of the information quality, project management, reengineering efforts and interdepartmental communications. The validity and reliability of the data are ensured using techniques like factor analysis, computing of Cronbach’s alpha. This study gives relative importance of each of the critical success factors. The findings suggest that among the various factors influencing information quality careful reengineering efforts are the most influencing factor. This paper gives clear insight to managers and practitioners regarding the relative importance of critical success factors influencing information quality so that they can formulate a strategy at the beginning of ERP system implementation.

Keywords: Enterprise resource planning, information systems, multiple regression, information quality.

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Authors: Fajaruddin Mustakim, Motohiro Fujita

Abstract:

This paper present the study carried out of accident analysis, black spot study and to develop accident predictive models based on the data collected at rural roadway, Federal Route 50 (F050) Malaysia. The road accident trends and black spot ranking were established on the F050. The development of the accident prediction model will concentrate in Parit Raja area from KM 19 to KM 23. Multiple non-linear regression method was used to relate the discrete accident data with the road and traffic flow explanatory variable. The dependent variable was modeled as the number of crashes namely accident point weighting, however accident point weighting have rarely been account in the road accident prediction Models. The result show that, the existing number of major access points, without traffic light, rise in speed, increasing number of Annual Average Daily Traffic (AADT), growing number of motorcycle and motorcar and reducing the time gap are the potential contributors of increment accident rates on multiple rural roadway.

Keywords: Accident Trends, Black Spot Study, Accident Prediction Model

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Authors: J. Arneric, E. Jurun, L. Kordic

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This paper deals with econometric analysis of real retail trade turnover. It is a part of an extensive scientific research about modern trends in Croatian national economy. At the end of the period of transition economy, Croatia confronts with challenges and problems of high consumption society. In such environment as crucial economic variables: real retail trade turnover, average monthly real wages and household loans are chosen for consequence analysis. For the purpose of complete procedure of multiple econometric analysis data base adjustment has been provided. Namely, it has been necessary to deflate original national statistics data of retail trade turnover using consumer price indices, as well as provide process of seasonally adjustment of its contemporary behavior. In model establishment it has been necessary to involve the overcoming procedure for the autocorrelation and colinearity problems. Moreover, for case of time-series shift a specific appropriate econometric instrument has been applied. It would be emphasize that the whole methodology procedure is based on the real Croatian national economy time-series.

Keywords: Consumption society, multiple econometric model, real retail trade turnover, second order autocorrelation.

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Authors: Xinde Li, Xinhan Huang, Min Wang

Abstract:

In this paper, a new method of information fusion – DSmT (Dezert and Smarandache Theory) is introduced to apply to managing and dealing with the uncertain information from robot map building. Here we build grid map form sonar sensors and laser range finder (LRF). The uncertainty mainly comes from sonar sensors and LRF. Aiming to the uncertainty in static environment, we propose Classic DSm (DSmC) model for sonar sensors and laser range finder, and construct the general basic belief assignment function (gbbaf) respectively. Generally speaking, the evidence sources are unreliable in physical system, so we must consider the discounting theory before we apply DSmT. At last, Pioneer II mobile robot serves as a simulation experimental platform. We build 3D grid map of belief layout, then mainly compare the effect of building map using DSmT and DST. Through this simulation experiment, it proves that DSmT is very successful and valid, especially in dealing with highly conflicting information. In short, this study not only finds a new method for building map under static environment, but also supplies with a theory foundation for us to further apply Hybrid DSmT (DSmH) to dynamic unknown environment and multi-robots- building map together.

Keywords: Map building, DSmT, DST, uncertainty, information fusion.

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

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

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

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Authors: Alexiou Dimitra, Fragkaki Maria

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The objective of the paper is the study of geographic, economic and educational variables and their contribution to determine the position of each member-state among the EU-28 countries based on the values of seven variables as given by Eurostat. The Data Analysis methods of Multiple Factorial Correspondence Analysis (MFCA) Principal Component Analysis and Factor Analysis have been used. The cross tabulation tables of data consist of the values of seven variables for the 28 countries for 2014. The data are manipulated using the CHIC Analysis V 1.1 software package. The results of this program using MFCA and Ascending Hierarchical Classification are given in arithmetic and graphical form. For comparison reasons with the same data the Factor procedure of Statistical package IBM SPSS 20 has been used. The numerical and graphical results presented with tables and graphs, demonstrate the agreement between the two methods. The most important result is the study of the relation between the 28 countries and the position of each country in groups or clouds, which are formed according to the values of the corresponding variables.

Keywords: Multiple factorial correspondence analysis, principal component analysis, factor analysis, E.U.-28 countries, statistical package IBM SPSS 20, CHIC Analysis V 1.1 Software, Eurostat.eu statistics.

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Authors: Hao He, Shaoqian Li

Abstract:

In this paper, we study the cooperative communications where multiple cognitive radio (CR) transmit-receive pairs competitive maximize their own throughputs. In CR networks, the influences of primary users and the spectrum availability are usually different among CR users. Due to the existence of multiple relay nodes and the different spectrum availability, each CR transmit-receive pair should not only select the relay node but also choose the appropriate channel. For this distributed problem, we propose a game theoretic framework to formulate this problem and we apply a regret-matching learning algorithm which is leading to correlated equilibrium. We further formulate a modified regret-matching learning algorithm which is fully distributed and only use the local information of each CR transmit-receive pair. This modified algorithm is more practical and suitable for the cooperative communications in CR network. Simulation results show the algorithm convergence and the modified learning algorithm can achieve comparable performance to the original regretmatching learning algorithm.

Keywords: cognitive radio, cooperative communication, relay selection, channel choice, regret-matching learning, correlated equilibrium.

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Authors: Norazah Mohd Suki, Norbayah Mohd Suki

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Online shopping enables consumers to search for information and purchase products or services through direct interaction with online store. This study aims to examine the effect of Internet marketing environment, product characteristics, familiarity and confidence, and promotional offers on consumer online shopping behavior. 200 questionnaires were distributed to the respondents, who are students and staff at a public university in the Federal Territory of Labuan, Malaysia, following simple random sampling as a means of data collection. Multiple regression analysis was used as a statistical measure to determine the strength of the relationship between one dependent variable and a series of other independent variables. Results revealed that familiarity and confidence was found to greatly influence consumer online shopping behavior followed by promotional offers. A clear understanding of consumer online shopping behavior can help marketing managers predict the online shopping rate and evaluate the future growth of online commerce.

Keywords: Internet Marketing Environment, Product Characteristics, Multiple Regression Analysis, Malaysia.

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Authors: Tarifa S. Almulhim, Ludmil Mikhailov, Dong-Ling Xu

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In this paper, a method for deriving a group priority vector in the Fuzzy Analytic Network Process (FANP) is proposed. By introducing importance weights of multiple decision makers (DMs) based on their experiences, the Fuzzy Preferences Programming Method (FPP) is extended to a fuzzy group prioritization problem in the FANP. Additionally, fuzzy pair-wise comparison judgments are presented rather than exact numerical assessments in order to model the uncertainty and imprecision in the DMs- judgments and then transform the fuzzy group prioritization problem into a fuzzy non-linear programming optimization problem which maximize the group satisfaction. Unlike the known fuzzy prioritization techniques, the new method proposed in this paper can easily derive crisp weights from incomplete and inconsistency fuzzy set of comparison judgments and does not require additional aggregation producers. Detailed numerical examples are used to illustrate the implement of our approach and compare with the latest fuzzy prioritization method.

Keywords: Fuzzy Analytic Network Process (FANP), Fuzzy Non-linear Programming, Fuzzy Preferences Programming Method (FPP), Multiple Criteria Decision-Making (MCDM), Triangular Fuzzy Number.

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Authors: C. Chitra, P. Subbaraj

Abstract:

The shortest path routing problem is a multiobjective nonlinear optimization problem with constraints. This problem has been addressed by considering Quality of service parameters, delay and cost objectives separately or as a weighted sum of both objectives. Multiobjective evolutionary algorithms can find multiple pareto-optimal solutions in one single run and this ability makes them attractive for solving problems with multiple and conflicting objectives. This paper uses an elitist multiobjective evolutionary algorithm based on the Non-dominated Sorting Genetic Algorithm (NSGA), for solving the dynamic shortest path routing problem in computer networks. A priority-based encoding scheme is proposed for population initialization. Elitism ensures that the best solution does not deteriorate in the next generations. Results for a sample test network have been presented to demonstrate the capabilities of the proposed approach to generate well-distributed pareto-optimal solutions of dynamic routing problem in one single run. The results obtained by NSGA are compared with single objective weighting factor method for which Genetic Algorithm (GA) was applied.

Keywords: Multiobjective optimization, Non-dominated SortingGenetic Algorithm, Routing, Weighted sum.

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Authors: A. Harras, A. Tsuji, K. Terada

Abstract:

Tracking of moving people has gained a matter of great importance due to rapid technological advancements in the field of computer vision. The objective of this study is to design a motion based detection and tracking multiple walking pedestrians randomly in different directions. In our proposed method, Gaussian mixture model (GMM) is used to determine moving persons in image sequences. It reacts to changes that take place in the scene like different illumination; moving objects start and stop often, etc. Background noise in the scene is eliminated through applying morphological operations and the motions of tracked people which is determined by using the Kalman filter. The Kalman filter is applied to predict the tracked location in each frame and to determine the likelihood of each detection. We used a benchmark data set for the evaluation based on a side wall stationary camera. The actual scenes from the data set are taken on a street including up to eight people in front of the camera in different two scenes, the duration is 53 and 35 seconds, respectively. In the case of walking pedestrians in close proximity, the proposed method has achieved the detection ratio of 87%, and the tracking ratio is 77 % successfully. When they are deferred from each other, the detection ratio is increased to 90% and the tracking ratio is also increased to 79%.

Keywords: Automatic detection, tracking, pedestrians.

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Authors: Yin Runmin, Song Changfeng

Abstract:

Image-based Rendering(IBR) techniques recently reached in broad fields which leads to a critical challenge to build up IBR-Driven visualization platform where meets requirement of high performance, large bounds of distributed visualization resource aggregation and concentration, multiple operators deploying and CSCW design employing. This paper presents an unique IBR-based visualization dataflow model refer to specific characters of IBR techniques and then discusses prominent feature of IBR-Driven distributed collaborative visualization (DCV) system before finally proposing an novel prototype. The prototype provides a well-defined three level modules especially work as Central Visualization Server, Local Proxy Server and Visualization Aid Environment, by which data and control for collaboration move through them followed the previous dataflow model. With aid of this triple hierarchy architecture of that, IBR oriented application construction turns to be easy. The employed augmented collaboration strategy not only achieve convenient multiple users synchronous control and stable processing management, but also is extendable and scalable.

Keywords: Image-Based Rendering, Distributed CollaborativeVisualization, Computer Supported Cooperative Work, Model andSimulation, Modular Visualization Environment.

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Authors: Feng Yang, Xuehai Zhou, Dalei Hu

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In this paper, we propose a general mandatory access framework for distributed systems. The framework can be applied into multiple operating systems and can handle multiple stakeholders. Despite considerable advancements in the area of mandatory access control, a certain approach to enforcing mandatory access control can only be applied in a specific operating system. Other than PC market in which windows captures the overwhelming shares, there are a number of popular operating systems in the emerging smart phone environment, i.e. Android, Windows mobile, Symbian, RIM. It should be noted that more and more stakeholders are involved in smartphone software, such as devices owners, service providers and application providers. Our framework includes three parts—local decision layer, the middle layer and the remote decision layer. The middle layer takes charge of managing security contexts, OS API, operations and policy combination. The design of the remote decision layer doesn’t depend on certain operating systems because of the middle layer’s existence. We implement the framework in windows, linux and other popular embedded systems.

Keywords: Mandatory Access Control, Distributed System, General Platform.

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Authors: Jianhua Zhou, Yuwen Zhang

Abstract:

A two-step multigrid approach is proposed to solve the inverse heat conduction problem in a 3-D object under laser irradiation. In the first step, the location of the laser center is estimated using a coarse and uniform grid system. In the second step, the front-surface temperature is recovered in good accuracy using a multiple grid system in which fine mesh is used at laser spot center to capture the drastic temperature rise in this region but coarse mesh is employed in the peripheral region to reduce the total number of sensors required. The effectiveness of the two-step approach and the multiple grid system are demonstrated by the illustrative inverse solutions. If the measurement data for the temperature and heat flux on the back surface do not contain random error, the proposed multigrid approach can yield more accurate inverse solutions. When the back-surface measurement data contain random noise, accurate inverse solutions cannot be obtained if both temperature and heat flux are measured on the back surface.

Keywords: Conduction, inverse problems, conjugated gradient method, laser.

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Authors: Alireza Changizi, Arash Rezaei, Jamal Muhammad, Jyrki Latokartano, Minna Lanz

Abstract:

Offline programming (OLP) is a new method in robot programming which is used widely in the industry nowadays which is a simulation base method that can produce the robot codes for motion according to virtual world in the simulation software. In this project Delmia v5 is used as simulation software. First the work cell component was modelled by Catia v5 and all of them was imported to a process file in Delmia and placed roughly to form the virtual work cell. Then robot was added to the work cell from the Delmia library. Work cell was calibrated corresponding to real world work cell to have accurate code. Tool calibration is the first step of calibration scheme and then work cell equipment can be calibrated using 6 point calibration method. Finally generated code needs to be reformed to match related controller code instruction. At the last stage IO were set to accomplish robots cooperation and make their motion synchronized. The pros and cons also will be discussed to clarify the presented results show the feasibility of the method and its effect on production line efficiency. Finally the positive and negative points of the implementation will be discussed.

Keywords: Component, robotic, automated, production, offline programming, CAD.

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Authors: Cecilia Nugraheni, Luciana Abednego

Abstract:

Sudoku is a kind of logic puzzles. Each puzzle consists of a board, which is a 9×9 cells, divided into nine 3×3 subblocks and a set of numbers from 1 to 9. The aim of this puzzle is to fill in every cell of the board with a number from 1 to 9 such that in every row, every column, and every subblock contains each number exactly one. Sudoku puzzles belong to combinatorial problem (NP complete). Sudoku puzzles can be solved by using a variety of techniques/algorithms such as genetic algorithms, heuristics, integer programming, and so on. In this paper, we propose a new approach for solving Sudoku which is by modelling them as block-world problems. In block-world problems, there are a number of boxes on the table with a particular order or arrangement. The objective of this problem is to change this arrangement into the targeted arrangement with the help of two types of robots. In this paper, we present three models for Sudoku. We modellized Sudoku as parameterized multi-agent systems. A parameterized multi-agent system is a multi-agent system which consists of several uniform/similar agents and the number of the agents in the system is stated as the parameter of this system. We use Temporal Logic of Actions (TLA) for formalizing our models.

Keywords: Sudoku puzzle, block world problem, parameterized multi agent systems modelling, Temporal Logic of Actions.

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Authors: C. Chitra, P. Subbaraj

Abstract:

The shortest path routing problem is a multiobjective nonlinear optimization problem with constraints. This problem has been addressed by considering Quality of service parameters, delay and cost objectives separately or as a weighted sum of both objectives. Multiobjective evolutionary algorithms can find multiple pareto-optimal solutions in one single run and this ability makes them attractive for solving problems with multiple and conflicting objectives. This paper uses an elitist multiobjective evolutionary algorithm based on the Non-dominated Sorting Genetic Algorithm (NSGA), for solving the dynamic shortest path routing problem in computer networks. A priority-based encoding scheme is proposed for population initialization. Elitism ensures that the best solution does not deteriorate in the next generations. Results for a sample test network have been presented to demonstrate the capabilities of the proposed approach to generate well-distributed pareto-optimal solutions of dynamic routing problem in one single run. The results obtained by NSGA are compared with single objective weighting factor method for which Genetic Algorithm (GA) was applied.

Keywords: Multiobjective optimization, Non-dominated Sorting Genetic Algorithm, Routing, Weighted sum.

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Authors: Anitha Narasimhan, Aarthy Anandan, Madhan Karky, C. N. Subalalitha

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Games can be the excellent tools for teaching a language. There are few e-learning games in Indian languages like word scrabble, cross word, quiz games etc., which were developed mainly for educational purposes. This paper proposes a Tamil word game called, “Porul”, which focuses on education as well as on players’ thinking and decision-making skills. Porul is a multiple choice based quiz game, in which the players attempt to answer questions correctly from the given multiple options that are generated using a unique algorithm called the Option Selection algorithm which explores the semantics of the question in various dimensions namely, synonym, rhyme and Universal Networking Language semantic category. This kind of semantic exploration of the question not only increases the complexity of the game but also makes it more interesting. The paper also proposes a Scoring Algorithm which allots a score based on the popularity score of the question word. The proposed game has been tested using 20,000 Tamil words.

Keywords: Porul game, Tamil word game, option selection, flash card, scoring, algorithm.

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Authors: Rawaa H. El-Bidweihy, Hisham M. Abdelsalam, Ihab A. El-Khodary

Abstract:

In an era where machines run and shape our world, the need for a stable, non-ending source of energy emerges. In this study, the focus was on the solar energy in Egypt as a renewable source, the most important factors that could affect the solar energy’s market share throughout its life cycle production were analyzed and filtered, the relationships between them were derived before structuring a Bayesian network. Also, forecasted models were built for multiple factors to predict the states in Egypt by 2035, based on historical data and patterns, to be used as the nodes’ states in the network. 37 factors were found to might have an impact on the use of solar energy and then were deducted to 12 factors that were chosen to be the most effective to the solar energy’s life cycle in Egypt, based on surveying experts and data analysis, some of the factors were found to be recurring in multiple stages. The presented Bayesian network could be used later for scenario and decision analysis of using solar energy in Egypt, as a stable renewable source for generating any type of energy needed.

Keywords: ARIMA, auto correlation, Bayesian network, forecasting models, life cycle, partial correlation, renewable energy, SARIMA, solar energy.

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Authors: Chen Sun, Nemai Chandra Karmakar

Abstract:

A novel direction-of-arrival (DOA) estimation technique, which uses a conventional multiple signal classification (MUSIC) algorithm with periodic signals, is applied to a single RF-port parasitic array antenna for direction finding. Simulation results show that the proposed method gives high resolution (1 degree) DOA estimation in an uncorrelated signal environment. The novelty lies in that the MUSIC algorithm is applied to a simplified antenna configuration. Only one RF port and one analogue-to-digital converter (ADC) are used in this antenna, which features low DC power consumption, low cost, and ease of fabrication. Modifications to the conventional MUSIC algorithm do not bring much additional complexity. The proposed technique is also free from the negative influence by the mutual coupling between elements. Therefore, the technique has great potential to be implemented into the existing wireless mobile communications systems, especially at the power consumption limited mobile terminals, to provide additional position location (PL) services.

Keywords: Direction-of-arrival (DOA) estimation, electronically steerable parasitic array radiator (ESPAR), multiple single classifications (MUSIC), position location.

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Authors: Ammar M. Hassan, Ayoub Al-Hamadi, Yassin M. Y. Hasan, Mohamed A. A. Wahab, Bernd Michaelis

Abstract:

Because of the great advance in multimedia technology, digital multimedia is vulnerable to malicious manipulations. In this paper, a public key self-recovery block-based video authentication technique is proposed which can not only precisely localize the alteration detection but also recover the missing data with high reliability. In the proposed block-based technique, multiple description coding MDC is used to generate two codes (two descriptions) for each block. Although one block code (one description) is enough to rebuild the altered block, the altered block is rebuilt with better quality by the two block descriptions. So using MDC increases the ratability of recovering data. A block signature is computed using a cryptographic hash function and a doubly linked chain is utilized to embed the block signature copies and the block descriptions into the LSBs of distant blocks and the block itself. The doubly linked chain scheme gives the proposed technique the capability to thwart vector quantization attacks. In our proposed technique , anyone can check the authenticity of a given video using the public key. The experimental results show that the proposed technique is reliable for detecting, localizing and recovering the alterations.

Keywords: Authentication, hash function, multiple descriptioncoding, public key encryption, watermarking.

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Authors: Imen Sfaihi, Noureddine Hamdi

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In this paper, we investigate the study of techniques for scheduling users for resource allocation in the case of multiple input and multiple output (MIMO) packet transmission systems. In these systems, transmit antennas are assigned to one user or dynamically to different users using spatial multiplexing. The allocation of all transmit antennas to one user cannot take full advantages of multi-user diversity. Therefore, we developed the case when resources are allocated dynamically. At each time slot users have to feed back their channel information on an uplink feedback channel. Channel information considered available in the schedulers is the zero forcing (ZF) post detection signal to interference plus noise ratio. Our analysis study concerns the round robin and the opportunistic schemes. In this paper, we present an overview and a complete capacity analysis of these schemes. The main results in our study are to give an analytical form of system capacity using the ZF receiver at the user terminal. Simulations have been carried out to validate all proposed analytical solutions and to compare the performance of these schemes.

Keywords: MIMO, scheduling, ZF receiver, spatial multiplexing, round robin scheduling, opportunistic.

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Authors: R. Vedhapriya Vadhana, Ruba Soundar, K. G. Jothi Shalini

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We address the problem of interference over all the channels in multiuser MIMO-OFDM systems. This paper contributes three beamforming strategies designed for multiuser multiple-input and multiple-output by way of orthogonal frequency division multiplexing, in which the transmit and receive beamformers are acquired repetitious by secure-form stages. In the principal case, the transmit (TX) beamformers remain fixed then the receive (RX) beamformers are computed. This eradicates one interference span for every user by means of extruding the transmit beamformers into a null space of relevant channels. Formerly, by gratifying the orthogonality condition to exclude the residual interferences in RX beamformer for every user is done by maximizing the signal-to-noise ratio (SNR). The second case comprises mutually optimizing the TX and RX beamformers from controlled SNR maximization. The outcomes of first case is used here. The third case also includes combined optimization of TX-RX beamformers; however, uses the both controlled SNR and signal-to-interference-plus-noise ratio maximization (SINR). By the standardized channel model for IEEE 802.11n, the proposed simulation experiments offer rapid beamforming and enhanced error performance.

Keywords: Beamforming, interference channels, MIMO-OFDM, multi-objective optimization.

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Authors: C. Ardil

Abstract:

The Turkish Air Force needs to acquire a sixth- generation fighter aircraft in order to maintain its air superiority and dominance against its rivals under the risks posed by global geopolitical opportunities and threats. Accordingly, five evaluation criteria were determined to evaluate the sixth-generation fighter aircraft alternatives and to select the best one. Systematically, a new fuzzy preference optimization programming (POP) method is proposed to select the best sixth generation fighter aircraft in an uncertain environment. The POP technique considers both quantitative and qualitative evaluation criteria. To demonstrate the applicability and effectiveness of the proposed approach, it is applied to a multiple criteria decision-making problem to evaluate and select sixth-generation fighter aircraft. The results of the fuzzy POP method are compared with the results of the fuzzy TOPSIS approach to validate it. According to the comparative analysis, fuzzy POP and fuzzy TOPSIS methods get the same results. This demonstrates the applicability of the fuzzy POP technique to address the sixth-generation fighter selection problem.

Keywords: Fighter aircraft selection, sixth-generation fighter aircraft, fuzzy decision process, multiple criteria decision making, preference optimization programming, POP, TOPSIS, Kizilelma, MIUS, fuzzy set theory

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Authors: Konstanca Nikolajevic, Nicolas Belanger, David Duvivier, Rabie Ben Atitallah, Abdelhakim Artiba

Abstract:

Finding the optimal 3D path of an aerial vehicle under flight mechanics constraints is a major challenge, especially when the algorithm has to produce real time results in flight. Kinematics models and Pythagorian Hodograph curves have been widely used in mobile robotics to solve this problematic. The level of difficulty is mainly driven by the number of constraints to be saturated at the same time while minimizing the total length of the path. In this paper, we suggest a pragmatic algorithm capable of saturating at the same time most of dimensioning helicopter 3D trajectories’ constraints like: curvature, curvature derivative, torsion, torsion derivative, climb angle, climb angle derivative, positions. The trajectories generation algorithm is able to generate versatile complex 3D motion primitives feasible by a helicopter with parameterization of the curvature and the climb angle. An upper ”motion primitives’ concatenation” algorithm is presented based. In this article we introduce a new way of designing three-dimensional trajectories based on what we call the ”Dubins gliding symmetry conjecture”. This extremely performing algorithm will be soon integrated to a real-time decisional system dealing with inflight safety issues.

Keywords: Aerial robots, Motion primitives, Robotics.

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