Search results for: Induction Hardening Machine.

Authors: Guadalupe J. Torres, Ram B. Basnet, Andrew H. Sung, Srinivas Mukkamala, Bernardete M. Ribeiro

Abstract:

This paper introduces a measure of similarity between two clusterings of the same dataset produced by two different algorithms, or even the same algorithm (K-means, for instance, with different initializations usually produce different results in clustering the same dataset). We then apply the measure to calculate the similarity between pairs of clusterings, with special interest directed at comparing the similarity between various machine clusterings and human clustering of datasets. The similarity measure thus can be used to identify the best (in terms of most similar to human) clustering algorithm for a specific problem at hand. Experimental results pertaining to the text categorization problem of a Portuguese corpus (wherein a translation-into-English approach is used) are presented, as well as results on the well-known benchmark IRIS dataset. The significance and other potential applications of the proposed measure are discussed.

Keywords: Clustering Algorithms, Clustering Applications, Similarity Measures, Text Clustering

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Authors: Young Geun Kim, Tae Woo Lee, Changmin Yeo, Jung min Yoo, Yeo Jin Kang, Tack-Joong Kim, Byungjo Jung, Ji Hun Cha, Chan Hoi Hur, Dong-Sup Kim, Ki Jung Park, Han Sung Kim

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The intention of this lessons is to assess the probability of optical coherence tomography (OCT) for biometric recognition. The OCT is the foundation on an optical signal acquisition and processing method and has the micrometer-resolution. In this study, we used the porcine skin for verifying the abovementioned means. The porcine tissue was sound acknowledged for structural and immunohistochemical similarity with human skin, so it could be suitable for pre-clinical trial as investigational specimen. For this reason, it was tattooed by the tattoo machine with the tattoo-pigment. We detected the pattern of the tattooed skin by the OCT according to needle speed. The result was consistent with the histology images. This result showed that the OCT was effective to examine the tattooed skin section noninvasively. It might be available to identify morphological changes inside the skin.

Keywords: mechanical skin damage, optical coherence tomography, tattooed skin

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Authors: Carlos Huertas, Reyes Juarez-Ramirez

Abstract:

Public health is one of the most critical issues today; therefore, there is great interest to improve technologies in the area of diseases detection. With machine learning and feature selection, it has been possible to aid the diagnosis of several diseases such as cancer. In this work, we present an extension to the Heat Map Based Feature Selection algorithm, this modification allows automatic threshold parameter selection that helps to improve the generalization performance of high dimensional data such as mass spectrometry. We have performed a comparison analysis using multiple cancer datasets and compare against the well known Recursive Feature Elimination algorithm and our original proposal, the results show improved classification performance that is very competitive against current techniques.

Keywords: Feature selection, mass spectrometry, biomarker discovery, cancer.

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Authors: Muhammad Murtaza Nasir, Safdar Abbas Zaidi, Kamran Khan

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This work is carried out to evaluate the possibility of using to-be-wasted steel as reinforcement after welding together pieces of reinforcing steel bars, left over during construction activities. Tests were performed on a total of nine samples. These were made by welding pieces of reinforcing steel bars purchased from the local scrap steel market. The samples were tested in uniaxial tension using a universal testing machine (UTM). It was found that the failure of the welded bars is governed by the thickness of the weld. It is concluded that suitable design of the weld is essential for achieving the desired level of ductility/elongation of these bars, if they are to be used as conventional reinforcement in reinforced concrete members.

Keywords: Ductility/elongation, low cost housing, reinforced concrete, welding, welded reinforcement, wastage steel.

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Authors: Nebi Gedik

Abstract:

Heart disease threatens the lives of a great number of people every year around the world. Heart issues lead to many of all deaths; therefore, early diagnosis and treatment are critical. The diagnosis of heart disease is complicated due to several factors affecting health such as high blood pressure, raised cholesterol, an irregular pulse rhythm, and more. Artificial intelligence has the potential to assist in the early detection and treatment of diseases. Improving heart failure prediction is one of the primary goals of research on heart disease risk assessment. This study aims to determine the features that provide the most successful classification prediction in detecting cardiovascular disease. The performances of each feature are compared using the K-Nearest Neighbor machine learning method. The feature that gives the most successful performance has been identified.

Keywords: Cardiovascular disease, feature extraction, supervised learning, k-NN.

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Authors: S. Soommat, S. Patamatamkul, T. Prempridi, M. Sritulyachot, P. Ineure, S. Yimman

Abstract:

Currently, slider process of Hard Disk Drive Industry become more complex, defective diagnosis for yield improvement becomes more complicated and time-consumed. Manufacturing data analysis with data mining approach is widely used for solving that problem. The existing mining approach from combining of the KMean clustering, the machine oriented Kruskal-Wallis test and the multivariate chart were applied for defective diagnosis but it is still be a semiautomatic diagnosis system. This article aims to modify an algorithm to support an automatic decision for the existing approach. Based on the research framework, the new approach can do an automatic diagnosis and help engineer to find out the defective factors faster than the existing approach about 50%.

Keywords: Slider process, Defective diagnosis and Data mining.

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Authors: Majid Tolouei-Rad

Abstract:

This paper presents methodologies for developing an intelligent CAD system assisting in analysis and design of reconfigurable special machines. It describes a procedure for determining feasibility of utilizing these machines for a given part and presents a model for developing an intelligent CAD system. The system analyzes geometrical and topological information of the given part to determine possibility of the part being produced by reconfigurable special machines from a technical point of view. Also feasibility of the process from a economical point of view is analyzed. Then the system determines proper positioning of the part considering details of machining features and operations needed. This involves determination of operation types, cutting tools and the number of working stations needed. Upon completion of this stage the overall layout of the machine and machining equipment required are determined.

Keywords: CAD, Knowledge based system, Reconfigurable

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Authors: Bi Kun, Gu Nai-jie, Tu Kun, Liu Xiao-hu, Liu Gang

Abstract:

Traditional parallel single string matching algorithms are always based on PRAM computation model. Those algorithms concentrate on the cost optimal design and the theoretical speed. Based on the distributed string matching algorithm proposed by CHEN, a practical distributed string matching algorithm architecture is proposed in this paper. And also an improved single string matching algorithm based on a variant Boyer-Moore algorithm is presented. We implement our algorithm on the above architecture and the experiments prove that it is really practical and efficient on distributed memory machine. Its computation complexity is O(n/p + m), where n is the length of the text, and m is the length of the pattern, and p is the number of the processors.

Keywords: Boyer-Moore algorithm, distributed algorithm, parallel string matching, string matching.

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Authors: K.-J. You, H.J. Lee, Y. Lang, C. Im, C.S. Koh, H.-C. Shin

Abstract:

This paper presents a novel method for inferring the odor based on neural activities observed from rats- main olfactory bulbs. Multi-channel extra-cellular single unit recordings were done by micro-wire electrodes (tungsten, 50μm, 32 channels) implanted in the mitral/tufted cell layers of the main olfactory bulb of anesthetized rats to obtain neural responses to various odors. Neural response as a key feature was measured by substraction of neural firing rate before stimulus from after. For odor inference, we have developed a decoding method based on the maximum likelihood (ML) estimation. The results have shown that the average decoding accuracy is about 100.0%, 96.0%, 84.0%, and 100.0% with four rats, respectively. This work has profound implications for a novel brain-machine interface system for odor inference.

Keywords: biomedical signal processing, neural engineering, olfactory, neural decoding, BMI

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Authors: Maha Jazouli

Abstract:

Suicide is one of the leading causes of death among prisoners, both in Canada and internationally. In recent years, rates of attempts of suicide and self-harm suicide have increased, with hangings being the most frequently used method. The objective of this article is to propose a method to automatically detect suicidal behaviors in real time. We present a gesture recognition system that consists of three modules: model-based movement tracking, feature extraction, and gesture recognition using machine learning algorithms (MLA). Tests show that the proposed system gives satisfactory results. This smart video surveillance system can help assist staff responsible for the safety and health of inmates by alerting them when suicidal behavior is detected, which helps reduce mortality rates and save lives.

Keywords: Suicide detection, Kinect Azure, RGB-D camera, SVM, gesture recognition.

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Authors: A.H.Javadi, Sh.Mirdamadi, M.A.Faghisani, S.Shakhesi

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Nanostructured materials have attracted many researchers due to their outstanding mechanical and physical properties. For example, carbon nanotubes (CNTs) or carbon nanofibres (CNFs) are considered to be attractive reinforcement materials for light weight and high strength metal matrix composites. These composites are being projected for use in structural applications for their high specific strength as well as functional materials for their exciting thermal and electrical characteristics. The critical issues of CNT-reinforced MMCs include processing techniques, nanotube dispersion, interface, strengthening mechanisms and mechanical properties. One of the major obstacles to the effective use of carbon nanotubes as reinforcements in metal matrix composites is their agglomeration and poor distribution/dispersion within the metallic matrix. In order to tap into the advantages of the properties of CNTs (or CNFs) in composites, the high dispersion of CNTs (or CNFs) and strong interfacial bonding are the key issues which are still challenging. Processing techniques used for synthesis of the composites have been studied with an objective to achieve homogeneous distribution of carbon nanotubes in the matrix. Modified mechanical alloying (ball milling) techniques have emerged as promising routes for the fabrication of carbon nanotube (CNT) reinforced metal matrix composites. In order to obtain a homogeneous product, good control of the milling process, in particular control of the ball movement, is essential. The control of the ball motion during the milling leads to a reduction in grinding energy and a more homogeneous product. Also, the critical inner diameter of the milling container at a particular rotational speed can be calculated. In the present work, we use conventional and modified mechanical alloying to generate a homogenous distribution of 2 wt. % CNT within Al powders. 99% purity Aluminium powder (Acros, 200mesh) was used along with two different types of multiwall carbon nanotube (MWCNTs) having different aspect ratios to produce Al-CNT composites. The composite powders were processed into bulk material by compaction, and sintering using a cylindrical compaction and tube furnace. Field Emission Scanning electron microscopy (FESEM), X-Ray diffraction (XRD), Raman spectroscopy and Vickers macro hardness tester were used to evaluate CNT dispersion, powder morphology, CNT damage, phase analysis, mechanical properties and crystal size determination. Despite the success of ball milling in dispersing CNTs in Al powder, it is often accompanied with considerable strain hardening of the Al powder, which may have implications on the final properties of the composite. The results show that particle size and morphology vary with milling time. Also, by using the mixing process and sonication before mechanical alloying and modified ball mill, dispersion of the CNTs in Al matrix improves.

Keywords: multiwall carbon nanotube, Aluminum matrixcomposite, dispersion, mechanical alloying, sintering

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Authors: Shiva Abdoli, Daniel T. Semere

Abstract:

Several researches have been conducted to study consumption of energy in cutting process. Most of these researches are focusing to measure the consumption and propose consumption reduction methods. In this work, the relation between the cutting parameters and the consumption is investigated in order to establish a generalized energy consumption model that can be used for process and production planning in real production lines. Using the generalized model, the process planning will be carried out by taking into account the energy as a function of the selected process parameters. Similarly, the generalized model can be used in production planning to select the right operational parameters like batch sizes, routing, buffer size, etc. in a production line. The description and derivation of the model as well as a case study are given in this paper to illustrate the applicability and validity of the model.

Keywords: Process parameters, cutting process, energy efficiency, Material Removal Rate (MRR).

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Authors: M. Haddadzade, M. R. Razfar, M. Farahnakian

Abstract:

Integration of process planning and scheduling functions is necessary to achieve superior overall system performance. This paper proposes a methodology for integration of process planning and scheduling for prismatic component that can be implemented in a company with existing departments. The developed model considers technological constraints whereas available time for machining in shop floor is the limiting factor to produce multiple process plan (MPP). It takes advantage of MPP while guarantied the fulfillment of the due dates via using overtime. This study has been proposed to determinate machining parameters, tools, machine and amount of over time within the minimum cost objective while overtime is considered for this. At last the illustration shows that the system performance is improved by as measured by cost and compatible with due date.

Keywords: Due date, Integration, Multiple process plan, Process planning, Scheduling.

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Authors: Andrzej Śluzek

Abstract:

To illustrate diversity of methods used to extract relevant (where the concept of relevance can be differently defined for different applications) visual data, the paper discusses three groups of such methods. They have been selected from a range of alternatives to highlight how hardware and software tools can be complementarily used in order to achieve various functionalities in case of different specifications of “relevant data". First, principles of gated imaging are presented (where relevance is determined by the range). The second methodology is intended for intelligent intrusion detection, while the last one is used for content-based image matching and retrieval. All methods have been developed within projects supervised by the author.

Keywords: Relevant visual data, gated imaging, intrusion detection, image matching.

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Authors: Tsubasa Seto, Kentaro Nagata, Kazushige Magatani

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SEMG (Surface Electromyogram) is one of the bio-signals and is generated from the muscle. And there are many research results that use forearm EMG to detect hand motions. In this paper, we will talk about our developed the robot hand system that can control grasping power by SEMG. In our system, we suppose that muscle power is proportional to the amplitude of SEMG. The power is estimated and the grip power of a robot hand is able to be controlled using estimated muscle power in our system. In addition, to perform a more precise control can be considered to build a closed loop feedback system as an object to a subject to pressure from the edge of hand. Our objectives of this study are the development of a method that makes perfect detection of the hand grip force possible using SEMG patterns, and applying this method to the man-machine interface.

Keywords: SEMG, multi electrode, robot hand, power control

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Authors: Samir Abdelhamid, Noureddine Bouguechal

Abstract:

We report in this paper the procedure of a system of automatic speech recognition based on techniques of the dynamic programming. The technique of temporal retiming is a technique used to synchronize between two forms to compare. We will see how this technique is adapted to the field of the automatic speech recognition. We will expose, in a first place, the theory of the function of retiming which is used to compare and to adjust an unknown form with a whole of forms of reference constituting the vocabulary of the application. Then we will give, in the second place, the various algorithms necessary to their implementation on machine. The algorithms which we will present were tested on part of the corpus of words in Arab language Arabdic-10 [4] and gave whole satisfaction. These algorithms are effective insofar as we apply them to the small ones or average vocabularies.

Keywords: Continuous speech recognition, temporal retiming, phonetic decoding, algorithms, vocal signal, dynamic programming.

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Authors: Nikhil Byanna, Abdolghani Ebrahimi, Diego Klabjan

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In this paper we objectively measure the performance of an individual offensive lineman in the NFL. The existing literature proposes various measures that rely on subjective assessments of game film, but has yet to develop an objective methodology to evaluate performance. Using a variety of statistics related to an offensive lineman’s performance, we develop a framework to objectively analyze the overall performance of an individual offensive lineman and determine specific linemen who are overvalued or undervalued relative to their salary. We identify eight players across the 2013-2014 and 2014-2015 NFL seasons that are considered to be overvalued or undervalued and corroborate the results with existing metrics that are based on subjective evaluation. To the best of our knowledge, the techniques set forth in this work have not been utilized in previous works to evaluate the performance of NFL players at any position, including offensive linemen.

Keywords: offensive lineman, player performance, NFL, machine learning

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Authors: A. Soualem

Abstract:

A lot of research made during these last 15 years showed that the quantification of the springback has a significant role in the industry of sheet metal forming. These studies were made with the objective of finding techniques and methods to minimize or completely avoid this permanent physical variation. Moreover, the use of steel and aluminum alloys in the car industry and aviation poses every day the problem of the springback. The determination in advance of the quantity of the springback allows consequently the design and manufacture of the tool. The aim of this paper is to study experimentally the influence of the blank holder force BHF and the radius of curvature of the die on the springback and their influence on the strain in various zone of specimen. The original of our purpose consist on tests which are ensured by adapting a U-type stretching-bending device on a tensile testing machine, where we studied and quantified the variation of the springback according to displacement.

Keywords: Blank holder force, Deep-Drawing, Die radius, Forming, Springback.

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Authors: Sun-Ki Hong, Ki-Seok Kim, Yong-Ho Cho

Abstract:

Lots of motors have been being used in industry. Therefore many researchers have studied about the failure diagnosis of motors. In this paper, the effect of measuring environment for diagnosis of gear fault connected to a motor shaft is studied. The fault diagnosis is executed through the comparison of normal gear and abnormal gear. The measured FFT data are compared with the normal data and analyzed for q-axis current, noise and vibration. For bad and good environment, the diagnosis results are compared. From these, it is shown that the bad measuring environment may not be able to detect exactly the motor gear fault. Therefore it is emphasized that the measuring environment should be carefully prepared.

Keywords: Motor fault, Diagnosis, FFT, Vibration, Noise, q-axis current, measuring environment.

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Authors: M. Razak, A. Jusoh, A. Zakaria

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This paper presents an on-going research work on the implementation of feature-based machining via macro programming. Repetitive machining features such as holes, slots, pockets etc can readily be encapsulated in macros. Each macro consists of methods on how to machine the shape as defined by the feature. The macro programming technique comprises of a main program and subprograms. The main program allows user to select several subprograms that contain features and define their important parameters. With macros, complex machining routines can be implemented easily and no post processor is required. A case study on machining of a part that comprised of planar face, hole and pocket features using the macro programming technique was carried out. It is envisaged that the macro programming technique can be extended to other feature-based machining fields such as the newly developed STEP-NC domain.

Keywords: Feature-based machining, CNC, Macro, STEP-NC.

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Authors: V. Geetha, K. S. Aprameya

Abstract:

Early diagnosis of dental caries is essential for maintaining dental health. In this paper, method for diagnosis of dental caries is proposed using Laplacian filter, adaptive thresholding, texture analysis and Support Vector Machine (SVM) classifier. Analysis of the proposed method is compared with Otsu thresholding, watershed segmentation and active contouring method. Adaptive thresholding has comparatively better performance with 96.9% accuracy and 96.1% precision. The results are validated using statistical method, two-way ANOVA, at significant level of 5%, that shows the interaction of proposed method on performance parameter measures are significant. Hence the proposed technique could be used for detection of dental caries in automated computer assisted diagnosis system.

Keywords: Computer assisted diagnosis, dental caries, dental radiography, image segmentation.

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Authors: J. Umamaheswari, G. Radhamani

Abstract:

This paper describes about the process of recognition and classification of brain images such as normal and abnormal based on PSO-SVM. Image Classification is becoming more important for medical diagnosis process. In medical area especially for diagnosis the abnormality of the patient is classified, which plays a great role for the doctors to diagnosis the patient according to the severeness of the diseases. In case of DICOM images it is very tough for optimal recognition and early detection of diseases. Our work focuses on recognition and classification of DICOM image based on collective approach of digital image processing. For optimal recognition and classification Particle Swarm Optimization (PSO), Genetic Algorithm (GA) and Support Vector Machine (SVM) are used. The collective approach by using PSO-SVM gives high approximation capability and much faster convergence.

Keywords: Recognition, classification, Relaxed Median Filter, Adaptive thresholding, clustering and Neural Networks

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Authors: Paul B. Stone, Subhashini Ganapathy, Mary E. Fendley, Layla Akilan

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As notifications become more common through mobile devices, it is important to understand the impact of wearable devices for improved user experience of man-machine interfaces. This study examined the use of a wearable device for a real-time system using a computer simulated petrochemical system. The key research question was to determine how using information provided by the wearable device can improve human performance through measures of situational awareness and decision making. Results indicate that there was a reduction in response time when using the watch and there was no difference in situational awareness. Perception of using the watch was positive, with 83% of users finding value in using the watch and receiving haptic feedback.

Keywords: computer applications, haptic feedback, petrochemical systems, situational awareness, wearable technology

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Authors: Ssu-Han Chen, Der-Baau Perng

Abstract:

Molding process in IC manufacturing secures chips against the harms done by hot, moisture or other external forces. While a chip was being molded,defects like cracks, dilapidation, or voids may be embedding on the molding surface. The molding surfaces the study poises to treat and the ones on the market, though, differ in the surface where texture similar to defects is everywhere. Manual inspection usually passes over low-contrast cracks or voids; hence an automatic optical inspection system for molding surface is necessary. The proposed system is consisted of a CCD, a coaxial light, a back light as well as a motion control unit. Based on the property of statistical textures of the molding surface, a series of digital image processing and classification procedure is carried out. After training of the parameter associated with above algorithm, result of the experiment suggests that the accuracy rate is up to 93.75%, contributing to the inspection quality of IC molding surface.

Keywords: Molding surface, machine vision, statistical texture, discrete Fourier transformation.

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Authors: Ahmed A. D. Sarhan, Chong Feng Duan, Mum Wai Yip, M. Sayuti

Abstract:

Rapid Prototyping (RP) technologies enable physical parts to be produced from various materials without depending on the conventional tooling. Fused Deposition Modeling (FDM) is one of the famous RP processes used at present. Tensile strength and compressive strength resistance will be identified for different sample structures and different layer orientations of ABS rapid prototype solid models. The samples will be fabricated by a FDM rapid prototyping machine in different layer orientations with variations in internal geometrical structure. The 0° orientation where layers were deposited along the length of the samples displayed superior strength and impact resistance over all the other orientations. The anisotropic properties were probably caused by weak interlayer bonding and interlayer porosity.

Keywords: Building orientation, compression strength, rapid prototyping, tensile strength.

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Authors: Youssef Chahir, Messaoud Mostefai, Salah Khodja

Abstract:

This paper presents the development of a 2D visual marker, derived from a recent patented work in the field of numbering systems. The proposed fiducial uses a group of projective invariant straight-line patterns, easily detectable and remotely recognizable. Based on an efficient data coding scheme, the developed marker enables producing a large panel of unique real time identifiers with highly distinguishable patterns. The proposed marker Incorporates simultaneously decimal and binary information, making it readable by both humans and machines. This important feature opens up new opportunities for the development of efficient visual human-machine communication and monitoring protocols. Extensive experiment tests validate the robustness of the marker against acquisition and geometric distortions.

Keywords: visual marker, projective invariants, distance map, level set

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Authors: Moustafa A. Bani-Hasan, Yasser M. Kadah, Fatma M. El-Hefnawi

Abstract:

An electrocardiogram (ECG) feature extraction system based on the calculation of the complex resonance frequency employing Prony-s method is developed. Prony-s method is applied on five different classes of ECG signals- arrhythmia as a finite sum of exponentials depending on the signal-s poles and the resonant complex frequencies. Those poles and resonance frequencies of the ECG signals- arrhythmia are evaluated for a large number of each arrhythmia. The ECG signals of lead II (ML II) were taken from MIT-BIH database for five different types. These are the ventricular couplet (VC), ventricular tachycardia (VT), ventricular bigeminy (VB), and ventricular fibrillation (VF) and the normal (NR). This novel method can be extended to any number of arrhythmias. Different classification techniques were tried using neural networks (NN), K nearest neighbor (KNN), linear discriminant analysis (LDA) and multi-class support vector machine (MC-SVM).

Keywords: Arrhythmias analysis, electrocardiogram, featureextraction, statistical classifiers.

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Authors: Jose D. Herrera, Mario A. Rios

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This paper deals with the coordinated tuning of the Power System Stabilizer (PSS) controller and Power Oscillation Damping (POD) Controller of Flexible AC Transmission System (FACTS) in a multi-machine power systems. The coordinated tuning is based on the critical eigenvalues of the power system and a model reduction technique where the Hankel Singular Value method is applied. Through the linearized system model and the parameter-constrained nonlinear optimization algorithm, it can compute the parameters of both controllers. Moreover, the parameters are optimized simultaneously obtaining the gains of both controllers. Then, the nonlinear simulation to observe the time response of the controller is performed.

Keywords: Balanced realization, controllability Grammian, electromechanical oscillations, FACTS, Hankel singular values, observability Grammian, POD, PSS.

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Authors: Lorenzo Daghini, Andreas Archenti, Cornel Mihai Nicolescu

Abstract:

This paper introduces a novel design for boring bar with enhanced damping capability. The principle followed in the design phase was to enhance the damping capability minimizing the loss in static stiffness through implementation of composite material interfaces. The newly designed tool has been compared to a conventional tool. The evaluation criteria were the dynamic characteristics, frequency and damping ratio, of the machining system, as well as the surface roughness of the machined workpieces. The use of composite material in the design of damped tool has been demonstrated effective. Furthermore, the autoregressive moving average (ARMA) models presented in this paper take into consideration the interaction between the elastic structure of the machine tool and the cutting process and can therefore be used to characterize the machining system in operational conditions.

Keywords: ARMA, cutting stability, damped tool, machining.

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Authors: Titanilla Komenda, Viktorio Malisa

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In this paper, the influence of diversity-related factors on the design of collaborative scenarios is analysed. Based on the evaluation, a framework for simulating human-robot-collaboration is presented that considers both human factors as well as the overall system performance. The implementation of the model is shown on a real-life scenario from industry and validated in terms of traceability, safety and physical limitations. By comparing scenarios that consider diversity with those only meeting system performance, an overall understanding of individually adapted human-robot-collaborative workspaces is reached. A diversity-related guideline for human-robot-collaborations provides a summary of the research and aids in optimizing future applications. Finally, limitations and future amendments of the model are discussed.

Keywords: Diversity, human-machine-system, human-robot-collaboration, simulation.

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