Search results for: Security Oriented Information System.

Authors: Jehad Al Dallal

Abstract:

Class cohesion is a key object-oriented software quality attribute that is used to evaluate the degree of relatedness of class attributes and methods. Researchers have proposed several class cohesion measures. However, the effect of considering the special methods (i.e., constructors, destructors, and access and delegation methods) in cohesion calculation is not thoroughly theoretically studied for most of them. In this paper, we address this issue for three popular connectivity-based class cohesion measures. For each of the considered measures we theoretically study the impact of including or excluding special methods on the values that are obtained by applying the measure. This study is based on analyzing the definitions and formulas that are proposed for the measures. The results show that including/excluding special methods has a considerable effect on the obtained cohesion values and that this effect varies from one measure to another. For each of the three connectivity-based measures, the proposed theoretical study recommended excluding the special methods in cohesion measurement.

Keywords: Object-oriented class, software quality, class cohesion measure, class cohesion, special methods.

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Authors: Despina Galani, Efthymios Gravas, Antonios Stavropoulos

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Advances in information technology, recent changes in business environment, globalization, deregulation, privatization have made running a successful business more difficult than ever before. To remain successful and to be competitive have forced companies to react to the new changes in order to survive and succeed. The implementation of an Enterprise Resource planning (ERP) system improves information flow, reduce costs, establish linkage with suppliers and reduce response time to customer needs. This paper focuses on a sample of Greek companies, investigates the ERP market in Greece, the reasons why the Greek companies are investing in ERP systems, the benefits that users have achieved and the influence of ERP systems on the use of new accounting practices. The results indicate a greater level on information integration, flexibility in information access and greater functionality provided by ERP systems but little influence on the use of new accounting practices.

Keywords: Advanced Accounting Practices, EnterpriseResource Planning, Management Accounting.

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Authors: R. Chithra, B. Kalaavathi

Abstract:

E-Learning enables the users to learn at anywhere at any time. In E-Learning systems, authenticating the E-Learning user has security issues. The usage of appropriate communication networks for providing the internet connectivity for E-learning is another challenge. WiMAX networks provide Broadband Wireless Access through the Multicast Broadcast Service so these networks can be most suitable for E-Learning applications. The authentication of E-Learning user is vulnerable to session hijacking problems. The repeated authentication of users can be done to overcome these issues. In this paper, session based Profile Caching Authentication is proposed. In this scheme, the credentials of E-Learning users can be cached at authentication server during the initial authentication through the appropriate subscriber station. The proposed cache based authentication scheme performs fast authentication by using cached user profile. Thus, the proposed authentication protocol reduces the delay in repeated authentication to enhance the security in ELearning.

Keywords: Authentication, E-Learning, WiMAX, Security, Profile caching.

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Authors: Mohammad Reza Kangavari, Samira Ghandchi, Manak Golpour

Abstract:

Question answering (QA) aims at retrieving precise information from a large collection of documents. Most of the Question Answering systems composed of three main modules: question processing, document processing and answer processing. Question processing module plays an important role in QA systems to reformulate questions. Moreover answer processing module is an emerging topic in QA systems, where these systems are often required to rank and validate candidate answers. These techniques aiming at finding short and precise answers are often based on the semantic relations and co-occurrence keywords. This paper discussed about a new model for question answering which improved two main modules, question processing and answer processing which both affect on the evaluation of the system operations. There are two important components which are the bases of the question processing. First component is question classification that specifies types of question and answer. Second one is reformulation which converts the user's question into an understandable question by QA system in a specific domain. The objective of an Answer Validation task is thus to judge the correctness of an answer returned by a QA system, according to the text snippet given to support it. For validating answers we apply candidate answer filtering, candidate answer ranking and also it has a final validation section by user voting. Also this paper described new architecture of question and answer processing modules with modeling, implementing and evaluating the system. The system differs from most question answering systems in its answer validation model. This module makes it more suitable to find exact answer. Results show that, from total 50 asked questions, evaluation of the model, show 92% improving the decision of the system.

Keywords: Answer processing, answer validation, classification, question answering, query reformulation.

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Authors: Sushma Satpute, Vaishali Katkar, Nilesh Sahare

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XML files contain data which is in well formatted manner. By studying the format or semantics of the grammar it will be helpful for fast retrieval of the data. There are many algorithms which describes about searching the data from XML files. There are no. of approaches which uses data structure or are related to the contents of the document. In these cases user must know about the structure of the document and information retrieval techniques using NLPs is related to content of the document. Hence the result may be irrelevant or not so successful and may take more time to search.. This paper presents fast XML retrieval techniques by using new indexing technique and the concept of RXML. When indexing an XML document, the system takes into account both the document content and the document structure and assigns the value to each tag from file. To query the system, a user is not constrained about fixed format of query.

Keywords: XML Retrieval, Indexed Search, Information Retrieval.

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Authors: Shohreh Ajoudanian, Mohammad Davarpanah Jazi

Abstract:

The rapid expansion of the web is causing the constant growth of information, leading to several problems such as increased difficulty of extracting potentially useful knowledge. Web content mining confronts this problem gathering explicit information from different web sites for its access and knowledge discovery. Query interfaces of web databases share common building blocks. After extracting information with parsing approach, we use a new data mining algorithm to match a large number of schemas in databases at a time. Using this algorithm increases the speed of information matching. In addition, instead of simple 1:1 matching, they do complex (m:n) matching between query interfaces. In this paper we present a novel correlation mining algorithm that matches correlated attributes with smaller cost. This algorithm uses Jaccard measure to distinguish positive and negative correlated attributes. After that, system matches the user query with different query interfaces in special domain and finally chooses the nearest query interface with user query to answer to it.

Keywords: Content mining, complex matching, correlation mining, information extraction.

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Authors: Jin-O Kim, Hyun-Il Son

Abstract:

As the electrical power industry is restructured, the electrical power exchange is becoming extended. One of the key information used to determine how much power can be transferred through the network is known as available transfer capability (ATC). To calculate ATC, traditional deterministic approach is based on the severest case, but the approach has the complexity of procedure. Therefore, novel approach for ATC calculation is proposed using cost-optimization method in this paper, and is compared with well-being method and risk-benefit method. This paper proposes the optimal transfer capability of HVDC system between mainland and a separated island in Korea through these three methods. These methods will consider production cost, wheeling charge through HVDC system and outage cost with one depth (N-1 contingency)

Keywords: ATC, power system interconnection, well-being method, cost-optimization method, risk-benefit analysis, outage cost.

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Authors: M. Giannopoulou, I. Roukounis, A. Roukouni.

Abstract:

Geographical Information Systems are an integral part of planning in modern technical systems. Nowadays referred to as Spatial Decision Support Systems, as they allow synergy database management systems and models within a single user interface machine and they are important tools in spatial design for evaluating policies and programs at all levels of administration. This work refers to the creation of a Geographical Information System in the context of a broader research in the area of influence of an under construction station of the new metro in the Greek city of Thessaloniki, which included statistical and multivariate data analysis and diagrammatic representation, mapping and interpretation of the results.

Keywords: Databases, Geographical information systems (GIS), Land-use planning, Metro stations

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Authors: Oliver F. Shyr, Yu-Hsuan Hsiao, David E. Andersson

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Due to the call of global warming effects, city planners aim at actions for reducing carbon emission. One of the approaches is to promote the usage of public transportation system toward the transit-oriented-development. For example, rapid transit system in Taipei city and Kaohsiung city are opening. However, until November 2008 the average daily patronage counted only 113,774 passengers at Kaohsiung MRT systems, much less than which was expected. Now the crucial questions: how the public transport competes with private transport? And more importantly, what factors would enhance the use of public transport? To give the answers to those questions, our study first applied regression to analyze the factors attracting people to use public transport around cities in the world. It is shown in our study that the number of MRT stations, city population, cost of living, transit fare, density, gasoline price, and scooter being a major mode of transport are the major factors. Subsequently, our study identified successful and unsuccessful cities in regard of the public transport usage based on the diagnosis of regression residuals. Finally, by comparing transportation strategies adopted by those successful cities, our conclusion stated that Kaohsiung City could apply strategies such as increasing parking fees, reducing parking spaces in downtown area, and reducing transfer time by providing more bus services and public bikes to promote the usage of public transport.

Keywords: Public Transit System, Comparative Study, Transport Demand Management, Regression

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Authors: Excellence Favor, Bakari M. M. Mwinyiwiwa, Damian D. Haule, Fakih H. Omar

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Access to information is the key to the empowerment of everybody despite where they are living. This research is to be carried out in respect of the people living in developing countries, considering their plight and complex geographical, demographic, social-economic conditions surrounding the areas they live, which hinder access to information and of professionals providing services such as medical workers, which has led to high death rates and development stagnation. Research on Unified Communications and Integrated Collaborations (UCIC) system in the health sector of developing countries comes in to create a possible solution of bridging the digital canyon among the communities. The aim is to deliver services in a seamless manner to assist health workers situated anywhere to be accessed easily and access information which will help in service delivery. The proposed UCIC provides the most immersive Telepresence experience for one-to-one or many-tomany meetings. Extending to locations anywhere in the world, the transformative platform delivers Ultra-low operating costs through the use of general purpose networks and using special lenses and track systems.

Keywords: Developing countries, Unified communications and integrated collaborations.

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Authors: Simon Huston, Ebraheim Lahbash, Ali Parsa

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The development of the United Arab Emirates (UAE) into a regional trade, tourism, finance and logistics hub has transformed its real estate markets. However, speculative activity and price volatility remain concerns. UAE residential market values (MV) are exposed to fluctuations in capital flows and migration which, in turn, are affected by geopolitical uncertainty, oil price volatility and global investment market sentiment. Internally, a complex interplay between administrative boundaries, land tenure, building quality and evolving location characteristics fragments UAE residential property markets. In short, the UAE Residential Valuation System (UAE-RVS) confronts multiple challenges to collect, filter and analyze relevant information in complex and dynamic spatial and capital markets. A robust (RVS) can mitigate the risk of unhelpful volatility, speculative excess or investment mistakes. The research outlines the institutional, ontological, dynamic and epistemological issues at play. We highlight the importance of system capabilities, valuation standard salience and stakeholders trust.

Keywords: Valuation, property rights, information, institutions, trust, salience.

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Authors: Ali Haroonabadi, Mohammad Teshnehlab

Abstract:

None of the processing models in the software development has explained the software systems performance evaluation and modeling; likewise, there exist uncertainty in the information systems because of the natural essence of requirements, and this may cause other challenges in the processing of software development. By definition an extended version of UML (Fuzzy- UML), the functional requirements of the software defined uncertainly would be supported. In this study, the behavioral description of uncertain information systems by the aid of fuzzy-state diagram is crucial; moreover, the introduction of behavioral diagrams role in F-UML is investigated in software performance modeling process. To get the aim, a fuzzy sub-profile is used.

Keywords: Fuzzy System, Software Development Model, Software Performance Evaluation, UML

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Authors: Atef. A. Ata, Sohair F. Rezeka, Ahmed El-Shenawy, Mohammed Diab

Abstract:

Image processing in today’s world grabs massive attentions as it leads to possibilities of broaden application in many fields of high technology. The real challenge is how to improve existing sorting system applications which consists of two integrated stations of processing and handling with a new image processing feature. Existing color sorting techniques use a set of inductive, capacitive, and optical sensors to differentiate object color. This research presents a mechatronic color sorting system solution with the application of image processing. A 5-DOF robot arm is designed and developed with pick and place operation to act as the main part of the color sorting system. Image processing procedure senses the circular objects in an image captured in real time by a webcam fixed at the end-effector then extracts color and position information out of it. This information is passed as a sequence of sorting commands to the manipulator that has pick-and-place mechanism. Performance analysis proves that this color based object sorting system works accurately under ideal condition in term of adequate illumination, circular objects shape and color. The circular objects tested for sorting are red, green and blue. For non-ideal condition, such as unspecified color the accuracy reduces to 80%.

Keywords: Robotics manipulator, 5-DOF manipulator, image processing, Color sorting, Pick-and-place.

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Authors: Zakir Husain, Neem Sagar, Neeraj Gupta

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Due to the increased penetration of renewable energy resources in the distribution system, the system is no longer passive in nature. In this paper, a steady state analysis of the distribution system has been done with the inclusion of wind generation. The modeling of wind turbine generator system and wind generator has been made to obtain the average active and the reactive power injection into the system. The study has been conducted on a IEEE-33 bus system with two wind generators. The present research work is useful not only to utilities but also to customers.

Keywords: Distributed generation, distribution network, radial network, wind turbine generating system.

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Authors: Alexandra Aslanidou

Abstract:

The General Data Protection Regulation (GDPR), concerning the protection of natural persons within the European Union with regard to the processing of personal data and on the free movement of such data, became applicable in the European Union (EU) on 25 May 2018 and transformed the way personal data were being treated under the Data Protection Directive (DPD) regime, generating sweeping organizational changes to both public sector and business. A social practice that is considerably influenced in the way of its day-to-day operations is Human Resource (HR) management, for which the importance of GDPR cannot be underestimated. That is because HR processes personal data coming in all shapes and sizes from many different systems and sources. The significance of the proper functioning of an HR department, specifically in human-centered, service-oriented environments such as the education field, is decisive due to the fact that HR operations in schools, conducted effectively, determine the quality of the provided services and consequently have a considerable impact on the success of the educational system. The purpose of this paper is to analyze the decisive role that GDPR plays in HR departments that operate in schools and in order to practically evaluate the aftermath of the Regulation during the first months of its applicability; a comparative use cases analysis in five highly dynamic schools, across three EU Member States, was attempted.

Keywords: General data protection regulation, human resource management, educational system.

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Authors: Jie Zhang, Qianyu Guo, Tieyi Zhang, Zhiyong Feng, Xiaohong Li

Abstract:

The widespread popularity of mobile devices and the development of artificial intelligence (AI) have led to the widespread adoption of deep learning (DL) in Android apps. Compared with traditional Android apps (traditional apps), deep learning based Android apps (DL-based apps) need to use more third-party application programming interfaces (APIs) to complete complex DL inference tasks. However, existing methods (e.g., FlowDroid) for detecting sensitive information leakage in Android apps cannot be directly used to detect DL-based apps as they are difficult to detect third-party APIs. To solve this problem, we design DLtrace, a new static information flow analysis tool that can effectively recognize third-party APIs. With our proposed trace and detection algorithms, DLtrace can also efficiently detect privacy leaks caused by sensitive APIs in DL-based apps. Additionally, we propose two formal definitions to deal with the common polymorphism and anonymous inner-class problems in the Android static analyzer. Using DLtrace, we summarize the non-sequential characteristics of DL inference tasks in DL-based apps and the specific functionalities provided by DL models for such apps. We conduct an empirical assessment with DLtrace on 208 popular DL-based apps in the wild and found that 26.0% of the apps suffered from sensitive information leakage. Furthermore, DLtrace outperformed FlowDroid in detecting and identifying third-party APIs. The experimental results demonstrate that DLtrace expands FlowDroid in understanding DL-based apps and detecting security issues therein.

Keywords: Mobile computing, deep learning apps, sensitive information, static analysis.

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Authors: Ekrem Aksoy, Nihat Adar, Selçuk Canbek

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Ambient Computing or Ambient Intelligence (AmI) is emerging area in computer science aiming to create intelligently connected environments and Internet of Things. In this paper, we propose communication middleware architecture for AmI. This middleware architecture addresses problems of communication, networking, and abstraction of applications, although there are other aspects (e.g. HCI and Security) within general AmI framework. Within this middleware architecture, any application developer might address HCI and Security issues with extensibility features of this platform.

Keywords: AmI, ambient computing, middleware, distributedsystems, software-defined networking.

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Authors: Rosziati Ibrahim, Tiu Kian Yong

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Reverse Engineering is a very important process in Software Engineering. It can be performed backwards from system development life cycle (SDLC) in order to get back the source data or representations of a system through analysis of its structure, function and operation. We use reverse engineering to introduce an automatic tool to generate system requirements from its program source codes. The tool is able to accept the Cµ programming source codes, scan the source codes line by line and parse the codes to parser. Then, the engine of the tool will be able to generate system requirements for that specific program to facilitate reuse and enhancement of the program. The purpose of producing the tool is to help recovering the system requirements of any system when the system requirements document (SRD) does not exist due to undocumented support of the system.

Keywords: System Requirements, Reverse Engineering, SourceCodes.

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Authors: A. Aissani, H. Benaoudia

Abstract:

Stochastic comparison has been an important direction of research in various area. This can be done by the use of the notion of stochastic ordering which gives qualitatitive rather than purely quantitative estimation of the system under study. In this paper we present applications of comparison based uncertainty related to entropy in Reliability analysis, for example to design better systems. These results can be used as a priori information in simulation studies.

Keywords: Uncertainty, Stochastic comparison, Reliability, serie's system, imperfect repair.

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Authors: Irshad Ahmad, Abdul Muhamin Naeem, Muhammad Islam

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Information on weed distribution within the field is necessary to implement spatially variable herbicide application. Since hand labor is costly, an automated weed control system could be feasible. This paper deals with the development of an algorithm for real time specific weed recognition system based on Histogram Analysis of an image that is used for the weed classification. This algorithm is specifically developed to classify images into broad and narrow class for real-time selective herbicide application. The developed system has been tested on weeds in the lab, which have shown that the system to be very effectiveness in weed identification. Further the results show a very reliable performance on images of weeds taken under varying field conditions. The analysis of the results shows over 95 percent classification accuracy over 140 sample images (broad and narrow) with 70 samples from each category of weeds.

Keywords: Image Processing, real-time recognition, Weeddetection.

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Authors: M. Klimavicius

Abstract:

This paper proposes a modeling methodology for the development of data analysis solution. The Author introduce the approach to address data warehousing issues at the at enterprise level. The methodology covers the process of the requirements eliciting and analysis stage as well as initial design of data warehouse. The paper reviews extended business process model, which satisfy the needs of data warehouse development. The Author considers that the use of business process models is necessary, as it reflects both enterprise information systems and business functions, which are important for data analysis. The Described approach divides development into three steps with different detailed elaboration of models. The Described approach gives possibility to gather requirements and display them to business users in easy manner.

Keywords: Data warehouse, data analysis, business processmanagement.

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Authors: Yusuf Ziya Ayık, Ferhat Kahveci

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Currently, database management systems have various tools such as backup and maintenance, and also provide statistical information such as resource usage and security. In terms of query performance, this paper covers query optimization, views, indexed tables, pre-computation materialized view, query performance analysis in which query plan alternatives can be created and the least costly one selected to optimize a query. Indexes and views can be created for related table columns. The literature review of this study showed that, in the course of time, despite the growing capabilities of the database management system, only database administrators are aware of the need for dealing with archival and transactional data types differently. These data may be constantly changing data used in everyday life, and also may be from the completed questionnaire whose data input was completed. For both types of data, the database uses its capabilities; but as shown in the findings section, instead of repeating similar heavy calculations which are carrying out same results with the same query over a survey results, using materialized view results can be in a more simple way. In this study, this performance difference was observed quantitatively considering the cost of the query.

Keywords: Materialized view, pre-computation, query cost, query performance.

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Authors: Cristina Schreiner, Romeo Ciobanu, Marius Pislaru

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This paper aims to build a system based on fuzzy models that can be implemented in the assessment of ecological systems, to determine appropriate methods of action for reducing adverse effects on environmental and implicit the population. The model proposed provides new perspective for environmental assessment, and it can be used as a practical instrument for decision –making.

Keywords: Ecosystem model, Environmental security, Fuzzy logic, Sustainability of habitable regions.

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Authors: Viktória Sugár, Attila Talamon, András Horkai, Michihiro Kita

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The dense urban fabric of the Budapest 7th district is known as the former Jewish Quarter. The majority of the historical building stock contains multi-story tenement houses with courtyards, built around the end of the 19^th century. Various rehabilitation and urban planning attempt occurred until today, mostly left unfinished. Present paper collects the past rehabilitation plans, actions and their effect which took place in the former Jewish District of Budapest. The authors aim to assess the boundaries of a complex building stock rehabilitation, by taking into account the monument protection guidelines. As a main focus of the research, structural as well as energetic rehabilitation possibilities are analyzed in case of each building by using Geographic Information System (GIS) methods.

Keywords: Geographic information system, Hungary, Jewish quarter, monument, protection, rehabilitation.

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Authors: Rajendra Prasad Mahapatra, K. Vimal Kumar

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There are many automotive accidents due to blind spots and driver inattentiveness. Blind spot is the area that is invisible to the driver's viewpoint without head rotation. Several methods are available for assisting the drivers. Simplest methods are — rear mirrors and wide-angle lenses. But, these methods have a disadvantage of the requirement for human assistance. So, the accuracy of these devices depends on driver. Another approach called an automated approach that makes use of sensors such as sonar or radar. These sensors are used to gather range information. The range information will be processed and used for detecting the collision. The disadvantage of this system is — low angular resolution and limited sensing volumes. This paper is a panoramic sensor based automotive vehicle monitoring..

Keywords: Panoramic sensors, Blind spot, Convex lens, Computer Vision, Sonar.

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Authors: Kittisak Kerdprasop, Nittaya Kerdprasop, Pairote Sattayatham

Abstract:

Data stream analysis is the process of computing various summaries and derived values from large amounts of data which are continuously generated at a rapid rate. The nature of a stream does not allow a revisit on each data element. Furthermore, data processing must be fast to produce timely analysis results. These requirements impose constraints on the design of the algorithms to balance correctness against timely responses. Several techniques have been proposed over the past few years to address these challenges. These techniques can be categorized as either dataoriented or task-oriented. The data-oriented approach analyzes a subset of data or a smaller transformed representation, whereas taskoriented scheme solves the problem directly via approximation techniques. We propose a hybrid approach to tackle the data stream analysis problem. The data stream has been both statistically transformed to a smaller size and computationally approximated its characteristics. We adopt a Monte Carlo method in the approximation step. The data reduction has been performed horizontally and vertically through our EMR sampling method. The proposed method is analyzed by a series of experiments. We apply our algorithm on clustering and classification tasks to evaluate the utility of our approach.

Keywords: Data Stream, Monte Carlo, Sampling, DensityEstimation.

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Authors: Liang Hua, Yi Wen

Abstract:

This evaluation of land supply system performance in China shall examine the combination of government functions and national goals in order to perform a cost-benefit analysis of system results. From the author's point of view, it is most productive to evaluate land supply system performance at moments of system transformation for the following reasons. The behavior and input-output change of beneficial results at different times can be observed when the system or policy changes and system performance can be evaluated through a cost-benefit analysis during the process of system transformation. Moreover, this evaluation method can avoid the influence of land resource endowment. Different land resource endowment methods and different economy development periods result in different systems. This essay studies the contents, principles and methods of land supply system performance evaluation. Taking Beijing as an example, this essay optimizes and classifies the land supply index, makes a quantitative evaluation of land supply system performance through principal component analysis (PCA), and finally analyzes the factors that influence land supply system performance at times of system transformation.

Keywords: Land supply, System performance, System transformation

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Authors: Chee Siong Teh, Chee Peng Lim

Abstract:

This paper proposes a novel architecture for developing decision support systems. Unlike conventional decision support systems, the proposed architecture endeavors to reveal the decision-making process such that humans' subjectivity can be incorporated into a computerized system and, at the same time, to preserve the capability of the computerized system in processing information objectively. A number of techniques used in developing the decision support system are elaborated to make the decisionmarking process transparent. These include procedures for high dimensional data visualization, pattern classification, prediction, and evolutionary computational search. An artificial data set is first employed to compare the proposed approach with other methods. A simulated handwritten data set and a real data set on liver disease diagnosis are then employed to evaluate the efficacy of the proposed approach. The results are analyzed and discussed. The potentials of the proposed architecture as a useful decision support system are demonstrated.

Keywords: Interactive evolutionary computation, multivariate data projection, pattern classification, topographic map.

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Authors: Wanida Suwunniponth

Abstract:

The purpose of this research was to study the factors of characteristic of business, website quality and trust affected intention to use electronic payment systems for online purchasing. This survey research used questionnaire as a tool to collect the data of 300 customers who purchased online products and used an electronic payment system. The descriptive statistics and multiple regression analysis were used to analyze data. The results revealed that customers had a good opinion towards the characteristic of the business and website quality. However, they have a moderate opinion towards trust and intention to repurchase. In addition, the characteristics of the business affected the purchase intention the most, followed by website quality and the trust with statistical significance at 0.05 level. For particular, the terms of reputation, communication, information quality, perceived risk and word of mouth affected the intention to use the electronic payment system. In contrast, the terms of size, system quality and service quality did not affect intention to use an electronic payment system.

Keywords: Electronic payment, intention, online purchasing, trust.

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Authors: Murray L. Ireland, Kevin J. Worrall, Rebecca Mackenzie, Thaleia Flessa, Euan McGookin, Douglas Thomson

Abstract:

Robotic rovers which are designed to work in extra-terrestrial environments present a unique challenge in terms of the reliability and availability of systems throughout the mission. Should some fault occur, with the nearest human potentially millions of kilometres away, detection and identification of the fault must be performed solely by the robot and its subsystems. Faults in the system sensors are relatively straightforward to detect, through the residuals produced by comparison of the system output with that of a simple model. However, faults in the input, that is, the actuators of the system, are harder to detect. A step change in the input signal, caused potentially by the loss of an actuator, can propagate through the system, resulting in complex residuals in multiple outputs. These residuals can be difficult to isolate or distinguish from residuals caused by environmental disturbances. While a more complex fault detection method or additional sensors could be used to solve these issues, an alternative is presented here. Using inverse simulation (InvSim), the inputs and outputs of the mathematical model of the rover system are reversed. Thus, for a desired trajectory, the corresponding actuator inputs are obtained. A step fault near the input then manifests itself as a step change in the residual between the system inputs and the input trajectory obtained through inverse simulation. This approach avoids the need for additional hardware on a mass- and power-critical system such as the rover. The InvSim fault detection method is applied to a simple four-wheeled rover in simulation. Additive system faults and an external disturbance force and are applied to the vehicle in turn, such that the dynamic response and sensor output of the rover are impacted. Basic model-based fault detection is then employed to provide output residuals which may be analysed to provide information on the fault/disturbance. InvSim-based fault detection is then employed, similarly providing input residuals which provide further information on the fault/disturbance. The input residuals are shown to provide clearer information on the location and magnitude of an input fault than the output residuals. Additionally, they can allow faults to be more clearly discriminated from environmental disturbances.

Keywords: Fault detection, inverse simulation, rover, ground robot.

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