Search results for: object oriented programming.

Authors: Koray U. Erbas

Abstract:

Neural networks are appealing for many applications since they are able to learn complex non-linear relationships between input and output data. As the number of neurons and layers in a neural network increase, it is possible to represent more complex relationships with automatically extracted features. Nowadays Deep Neural Networks (DNNs) are widely used in Computer Vision problems such as; classification, object detection, segmentation image editing etc. In this work, Facial Emotion Recognition task is performed by proposed Convolutional Neural Network (CNN)-based DNN architecture using FER2013 Dataset. Moreover, the effects of different hyperparameters (activation function, kernel size, initializer, batch size and network size) are investigated and ablation study results for Pooling Layer, Dropout and Batch Normalization are presented.

Keywords: Convolutional Neural Network, Deep Learning, Deep Learning Based FER, Facial Emotion Recognition.

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Authors: Majid Tolouei-Rad, Peter Kalivitis

Abstract:

Industrial robots become useless without end-effectors that for many instances are in the form of friction grippers. Commonly friction grippers apply frictional forces to different objects on the basis of programmers- experiences. This puts a limitation on the effectiveness of gripping force that may result in damaging the object. This paper describes various stages of design and development of a low cost sensor-based robotic gripper that would facilitate the task of applying right gripping forces to different objects. The gripper is also equipped with range sensors in order to avoid collisions of the gripper with objects. It is a fully functional automated pick and place gripper which can be used in many industrial applications. Yet it can also be altered or further developed in order to suit a larger number of industrial activities. The current design of gripper could lead to designing completely automated robot grippers able to improve the efficiency and productivity of industrial robots.

Keywords: Control system, end-effector, robot, sensor

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Authors: T. Roussopoulos

Abstract:

At the end of the 17th Century the Greek orthodox Archbishop in Venice -Meletios Typaldos- decided to turn the doctrine of the orthodox Greeks into Catholicism. More than 5.000 Greeks were living in Venice then. Their leadership -the Greek confraternity- fought against Meletios. Participants in this conflict were the Pope, the ecumenical Patriarch in Constantinople and Peter the Great of Russia. All the play according to my opinion -which is followed by evidence and theoretical support is a strong conflict between the two actors -the Archbishop and the Confraternity- and the object of conflict is the change of the Greek orthodox beliefs to Catholicism. Ethnicity especially for Greeks of the era is identified with orthodoxy. So this was a conflict of identity. The results of that conflict were of tremendous importance to the Greeks in Venice and affected them for long.

Keywords: Greek ethnic identity, Meletios Typaldos, Confraternity, Venice Pope, Patriarch Constantinople Peter the Great Russia.

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Authors: Siliang Wang, Minghui Wang

Abstract:

This work proposes a novel market-based air traffic flow control model considering competitive airlines in air traffic network. In the flow model, an agent based framework for resources (link/time pair) pricing is described. Resource agent and auctioneer for groups of resources are also introduced to simulate the flow management in Air Traffic Control (ATC). Secondly, the distributed group pricing algorithm is introduced, which efficiently reflect the competitive nature of the airline industry. Resources in the system are grouped according to the degree of interaction, and each auctioneer adjust s the price of one group of resources respectively until the excess demand of resources becomes zero when the demand and supply of resources of the system changes. Numerical simulation results show the feasibility of solving the air traffic flow control problem using market mechanism and pricing algorithms on the air traffic network.

Keywords: Air traffic control, Nonlinear programming, Marketmechanism, Route policy.

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Authors: K. B. Manwade, G. A. Patil

Abstract:

Mobile agent has motivated the creation of a new methodology for parallel computing. We introduce a methodology for the creation of parallel applications on the network. The proposed Mobile-Agent parallel processing framework uses multiple Javamobile Agents. Each mobile agent can travel to the specified machine in the network to perform its tasks. We also introduce the concept of master agent, which is Java object capable of implementing a particular task of the target application. Master agent is dynamically assigns the task to mobile agents. We have developed and tested a prototype application: Mobile Agent Based Parallel Computing. Boosted by the inherited benefits of using Java and Mobile Agents, our proposed methodology breaks the barriers between the environments, and could potentially exploit in a parallel manner all the available computational resources on the network. This paper elaborates performance issues of a mobile agent for parallel computing.

Keywords: Parallel Computing, Mobile Agent.

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Authors: Waqar Shahid Qureshi, Abu-Baqar Nisar Alvi

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Vision based tracking problem is solved through a combination of optical flow, MACH filter and log r-θ mapping. Optical flow is used for detecting regions of movement in video frames acquired under variable lighting conditions. The region of movement is segmented and then searched for the target. A template is used for target recognition on the segmented regions for detecting the region of interest. The template is trained offline on a sequence of target images that are created using the MACH filter and log r-θ mapping. The template is applied on areas of movement in successive frames and strong correlation is seen for in-class targets. Correlation peaks above a certain threshold indicate the presence of target and the target is tracked over successive frames.

Keywords: Correlation filters, optical flow, log r-θ mapping.

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Authors: Soe Winn, May Thwe Oo

Abstract:

Business process automation is an important task in an enterprise business environment software development. The requirements of processing acceleration and automation level of enterprises are inherently different from one organization to another. We present a methodology and system for automation of business process management system architecture by multi-agent collaboration based on SOA. Design layer processes are modeled in semantic markup language for web services application. At the core of our system is considering certain types of human tasks to their further automation across over multiple platform environments. An improved abnormality processing with model for automation of BPMS architecture by multi-agent collaboration based on SOA is introduced. Validating system for efficiency of process automation, an application for educational knowledge base instance would also be described.

Keywords: Business process management system, businessprocess automation, multi-agent collaboration, Service OrientedArchitecture, extensible service application

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Authors: Valbona Metaj

Abstract:

The relationship between the state and the religion is different based on the fact that how powerful is the religion faith in a state and of the influences that affected the views of the constitution drafters according to the constitutional system they were based to draft their constitution. This paper aims at providing, through a comparative methodology, how it is regulated by the constitution the relationship between the state and the religion. The object of this study are the constitutions of Italy as a nation with catholic religious tradition, Greece as a nation with orthodox religion tradition, and Turkey as a nation which represents Muslim religion, while Albania as a nation known for its religious plurality. In particular, the analysis will be focused on the secular or religious principle provided in the constitution of each respective state. This comparative overview intends to discern which of the states analyzed is more tolerant and fully respects the freedom of religion. It results that most of the states subject of this study, despite their religious tradition have chosen the secular principle in their constitutions, but the religious freedom is differently guaranteed.

Keywords: Constitution, religion, religious freedom, secular.

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Authors: Vasudev Das

Abstract:

The specific problem is that private and public organizational leaders often do not understand the importance of sonic therapeutic intervention in preventing financial fraud. The study aimed to explore sonic therapeutic intervention practitioners' lived experiences regarding the value of sonic therapeutic intervention in preventing financial fraud. The data collection methods were semi-structured interviews of purposeful samples and documentary reviews, which were analyzed thematically. Four themes emerged from the analysis of interview transcription data: Sonic therapeutic intervention enabled self-control, pro-spiritual values, consequentiality mindset, and post-conventional consciousness. The itemized four themes helped non-engagement in financial fraud. Implications for positive social change include enhanced financial fraud management, more significant financial leadership, and result-oriented decision-taking in the financial market. Also, the study results can improve the increased de-escalation of anxiety/stress associated with defrauding.

Keywords: consciousness, consequentiality, rehabilitation, reintegration

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Authors: Ali Nadi, Ali Edrissi

Abstract:

Relief demand and transportation links availability is the essential information that is needed for every natural disaster operation. This information is not in hand once a disaster strikes. Relief demand and network condition has been evaluated based on prediction method in related works. Nevertheless, prediction seems to be over or under estimated due to uncertainties and may lead to a failure operation. Therefore, in this paper a stochastic programming model is proposed to evaluate real-time relief demand and network condition at the onset of a natural disaster. To address the time sensitivity of the emergency response, the proposed model uses reinforcement learning for optimization of the total relief assessment time. The proposed model is tested on a real size network problem. The simulation results indicate that the proposed model performs well in the case of collecting real-time information.

Keywords: Disaster management, real-time demand, reinforcement learning, relief demand.

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Authors: Ahmet Diken, Tahsin Karabulut

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The factor which developing countries are in need is capital. Such countries make an effort to increase their income in order to meet their expenses for employment, infrastructure, superstructure investments, education, health and defense. The sole income of the countries is taxes collected from businesses. The businesses should drive profit and return in order to be able to toll. In a world where competition exists, different strategies may be followed by business in developing countries and they must specify their target markets. İn order to minimize cost and maximize profit, SMEs have to concentrate on target markets and select cost oriented strategy. In this study, a theoretical model is suggested that SME firms have to act as cluster between each other, and also must be optimal provider for large scale firms. SMEs’ policy must be supported by public. This relationship can benefit large scale firms to have brand over the world, and this organization increases value added for developing countries.

Keywords: Competitiveness, sustainability, SMEs, developing countries.

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Authors: Phutthiwat Waiyawuththanapoom, Wannapong Waiyawuththanapoom, Pimploi Tirastittam

Abstract:

Nowadays, it is a globalization era which social media plays an important role to the lifestyle as an information source, tools to connect people together and etc. This research is object to find out about the significant level of the social media as a distribution channel to the agriculture product of Thailand. In this research, the agriculture product is the Rice Berry which is the cross-bred unmilled rice producing dark violet grain, is a combination of Hom Nin Rice and Thai Jasmine/ Fragrant Rice 105. Rice Berry has a very high nutrition and nice aroma so the product is in the growth stage of the product cycle. The problem for the Rice Berry product in Thailand is the production and the distribution channel. This study is to confirm that the social media is another option as the distribution channel for the product which is not a mass production product. This will be the role model for the other niche market product to select the distribution channel.

Keywords: Distribution, Social Media, Rice Berry, Distribution Channel.

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Authors: Talebi Aliasghar, Ebrahimpour Komeleh Hooman, Maghsoudi Ali Akbar

Abstract:

In reinforced concrete (RC) structures, beam-column connection region has a considerable effect on the behavior of structures. Using fiber reinforcement polymer (FRP) for the strengthening of connections in RC structures can be one of the solutions to retrofitting this zone which result in the enhanced behavior of structure. In this paper, these changes in behavior by using FRP for high strength concrete beam-column connection have been studied by finite element modeling. The concrete damage plasticity (CDP) model has been used to analyze the RC. The results illustrated a considerable development in load-bearing capacity but also a noticeable reduction in ductility. The study also assesses these qualities for several modes of strengthening and suggests the most effective mode of strengthening. Using FRP in flexural zone and FRP with 45-degree oriented fibers in shear zone of joint showed the most significant change in behavior.

Keywords: High strength concrete, beam-column connection, FRP, FEM.

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Authors: Michał Glet, Kamil Kaczyński

Abstract:

Counterfeit goods and documents are a global problem, which needs more and more sophisticated methods of resolving it. Existing techniques using watermarking or embedding symbols on objects are not suitable for all use cases. To address those special needs, we created complete system allowing authentication of paper documents and physical objects with flat surface. Objects are marked using orientation independent and resistant to camera noise 2D graphic codes, named DotAuth. Based on the identifier stored in 2D code, the system is able to perform basic authentication and allows to conduct more sophisticated analysis methods, e.g., relying on augmented reality and physical properties of the object. In this paper, we present the complete architecture, algorithms and applications of the proposed system. Results of the features comparison of the proposed solution and other products are presented as well, pointing to the existence of many advantages that increase usability and efficiency in the means of protecting physical objects.

Keywords: Authentication, paper documents, security, anti-forgery.

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Authors: R. Sahraian, A. Karampour Haghighi, E. Ghasemi

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Process planning and production scheduling play important roles in manufacturing systems. In this paper a multiobjective mixed integer linear programming model is presented for the integrated planning and scheduling of multi-product. The aim is to find a set of high-quality trade-off solutions. This is a combinatorial optimization problem with substantially large solution space, suggesting that it is highly difficult to find the best solutions with the exact search method. To account for it, a PSO-based algorithm is proposed by fully utilizing the capability of the exploration search and fast convergence. To fit the continuous PSO in the discrete modeled problem, a solution representation is used in the algorithm. The numerical experiments have been performed to demonstrate the effectiveness of the proposed algorithm.

Keywords: Integrated process planning and scheduling, multi objective, MILP, Particle swarm optimization

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Authors: Y. Gholipour

Abstract:

In this paper, supply policy and procurement of shared resources in some kinds of concurrent construction projects are investigated. This could be oriented to the problems of holding construction companies who involve in different projects concurrently and they have to supply limited resources to several projects as well as prevent delays to any project. Limits on transportation vehicles and storage facilities for potential construction materials and also the available resources (such as cash or manpower) are some of the examples which affect considerably on management of all projects over all. The research includes investigation of some real multi-storey buildings during their execution periods and surveying the history of the activities. It is shown that the common resource demand variation curve of the projects may be expanded or displaced to achieve an optimum distribution scheme. Of course, it may cause some delay to some projects, but it has minimum influence on whole execution period of all projects and its influence on procurement cost of the projects is considerable. These observations on investigation of some multistorey building which are built in Iran will be presented in this paper.

Keywords: Construction Management, Supply Management, Resources Sharing, Multi-Project, Resource Procurement.

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Authors: GuentherSchuh, Till Potente, SaschaFuchs, Annika Hauptvogel, Tobias Welter

Abstract:

Producing companies aspire to high delivery availability despite appearing disruptions. To ensure high delivery availability safety stocksare required. Howeversafety stock leads to additional capital commitment and compensates disruptions instead of solving the reasons.The intention is to increase the stability in production by configuring the production planning and control systematically. Thus the safety stock can be reduced. The largest proportion of inventory in producing companies is caused by batch inventory, schedule deviations and variability of demand rates.These reasons for high inventory levels can be reduced by configuring the production planning and control specifically. Hence the inventory level can be reduced. This is enabled by synchronizing the lot size straightening the demand as well as optimizing the releasing order, sequencing and capacity control.

Keywords: inventory level, inventory management, production planning and control, safety stock

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Authors: M. Zerikat, M. Bendjebbar, N. Benouzza

Abstract:

In this paper, a novel approach for robust trajectory tracking of induction motor drive is presented. By combining variable structure systems theory with fuzzy logic concept and neural network techniques, a new algorithm is developed. Fuzzy logic was used for the adaptation of the learning algorithm to improve the robustness of learning and operating of the neural network. The developed control algorithm is robust to parameter variations and external influences. It also assures precise trajectory tracking with the prescribed dynamics. The algorithm was verified by simulation and the results obtained demonstrate the effectiveness of the designed controller of induction motor drives which considered as highly non linear dynamic complex systems and variable characteristics over the operating conditions.

Keywords: Induction motor, fuzzy-logic control, neural network control, indirect field oriented control.

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Authors: Pianpian Zhang, Qingping Luo

Abstract:

Currently, there is a great tendency that more and more villages in China are trying to increase income by development of tourism. Especially in Zhejiang Province, 'Beautiful Rural Construction' provides an excellent opportunity for the development of tourism. In this context, development orientation, transportation routes and tourism service facilities are analyzed under the perspective of water resources protection and regional integration based on the development tourism industry of the six villages in Pujiang County, Zhejiang Province as a research object. In the program, the biggest issue is the contradiction between the ecological protection of the water and the development of economy. How to deal with the relationship between protection and development is the key to the design of this case. Furthermore, the six villages are regarded as a whole, connecting to each other by the system of five-path and the landscape along the lake. Every village has its own features, but cannot develop without one another. The article is actively exploring for suggestions and countermeasures to promote the development premised on protection and based on a regional view.

Keywords: Development, integration, protection, rural tourism.

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Authors: Sonia Manhas, Parvinder S. Sandhu, Vinay Chopra, Nirvair Neeru

Abstract:

The cost of developing the software from scratch can be saved by identifying and extracting the reusable components from already developed and existing software systems or legacy systems [6]. But the issue of how to identify reusable components from existing systems has remained relatively unexplored. We have used metric based approach for characterizing a software module. In this present work, the metrics McCabe-s Cyclometric Complexity Measure for Complexity measurement, Regularity Metric, Halstead Software Science Indicator for Volume indication, Reuse Frequency metric and Coupling Metric values of the software component are used as input attributes to the different types of Neural Network system and reusability of the software component is calculated. The results are recorded in terms of Accuracy, Mean Absolute Error (MAE) and Root Mean Squared Error (RMSE).

Keywords: Software reusability, Neural Networks, MAE, RMSE, Accuracy.

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Authors: V. Iakovoglou, G. N. Zaimes, M. P. Arraiza Bermúdez-Cañete, J. L. García, M. C. Giménez, C. Calderón- Guerrero, F. Ioras, I. Abrudan

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A new fast growing trend in tourism is ecotourism, in which tourists visit natural ecosystems under low impact, nonconsumptive and locally oriented activities. Through these activities species and habitats are maintained and typically, underdeveloped regions are emphasized. Ecotourism provides a great alternative, especially for rural and undeveloped area. At the same time, despite its many benefits, it also poses many risks for the naturally protected areas. If ecotourism is practiced improperly degradation and irreversible damages could be the unwanted result. In addition, the lack of MSc programs in the field of Ecotourism in Europe makes it a necessity to be developed. Such an MSc program is being implemented with the lead partner the Technical University of Madrid. The entire partnership has six Universities, seven SMEs and one National Park from seven different countries all over Europe. The MSc will have 10 educational modules that will be available online and will prepare professionals that will be able to implement ecotourism in a sustainable way. Only through awareness and education a sustainable ecotourism will be achieved in the protected areas of Europe.

Keywords: Sustainability, MSc program, protected areas, Erasmus.

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Authors: I. Mahdavi, A. Jazayeri, M. Jahromi, R. Jafari, H. Iranmanesh

Abstract:

One of the most important problems in production planning of flexible manufacturing system (FMS) is machine tool selection and operation allocation problem that directly influences the production costs and times .In this paper minimizing machining cost, set-up cost and material handling cost as a multi-objective problem in flexible manufacturing systems environment are considered. We present a 0-1 integer linear programming model for the multiobjective machine tool selection and operation allocation problem and due to the large scale nature of the problem, solving the problem to obtain optimal solution in a reasonable time is infeasible, Paretoant colony optimization (P-ACO) approach for solving the multiobjective problem in reasonable time is developed. Experimental results indicate effectiveness of the proposed algorithm for solving the problem.

Keywords: Flexible manufacturing system, Production planning, Machine tool selection, Operation allocation, Multiobjective optimization, Metaheuristic.

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Authors: M. Othman, N. Bhuiyan, G. J. Gouw

Abstract:

In today-s global and competitive market, manufacturing companies are working hard towards improving their production system performance. Most companies develop production systems that can help in cost reduction. Manufacturing systems consist of different elements including production methods, machines, processes, control and information systems. Human issues are an important part of manufacturing systems, yet most companies do not pay sufficient attention to them. In this paper, a workforce planning (WP) model is presented. A non-linear programming model is developed in order to minimize the hiring, firing, training and overtime costs. The purpose is to determine the number of workers for each worker type, the number of workers trained, and the number of overtime hours. Moreover, a decision support system (DSS) based on the proposed model is introduced using the Excel-Lingo software interfacing feature. This model will help to improve the interaction between the workers, managers and the technical systems in manufacturing.

Keywords: Decision Support System, Human Factors, Manufacturing System, Workforce Planning.

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Authors: K. Kraus, M. Uiberacker, O. Martikainen, R. Reda

Abstract:

One of the major, difficult tasks in automated video surveillance is the segmentation of relevant objects in the scene. Current implementations often yield inconsistent results on average from frame to frame when trying to differentiate partly occluding objects. This paper presents an efficient block-based segmentation algorithm which is capable of separating partly occluding objects and detecting shadows. It has been proven to perform in real time with a maximum duration of 47.48 ms per frame (for 8x8 blocks on a 720x576 image) with a true positive rate of 89.2%. The flexible structure of the algorithm enables adaptations and improvements with little effort. Most of the parameters correspond to relative differences between quantities extracted from the image and should therefore not depend on scene and lighting conditions. Thus presenting a performance oriented segmentation algorithm which is applicable in all critical real time scenarios.

Keywords: Image segmentation, Model-based, Region growing, Blob Analysis, Occlusion, Shadow detection, Intelligent videosurveillance.

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Authors: Amit Sachan

Abstract:

The purpose of this paper is to acquire the remote electrical parameters like Voltage, Current, and Frequency from Smart grid and send these real time values over GSM network using GSM Modem/phone along with temperature at power station. This project is also designed to protect the electrical circuitry by operating an Electromagnetic Relay. The Relay can be used to operate a Circuit Breaker to switch off the main electrical supply. User can send commands in the form of SMS messages to read the remote electrical parameters. This system also can automatically send the real time electrical parameters periodically (based on time settings) in the form of SMS. This system also send SMS alerts whenever the Circuit Breaker trips or whenever the Voltage or Current exceeds the predefined limits.

Keywords: GSM Modem, Initialization of ADC module of microcontroller, PIC-C compiler for Embedded C programming, PIC kit 2 programmer for dumping code into Micro controller, Express SCH for Circuit design, Proteus for hardware simulation.

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Authors: Louay M. Jeroudaih, Mohamed S. Hajji

Abstract:

This paper looks into areas not covered by prominent Agent-Oriented Software Engineering (AOSE) methodologies. Extensive paper review led to the identification of two issues, first most of these methodologies almost neglect semantic web and ontology. Second, as expected, each one has its strength and weakness and may focus on some phases of the development lifecycle but not all of the phases. The work presented here builds extensions to a highly regarded AOSE methodology (MaSE) in order to cover the areas that this methodology does not concentrate on. The extensions include introducing an ontology stage for semantic representation and integrating early requirement specification from a methodology which mainly focuses on that. The integration involved developing transformation rules (with the necessary handling of nonmatching notions) between the two sets of representations and building the software which automates the transformation. The application of this integration on a case study is also presented in the paper. The main flow of MaSE stages was changed to smoothly accommodate the new additions.

Keywords: Agents, Intelligent Agents, Software Engineering(SE), UML, AUML, and Design Patterns.

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Authors: Luis Gracia, Carlos Perez-Vidal, Carlos Gracia

Abstract:

This paper presents the theoretical background and the real implementation of an automated computer system to introduce machine vision in flower, fruit and vegetable processing for recollection, cutting, packaging, classification, or fumigation tasks. The considerations and implementation issues presented in this work can be applied to a wide range of varieties of flowers, fruits and vegetables, although some of them are especially relevant due to the great amount of units that are manipulated and processed each year over the world. The computer vision algorithms developed in this work are shown in detail, and can be easily extended to other applications. A special attention is given to the electromagnetic compatibility in order to avoid noisy images. Furthermore, real experimentation has been carried out in order to validate the developed application. In particular, the tests show that the method has good robustness and high success percentage in the object characterization.

Keywords: Image processing, Vision system, Automation

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Authors: Horng-Jyh Chen, Yi-Fang Chen, Chien-Liang Lin

Abstract:

In this paper, the authors try to investigate the determinants of behavioral intention of the blended E-learning course for senior students at the Active Ageing University in Taiwan. Due to lower proficiency in the use of computers and less experience on learning styles of the blended E-learning course for senior students will be expected quite different from those for most young students. After more than five weeks course for two years the questionnaire survey is executed to collect data for statistical analysis in order to understand the determinants of the behavioral intention for senior students. The object of this study is at one of the Active Ageing University in Taiwan total of 84 senior students in the blended E-learning for the ceramics teaching course. The research results show that only the perceived usefulness of the blended E-learning course has significant positive relationship with the behavioral intention.

Keywords: Active Aging University, blended E-learning, ceramics teaching course, behavioral intention

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Authors: Daniel F. Garcia, Diego Gonzalez

Abstract:

This paper shows a simple and effective approach to the design and implementation of Industrial Information Systems (IIS) oriented to control the characteristics of each individual product manufactured in a production line and also their manufacturing conditions. The particular products considered in this work are large steel strips that are coiled just after their manufacturing. However, the approach is directly applicable to coiled strips in other industries, like paper, textile, aluminum, etc. These IIS provide very detailed information of each manufactured product, which complement the general information managed by the ERP system of the production line. In spite of the high importance of this type of IIS to guarantee and improve the quality of the products manufactured in many industries, there are very few works about them in the technical literature. For this reason, this paper represents an important contribution to the development of this type of IIS, providing guidelines for their design, implementation and exploitation.

Keywords: Data storage, industrial information systems, measurement systems integration, signal acquisition.

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Authors: Hazim Abdulsada

Abstract:

The inspection of underneath vehicle system has been given significant attention by governments after the threat of terrorism become more prevalent. New technologies such as mobile robots and computer vision are led to have more secure environment. This paper proposed that a mobile robot like Aria robot can be used to search and inspect the bombs under parking a lot vehicle. This robot is using fuzzy logic and subsumption algorithms to control the robot that movies underneath the vehicle. An OpenCV library and laser Hokuyo are added to Aria robot to complete the experiment for under vehicle inspection. This experiment was conducted at the indoor environment to demonstrate the efficiency of our methods to search objects and control the robot movements under vehicle. We got excellent results not only by controlling the robot movement but also inspecting object by the robot camera at same time. This success allowed us to know the requirement to construct a new cost effective robot with more functionality.

Keywords: Fuzzy logic, Mobile robots, OpenCV, Subsumption, Under vehicle inspection.

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