Search results for: Takagi-Sugeno (TS) fuzzy control algorithm
6018 Hybridizing Genetic Algorithm with Biased Chance Local Search
Authors: Mehdi Basikhasteh, Mohamad A. Movafaghpour
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This paper explores university course timetabling problem. There are several characteristics that make scheduling and timetabling problems particularly difficult to solve: they have huge search spaces, they are often highly constrained, they require sophisticated solution representation schemes, and they usually require very time-consuming fitness evaluation routines. Thus standard evolutionary algorithms lack of efficiency to deal with them. In this paper we have proposed a memetic algorithm that incorporates the problem specific knowledge such that most of chromosomes generated are decoded into feasible solutions. Generating vast amount of feasible chromosomes makes the progress of search process possible in a time efficient manner. Experimental results exhibit the advantages of the developed Hybrid Genetic Algorithm than the standard Genetic Algorithm.Keywords: University Course Timetabling, Memetic Algorithm, Biased Chance Assignment, Optimization.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 16876017 Influence Maximization in Dynamic Social Networks and Graphs
Authors: Gkolfo I. Smani, Vasileios Megalooikonomou
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Influence and influence diffusion have been studied extensively in social networks. However, most existing literature on this task are limited on static networks, ignoring the fact that the interactions between users change over time. In this paper, the problem of maximizing influence diffusion in dynamic social networks, i.e., the case of networks that change over time is studied. The DM algorithm is an extension of Matrix Influence (MATI) algorithm and solves the Influence Maximization (IM) problem in dynamic networks and is proposed under the Linear Threshold (LT) and Independent Cascade (IC) models. Experimental results show that our proposed algorithm achieves a diffusion performance better by 1.5 times than several state-of-the-art algorithms and comparable results in diffusion scale with the Greedy algorithm. Also, the proposed algorithm is 2.4 times faster than previous methods.
Keywords: Influence maximization, dynamic social networks, diffusion, social influence.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 4006016 Time-Derivative Estimation of Noisy Movie Data using Adaptive Control Theory
Authors: Soon-Hyun Park, Takami Matsuo
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This paper presents an adaptive differentiator of sequential data based on the adaptive control theory. The algorithm is applied to detect moving objects by estimating a temporal gradient of sequential data at a specified pixel. We adopt two nonlinear intensity functions to reduce the influence of noises. The derivatives of the nonlinear intensity functions are estimated by an adaptive observer with σ-modification update law.Keywords: Adaptive estimation, parameter adjustmentlaw, motion detection, temporal gradient, differential filter.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 18646015 Real-Time Defects Detection Algorithm for High-Speed Steel Bar in Coil
Authors: Se Ho Choi, Jong Pil Yun, Boyeul Seo, YoungSu Park, Sang Woo Kim
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This paper presents a real-time defect detection algorithm for high-speed steel bar in coil. Because the target speed is very high, proposed algorithm should process quickly the large volumes of image for real-time processing. Therefore, defect detection algorithm should satisfy two conflicting requirements of reducing the processing time and improving the efficiency of defect detection. To enhance performance of detection, edge preserving method is suggested for noise reduction of target image. Finally, experiment results show that the proposed algorithm guarantees the condition of the real-time processing and accuracy of detection.Keywords: Defect detection, edge preserving filter, real-time image processing, surface inspection.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 32846014 Part of Speech Tagging Using Statistical Approach for Nepali Text
Authors: Archit Yajnik
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Part of Speech Tagging has always been a challenging task in the era of Natural Language Processing. This article presents POS tagging for Nepali text using Hidden Markov Model and Viterbi algorithm. From the Nepali text, annotated corpus training and testing data set are randomly separated. Both methods are employed on the data sets. Viterbi algorithm is found to be computationally faster and accurate as compared to HMM. The accuracy of 95.43% is achieved using Viterbi algorithm. Error analysis where the mismatches took place is elaborately discussed.Keywords: Hidden Markov model, Viterbi algorithm, POS tagging, natural language processing.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 16966013 An Optimal Bayesian Maintenance Policy for a Partially Observable System Subject to Two Failure Modes
Authors: Akram Khaleghei Ghosheh Balagh, Viliam Makis, Leila Jafari
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In this paper, we present a new maintenance model for a partially observable system subject to two failure modes, namely a catastrophic failure and a failure due to the system degradation. The system is subject to condition monitoring and the degradation process is described by a hidden Markov model. A cost-optimal Bayesian control policy is developed for maintaining the system. The control problem is formulated in the semi-Markov decision process framework. An effective computational algorithm is developed, illustrated by a numerical example.
Keywords: Partially observable system, hidden Markov model, competing risks, multivariate Bayesian control.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 21796012 Performance Analysis of List Scheduling in Heterogeneous Computing Systems
Authors: Keqin Li
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Given a parallel program to be executed on a heterogeneous computing system, the overall execution time of the program is determined by a schedule. In this paper, we analyze the worst-case performance of the list scheduling algorithm for scheduling tasks of a parallel program in a mixed-machine heterogeneous computing system such that the total execution time of the program is minimized. We prove tight lower and upper bounds for the worst-case performance ratio of the list scheduling algorithm. We also examine the average-case performance of the list scheduling algorithm. Our experimental data reveal that the average-case performance of the list scheduling algorithm is much better than the worst-case performance and is very close to optimal, except for large systems with large heterogeneity. Thus, the list scheduling algorithm is very useful in real applications.Keywords: Average-case performance, list scheduling algorithm, mixed-machine heterogeneous computing system, worst-case performance.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 13376011 Optimal Placement of Piezoelectric Actuators on Plate Structures for Active Vibration Control Using Modified Control Matrix and Singular Value Decomposition Approach
Authors: Deepak Chhabra, Gian Bhushan, Pankaj Chandna
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The present work deals with the optimal placement of piezoelectric actuators on a thin plate using Modified Control Matrix and Singular Value Decomposition (MCSVD) approach. The problem has been formulated using the finite element method using ten piezoelectric actuators on simply supported plate to suppress first six modes. The sizes of ten actuators are combined to outline one actuator by adding the ten columns of control matrix to form a column matrix. The singular value of column control matrix is considered as the fitness function and optimal positions of the actuators are obtained by maximizing it with GA. Vibration suppression has been studied for simply supported plate with piezoelectric patches in optimal positions using Linear Quadratic regulator) scheme. It is observed that MCSVD approach has given the position of patches adjacent to each-other, symmetric to the centre axis and given greater vibration suppression than other previously published results on SVD.
Keywords: Closed loop Average dB gain, Genetic Algorithm (GA), LQR Controller, MCSVD, Optimal positions, Singular Value Decomposition (SVD) Approaches.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 30646010 A Novel Deinterlacing Algorithm Based on Adaptive Polynomial Interpolation
Authors: Seung-Won Jung, Hye-Soo Kim, Le Thanh Ha, Seung-Jin Baek, Sung-Jea Ko
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In this paper, a novel deinterlacing algorithm is proposed. The proposed algorithm approximates the distribution of the luminance into a polynomial function. Instead of using one polynomial function for all pixels, different polynomial functions are used for the uniform, texture, and directional edge regions. The function coefficients for each region are computed by matrix multiplications. Experimental results demonstrate that the proposed method performs better than the conventional algorithms.Keywords: Deinterlacing, polynomial interpolation.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 13736009 A Study of the Effectiveness of the Routing Decision Support Algorithm
Authors: Wayne Goodridge, Alexander Nikov, Ashok Sahai
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Multi criteria decision making (MCDM) methods like analytic hierarchy process, ELECTRE and multi-attribute utility theory are critically studied. They have irregularities in terms of the reliability of ranking of the best alternatives. The Routing Decision Support (RDS) algorithm is trying to improve some of their deficiencies. This paper gives a mathematical verification that the RDS algorithm conforms to the test criteria for an effective MCDM method when a linear preference function is considered.
Keywords: Decision support systems, linear preference function, multi-criteria decision-making algorithm, analytic hierarchy process.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 15756008 A new Heuristic Algorithm for the Dynamic Facility Layout Problem with Budget Constraint
Authors: Parham Azimi, Hamid Reza Charmchi
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In this research, we have developed a new efficient heuristic algorithm for the dynamic facility layout problem with budget constraint (DFLPB). This heuristic algorithm combines two mathematical programming methods such as discrete event simulation and linear integer programming (IP) to obtain a near optimum solution. In the proposed algorithm, the non-linear model of the DFLP has been changed to a pure integer programming (PIP) model. Then, the optimal solution of the PIP model has been used in a simulation model that has been designed in a similar manner as the DFLP for determining the probability of assigning a facility to a location. After a sufficient number of runs, the simulation model obtains near optimum solutions. Finally, to verify the performance of the algorithm, several test problems have been solved. The results show that the proposed algorithm is more efficient in terms of speed and accuracy than other heuristic algorithms presented in previous works found in the literature.Keywords: Budget constraint, Dynamic facility layout problem, Integer programming, Simulation
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 19576007 Self-Adaptive Differential Evolution Based Power Economic Dispatch of Generators with Valve-Point Effects and Multiple Fuel Options
Authors: R.Balamurugan, S.Subramanian
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This paper presents the solution of power economic dispatch (PED) problem of generating units with valve point effects and multiple fuel options using Self-Adaptive Differential Evolution (SDE) algorithm. The global optimal solution by mathematical approaches becomes difficult for the realistic PED problem in power systems. The Differential Evolution (DE) algorithm is found to be a powerful evolutionary algorithm for global optimization in many real problems. In this paper the key parameters of control in DE algorithm such as the crossover constant CR and weight applied to random differential F are self-adapted. The PED problem formulation takes into consideration of nonsmooth fuel cost function due to valve point effects and multi fuel options of generator. The proposed approach has been examined and tested with the numerical results of PED problems with thirteen-generation units including valve-point effects, ten-generation units with multiple fuel options neglecting valve-point effects and ten-generation units including valve-point effects and multiple fuel options. The test results are promising and show the effectiveness of proposed approach for solving PED problems.Keywords: Multiple fuels, power economic dispatch, selfadaptivedifferential evolution and valve-point effects.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 18866006 TOPSIS Method for Supplier Selection Problem
Authors: Omid Jadidi, Fatemeh Firouzi, Enzo Bagliery
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Supplier selection, in real situation, is affected by several qualitative and quantitative factors and is one of the most important activities of purchasing department. Since at the time of evaluating suppliers against the criteria or factors, decision makers (DMS) do not have precise, exact and complete information, supplier selection becomes more difficult. In this case, Grey theory helps us to deal with this problem of uncertainty. Here, we apply Technique for Order Preference by Similarity to Ideal Solution (TOPSIS) method to evaluate and select the best supplier by using interval fuzzy numbers. Through this article, we compare TOPSIS with some other approaches and afterward demonstrate that the concept of TOPSIS is very important for ranking and selecting right supplier.Keywords: TOPSIS, fuzzy number, MADM, Supplier selection
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 129886005 Defuzzification of Periodic Membership Function on Circular Coordinates
Authors: Takashi Mitsuishi, Koji Saigusa
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This paper presents circular polar coordinates transformation of periodic fuzzy membership function. The purpose is identification of domain of periodic membership functions in consequent part of IF-THEN rules. Proposed methods in this paper remove complicatedness concerning domain of periodic membership function from defuzzification in fuzzy approximate reasoning. Defuzzification on circular polar coordinates is also proposed.
Keywords: Defuzzification, periodic membership function, polar coordinates transformation.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 20676004 Fast 3D Collision Detection Algorithm using 2D Intersection Area
Authors: Taehyun Yoon, Keechul Jung
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There are many researches to detect collision between real object and virtual object in 3D space. In general, these techniques are need to huge computing power. So, many research and study are constructed by using cloud computing, network computing, and distribute computing. As a reason of these, this paper proposed a novel fast 3D collision detection algorithm between real and virtual object using 2D intersection area. Proposed algorithm uses 4 multiple cameras and coarse-and-fine method to improve accuracy and speed performance of collision detection. In the coarse step, this system examines the intersection area between real and virtual object silhouettes from all camera views. The result of this step is the index of virtual sensors which has a possibility of collision in 3D space. To decide collision accurately, at the fine step, this system examines the collision detection in 3D space by using the visual hull algorithm. Performance of the algorithm is verified by comparing with existing algorithm. We believe proposed algorithm help many other research, study and application fields such as HCI, augmented reality, intelligent space, and so on.
Keywords: Collision Detection, Computer Vision, Human Computer Interaction, Visual Hull
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 23976003 A Novel Pareto-Based Meta-Heuristic Algorithm to Optimize Multi-Facility Location-Allocation Problem
Authors: Vahid Hajipour, Samira V. Noshafagh, Reza Tavakkoli-Moghaddam
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This article proposes a novel Pareto-based multiobjective meta-heuristic algorithm named non-dominated ranking genetic algorithm (NRGA) to solve multi-facility location-allocation problem. In NRGA, a fitness value representing rank is assigned to each individual of the population. Moreover, two features ranked based roulette wheel selection including select the fronts and choose solutions from the fronts, are utilized. The proposed solving methodology is validated using several examples taken from the specialized literature. The performance of our approach shows that NRGA algorithm is able to generate true and well distributed Pareto optimal solutions.
Keywords: Non-dominated ranking genetic algorithm, Pareto solutions, Multi-facility location-allocation problem.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 21576002 A Novel Compression Algorithm for Electrocardiogram Signals based on Wavelet Transform and SPIHT
Authors: Sana Ktata, Kaïs Ouni, Noureddine Ellouze
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Electrocardiogram (ECG) data compression algorithm is needed that will reduce the amount of data to be transmitted, stored and analyzed, but without losing the clinical information content. A wavelet ECG data codec based on the Set Partitioning In Hierarchical Trees (SPIHT) compression algorithm is proposed in this paper. The SPIHT algorithm has achieved notable success in still image coding. We modified the algorithm for the one-dimensional (1-D) case and applied it to compression of ECG data. By this compression method, small percent root mean square difference (PRD) and high compression ratio with low implementation complexity are achieved. Experiments on selected records from the MIT-BIH arrhythmia database revealed that the proposed codec is significantly more efficient in compression and in computation than previously proposed ECG compression schemes. Compression ratios of up to 48:1 for ECG signals lead to acceptable results for visual inspection.Keywords: Discrete Wavelet Transform, ECG compression, SPIHT.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 21196001 Alternative Key Exchange Algorithm Based on Elliptic Curve Digital Signature Algorithm Certificate and Usage in Applications
Authors: A. Andreasyan, C. Connors
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The Elliptic Curve Digital Signature algorithm-based X509v3 certificates are becoming more popular due to their short public and private key sizes. Moreover, these certificates can be stored in Internet of Things (IoT) devices, with limited resources, using less memory and transmitted in network security protocols, such as Internet Key Exchange (IKE), Transport Layer Security (TLS) and Secure Shell (SSH) with less bandwidth. The proposed method gives another advantage, in that it increases the performance of the above-mentioned protocols in terms of key exchange by saving one scalar multiplication operation.
Keywords: Cryptography, elliptic curve digital signature algorithm, key exchange, network security protocols.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 5816000 Data Mining Using Learning Automata
Authors: M. R. Aghaebrahimi, S. H. Zahiri, M. Amiri
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In this paper a data miner based on the learning automata is proposed and is called LA-miner. The LA-miner extracts classification rules from data sets automatically. The proposed algorithm is established based on the function optimization using learning automata. The experimental results on three benchmarks indicate that the performance of the proposed LA-miner is comparable with (sometimes better than) the Ant-miner (a data miner algorithm based on the Ant Colony optimization algorithm) and CNZ (a well-known data mining algorithm for classification).Keywords: Data mining, Learning automata, Classification rules, Knowledge discovery.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 19235999 Consumer Load Profile Determination with Entropy-Based K-Means Algorithm
Authors: Ioannis P. Panapakidis, Marios N. Moschakis
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With the continuous increment of smart meter installations across the globe, the need for processing of the load data is evident. Clustering-based load profiling is built upon the utilization of unsupervised machine learning tools for the purpose of formulating the typical load curves or load profiles. The most commonly used algorithm in the load profiling literature is the K-means. While the algorithm has been successfully tested in a variety of applications, its drawback is the strong dependence in the initialization phase. This paper proposes a novel modified form of the K-means that addresses the aforementioned problem. Simulation results indicate the superiority of the proposed algorithm compared to the K-means.
Keywords: Clustering, load profiling, load modeling, machine learning, energy efficiency and quality.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 11905998 A Selective 3-Anchor DV-Hop Algorithm Based On the Nearest Anchor for Wireless Sensor Network
Authors: Hichem Sassi, Tawfik Najeh, Noureddine Liouane
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Information of nodes’ locations is an important criterion for lots of applications in Wireless Sensor Networks. In the hop-based range-free localization methods, anchors transmit the localization messages counting a hop count value to the whole network. Each node receives this message and calculates its own distance with anchor in hops and then approximates its own position. However the estimative distances can provoke large error, and affect the localization precision. To solve the problem, this paper proposes an algorithm, which makes the unknown nodes fix the nearest anchor as a reference and select two other anchors which are the most accurate to achieve the estimated location. Compared to the DV-Hop algorithm, experiment results illustrate that proposed algorithm has less average localization error and is more effective.
Keywords: Wireless Sensors Networks, Localization problem, localization average error, DV–Hop Algorithm, MATLAB.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 29495997 A Practical Approach for Testing the Process Quality
Authors: Mou-Yuan Liao, Chien-Wei Wu, Chien-Hua Lin
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Process capability index Cpk is the most widely used index in making managerial decisions since it provides bounds on the process yield for normally distributed processes. However, existent methods for assessing process performance which constructed by statistical inference may unfortunately lead to fine results, because uncertainties exist in most real-world applications. Thus, this study adopts fuzzy inference to deal with testing of Cpk . A brief score is obtained for assessing a supplier’s process instead of a severe evaluation.
Keywords: Process capability analysis, quality control.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 14175996 An Improved Method to Compute Sparse Graphs for Traveling Salesman Problem
Authors: Y. Wang
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The Traveling salesman problem (TSP) is NP-hard in combinatorial optimization. The research shows the algorithms for TSP on the sparse graphs have the shorter computation time than those for TSP according to the complete graphs. We present an improved iterative algorithm to compute the sparse graphs for TSP by frequency graphs computed with frequency quadrilaterals. The iterative algorithm is enhanced by adjusting two parameters of the algorithm. The computation time of the algorithm is O(CNmaxn2) where C is the iterations, Nmax is the maximum number of frequency quadrilaterals containing each edge and n is the scale of TSP. The experimental results showed the computed sparse graphs generally have less than 5n edges for most of these Euclidean instances. Moreover, the maximum degree and minimum degree of the vertices in the sparse graphs do not have much difference. Thus, the computation time of the methods to resolve the TSP on these sparse graphs will be greatly reduced.
Keywords: Frequency quadrilateral, iterative algorithm, sparse graph, traveling salesman problem.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 10025995 Fast Calculation for Particle Interactions in SPH Simulations: Outlined Sub-domain Technique
Authors: Buntara Sthenly Gan, Naohiro Kawada
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A simple and easy algorithm is presented for a fast calculation of kernel functions which required in fluid simulations using the Smoothed Particle Hydrodynamic (SPH) method. Present proposed algorithm improves the Linked-list algorithm and adopts the Pair-Wise Interaction technique, which are widely used for evaluating kernel functions in fluid simulations using the SPH method. The algorithm is easy to be implemented without any complexities in programming. Some benchmark examples are used to show the simulation time saved by using the proposed algorithm. Parametric studies on the number of divisions for sub-domains, smoothing length and total amount of particles are conducted to show the effectiveness of the present technique. A compact formulation is proposed for practical usage.
Keywords: Technique, fluid simulation, smoothing particle hydrodynamic (SPH), particle interaction.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 16205994 A Mixed Expert Evaluation System and Dynamic Interval-Valued Hesitant Fuzzy Selection Approach
Authors: Hossein Gitinavard, Mohammad Hossein Fazel Zarandi
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In the last decades, concerns about the environmental issues lead to professional and academic efforts on green supplier selection problems. In this sake, one of the main issues in evaluating the green supplier selection problems, which could increase the uncertainty, is the preferences of the experts' judgments about the candidate green suppliers. Therefore, preparing an expert system to evaluate the problem based on the historical data and the experts' knowledge can be sensible. This study provides an expert evaluation system to assess the candidate green suppliers under selected criteria in a multi-period approach. In addition, a ranking approach under interval-valued hesitant fuzzy set (IVHFS) environment is proposed to select the most appropriate green supplier in planning horizon. In the proposed ranking approach, the IVHFS and the last aggregation approach are considered to margin the errors and to prevent data loss, respectively. Hence, a comparative analysis is provided based on an illustrative example to show the feasibility of the proposed approach.Keywords: Green supplier selection, expert system, ranking approach, interval-valued hesitant fuzzy setting.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 14055993 An ICA Algorithm for Separation of Convolutive Mixture of Speech Signals
Authors: Rajkishore Prasad, Hiroshi Saruwatari, Kiyohiro Shikano
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This paper describes Independent Component Analysis (ICA) based fixed-point algorithm for the blind separation of the convolutive mixture of speech, picked-up by a linear microphone array. The proposed algorithm extracts independent sources by non- Gaussianizing the Time-Frequency Series of Speech (TFSS) in a deflationary way. The degree of non-Gaussianization is measured by negentropy. The relative performances of algorithm under random initialization and Null beamformer (NBF) based initialization are studied. It has been found that an NBF based initial value gives speedy convergence as well as better separation performance
Keywords: Blind signal separation, independent component analysis, negentropy, convolutive mixture.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 17675992 CSTR Control by Using Model Reference Adaptive Control and PSO
Authors: Neha Khanduja
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This paper presents a comparative analysis of continuously stirred tank reactor (CSTR) control based on adaptive control and optimal tuning of PID control based on particle swarm optimization. In the design of adaptive control, Model reference adaptive control (MRAC) scheme is used, in which the adaptation law have been developed by MIT rule & Lyapunov’s rule. In PSO control parameters of PID controller is tuned by using the concept of particle swarm optimization to get optimized operating point for minimum integral square error (ISE) condition. The results show the adjustment of PID parameters converting into the optimal operating point and the good control response can be obtained by the PSO technique.Keywords: Model reference adaptive control (MRAC), optimal control, particle swarm optimization (PSO).
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 23255991 On the Computation of a Common n-finger Robotic Grasp for a Set of Objects
Authors: Avishai Sintov, Roland Menassa, Amir Shapiro
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Industrial robotic arms utilize multiple end-effectors, each for a specific part and for a specific task. We propose a novel algorithm which will define a single end-effector’s configuration able to grasp a given set of objects with different geometries. The algorithm will have great benefit in production lines allowing a single robot to grasp various parts. Hence, reducing the number of endeffectors needed. Moreover, the algorithm will reduce end-effector design and manufacturing time and final product cost. The algorithm searches for a common grasp over the set of objects. The search algorithm maps all possible grasps for each object which satisfy a quality criterion and takes into account possible external wrenches (forces and torques) applied to the object. The mapped grasps are- represented by high-dimensional feature vectors which describes the shape of the gripper. We generate a database of all possible grasps for each object in the feature space. Then we use a search and classification algorithm for intersecting all possible grasps over all parts and finding a single common grasp suitable for all objects. We present simulations of planar and spatial objects to validate the feasibility of the approach.
Keywords: Common Grasping, Search Algorithm, Robotic End-Effector.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 16645990 Detection and Classification of Power Quality Disturbances Using S-Transform and Wavelet Algorithm
Authors: Mohamed E. Salem Abozaed
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Detection and classification of power quality (PQ) disturbances is an important consideration to electrical utilities and many industrial customers so that diagnosis and mitigation of such disturbance can be implemented quickly. S-transform algorithm and continuous wavelet transforms (CWT) are time-frequency algorithms, and both of them are powerful in detection and classification of PQ disturbances. This paper presents detection and classification of PQ disturbances using S-transform and CWT algorithms. The results of detection and classification, provides that S-transform is more accurate in detection and classification for most PQ disturbance than CWT algorithm, where as CWT algorithm more powerful in detection in some disturbances like notchingKeywords: CWT, Disturbances classification, Disturbances detection, Power quality, S-transform.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 25885989 Overview of Adaptive Spline Interpolation
Authors: Rongli Gai, Zhiyuan Chang, Xiaohong Wang, Jingyu Liu
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In view of various situations in the interpolation process, most researchers use self-adaptation to adjust the interpolation process, which is also one of the current and future research hotspots in the field of CNC (Computerized Numerical Control) machining. In the interpolation process, according to the overview of the spline curve interpolation algorithm, the adaptive analysis is carried out from the factors affecting the interpolation process. The adaptive operation is reflected in various aspects, such as speed, parameters, errors, nodes, feed rates, random period, sensitive point, step size, curvature, adaptive segmentation, adaptive optimization, etc. This paper will analyze and summarize the research of adaptive imputation in the direction of the above factors affecting imputation.
Keywords: Adaptive algorithm, CNC machining, interpolation constraints, spline curve interpolation.
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