Search results for: Super Resolution with Non-Linear Signal Processing
2610 A Valley Detection for Path Planning
Authors: In-Geun Lim, Jin-Soo Kim, Chirl-Hwa Lee
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This paper presents a constrained valley detection algorithm. The intent is to find valleys in the map for the path planning that enables a robot or a vehicle to move safely. The constraint to the valley is a desired width and a desired depth to ensure the space for movement when a vehicle passes through the valley. We propose an algorithm to find valleys satisfying these 2 dimensional constraints. The merit of our algorithm is that the pre-processing and the post-processing are not necessary to eliminate undesired small valleys. The algorithm is validated through simulation using digitized elevation data.Keywords: valley, width, depth, path planning.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 14442609 Energy Efficient In-Network Data Processing in Sensor Networks
Authors: Prakash G L, Thejaswini M, S H Manjula, K R Venugopal, L M Patnaik
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The Sensor Network consists of densely deployed sensor nodes. Energy optimization is one of the most important aspects of sensor application design. Data acquisition and aggregation techniques for processing data in-network should be energy efficient. Due to the cross-layer design, resource-limited and noisy nature of Wireless Sensor Networks(WSNs), it is challenging to study the performance of these systems in a realistic setting. In this paper, we propose optimizing queries by aggregation of data and data redundancy to reduce energy consumption without requiring all sensed data and directed diffusion communication paradigm to achieve power savings, robust communication and processing data in-network. To estimate the per-node power consumption POWERTossim mica2 energy model is used, which provides scalable and accurate results. The performance analysis shows that the proposed methods overcomes the existing methods in the aspects of energy consumption in wireless sensor networks.Keywords: Data Aggregation, Directed Diffusion, Partial Aggregation, Packet Merging, Query Plan.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 18332608 Improving the LDMOS Temperature Compensation Bias Circuit to Optimize Back-Off
Authors: Antonis Constantinides, Christos Yiallouras, Christakis Damianou
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The application of today's semiconductor transistors in high power UHF DVB-T linear amplifiers has evolved significantly by utilizing LDMOS technology. This fact provides engineers with the option to design a single transistor signal amplifier which enables output power and linearity that was unobtainable previously using bipolar junction transistors or later type first generation MOSFETS. The quiescent current stability in terms of thermal variations of the LDMOS guarantees a robust operation in any topology of DVB-T signal amplifiers. Otherwise, progressively uncontrolled heat dissipation enhancement on the LDMOS case can degrade the amplifier’s crucial parameters in regards to the gain, linearity and RF stability, resulting in dysfunctional operation or a total destruction of the unit. This paper presents one more sophisticated approach from the traditional biasing circuits used so far in LDMOS DVB-T amplifiers. It utilizes a microprocessor control technology, providing stability in topologies where IDQ must be perfectly accurate.
Keywords: Amplifier, DVB-T, LDMOS, MOSFETS.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 32712607 Cost Effective Real-Time Image Processing Based Optical Mark Reader
Authors: Amit Kumar, Himanshu Singal, Arnav Bhavsar
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In this modern era of automation, most of the academic exams and competitive exams are Multiple Choice Questions (MCQ). The responses of these MCQ based exams are recorded in the Optical Mark Reader (OMR) sheet. Evaluation of the OMR sheet requires separate specialized machines for scanning and marking. The sheets used by these machines are special and costs more than a normal sheet. Available process is non-economical and dependent on paper thickness, scanning quality, paper orientation, special hardware and customized software. This study tries to tackle the problem of evaluating the OMR sheet without any special hardware and making the whole process economical. We propose an image processing based algorithm which can be used to read and evaluate the scanned OMR sheets with no special hardware required. It will eliminate the use of special OMR sheet. Responses recorded in normal sheet is enough for evaluation. The proposed system takes care of color, brightness, rotation, little imperfections in the OMR sheet images.Keywords: OMR, image processing, hough circle transform, interpolation, detection, Binary Thresholding.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 15442606 Radiation Usage Impact of on Anti-Nutritional Compounds (Antitrypsin and Phytic Acid) of Livestock and Poultry Foods
Authors: Mohammad Khosravi, Ali Kiani, Behroz Dastar, Parvin Showrang
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Review was carried out on important anti-nutritional compounds of livestock and poultry foods and the effect of radiation usage. Nowadays, with advancement in technology, different methods have been considered for the optimum usage of nutrients in livestock and poultry foods. Steaming, extruding, pelleting, and the use of chemicals are the most common and popular methods in food processing. Use of radiation in food processing researches in the livestock and poultry industry is currently highly regarded. Ionizing (electrons, gamma) and non-ionizing beams (microwave and infrared) are the most useable rays in animal food processing. In recent researches, these beams have been used to remove and reduce the anti-nutritional factors and microbial contamination and improve the digestibility of nutrients in poultry and livestock food. The evidence presented will help researchers to recognize techniques of relevance to them. Simplification of some of these techniques, especially in developing countries, must be addressed so that they can be used more widely.
Keywords: Antitrypsin, gamma anti-nutritional components, phytic acid, radiation.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 12112605 Fuzzy Processing of Uncertain Data
Authors: Petr Morávek, Miloš Šeda
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In practice, we often come across situations where it is necessary to make decisions based on incomplete or uncertain data. In control systems it may be due to the unknown exact mathematical model, or its excessive complexity (e.g. nonlinearity) when it is necessary to simplify it, respectively, to solve it using a rule base. In the case of databases, searching data we compare a similarity measure with of the requirements of the selection with stored data, where both the select query and the data itself may contain vague terms, for example in the form of linguistic qualifiers. In this paper, we focus on the processing of uncertain data in databases and demonstrate it on the example multi-criteria decision making in the selection of variants, specified by higher number of technical parameters.Keywords: fuzzy logic, linguistic variable, multicriteria decision
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 14182604 A Completed Adaptive De-mixing Algorithm on Stiefel Manifold for ICA
Authors: Jianwei Wu
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Based on the one-bit-matching principle and by turning the de-mixing matrix into an orthogonal matrix via certain normalization, Ma et al proposed a one-bit-matching learning algorithm on the Stiefel manifold for independent component analysis [8]. But this algorithm is not adaptive. In this paper, an algorithm which can extract kurtosis and its sign of each independent source component directly from observation data is firstly introduced.With the algorithm , the one-bit-matching learning algorithm is revised, so that it can make the blind separation on the Stiefel manifold implemented completely in the adaptive mode in the framework of natural gradient.
Keywords: Independent component analysis, kurtosis, Stiefel manifold, super-gaussians or sub-gaussians.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 15042603 An Efficient Separation for Convolutive Mixtures
Authors: Salah Al-Din I. Badran, Samad Ahmadi, Dylan Menzies, Ismail Shahin
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This paper describes a new efficient blind source separation method; in this method we uses a non-uniform filter bank and a new structure with different sub-bands. This method provides a reduced permutation and increased convergence speed comparing to the full-band algorithm. Recently, some structures have been suggested to deal with two problems: reducing permutation and increasing the speed of convergence of the adaptive algorithm for correlated input signals. The permutation problem is avoided with the use of adaptive filters of orders less than the full-band adaptive filter, which operate at a sampling rate lower than the sampling rate of the input signal. The decomposed signals by analysis bank filter are less correlated in each sub-band than the input signal at full-band, and can promote better rates of convergence.
Keywords: Blind source separation (BSS), estimates, full-band, mixtures, Sub-band.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 17802602 Virtual Conciliation in Colombia: Evaluation of Maturity Level within the Framework of E-Government
Authors: Jenny Paola Forero Pachón, Sonia Cristina Gamboa Sarmiento, Luis Carlos Gómez Flórez
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The Colombian government has defined an e-government strategy to take advantage of Information Technologies (IT) in order to contribute to the building of a more efficient, transparent and participative State that provides better services to citizens and businesses. In this regard, the Justice sector is one of the government sectors where IT has generated more expectation considering that the country has a judicial processes backlog. This situation has led to the search for alternative forms of access to justice that speed up the process while providing a low cost for citizens. To this end, the Colombian government has authorized the use of Alternative Dispute Resolution methods (ADR), a remedy where disputes can be resolved more quickly compared to judicial processes while facilitating greater communication between the parties, without recourse to judicial authority. One of these methods is conciliation, which includes a special modality that takes advantage of IT for the development of itself known as virtual conciliation. With this option the conciliation is supported by information systems, applications or platforms and communications are provided through it. This paper evaluates the level of maturity in how the service of virtual conciliation is under the framework of this strategy. This evaluation is carried out considering Shahkooh's 5-phase model for e-government. As a result, it is evident that in the context of conciliation, maturity does not reach the necessary level in the model so that it can be considered as virtual conciliation; therefore, it is necessary to define strategies to maximize the potential of IT in this context.
Keywords: Alternative dispute resolution, e-government, evaluation of maturity, Shahkooh model, virtual conciliation.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 9482601 Self-Sensing versus Reference Air Gaps
Authors: Alexander Schulz, Ingrid Rottensteiner, Manfred Neumann, Michael Wehse, Johann Wassermann
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Self-sensing estimates the air gap within an electro magnetic path by analyzing the bearing coil current and/or voltage waveform. The self-sensing concept presented in this paper has been developed within the research project “Active Magnetic Bearings with Supreme Reliability" and is used for position sensor fault detection. Within this new concept gap calculation is carried out by an alldigital analysis of the digitized coil current and voltage waveform. For analysis those time periods within the PWM period are used, which give the best results. Additionally, the concept allows the digital compensation of nonlinearities, for example magnetic saturation, without degrading signal quality. This increases the accuracy and robustness of the air gap estimation and additionally reduces phase delays. Beneath an overview about the developed concept first measurement results are presented which show the potential of this all-digital self-sensing concept.Keywords: digital signal analysis, active magnetic bearing, reliability, fault detection.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 14682600 EZW Coding System with Artificial Neural Networks
Authors: Saudagar Abdul Khader Jilani, Syed Abdul Sattar
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Image compression plays a vital role in today-s communication. The limitation in allocated bandwidth leads to slower communication. To exchange the rate of transmission in the limited bandwidth the Image data must be compressed before transmission. Basically there are two types of compressions, 1) LOSSY compression and 2) LOSSLESS compression. Lossy compression though gives more compression compared to lossless compression; the accuracy in retrievation is less in case of lossy compression as compared to lossless compression. JPEG, JPEG2000 image compression system follows huffman coding for image compression. JPEG 2000 coding system use wavelet transform, which decompose the image into different levels, where the coefficient in each sub band are uncorrelated from coefficient of other sub bands. Embedded Zero tree wavelet (EZW) coding exploits the multi-resolution properties of the wavelet transform to give a computationally simple algorithm with better performance compared to existing wavelet transforms. For further improvement of compression applications other coding methods were recently been suggested. An ANN base approach is one such method. Artificial Neural Network has been applied to many problems in image processing and has demonstrated their superiority over classical methods when dealing with noisy or incomplete data for image compression applications. The performance analysis of different images is proposed with an analysis of EZW coding system with Error Backpropagation algorithm. The implementation and analysis shows approximately 30% more accuracy in retrieved image compare to the existing EZW coding system.Keywords: Accuracy, Compression, EZW, JPEG2000, Performance.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 19342599 Wasteless Solid-Phase Method for Conversion of Iron Ores Contaminated with Silicon and Phosphorus Compounds
Authors: А. V. Panko, Е. V. Ablets, I. G. Kovzun, М. А. Ilyashov
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Based upon generalized analysis of modern know-how in the sphere of processing, concentration and purification of iron-ore raw materials (IORM), in particular, the most widespread ferrioxide-silicate materials (FOSM), containing impurities of phosphorus and other elements compounds, noted special role of nanotechnological initiatives in improvement of such processes. Considered ideas of role of nanoparticles in processes of FOSM carbonization with subsequent direct reduction of ferric oxides contained in them to metal phase, as well as in processes of alkali treatment and separation of powered iron from phosphorus compounds. Using the obtained results the wasteless method of solid-phase processing, concentration and purification of IORM and FOSM from compounds of phosphorus, silicon and other impurities was developed and it excels known methods of direct iron reduction from iron ores and metallurgical slimes.
Keywords: Iron ores, solid-phase reduction, nanoparticles in reduction and purification of iron from silicon and phosphorus, wasteless method of ores processing.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 17962598 Numerical Evaluation of Shear Strength for Cold-Formed Steel Shear Wall Panel
Authors: Rouaz Idriss, Bourahla Nour-Eddine, Kahlouche Farah, Rafa Sid Ali
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The stability of structures made of light-gauge steel depends highly on the contribution of Shear Wall Panel (SWP) systems under horizontal forces due to wind or earthquake loads. Steel plate sheathing is often used with these panels made of cold formed steel (CFS) to improve its shear strength. In order to predict the shear strength resistance, two methods are presented in this paper. In the first method, the steel plate sheathing is modeled with plats strip taking into account only the tension and compression force due to the horizontal load, where both track and stud are modeled according to the geometrical and mechanical characteristics of the specimen used in the experiments. The theoretical background and empirical formulations of this method are presented in this paper. However, the second method is based on a micro modeling of the cold formed steel Shear Wall Panel “CFS-SWP” using Abaqus software. A nonlinear analysis was carried out with an in-plan monotonic load. Finally, the comparison between these two methods shows that the micro modeling with Abaqus gives better prediction of shear resistance of SWP than strips method. However, the latter is easier and less time consuming than the micro modeling method.Keywords: Cold Formed Steel Shear Wall Panel, CFS-SWP, micro modeling, nonlinear analysis, strip method.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 15262597 Detection of Ultrasonic Images in the Presence of a Random Number of Scatterers: A Statistical Learning Approach
Authors: J. P. Dubois, O. M. Abdul-Latif
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Support Vector Machine (SVM) is a statistical learning tool that was initially developed by Vapnik in 1979 and later developed to a more complex concept of structural risk minimization (SRM). SVM is playing an increasing role in applications to detection problems in various engineering problems, notably in statistical signal processing, pattern recognition, image analysis, and communication systems. In this paper, SVM was applied to the detection of medical ultrasound images in the presence of partially developed speckle noise. The simulation was done for single look and multi-look speckle models to give a complete overlook and insight to the new proposed model of the SVM-based detector. The structure of the SVM was derived and applied to clinical ultrasound images and its performance in terms of the mean square error (MSE) metric was calculated. We showed that the SVM-detected ultrasound images have a very low MSE and are of good quality. The quality of the processed speckled images improved for the multi-look model. Furthermore, the contrast of the SVM detected images was higher than that of the original non-noisy images, indicating that the SVM approach increased the distance between the pixel reflectivity levels (detection hypotheses) in the original images.
Keywords: LS-SVM, medical ultrasound imaging, partially developed speckle, multi-look model.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 13422596 SVM-Based Detection of SAR Images in Partially Developed Speckle Noise
Authors: J. P. Dubois, O. M. Abdul-Latif
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Support Vector Machine (SVM) is a statistical learning tool that was initially developed by Vapnik in 1979 and later developed to a more complex concept of structural risk minimization (SRM). SVM is playing an increasing role in applications to detection problems in various engineering problems, notably in statistical signal processing, pattern recognition, image analysis, and communication systems. In this paper, SVM was applied to the detection of SAR (synthetic aperture radar) images in the presence of partially developed speckle noise. The simulation was done for single look and multi-look speckle models to give a complete overlook and insight to the new proposed model of the SVM-based detector. The structure of the SVM was derived and applied to real SAR images and its performance in terms of the mean square error (MSE) metric was calculated. We showed that the SVM-detected SAR images have a very low MSE and are of good quality. The quality of the processed speckled images improved for the multi-look model. Furthermore, the contrast of the SVM detected images was higher than that of the original non-noisy images, indicating that the SVM approach increased the distance between the pixel reflectivity levels (the detection hypotheses) in the original images.Keywords: Least Square-Support Vector Machine, SyntheticAperture Radar. Partially Developed Speckle, Multi-Look Model.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 15372595 A DNA-Based Nanobiosensor for the Rapid Detection of the Dengue Virus in Mosquito
Authors: Lilia M. Fernando, Matthew K. Vasher, Evangelyn C. Alocilja
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This paper describes the development of a DNA-based nanobiosensor to detect the dengue virus in mosquito using electrically active magnetic (EAM) nanoparticles as concentrator and electrochemical transducer. The biosensor detection encompasses two sets of oligonucleotide probes that are specific to the dengue virus: the detector probe labeled with the EAM nanoparticles and the biotinylated capture probe. The DNA targets are double hybridized to the detector and the capture probes and concentrated from nonspecific DNA fragments by applying a magnetic field. Subsequently, the DNA sandwiched targets (EAM-detector probe– DNA target–capture probe-biotin) are captured on streptavidin modified screen printed carbon electrodes through the biotinylated capture probes. Detection is achieved electrochemically by measuring the oxidation–reduction signal of the EAM nanoparticles. Results indicate that the biosensor is able to detect the redox signal of the EAM nanoparticles at dengue DNA concentrations as low as 10 ng/μl.Keywords: Dengue, magnetic nanoparticles, mosquito, nanobiosensor.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 28612594 Building Gabor Filters from Retinal Responses
Authors: Johannes Partzsch, Christian Mayr, Rene Schuffny
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Starting from a biologically inspired framework, Gabor filters were built up from retinal filters via LMSE algorithms. Asubset of retinal filter kernels was chosen to form a particular Gabor filter by using a weighted sum. One-dimensional optimization approaches were shown to be inappropriate for the problem. All model parameters were fixed with biological or image processing constraints. Detailed analysis of the optimization procedure led to the introduction of a minimization constraint. Finally, quantization of weighting factors was investigated. This resulted in an optimized cascaded structure of a Gabor filter bank implementation with lower computational cost.
Keywords: Gabor filter, image processing, optimization
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 23982593 Tool Condition Monitoring of Ceramic Inserted Tools in High Speed Machining through Image Processing
Authors: Javier A. Dominguez Caballero, Graeme A. Manson, Matthew B. Marshall
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Cutting tools with ceramic inserts are often used in the process of machining many types of superalloy, mainly due to their high strength and thermal resistance. Nevertheless, during the cutting process, the plastic flow wear generated in these inserts enhances and propagates cracks due to high temperature and high mechanical stress. This leads to a very variable failure of the cutting tool. This article explores the relationship between the continuous wear that ceramic SiAlON (solid solutions based on the Si3N4 structure) inserts experience during a high-speed machining process and the evolution of sparks created during the same process. These sparks were analysed through pictures of the cutting process recorded using an SLR camera. Features relating to the intensity and area of the cutting sparks were extracted from the individual pictures using image processing techniques. These features were then related to the ceramic insert’s crater wear area.Keywords: Ceramic cutting tools, high speed machining, image processing, tool condition monitoring, tool wear.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 21892592 Improved Rake Receiver Based On the Signal Sign Separation in Maximal Ratio Combining Technique for Ultra-Wideband Wireless Communication Systems
Authors: Rashid A. Fayadh, F. Malek, Hilal A. Fadhil, Norshafinash Saudin
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At receiving high data rate in ultra wideband (UWB) technology for many users, there are multiple user interference and inter-symbol interference as obstacles in the multi-path reception technique. Since the rake receivers were designed to collect many resolvable paths, even more than hundred of paths. Rake receiver implementation structures have been proposed towards increasing the complexity for getting better performances in indoor or outdoor multi-path receivers by reducing the bit error rate (BER). So several rake structures were proposed in the past to reduce the number of combining and estimating of resolvable paths. To this aim, we suggested two improved rake receivers based on signal sign separation in the maximal ratio combiner (MRC), called positive-negative MRC selective rake (P-N/MRC-S-rake) and positive-negative MRC partial rake (P-N/MRC-S-rake) receivers. These receivers were introduced to reduce the complexity with less number of fingers and improving the performance with low BER. Before decision circuit, there is a comparator to compare between positive quantity and negative quantity to decide whether the transmitted bit is 1 or 0. The BER was driven by MATLAB simulation with multi-path environments for impulse radio time-hopping binary phase shift keying (TH-BPSK) modulation and the results were compared with those of conventional rake receivers.
Keywords: Selective and partial rake receivers, positive and negative signal separation, maximal ratio combiner, bit error rate performance.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 19022591 Speaker Identification by Joint Statistical Characterization in the Log Gabor Wavelet Domain
Authors: Suman Senapati, Goutam Saha
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Real world Speaker Identification (SI) application differs from ideal or laboratory conditions causing perturbations that leads to a mismatch between the training and testing environment and degrade the performance drastically. Many strategies have been adopted to cope with acoustical degradation; wavelet based Bayesian marginal model is one of them. But Bayesian marginal models cannot model the inter-scale statistical dependencies of different wavelet scales. Simple nonlinear estimators for wavelet based denoising assume that the wavelet coefficients in different scales are independent in nature. However wavelet coefficients have significant inter-scale dependency. This paper enhances this inter-scale dependency property by a Circularly Symmetric Probability Density Function (CS-PDF) related to the family of Spherically Invariant Random Processes (SIRPs) in Log Gabor Wavelet (LGW) domain and corresponding joint shrinkage estimator is derived by Maximum a Posteriori (MAP) estimator. A framework is proposed based on these to denoise speech signal for automatic speaker identification problems. The robustness of the proposed framework is tested for Text Independent Speaker Identification application on 100 speakers of POLYCOST and 100 speakers of YOHO speech database in three different noise environments. Experimental results show that the proposed estimator yields a higher improvement in identification accuracy compared to other estimators on popular Gaussian Mixture Model (GMM) based speaker model and Mel-Frequency Cepstral Coefficient (MFCC) features.Keywords: Speaker Identification, Log Gabor Wavelet, Bayesian Bivariate Estimator, Circularly Symmetric Probability Density Function, SIRP.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 16512590 New Efficient Method for Coding Color Images
Authors: Walaa M.Abd-Elhafiez, Wajeb Gharibi
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In this paper a novel color image compression technique for efficient storage and delivery of data is proposed. The proposed compression technique started by RGB to YCbCr color transformation process. Secondly, the canny edge detection method is used to classify the blocks into the edge and non-edge blocks. Each color component Y, Cb, and Cr compressed by discrete cosine transform (DCT) process, quantizing and coding step by step using adaptive arithmetic coding. Our technique is concerned with the compression ratio, bits per pixel and peak signal to noise ratio, and produce better results than JPEG and more recent published schemes (like CBDCT-CABS and MHC). The provided experimental results illustrate the proposed technique that is efficient and feasible in terms of compression ratio, bits per pixel and peak signal to noise ratio.
Keywords: Image compression, color image, Q-coder, quantization, edge-detection.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 16712589 A 2D-3D Hybrid Vision System for Robotic Manipulation of Randomly Oriented Objects
Authors: Moulay A. Akhloufi
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This paper presents an new vision technique for robotic manipulation of randomly oriented objects in industrial applications. The proposed approach uses 2D and 3D vision for efficiently extracting the 3D pose of an object in the presence of multiple randomly positioned objects. 2D vision permits to quickly select the objects of interest for 3D processing with a new modified ICP algorithm (FaR-ICP), thus reducing significantly the processing time. The extracted 3D pose is then sent to the robot manipulator for picking. The tests show that the proposed system achieves high performancesKeywords: 3D vision, Hand-Eye calibration, robot visual servoing, random bin picking.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 18142588 Statistical Modeling of Mobile Fading Channels Based on Triply Stochastic Filtered Marked Poisson Point Processes
Authors: Jihad S. Daba, J. P. Dubois
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Understanding the statistics of non-isotropic scattering multipath channels that fade randomly with respect to time, frequency, and space in a mobile environment is very crucial for the accurate detection of received signals in wireless and cellular communication systems. In this paper, we derive stochastic models for the probability density function (PDF) of the shift in the carrier frequency caused by the Doppler Effect on the received illuminating signal in the presence of a dominant line of sight. Our derivation is based on a generalized Clarke’s and a two-wave partially developed scattering models, where the statistical distribution of the frequency shift is shown to be consistent with the power spectral density of the Doppler shifted signal.
Keywords: Doppler shift, filtered Poisson process, generalized Clark’s model, non-isotropic scattering, partially developed scattering, Rician distribution.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 8332587 Analysis of a Self-Acting Air Journal Bearing: Effect of Dynamic Deformation of Bump Foil
Authors: H. Bensouilah, H. Boucherit, M. Lahmar
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A theoretical investigation on the effects of both steady-state and dynamic deformations of the foils on the dynamic performance characteristics of a self-acting air foil journal bearing operating under small harmonic vibrations is proposed. To take into account the dynamic deformations of foils, the perturbation method is used for determining the gas-film stiffness and damping coefficients for given values of excitation frequency, compressibility number, and compliance factor of the bump foil. The nonlinear stationary Reynolds’ equation is solved by means of the Galerkins’ finite element formulation while the finite differences method are used to solve the first order complex dynamic equations resulting from the perturbation of the nonlinear transient compressible Reynolds’ equation. The stiffness of a bump is uniformly distributed throughout the bearing surface (generation I bearing). It was found that the dynamic properties of the compliant finite length journal bearing are significantly affected by the compliance of foils especially whenthe dynamic deformation of foils is considered in addition to the static one by applying the principle of superposition.
Keywords: Elasto-aerodynamic lubrication, Air foil bearing, Steady-state deformation, Dynamic deformation, Stiffness and damping coefficients, Perturbation method, Fluid-structure interaction, Galerk infinite element method, Finite difference method.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 27572586 Nonlinear Modeling and Analysis of AAC infilled Sandwich Panels for out of Plane Loads
Authors: Al-Kashif M., Abdel-Mooty M., Fahmy E., Abou Zeid M., Haroun M.
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Sandwich panels are widely used in the construction industry for their ease of assembly, light weight and efficient thermal performance. They are composed of two RC thin outer layers separated by an insulating inner layer. In this research the inner insulating layer is made of lightweight Autoclaved Aerated Concrete (AAC) blocks which has good thermal insulation properties and yet possess reasonable mechanical strength. The shear strength of the AAC infill is relied upon to replace the traditionally used insulating foam and to provide the shear capacity of the panel. A comprehensive experimental program was conducted on full scale sandwich panels subjected to bending. In this paper, detailed numerical modeling of the tested sandwich panels is reported. Nonlinear 3-D finite element modeling of the composite action of the sandwich panel is developed using ANSYS. Solid elements with different crashing and cracking capabilities and different constitutive laws were selected for the concrete and the AAC. Contact interface elements are used in this research to adequately model the shear transfer at the interface between the different layers. The numerical results showed good correlation with the experimental ones indicating the adequacy of the model in estimating the loading capacity of panels.Keywords: Autoclaved Aerated Concrete, Concrete Sandwich Panels, Finite Element Modeling.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 30792585 Millimeter Wave I/Q Generation with the Inductive Resonator Matched Poly-Phase Filter
Authors: Ki-Jin Kim, Sanghoon Park, K. H. Ahn
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A way of generating millimeter wave I/Q signal using inductive resonator matched poly-phase filter is suggested. Normally the poly-phase filter generates quite accurate I/Q phase and magnitude but the loss of the filter is considerable due to series connection of passive RC components. This loss term directly increases system noise figure when the poly-phase filter is used in RF Front-end. The proposed matching method eliminates above mentioned loss and in addition provides gain on the passive filter. The working algorithm is illustrated by mathematical analysis. The generated I/Q signal is used in implementing millimeter wave phase shifter for the 60 GHz communication system to verify its effectiveness. The circuit is fabricated in 90 nm TSMC RF CMOS process under 1.2 V supply voltage. The measurement results showed that the suggested method improved gain by 6.5 dB and noise by 2.3 dB. The summary of the proposed I/Q generation is compared with previous works.
Keywords: Millimeter Wave Circuits, Local Distribution, I/Q Generator.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 20102584 Automotive 3-Microphone Noise Canceller in a Frequently Moving Noise Source Environment
Authors: Z. Qi, T. J. Moir
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A combined three-microphone voice activity detector (VAD) and noise-canceling system is studied to enhance speech recognition in an automobile environment. A previous experiment clearly shows the ability of the composite system to cancel a single noise source outside of a defined zone. This paper investigates the performance of the composite system when there are frequently moving noise sources (noise sources are coming from different locations but are not always presented at the same time) e.g. there is other passenger speech or speech from a radio when a desired speech is presented. To work in a frequently moving noise sources environment, whilst a three-microphone voice activity detector (VAD) detects voice from a “VAD valid zone", the 3-microphone noise canceller uses a “noise canceller valid zone" defined in freespace around the users head. Therefore, a desired voice should be in the intersection of the noise canceller valid zone and VAD valid zone. Thus all noise is suppressed outside this intersection of area. Experiments are shown for a real environment e.g. all results were recorded in a car by omni-directional electret condenser microphones.
Keywords: Signal processing, voice activity detection, noise canceller, microphone array beam forming.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 16122583 General Purpose Graphic Processing Units Based Real Time Video Tracking System
Authors: Mallikarjuna Rao Gundavarapu, Ch. Mallikarjuna Rao, K. Anuradha Bai
Abstract:
Real Time Video Tracking is a challenging task for computing professionals. The performance of video tracking techniques is greatly affected by background detection and elimination process. Local regions of the image frame contain vital information of background and foreground. However, pixel-level processing of local regions consumes a good amount of computational time and memory space by traditional approaches. In our approach we have explored the concurrent computational ability of General Purpose Graphic Processing Units (GPGPU) to address this problem. The Gaussian Mixture Model (GMM) with adaptive weighted kernels is used for detecting the background. The weights of the kernel are influenced by local regions and are updated by inter-frame variations of these corresponding regions. The proposed system has been tested with GPU devices such as GeForce GTX 280, GeForce GTX 280 and Quadro K2000. The results are encouraging with maximum speed up 10X compared to sequential approach.
Keywords: Connected components, Embrace threads, Local weighted kernel, Structuring element.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 11722582 Improving Digital Image Edge Detection by Fuzzy Systems
Authors: Begol, Moslem, Maghooli, Keivan
Abstract:
Image Edge Detection is one of the most important parts of image processing. In this paper, by fuzzy technique, a new method is used to improve digital image edge detection. In this method, a 3x3 mask is employed to process each pixel by means of vicinity. Each pixel is considered a fuzzy input and by examining fuzzy rules in its vicinity, the edge pixel is specified and by utilizing calculation algorithms in image processing, edges are displayed more clearly. This method shows significant improvement compared to different edge detection methods (e.g. Sobel, Canny).Keywords: Fuzzy Systems, Edge Detection, Fuzzy edgedetection
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 20872581 Manufacture of Electroless Nickel/YSZ Composite Coatings
Authors: N. Bahiyah Baba, W. Waugh, A.M. Davidson
Abstract:
The paper discusses optimising work on a method of processing ceramic / metal composite coatings for various applications and is based on preliminary work on processing anodes for solid oxide fuel cells (SOFCs). The composite coating is manufactured by the electroless co-deposition of nickel and yttria stabilised zirconia (YSZ) simultaneously on to a ceramic substrate. The effect on coating characteristics of substrate surface treatments and electroless nickel bath parameters such as pH and agitation methods are also investigated. Characterisation of the resulting deposit by scanning electron microscopy (SEM) and energy dispersive X-ray analysis (EDXA) is also discussed.
Keywords: Electroless deposition, nickel, YSZ, composite
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2569