Search results for: Computer supported collaboration
Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 2001

Search results for: Computer supported collaboration

681 Biogas Control: Methane Production Monitoring Using Arduino

Authors: W. Ait Ahmed, M. Aggour, M. Naciri

Abstract:

Extracting energy from biomass is an important alternative to produce different types of energy (heat, electricity, or both) assuring low pollution and better efficiency. It is a new yet reliable approach to reduce green gas emission by extracting methane from industry effluents and use it to power machinery. We focused in our project on using paper and mill effluents, treated in a UASB reactor. The methane produced is used in the factory’s power supply. The aim of this work is to develop an electronic system using Arduino platform connected to a gas sensor, to measure and display the curve of daily methane production on processing. The sensor will send the gas values in ppm to the Arduino board so that the later sends the RS232 hardware protocol. The code developed with processing will transform the values into a curve and display it on the computer screen.

Keywords: Biogas, Arduino, processing, code, methane, gas sensor, program.

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680 Behavioral Experiments of Small Societies in Social Media: Facebook Expressions of Anchored Relationships

Authors: Nuran Öze

Abstract:

Communities and societies have been changing towards computer mediated communication. This paper explores online and offline identities and how relationships are formed and negotiated within internet environments which offer opportunities for people who know each other offline and move into relationships online. The expectations and norms of behavior within everyday life cause people to be embodied self. According to the age categories of Turkish Cypriots, their measurements of attitudes in Facebook will be investigated. Face-to-face field research and semi-structured interview methods are used in the study. Face-to-face interview has been done with Turkish Cypriots who are using Facebook already. According to the study, in constructing a linkage between real and virtual identities mostly affected from societal relations serves as a societal grooming tool for Turkish Cypriots.

Keywords: Facebook, identity, social media, virtual reality.

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679 Effect of Hybrid Learning in Higher Education

Authors: A. Meydanlioglu, F. Arikan

Abstract:

In recent years, thanks to the development of information and communication technologies, the computer and internet have been used widely in higher education. Internet-based education is impacting traditional higher education as online components increasingly become integrated into face- to- face (FTF) courses. The goal of combined internet-based and traditional education is to take full advantage of the benefits of each platform in order to provide an educational opportunity that can promote student learning better than can either platform alone. Research results show that the use of hybrid learning is more effective than online or FTF models in higher education. Due to the potential benefits, an increasing number of institutions are interested in developing hybrid courses, programs, and degrees. Future research should evaluate the effectiveness of hybrid learning. This paper is designed to determine the impact of hybrid learning on higher education.

Keywords: E-learning, higher education, hybrid learning, online education.

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678 About Methods of Additional Mining Pressure Figuring while Reconstruction of Tunnels

Authors: M. Moistsrapishvili, I. Ugrekhelidze, T. Baramashvili, D. Malaghuradze

Abstract:

At the end of the 20th century it was actual the development of transport corridors and the improvement of their technical parameters. With this purpose, many countries and Georgia among them manufacture to construct new highways, railways and also reconstruction-modernization of the existing transport infrastructure. It is necessary to explore the artificial structures (bridges and tunnels) on the existing tracks as they are very old. Conference report includes the peculiarities of reconstruction of tunnels, because we think that this theme is important for the modernization of the existing road infrastructure. We must remark that the methods of determining mining pressure of tunnel reconstructions are worked out according to the jobs of new tunnels but it is necessary to foresee additional mining pressure which will be formed during their reconstruction. In this report there are given the methods of figuring the additional mining pressure while reconstruction of tunnels, there was worked out the computer program, it is determined that during reconstruction of tunnels the additional mining pressure is 1/3rd of main mining pressure.

Keywords: Mining pressure, Reconstruction of tunnels.

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677 A Programmer’s Survey of the Quantum Computing Paradigm

Authors: Philippe Jorrand

Abstract:

Research in quantum computation is looking for the consequences of having information encoding, processing and communication exploit the laws of quantum physics, i.e. the laws which govern the ultimate knowledge that we have, today, of the foreign world of elementary particles, as described by quantum mechanics. This paper starts with a short survey of the principles which underlie quantum computing, and of some of the major breakthroughs brought by the first ten to fifteen years of research in this domain; quantum algorithms and quantum teleportation are very biefly presented. The next sections are devoted to one among the many directions of current research in the quantum computation paradigm, namely quantum programming languages and their semantics. A few other hot topics and open problems in quantum information processing and communication are mentionned in few words in the concluding remarks, the most difficult of them being the physical implementation of a quantum computer. The interested reader will find a list of useful references at the end of the paper.

Keywords: Quantum information processing, quantum algorithms, quantum programming languages.

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676 Usability Issues of Smart Phone Applications: For Visually Challenged People

Authors: Anam Ashraf, Arif Raza

Abstract:

In this era of globalization, adoption of technology is quite difficult for people with physical disabilities compared to people with normal abilities. The advancement in mobile based accessible applications have opened up several different avenues for the visually challenged across the globe. Smartphones applications are not very common for blind people, but they access and use these applications in their daily lives to some extent. Several smartphone applications have a number of usability issues for the visually impaired. In this paper, we evaluate the usability of various android & iPhone applications for blind people through analysis and surveys. This paper aspires to provide guidance in order to increase smartphone application accessibility for the visually impaired. An abstract application design is also proposed to overcome usability issues in smartphone applications for visually challenged people.

Keywords: Eyes-free shell, human computer interaction, usability engineering, visually challenged.

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675 Role-based Access Control Model in Home Network Environments

Authors: Do-Woo Kim, Geon Woo Kim, Jun-Ho Lee, Jong-Wook Han

Abstract:

The home in these days has not one computer connected to the Internet but rather a network of many devices within the home, and that network might be connected to the Internet. In such an environment, the potential for attacks is greatly increased. The general security technology can not apply because of the use of various wired and wireless network, middleware and protocol in digital home environment and a restricted system resource of home information appliances. To offer secure home services home network environments have need of access control for various home devices and information when users want to access. Therefore home network access control for user authorization is a very important issue. In this paper we propose access control model using RBAC in home network environments to provide home users with secure home services.

Keywords: Home network, access control, RBAC, security.

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674 Deep Learning and Virtual Environment

Authors: Danielle Morin, Jennifer D.E.Thomas, Raafat G. Saade

Abstract:

While computers are known to facilitate lower levels of learning, such as rote memorization of facts, measurable through electronically administered and graded multiple-choice questions, yes/no, and true/false answers, the imparting and measurement of higher-level cognitive skills is more vexing. These require more open-ended delivery and answers, and may be more problematic in an entirely virtual environment, notwithstanding the advances in technologies such as wikis, blogs, discussion boards, etc. As with the integration of all technology, merit is based more on the instructional design of the course than on the technology employed in, and of, itself. With this in mind, this study examined the perceptions of online students in an introductory Computer Information Systems course regarding the fostering of various higher-order thinking and team-building skills as a result of the activities, resources and technologies (ART) used in the course.

Keywords: Critical thinking, deep learning, distance learning, elearning, online learning, virtual environments.

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673 Simulation of the Airflow Characteristic inside a Hard Disk Drive by Applying a Computational Fluid Dynamics Software

Authors: Chanchal Saha, Huynh Trung Luong, M. H. Aziz, Tharinan Rattanalert

Abstract:

Now-a-days, numbers of simulation software are being used all over the world to solve Computational Fluid Dynamics (CFD) related problems. In this present study, a commercial CFD simulation software namely STAR-CCM+ is applied to analyze the airflow characteristics inside a 2.5" hard disk drive. Each step of the software is described adequately to obtain the output and the data are verified with the theories to justify the robustness of the simulation outcome. This study gives an insight about the accuracy level of the CFD simulation software to compute CFD related problems although it largely depends upon the computer speed. Also this study will open avenues for further research.

Keywords: Computational fluid dynamics, Hard disk drive, Meshing, Recirculation filter, and Filter physics parameter.

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672 Defining of the Shape of the Spine Using Moiré Method in Case of Patients with Scheuermann Disease

Authors: Petra Balla, Gabor Manhertz, Akos Antal

Abstract:

Nowadays spinal deformities are very frequent problems among teenagers. Scheuermann disease is a one dimensional deformity of the spine, but it has prevalence over 11% of the children. A traditional technology, the moiré method was used by us for screening and diagnosing this type of spinal deformity. A LabVIEW program has been developed to evaluate the moiré pictures of patients with Scheuermann disease. Two different solutions were tested in this computer program, the extreme and the inflexion point calculation methods. Effects using these methods were compared and according to the results both solutions seemed to be appropriate. Statistical results showed better efficiency in case of the extreme search method where the average difference was only 6,09⁰.

Keywords: Spinal deformity, picture evaluation, moiré method, Scheuermann disease, curve detection, moiré topography.

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671 Virtual Mechanical Engineering Education – A Case Study

Authors: S. H. R. Lo

Abstract:

Virtual engineering technology has undergone rapid progress in recent years and is being adopted increasingly by manufacturing companies of many engineering disciplines. There is an increasing demand from industry for qualified virtual engineers. The qualified virtual engineers should have the ability of applying engineering principles and mechanical design methods within the commercial software package environment. It is a challenge to the engineering education in universities which traditionally tends to lack the integration of knowledge and skills required for solving real world problems. In this paper, a case study shows some recent development of a MSc Mechanical Engineering course at Department of Engineering and Technology in MMU, and in particular, two units Simulation of Mechanical Systems(SMS) and Computer Aided Fatigue Analysis(CAFA) that emphasize virtual engineering education and promote integration of knowledge acquisition, skill training and industrial application.

Keywords: Computational modelling and simulation, mechanical engineering education.

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670 A Logic Based Framework for Planning for Mobile Agents

Authors: Rajdeep Niyogi

Abstract:

The objective of the paper is twofold. First, to develop a formal framework for planning for mobile agents. A logical language based on a temporal logic is proposed that can express a type of tasks which often arise in network management. Second, to design a planning algorithm for such tasks. The aim of this paper is to study the importance of finding plans for mobile agents. Although there has been a lot of research in mobile agents, not much work has been done to incorporate planning ideas for such agents. This paper makes an attempt in this direction. A theoretical study of finding plans for mobile agents is undertaken. A planning algorithm (based on the paradigm of mobile computing) is proposed and its space, time, and communication complexity is analyzed. The algorithm is illustrated by working out an example in detail.

Keywords: Acting, computer network, mobile agent, mobile computing, planning, temporal logic.

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669 FAT based Adaptive Impedance Control for Unknown Environment Position

Authors: N. Z. Azlan, H. Yamaura

Abstract:

This paper presents the Function Approximation Technique (FAT) based adaptive impedance control for a robotic finger. The force based impedance control is developed so that the robotic finger tracks the desired force while following the reference position trajectory, under unknown environment position and uncertainties in finger parameters. The control strategy is divided into two phases, which are the free and contact phases. Force error feedback is utilized in updating the uncertain environment position during contact phase. Computer simulations results are presented to demonstrate the effectiveness of the proposed technique.

Keywords: Adaptive impedance control, force based impedance control, force control, Function Approximation Technique (FAT), unknown environment position.

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668 Performance Comparison of Parallel Sorting Algorithms on the Cluster of Workstations

Authors: Lai Lai Win Kyi, Nay Min Tun

Abstract:

Sorting appears the most attention among all computational tasks over the past years because sorted data is at the heart of many computations. Sorting is of additional importance to parallel computing because of its close relation to the task of routing data among processes, which is an essential part of many parallel algorithms. Many parallel sorting algorithms have been investigated for a variety of parallel computer architectures. In this paper, three parallel sorting algorithms have been implemented and compared in terms of their overall execution time. The algorithms implemented are the odd-even transposition sort, parallel merge sort and parallel rank sort. Cluster of Workstations or Windows Compute Cluster has been used to compare the algorithms implemented. The C# programming language is used to develop the sorting algorithms. The MPI (Message Passing Interface) library has been selected to establish the communication and synchronization between processors. The time complexity for each parallel sorting algorithm will also be mentioned and analyzed.

Keywords: Cluster of Workstations, Parallel sorting algorithms, performance analysis, parallel computing and MPI.

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667 Obstacle and Collision Avoidance Control Laws of a Swarm of Boids

Authors: Bibhya Sharma, Jito Vanualailai, Jai Raj

Abstract:

This paper proposes a new obstacle and collision avoidance control laws for a three-dimensional swarm of boids. The swarm exhibit collective emergent behaviors whilst avoiding the obstacles in the workspace. While flocking, animals group up in order to do various tasks and even a greater chance of evading predators. A generalized algorithms for attraction to the centroid, inter-individual swarm avoidance and obstacle avoidance is designed in this paper. We present a set of new continuous time-invariant velocity control laws is presented which is formulated via the Lyapunov-based control scheme. The control laws proposed in this paper also ensures practical stability of the system. The effectiveness of the proposed control laws is demonstrated via computer simulations

 

Keywords: Lyapunov-based Control Scheme, Motion planning, Practical stability, Swarm.

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666 Useful Lifetime Prediction of Chevron Rubber Spring for Railway Vehicle

Authors: Chang Su Woo, Hyun Sung Park

Abstract:

Useful lifetime evaluation of chevron rubber spring was very important in design procedure to assure the safety and reliability. It is, therefore, necessary to establish a suitable criterion for the replacement period of chevron rubber spring. In this study, we performed characteristic analysis and useful lifetime prediction of chevron rubber spring. Rubber material coefficient was obtained by curve fittings of uniaxial tension equibiaxial tension and pure shear test. Computer simulation was executed to predict and evaluate the load capacity and stiffness for chevron rubber spring. In order to useful lifetime prediction of rubber material, we carried out the compression set with heat aging test in an oven at the temperature ranging from 50°C to 100°C during a period 180 days. By using the Arrhenius plot, several useful lifetime prediction equations for rubber material was proposed.

Keywords: Chevron rubber spring, material coefficient, finite element analysis, useful lifetime prediction.

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665 Vibration Analysis of the Gas Turbine Considering Dependency of Stiffness and Damping on Frequency

Authors: Hamed Jamshidi, Pooya Djamshidi

Abstract:

In this paper the complete rotor system including elastic shaft with distributed mass, allowing for the effects of oil film in bearings. Also, flexibility of foundation is modeled. As a whole this article is a relatively complete research in modeling and vibration analysis of rotor considering gyroscopic effect, damping, dependency of stiffness and damping coefficients on frequency and solving the vibration equations including these parameters. On the basis of finite element method and utilizing four element types including element of shaft, disk, bearing and foundation and using MATLAB, a computer program is written. So the responses in several cases and considering different effects are obtained. Then the results are compared with each other, with exact solutions and results of other papers.

Keywords: Damping coefficients , Finite element method, Modeling , Rotor vibration

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664 An Efficient Obstacle Detection Algorithm Using Colour and Texture

Authors: Chau Nguyen Viet, Ian Marshall

Abstract:

This paper presents a new classification algorithm using colour and texture for obstacle detection. Colour information is computationally cheap to learn and process. However in many cases, colour alone does not provide enough information for classification. Texture information can improve classification performance but usually comes at an expensive cost. Our algorithm uses both colour and texture features but texture is only needed when colour is unreliable. During the training stage, texture features are learned specifically to improve the performance of a colour classifier. The algorithm learns a set of simple texture features and only the most effective features are used in the classification stage. Therefore our algorithm has a very good classification rate while is still fast enough to run on a limited computer platform. The proposed algorithm was tested with a challenging outdoor image set. Test result shows the algorithm achieves a much better trade-off between classification performance and efficiency than a typical colour classifier.

Keywords: Colour, texture, classification, obstacle detection.

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663 Convective Interactions and Heat Transfer in a Czochralski Melt with a Model Phase Boundary of Two Different Shapes

Authors: R. Faiez, M. Mashhoudi, F. Najafi

Abstract:

Implicit in most large-scale numerical analyses of the crystal growth from the melt is the assumption that the shape and position of the phase boundary are determined by the transport phenomena coupled strongly to the melt hydrodynamics. In the present numerical study, the interface shape-effect on the convective interactions in a Czochralski oxide melt is described. It was demonstrated that thermocapillary flow affects inversely the phase boundaries of distinct shapes. The inhomogenity of heat flux and the location of the stagnation point at the crystallization front were investigated. The forced convection effect on the point displacement at the boundary found to be much stronger for the flat plate interface compared to the cone-shaped one with and without the Marangoni flow.

Keywords: Computer simulation, fluid flow, interface shape, thermocapillary effect.

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662 The Effect of Combining Real Experimentation With Virtual Experimentation on Students-Success

Authors: I. Oral, E. Bozkurt, H. Guzel

Abstract:

The purpose of this study was to investigate the effect of combining Real Experimentation (RE) With Virtual Experimentation (VE) on students- conceptual understanding of photo electric effect. To achieve this, a pre–post comparison study design was used that involved 46 undergraduate students. Two groups were set up for this study. Participants in the control group used RE to learn photo electric effect, whereas, participants in the experimental group used RE in the first part of the curriculum and VE in another part. Achievement test was given to the groups before and after the application as pre-test and post test. The independent samples t- test, one way Anova and Tukey HSD test were used for testing the data obtained from the study. According to the results of analyzes, the experimental group was found more successful than the control group.

Keywords: Computer Based Teaching, Java, Physics Education, Virtual Laboratory.

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661 Real-Time 3D City Generation using Shape Grammars with LOD Variations

Authors: Pearl Goswell, Jun Jo

Abstract:

Creating3D environments, including characters and cities, is a significantly time consuming process due to a large amount of workinvolved in designing and modelling.There have been a number of attempts to automatically generate 3D objects employing shape grammars. However it is still too early to apply the mechanism to real problems such as real-time computer games.The purpose of this research is to introduce a time efficient and cost effective method to automatically generatevarious 3D objects for real-time 3D games. This Shape grammar-based real-time City Generation (RCG) model is a conceptual model for generating 3Denvironments in real-time and can be applied to 3D gamesoranimations. The RCG system can generate even a large cityby applying fundamental principles of shape grammars to building elementsin various levels of detailin real-time.

Keywords: real-time city generation, shape grammars, 3D games, 3D modelling.

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660 Concurrency without Locking in Parallel Hash Structures used for Data Processing

Authors: Ákos Dudás, Sándor Juhász

Abstract:

Various mechanisms providing mutual exclusion and thread synchronization can be used to support parallel processing within a single computer. Instead of using locks, semaphores, barriers or other traditional approaches in this paper we focus on alternative ways for making better use of modern multithreaded architectures and preparing hash tables for concurrent accesses. Hash structures will be used to demonstrate and compare two entirely different approaches (rule based cooperation and hardware synchronization support) to an efficient parallel implementation using traditional locks. Comparison includes implementation details, performance ranking and scalability issues. We aim at understanding the effects the parallelization schemes have on the execution environment with special focus on the memory system and memory access characteristics.

Keywords: Lock-free synchronization, mutual exclusion, parallel hash tables, parallel performance

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659 Fire Spread Simulation Tool for Cruise Vessels

Authors: Erik Hedin, Lars Strandén, Johannes Lundsten

Abstract:

In 2002 an amendment to SOLAS opened for lightweight material constructions in vessels if the same fire safety as in steel constructions could be obtained. FISPAT (FIreSPread Analysis Tool) is a computer application that simulates fire spread and fault injection in cruise vessels and identifies fire sensitive areas. It was developed to analyze cruise vessel designs and provides a method to evaluate network layout and safety of cruise vessels. It allows fast, reliable and deterministic exhaustive simulations and presents the result in a graphical vessel model. By performing the analysis iteratively while altering the cruise vessel design it can be used along with fire chamber experiments to show that the lightweight design can be as safe as a steel construction and that SOLAS regulations are fulfilled.

Keywords: Fire spread, network, safety, simulation.

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658 Review of Surface Electromyogram Signals: Its Analysis and Applications

Authors: Anjana Goen, D. C. Tiwari

Abstract:

Electromyography (EMG) is the study of muscles function through analysis of electrical activity produced from muscles. This electrical activity which is displayed in the form of signal is the result of neuromuscular activation associated with muscle contraction. The most common techniques of EMG signal recording are by using surface and needle/wire electrode where the latter is usually used for interest in deep muscle. This paper will focus on surface electromyogram (SEMG) signal. During SEMG recording, several problems had to been countered such as noise, motion artifact and signal instability. Thus, various signal processing techniques had been implemented to produce a reliable signal for analysis. SEMG signal finds broad application particularly in biomedical field. It had been analyzed and studied for various interests such as neuromuscular disease, enhancement of muscular function and human-computer interface.

Keywords: Evolvable hardware (EHW), Functional Electrical Simulation (FES), Hidden Markov Model (HMM), Hjorth Time Domain (HTD).

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657 The Paralinguistic Function of Emojis in Twitter Communication

Authors: Yasmin Tantawi, Mary Beth Rosson

Abstract:

In response to the dearth of information about emoji use for different purposes in different settings, this paper investigates the paralinguistic function of emojis within Twitter communication in the United States. To conduct this investigation, the Twitter feeds from 16 population centers spread throughout the United States were collected from the Twitter public API. One hundred tweets were collected from each population center, totaling to 1,600 tweets. Tweets containing emojis were next extracted using the “emot” Python package; these were then analyzed via the IBM Watson API Natural Language Understanding module to identify the topics discussed. A manual content analysis was then conducted to ascertain the paralinguistic and emotional features of the emojis used in these tweets. We present our characterization of emoji usage in Twitter and discuss implications for the design of Twitter and other text-based communication tools.

Keywords: Computer mediated communication, content analysis, paralinguistics, sociology.

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656 A Proposed Information Extraction Technique in Engineering Drawing for Reuse Design

Authors: Mohd Fahmi Mohamad Amran, Riza Sulaiman, Saliyah Kahar, Suziyanti Marjudi, Muhammad FairuzAbd Rauf

Abstract:

The extensive number of engineering drawing will be referred for planning process and the changes will produce a good engineering design to meet the demand in producing a new model. The advantage in reuse of engineering designs is to allow continuous product development to further improve the quality of product development, thus reduce the development costs. However, to retrieve the existing engineering drawing, it is time consuming, a complex process and are expose to errors. Engineering drawing file searching system will be proposed to solve this problem. It is essential for engineer and designer to have some sort of medium to enable them to search for drawing in the most effective way. This paper lays out the proposed research project under the area of information extraction in engineering drawing.

Keywords: Computer aided design, information extraction, engineering drawing, reuse design.

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655 Diagnosis of Diabetes Using Computer Methods: Soft Computing Methods for Diabetes Detection Using Iris

Authors: Piyush Samant, Ravinder Agarwal

Abstract:

Complementary and Alternative Medicine (CAM) techniques are quite popular and effective for chronic diseases. Iridology is more than 150 years old CAM technique which analyzes the patterns, tissue weakness, color, shape, structure, etc. for disease diagnosis. The objective of this paper is to validate the use of iridology for the diagnosis of the diabetes. The suggested model was applied in a systemic disease with ocular effects. 200 subject data of 100 each diabetic and non-diabetic were evaluated. Complete procedure was kept very simple and free from the involvement of any iridologist. From the normalized iris, the region of interest was cropped. All 63 features were extracted using statistical, texture analysis, and two-dimensional discrete wavelet transformation. A comparison of accuracies of six different classifiers has been presented. The result shows 89.66% accuracy by the random forest classifier.

Keywords: Complementary and alternative medicine, Iridology, iris, feature extraction, classification, disease prediction.

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654 Design, Development and Analysis of Automated Storage and Retrieval System with Single and Dual Command Dispatching using MATLAB

Authors: M. Aslam, Farrukh, A. R. Gardezi, Nasir Hayat

Abstract:

Automated material handling is given prime importance in the semi automated and automated facilities since it provides solution to the gigantic problems related to inventory and also support the latest philosophies like just in time production JIT and lean production. Automated storage and retrieval system is an antidote (if designed properly) to the facility sufferings like getting the right material , materials getting perished, long cycle times or many other similar kind of problems. A working model of automated storage and retrieval system (AS/RS) is designed and developed under the design parameters specified by Material Handling Industry of America (MHIA). Later on analysis was carried out to calculate the throughput and size of the machine. The possible implementation of this technology in local scenario is also discussed in this paper.

Keywords: Automated storage and retrieval system (AS/RS), Material handling, Computer integrated manufacturing (CIM), Lightdependent resistor (LDR)

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653 Modelling Silica Optical Fibre Reliability: A Software Application

Authors: I. Severin, M. Caramihai, R. El Abdi, M. Poulain, A. Avadanii

Abstract:

In order to assess optical fiber reliability in different environmental and stress conditions series of testing are performed simulating overlapping of chemical and mechanical controlled varying factors. Each series of testing may be compared using statistical processing: i.e. Weibull plots. Due to the numerous data to treat, a software application has appeared useful to interpret selected series of experiments in function of envisaged factors. The current paper presents a software application used in the storage, modelling and interpretation of experimental data gathered from optical fibre testing. The present paper strictly deals with the software part of the project (regarding the modelling, storage and processing of user supplied data).

Keywords: Optical fibres, computer aided analysis, data models, data processing, graphical user interfaces.

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652 Motion Control of a 2-link Revolute Manipulator in an Obstacle-Ridden Workspace

Authors: Avinesh Prasad, Bibhya Sharma, Jito Vanualailai

Abstract:

In this paper, we propose a solution to the motion control problem of a 2-link revolute manipulator arm. We require the end-effector of the arm to move safely to its designated target in a priori known workspace cluttered with fixed circular obstacles of arbitrary position and sizes. Firstly a unique velocity algorithm is used to move the end-effector to its target. Secondly, for obstacle avoidance a turning angle is designed, which when incorporated into the control laws ensures that the entire robot arm avoids any number of fixed obstacles along its path enroute the target. The control laws proposed in this paper also ensure that the equilibrium point of the system is asymptotically stable. Computer simulations of the proposed technique are presented.

Keywords: 2-link revolute manipulator, motion control, obstacle avoidance, asymptotic stability.

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