Search results for: tree based model.

Authors: Gökhan Silahtaroğlu

Abstract:

Clustering large populations is an important problem when the data contain noise and different shapes. A good clustering algorithm or approach should be efficient enough to detect clusters sensitively. Besides space complexity, time complexity also gains importance as the size grows. Using hierarchies we developed a new algorithm to split attributes according to the values they have and choosing the dimension for splitting so as to divide the database roughly into equal parts as much as possible. At each node we calculate some certain descriptive statistical features of the data which reside and by pruning we generate the natural clusters with a complexity of O(n).

Keywords: Clustering, tree, split, pruning, entropy, gini.

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Authors: Christiono Utomo, Arazi Idrus, Madzlan Napiah, Mohd. Faris Khamidi

Abstract:

This paper presents a conceptual model of agreement options for negotiation support in multi-person decision on optimizing high-rise building columns. The decision is complicated since many parties involved in choosing a single alternative from a set of solutions. There are different concern caused by differing preferences, experiences, and background. Such building columns as alternatives are referred to as agreement options which are determined by identifying the possible decision maker group, followed by determining the optimal solution for each group. The group in this paper is based on three-decision makers preferences that are designer, programmer, and construction manager. Decision techniques applied to determine the relative value of the alternative solutions for performing the function. Analytical Hierarchy Process (AHP) was applied for decision process and game theory based agent system for coalition formation. An n-person cooperative game is represented by the set of all players. The proposed coalition formation model enables each agent to select individually its allies or coalition. It further emphasizes the importance of performance evaluation in the design process and value-based decision.

Keywords: Agreement options, coalition, group choice, game theory, building columns selection.

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Authors: A. A. Jafari, A. M. Khoshnood, J. Roshanian

Abstract:

Attitude control of aerospace system with liquid containers may face to a problem associate with fuel sloshing. The sloshing phenomena can degrade the stability of control system and in the worst case, interaction between the attitude control system and fuel vibration leading to resonance. In this paper, a full process of nonlinear dynamic modeling of an aerospace launch vehicle with fuel sloshing is given. Then, a new control system based on model reference adaptive filter is proposed and its algorithm is extracted. This controller implemented on the main attitude control system. Finally, numerical simulation of nonlinear model and control system is carried out to examine the performance of the new controller. Results of simulations show that the inconvenient effects of the fuel sloshing by augmenting this control system are reduced and attitude control system performs, satisfactorily.

Keywords: nonlinear dynamic modeling, fuel sloshing, vibration control, model reference, adaptive filter

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Authors: Randy Gomez, Keisuke Nakamura, Kazuhiro Nakadai

Abstract:

Distant-talking voice-based HCI system suffers from performance degradation due to mismatch between the acoustic speech (runtime) and the acoustic model (training). Mismatch is caused by the change in the power of the speech signal as observed at the microphones. This change is greatly influenced by the change in distance, affecting speech dynamics inside the room before reaching the microphones. Moreover, as the speech signal is reflected, its acoustical characteristic is also altered by the room properties. In general, power mismatch due to distance is a complex problem. This paper presents a novel approach in dealing with distance-induced mismatch by intelligently sensing instantaneous voice power variation and compensating model parameters. First, the distant-talking speech signal is processed through microphone array processing, and the corresponding distance information is extracted. Distance-sensitive Gaussian Mixture Models (GMMs), pre-trained to capture both speech power and room property are used to predict the optimal distance of the speech source. Consequently, pre-computed statistic priors corresponding to the optimal distance is selected to correct the statistics of the generic model which was frozen during training. Thus, model combinatorics are post-conditioned to match the power of instantaneous speech acoustics at runtime. This results to an improved likelihood in predicting the correct speech command at farther distances. We experiment using real data recorded inside two rooms. Experimental evaluation shows voice recognition performance using our method is more robust to the change in distance compared to the conventional approach. In our experiment, under the most acoustically challenging environment (i.e., Room 2: 2.5 meters), our method achieved 24.2% improvement in recognition performance against the best-performing conventional method.

Keywords: Human Machine Interaction, Human Computer Interaction, Voice Recognition, Acoustic Model Compensation, Acoustic Speech Enhancement.

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Authors: Omer Mahmood, Selvakennedy Selvadurai

Abstract:

“Web of Trust" is one of the recognized goals for Web 2.0. It aims to make it possible for the people to take responsibility for what they publish on the web, including organizations, businesses and individual users. These objectives, among others, drive most of the technologies and protocols recently standardized by the governing bodies. One of the great advantages of Web infrastructure is decentralization of publication. The primary motivation behind Web 2.0 is to assist the people to add contents for Collective Intelligence (CI) while providing mechanisms to link content with people for evaluations and accountability of information. Such structure of contents will interconnect users and contents so that users can use contents to find participants and vice versa. This paper proposes conceptual information storage and linking model, based on decentralized information structure, that links contents and people together. The model uses FOAF, Atom, RDF and RDFS and can be used as a blueprint to develop Web 2.0 applications for any e-domain. However, primary target for this paper is online trust evaluation domain. The proposed model targets to assist the individuals to establish “Web of Trust" in online trust domain.

Keywords: Web of Trust, Semantic Web, Electronic SocialNetworks, Information Management

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Authors: M. Yoneda

Abstract:

In this paper, a lateral walking design force per person is proposed and compared with Imperial College test results. Numerical simulations considering the proposed walking design force which is incorporated into the neural-oscillator model are carried out placing much emphasis on the synchronization (the lock-in phenomenon) for a pedestrian bridge model with the span length of 50 m. Numerical analyses are also conducted for an existing pedestrian suspension bridge. As compared with full scale measurements for this suspension bridge, it is confirmed that the analytical method based on the neural-oscillator model might be one of the useful ways to explain the synchronization (the lock-in phenomenon) of pedestrians being on the bridge.

Keywords: Pedestrian bridge, human-induced lateral vibration, neural-oscillator, full scale measurement, dynamic response analysis.

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Authors: Myung-Won Lee, Keun-Chang Kwak

Abstract:

This paper is concerned with knowledge representation and extraction of fuzzy if-then rules using Interval Type-2 Context-based Fuzzy C-Means clustering (IT2-CFCM) with the aid of fuzzy granulation. This proposed clustering algorithm is based on information granulation in the form of IT2 based Fuzzy C-Means (IT2-FCM) clustering and estimates the cluster centers by preserving the homogeneity between the clustered patterns from the IT2 contexts produced in the output space. Furthermore, we can obtain the automatic knowledge representation in the design of Radial Basis Function Networks (RBFN), Linguistic Model (LM), and Adaptive Neuro-Fuzzy Networks (ANFN) from the numerical input-output data pairs. We shall focus on a design of ANFN in this paper. The experimental results on an estimation problem of energy performance reveal that the proposed method showed a good knowledge representation and performance in comparison with the previous works.

Keywords: IT2-FCM, IT2-CFCM, context-based fuzzy clustering, adaptive neuro-fuzzy network, knowledge representation.

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Authors: Chaghoub Soraya, Zhang Xiaoyan

Abstract:

This research presents the first constant approximation algorithm to the p-median network design problem with multiple cable types. This problem was addressed with a single cable type and there is a bifactor approximation algorithm for the problem. To the best of our knowledge, the algorithm proposed in this paper is the first constant approximation algorithm for the p-median network design with multiple cable types. The addressed problem is a combination of two well studied problems which are p-median problem and network design problem. The introduced algorithm is a random sampling approximation algorithm of constant factor which is conceived by using some random sampling techniques form the literature. It is based on a redistribution Lemma from the literature and a steiner tree problem as a subproblem. This algorithm is simple, and it relies on the notions of random sampling and probability. The proposed approach gives an approximation solution with one constant ratio without violating any of the constraints, in contrast to the one proposed in the literature. This paper provides a (21 + 2)-approximation algorithm for the p-median network design problem with multiple cable types using random sampling techniques.

Keywords: Approximation algorithms, buy-at-bulk, combinatorial optimization, network design, p-median.

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Authors: Mujde Turkkan, Nurkan Yagiz

Abstract:

The vibrations, caused by the irregularities of the road surface, are to be suppressed via suspension systems. In this paper, sliding mode control for a half bus model with air suspension system is presented. The bus is modelled as five degrees of freedom (DoF) system. The mathematical model of the half bus is developed using Lagrange Equations. For time domain analysis, the bus model is assumed to travel at certain speed over the bump road. The numerical results of the analysis indicate that the sliding mode controllers can be effectively used to suppress the vibrations and to improve the ride comfort of the busses.

Keywords: Sliding mode control, bus model, air suspension.

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Authors: Sulaiman Al Amro, Ali Alkhalifah

Abstract:

The growing number of computer viruses and the detection of zero day malware have been the concern for security researchers for a large period of time. Existing antivirus products (AVs) rely on detecting virus signatures which do not provide a full solution to the problems associated with these viruses. The use of logic formulae to model the behaviour of viruses is one of the most encouraging recent developments in virus research, which provides alternatives to classic virus detection methods. In this paper, we proposed a comparative study about different virus detection techniques. This paper provides the advantages and drawbacks of different detection techniques. Different techniques will be used in this paper to provide a discussion about what technique is more effective to detect computer viruses.

Keywords: Computer viruses, virus detection, signature-based, behaviour-based, heuristic-based.

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Authors: D. H. Kim, Y. H. Kim, T. Kim

Abstract:

A new method identifies coupled fluid-structure system with a reduced set of state variables is presented. Assuming that the structural model is known a priori either from an analysis or a test and using linear transformations between structural and aeroelastic states, it is possible to deduce aerodynamic information from sampled time histories of the aeroelastic system. More specifically given a finite set of structural modes the method extracts generalized aerodynamic force matrix corresponding to these mode shapes. Once the aerodynamic forces are known, an aeroelastic reduced-order model can be constructed in discrete-time, state-space format by coupling the structural model and the aerodynamic system. The resulting reduced-order model is suitable for constant Mach, varying density analysis.

Keywords: ROM (Reduced-Order Model), aero elasticity, AGARD 445.6 wing.

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Authors: S.K. Satpathy, S.K. Nayak, K. K. Nagwanshi, S. Panda, C. Ardil

Abstract:

Image restoration involves elimination of noise. Filtering techniques were adopted so far to restore images since last five decades. In this paper, we consider the problem of image restoration degraded by a blur function and corrupted by random noise. A method for reducing additive noise in images by explicit analysis of local image statistics is introduced and compared to other noise reduction methods. The proposed method, which makes use of an a priori noise model, has been evaluated on various types of images. Bayesian based algorithms and technique of image processing have been described and substantiated with experimentation using MATLAB.

Keywords: Image Restoration, Probability DensityFunction (PDF), Neural Networks, Bayesian Classifier.

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Authors: Ahmad Habibizad Navin, Mehdi Naghian Fesharaki, Mohamad Teshnelab, Ehsan Shahamatnia

Abstract:

The anti-lock braking systems installed on vehicles for safe and effective braking, are high-order nonlinear and timevariant. Using fuzzy logic controllers increase efficiency of such systems, but impose a high computational complexity as well. The main concept introduced by this paper is reducing computational complexity of fuzzy controllers by deploying problem-solution data structure. Unlike conventional methods that are based on calculations, this approach is based on data oriented modeling.

Keywords: ABS, Fuzzy controller, PSDS, Time-Memory tradeoff, Data oriented modeling.

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Authors: M. Uysal, M. Yilmaz, I. Tiryakioğlu

Abstract:

Digital Terrain Model (DTM) is a digital numerical representation of the Earth's surface. DTMs have been applied to a diverse field of tasks, such as urban planning, military, glacier mapping, disaster management. In the expression of the Earth' surface as a mathematical model, an infinite number of point measurements are needed. Because of the impossibility of this case, the points at regular intervals are measured to characterize the Earth's surface and DTM of the Earth is generated. Hitherto, the classical measurement techniques and photogrammetry method have widespread use in the construction of DTM. At present, RADAR, LiDAR, and stereo satellite images are also used for the construction of DTM. In recent years, especially because of its superiorities, Airborne Light Detection and Ranging (LiDAR) has an increased use in DTM applications. A 3D point cloud is created with LiDAR technology by obtaining numerous point data. However recently, by the development in image mapping methods, the use of unmanned aerial vehicles (UAV) for photogrammetric data acquisition has increased DTM generation from image-based point cloud. The accuracy of the DTM depends on various factors such as data collection method, the distribution of elevation points, the point density, properties of the surface and interpolation methods. In this study, the random data reduction method is compared for DTMs generated from image based point cloud data. The original image based point cloud data set (100%) is reduced to a series of subsets by using random algorithm, representing the 75, 50, 25 and 5% of the original image based point cloud data set. Over the ANS campus of Afyon Kocatepe University as the test area, DTM constructed from the original image based point cloud data set is compared with DTMs interpolated from reduced data sets by Kriging interpolation method. The results show that the random data reduction method can be used to reduce the image based point cloud datasets to 50% density level while still maintaining the quality of DTM.

Keywords: DTM, unmanned aerial vehicle, UAV, random, Kriging.

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Authors: Huaizhi Han, Bingxi Li, Yurong He, Rushan Bie, Zhao Wu

Abstract:

The flow and heat transfer mechanism in convex corrugated tubes have been investigated through numerical simulations in this paper. Two kinds of tube types named as symmetric corrugated tube (SCT) and asymmetric corrugated tube (ACT) are modeled and studied numerically based on the RST model. The predictive capability of RST model is examined in the corrugation wall in order to check the reliability of RST model under the corrugation wall condition. We propose a comparison between the RST modelling the corrugation wall with existing direct numerical simulation of Maaß C and Schumann U [14]. The numerical results pressure coefficient at different profiles between RST and DNS are well matched. The influences of large corrugation tough radii to heat transfer and flow characteristic had been considered. Flow and heat transfer comparison between SCT and ACT had been discussed. The numerical results show that ACT exhibits higher overall heat transfer performance than SCT.

Keywords: Asymmetric corrugated tube, RST, DNS, flow and heat transfer mechanism.

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Authors: P. Pongsumpun

Abstract:

Herpes zoster is a disease that manifests as a dermatological condition. The characteristic of this disease is an irritating skin rash with blisters. This is often limited to one side of body. From the data of Herpes zoster cases in Thailand, we found that age structure effects to the transmission of this disease. In this study, we construct the age structural model of Herpes zoster in Thailand. The local stability analysis of this model is given. The numerical solutions are shown to confirm the analytical results.

Keywords: Age structural model, Herpes zoster, local stability, Numerical solution.

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Authors: Gideon Avigad, Amiram Moshaiov, Neima Brauner

Abstract:

An IEC technique is described for a multi-objective search of conceptual solutions. The survivability of solutions is influenced by both model-based fitness and subjective human preferences. The concepts- preferences are articulated via a hierarchy of sub-concepts. The suggested method produces an objectivesubjective front. Academic example is employed to demonstrate the proposed approach.

Keywords: Conceptual solution, engineering design, hierarchical planning, multi-objective search, problem reduction.

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Authors: Kwan Hee Han, Jun Woo Park, Seock Kyu Yoo, Geon Lee

Abstract:

As business environments are rapidly changing, the manufacturing system must be reconfigured to adapt to various customer needs. In order to cope with this challenge, it is quintessential to test industrial control logic rapidly and easily in the design time, and monitor operational behavior in the run time of automated manufacturing system. Proposed integrated model for virtual prototyping and operational monitoring of industrial control logic is to improve limitations of current ladder programming practices and general discrete event simulation method. Each plant layout model using HMI package and object-oriented control logic model is designed independently and is executed simultaneously in integrated manner to reflect design practices of automation system in the design time. Control logic is designed and executed using UML activity diagram without considering complicated control behavior to deal with current trend of reconfigurable manufacturing. After the physical installation, layout model of virtual prototype constructed in the design time is reused for operational monitoring of system behavior during run time.

Keywords: automated manufacturing system, HMI, monitoring, object-oriented, PLC, virtual prototyping

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Authors: A. Naamane, M. Hasnaoui

Abstract:

Numerical modeling of fluid flows, whether compressible or incompressible, laminar or turbulent presents a considerable contribution in the scientific and industrial fields. However, the development of an approximate model of a supersonic flow requires the introduction of specific and more precise techniques and methods. For this purpose, the object of this paper is modeling a supersonic flow of inviscid fluid around a dihedral airfoil. Based on the thin airfoils theory and the non-dimensional stationary Steichen equation of a two-dimensional supersonic flow in isentropic evolution, we obtained a solution for the downstream velocity potential of the oblique shock at the second order of relative thickness that characterizes a perturbation parameter. This result has been dealt with by the asymptotic analysis and characteristics method. In order to validate our model, the results are discussed in comparison with theoretical and experimental results. Indeed, firstly, the comparison of the results of our model has shown that they are quantitatively acceptable compared to the existing theoretical results. Finally, an experimental study was conducted using the AF300 supersonic wind tunnel. In this experiment, we have considered the incident upstream Mach number over a symmetrical dihedral airfoil wing. The comparison of the different Mach number downstream results of our model with those of the existing theoretical data (relative margin between 0.07% and 4%) and with experimental results (concordance for a deflection angle between 1° and 11°) support the validation of our model with accuracy.

Keywords: Asymptotic modelling, dihedral airfoil, supersonic flow, supersonic wind tunnel.

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Authors: Nasim Ullah, Shaoping Wang

Abstract:

ELS is an important ground based hardware in the loop simulator used for aerodynamics torque loading experiments of the actuators under test. This work focuses on improvement of the transient response of torque controller with parameters uncertainty of Electrical Load Simulator (ELS).The parameters of load simulator are estimated online and the model is updated, eliminating the model error and improving the steady state torque tracking response of torque controller. To improve the Transient control performance the gain of robust term of SMC is updated online using fuzzy logic system based on the amount of uncertainty in parameters of load simulator. The states of load simulator which cannot be measured directly are estimated using luenberger observer with update of new estimated parameters. The stability of the control scheme is verified using Lyapunov theorem. The validity of proposed control scheme is verified using simulations.

Keywords: ELS, Observer, Transient Performance, SMC, Extra Torque, Fuzzy Logic.

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Authors: Xun Liang

Abstract:

In this paper, we probe into the traffic assignment problem by the chromosome-learning-based path finding method in simulation, which is to model the driver' behavior in the with-in-a-day process. By simply making a combination and a change of the traffic route chromosomes, the driver at the intersection chooses his next route. The various crossover and mutation rules are proposed with extensive examples.

Keywords: Chromosome learning, crossover, mutation, traffic path finding.

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Authors: Mouna Benfssahi, Zoubir El Felsoufi

Abstract:

For many enterprises, the delocalization of a part or the totality of their supply chain to low cost countries is the best way to reduce costs and remain competitive against the growing globalized market. This new tendency is driven by logistics advantages, as well as, financial and tax discount offered by the host countries. The objective of this article is to examine the new financial challenges introduced by the project of base erosion and profits shifting (BEPS), published in 2015, and also their impact on the decision of delocalization. In fact, the strategy adopted by multinational firms for determining the transfer price (TP) of goods and services, as well as the shared amount of revenues and expenses have a major impact upon group profit and may contribute to divergent results. In order to get more profit, a coherent decision of delocalization should be based on an evaluation of all the operational and financial characteristics associated with such movement. Therefore, it is interesting to model these new constraints and integrate them in a more global decision model. The established model will enable to measure how much these financial constraints impact the decision of delocalization and will give new helpful directives for enterprise managers.

Keywords: Delocalization, intragroup transaction, multinational firms, optimization model, supply chain management, transfer pricing.

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Authors: Tomáš Bublík, Miroslav Virius

Abstract:

This paper presents general results on the Java source code snippet detection problem. We propose the tool which uses graph and subgraph isomorphism detection. A number of solutions for all of these tasks have been proposed in the literature. However, although that all these solutions are really fast, they compare just the constant static trees. Our solution offers to enter an input sample dynamically with the Scripthon language while preserving an acceptable speed. We used several optimizations to achieve very low number of comparisons during the matching algorithm.

Keywords: AST, Java, tree matching, Scripthon, source code recognition

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Authors: Hui Wang, Harish Padmanabhan, David Thomson, Krassen Dimitrov

Abstract:

Two optimized strategies were successfully established to develop biomolecule-based magnetic nanoassemblies. Streptavidin-coated and amine-coated magnetic nanoparticles were chosen as model scaffolds onto which double-stranded DNA and human immunoglobulin G were specifically conjugated in succession, using biotin-streptavidin interaction or covalent cross-linkers. The success of this study opens the prospect of developing selective and sensitive nanoparticle-based structures for diagnostics or drug delivery.

Keywords: Antibody, DNA, linker, magnetic nanoparticles, streptavidin

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Authors: M.G.A. Nassef, Linghan Li, C. Schenck, B. Kuhfuss

Abstract:

Design and modeling of nonlinear systems require the knowledge of all inside acting parameters and effects. An empirical alternative is to identify the system-s transfer function from input and output data as a black box model. This paper presents a procedure using least squares algorithm for the identification of a feed drive system coefficients in time domain using a reduced model based on windowed input and output data. The command and response of the axis are first measured in the first 4 ms, and then least squares are applied to predict the transfer function coefficients for this displacement segment. From the identified coefficients, the next command response segments are estimated. The obtained results reveal a considerable potential of least squares method to identify the system-s time-based coefficients and predict accurately the command response as compared to measurements.

Keywords: feed drive systems, least squares algorithm, onlineparameter identification, short time window

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Authors: P. Srinivas, P. V. N. Prasad

Abstract:

Since torque ripple is the main cause of noise and vibrations, the performance of Switched Reluctance Motor (SRM) can be improved by minimizing its torque ripple using a novel control technique called Direct Torque Control (DTC). In DTC technique, torque is controlled directly through control of magnitude of the flux and change in speed of the stator flux vector. The flux and torque are maintained within set hysteresis bands.

The DTC of SRM is analyzed by two methods. In one method, the actual torque is computed by conducting Finite Element Analysis (FEA) on the design specifications of the motor. In the other method, the torque is computed by Simplified Torque Equation. The variation of peak current, average current, torque ripple and speed settling time with Simplified Torque Equation model is compared with FEA based model.

Keywords: Direct Toque Control, Simplified Torque Equation, Finite Element Analysis, Torque Ripple.

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Authors: Watcharin Sangma, Onsiri Chanmuang, Pitsanu Tongkhow

Abstract:

 A forecasting model for steel demand uncertainty in Thailand is proposed. It consists of trend, autocorrelation, and outliers in a hierarchical Bayesian frame work. The proposed model uses a cumulative Weibull distribution function, latent first-order autocorrelation, and binary selection, to account for trend, time-varying autocorrelation, and outliers, respectively. The Gibbs sampling Markov Chain Monte Carlo (MCMC) is used for parameter estimation. The proposed model is applied to steel demand index data in Thailand. The root mean square error (RMSE), mean absolute percentage error (MAPE), and mean absolute error (MAE) criteria are used for model comparison. The study reveals that the proposed model is more appropriate than the exponential smoothing method.

Keywords: Forecasting model, Steel demand uncertainty, Hierarchical Bayesian framework, Exponential smoothing method.

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Authors: M. A. Serag-Eldin

Abstract:

The paper presents the results of simple measurements conducted on a model of a wind-driven venturi-type room ventilator. The ventilator design is new and was developed employing mathematical modeling. However, the computational model was not validated experimentally for the particular application considered. The paper presents the performance of the ventilator model under laboratory conditions, for five different wind tunnel speeds. The results are used to both demonstrate the effectiveness of the new design and to validate the computational model employed to develop it.

Keywords: Venturi-flow, ventilation, Wind-energy, Wind flow.

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

Abstract:

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

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

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Authors: Zdravka Aljinović, Branka Marasović, Blanka Škrabić

Abstract:

The paper provides a discussion of the most relevant aspects of yield curve modeling. Two classes of models are considered: stochastic and parsimonious function based, through the approaches developed by Vasicek (1977) and Nelson and Siegel (1987). Yield curve estimates for Croatia are presented and their dynamics analyzed and finally, a comparative analysis of models is conducted.

Keywords: the term structure of interest rates, Vasicek model, Nelson-Siegel model, Croatian Government market.

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