Search results for: Decision Based Algorithm

Authors: W. Wongthatsanekorn, N. Matheekrieangkrai

Abstract:

This research proposes Bee Algorithm (BA) to optimize Ready Mixed Concrete (RMC) truck scheduling problem from single batch plant to multiple construction sites. This problem is considered as an NP-hard constrained combinatorial optimization problem. This paper provides the details of the RMC dispatching process and its related constraints. BA was then developed to minimize total waiting time of RMC trucks while satisfying all constraints. The performance of BA is then evaluated on two benchmark problems (3 and 5construction sites) according to previous researchers. The simulation results of BA are compared in term of efficiency and accuracy with Genetic Algorithm (GA) and all problems show that BA approach outperforms GA in term of efficiency and accuracy to obtain optimal solution. Hence, BA approach could be practically implemented to obtain the best schedule.

Keywords: Bee Colony Optimization, Ready Mixed Concrete Problem.

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Authors: Olli Luoma, Johannes Tuikkala, Olli Nevalainen

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In this paper, we propose a novel improvement for the generalized Lloyd Algorithm (GLA). Our algorithm makes use of an M-tree index built on the codebook which makes it possible to reduce the number of distance computations when the nearest code words are searched. Our method does not impose the use of any specific distance function, but works with any metric distance, making it more general than many other fast GLA variants. Finally, we present the positive results of our performance experiments.

Keywords: Clustering, GLA, M-Tree, Vector Quantization .

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Authors: Hassan Azarkish, Said Farahat, S.Masoud H. Sarvari

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In the present work, the performance of the particle swarm optimization and the genetic algorithm compared as a typical geometry design problem. The design maximizes the heat transfer rate from a given fin volume. The analysis presumes that a linear temperature distribution along the fin. The fin profile generated using the B-spline curves and controlled by the change of control point coordinates. An inverse method applied to find the appropriate fin geometry yield the linear temperature distribution along the fin corresponds to optimum design. The numbers of the populations, the count of iterations and time to convergence measure efficiency. Results show that the particle swarm optimization is most efficient for geometry optimization.

Keywords: Genetic Algorithm, Geometry Optimization, longitudinal Fin, Particle Swarm Optimization

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Authors: Pornpimol Bungkomkhun, Surapong Auwatanamongkol

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This paper presents a supervised clustering algorithm, namely Grid-Based Supervised Clustering (GBSC), which is able to identify clusters of any shapes and sizes without presuming any canonical form for data distribution. The GBSC needs no prespecified number of clusters, is insensitive to the order of the input data objects, and is capable of handling outliers. Built on the combination of grid-based clustering and density-based clustering, under the assistance of the downward closure property of density used in bottom-up subspace clustering, the GBSC can notably reduce its search space to avoid the memory confinement situation during its execution. On two-dimension synthetic datasets, the GBSC can identify clusters with different shapes and sizes correctly. The GBSC also outperforms other five supervised clustering algorithms when the experiments are performed on some UCI datasets.

Keywords: supervised clustering, grid-based clustering, subspace clustering

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Authors: Soo- Young Ye, Ki-Gon Nam, Ki-Won Byun

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In this paper, we were introduces a skin detection method using a histogram approximation based on the mean shift algorithm. The proposed method applies the mean shift procedure to a histogram of a skin map of the input image, generated by comparison with standard skin colors in the CbCr color space, and divides the background from the skin region by selecting the maximum value according to brightness level. The proposed method detects the skin region using the mean shift procedure to determine a maximum value that becomes the dividing point, rather than using a manually selected threshold value, as in existing techniques. Even when skin color is contaminated by illumination, the procedure can accurately segment the skin region and the background region. The proposed method may be useful in detecting facial regions as a pretreatment for face recognition in various types of illumination.

Keywords: Skin region detection, mean shift, histogram approximation.

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Authors: Sheikh Shams Azam, Manoj Raju, Venkatesh Pagidimarri, Vamsi Kasivajjala

Abstract:

Over the past decade, there has been a steep rise in the data-driven analysis in major areas of medicine, such as clinical decision support system, survival analysis, patient similarity analysis, image analytics etc. Most of the data in the field are well-structured and available in numerical or categorical formats which can be used for experiments directly. But on the opposite end of the spectrum, there exists a wide expanse of data that is intractable for direct analysis owing to its unstructured nature which can be found in the form of discharge summaries, clinical notes, procedural notes which are in human written narrative format and neither have any relational model nor any standard grammatical structure. An important step in the utilization of these texts for such studies is to transform and process the data to retrieve structured information from the haystack of irrelevant data using information retrieval and data mining techniques. To address this problem, the authors present Q-Map in this paper, which is a simple yet robust system that can sift through massive datasets with unregulated formats to retrieve structured information aggressively and efficiently. It is backed by an effective mining technique which is based on a string matching algorithm that is indexed on curated knowledge sources, that is both fast and configurable. The authors also briefly examine its comparative performance with MetaMap, one of the most reputed tools for medical concepts retrieval and present the advantages the former displays over the latter.

Keywords: Information retrieval (IR), unified medical language system (UMLS), Syntax Based Analysis, natural language processing (NLP), medical informatics.

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Authors: A. Bajit, M. Nahid, A. Tamtaoui, E. H. Bouyakhf

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In this paper, we propose a Perceptually Optimized Embedded ZeroTree Image Coder (POEZIC) that introduces a perceptual weighting to wavelet transform coefficients prior to control SPIHT encoding algorithm in order to reach a targeted bit rate with a perceptual quality improvement with respect to the coding quality obtained using the SPIHT algorithm only. The paper also, introduces a new objective quality metric based on a Psychovisual model that integrates the properties of the HVS that plays an important role in our POEZIC quality assessment. Our POEZIC coder is based on a vision model that incorporates various masking effects of human visual system HVS perception. Thus, our coder weights the wavelet coefficients based on that model and attempts to increase the perceptual quality for a given bit rate and observation distance. The perceptual weights for all wavelet subbands are computed based on 1) luminance masking and Contrast masking, 2) the contrast sensitivity function CSF to achieve the perceptual decomposition weighting, 3) the Wavelet Error Sensitivity WES used to reduce the perceptual quantization errors. The new perceptually optimized codec has the same complexity as the original SPIHT techniques. However, the experiments results show that our coder demonstrates very good performance in terms of quality measurement.

Keywords: DWT, linear-phase 9/7 filter, 9/7 Wavelets Error Sensitivity WES, CSF implementation approaches, JND Just Noticeable Difference, Luminance masking, Contrast masking, standard SPIHT, Objective Quality Measure, Probability Score PS.

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Authors: Hsing-Kuo Pao, John Case

Abstract:

Biological sequences from different species are called or-thologs if they evolved from a sequence of a common ancestor species and they have the same biological function. Approximations of Kolmogorov complexity or entropy of biological sequences are already well known to be useful in extracting similarity information between such sequences -in the interest, for example, of ortholog detection. As is well known, the exact Kolmogorov complexity is not algorithmically computable. In prac-tice one can approximate it by computable compression methods. How-ever, such compression methods do not provide a good approximation to Kolmogorov complexity for short sequences. Herein is suggested a new ap-proach to overcome the problem that compression approximations may notwork well on short sequences. This approach is inspired by new, conditional computations of Kolmogorov entropy. A main contribution of the empir-ical work described shows the new set of entropy-based machine learning attributes provides good separation between positive (ortholog) and nega-tive (non-ortholog) data - better than with good, previously known alter-natives (which do not employ some means to handle short sequences well).Also empirically compared are the new entropy based attribute set and a number of other, more standard similarity attributes sets commonly used in genomic analysis. The various similarity attributes are evaluated by cross validation, through boosted decision tree induction C5.0, and by Receiver Operating Characteristic (ROC) analysis. The results point to the conclu-sion: the new, entropy based attribute set by itself is not the one giving the best prediction; however, it is the best attribute set for use in improving the other, standard attribute sets when conjoined with them.

Keywords: compression, decision tree, entropy, ortholog, ROC.

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Authors: Jasmin Velagic, Nedim Osmic, Bakir Lacevic

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In this paper the neural network-based controller is designed for motion control of a mobile robot. This paper treats the problems of trajectory following and posture stabilization of the mobile robot with nonholonomic constraints. For this purpose the recurrent neural network with one hidden layer is used. It learns relationship between linear velocities and error positions of the mobile robot. This neural network is trained on-line using the backpropagation optimization algorithm with an adaptive learning rate. The optimization algorithm is performed at each sample time to compute the optimal control inputs. The performance of the proposed system is investigated using a kinematic model of the mobile robot.

Keywords: Mobile robot, kinematic model, neural network, motion control, adaptive learning rate.

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Authors: Patsaraporn Somboonsak, Mud-Armeen Munlin

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The P-Bigram method is a string comparison methods base on an internal two characters-based similarity measure. The edit distance between two strings is the minimal number of elementary editing operations required to transform one string into the other. The elementary editing operations include deletion, insertion, substitution two characters. In this paper, we address the P-Bigram method to sole the similarity problem in DNA sequence. This method provided an efficient algorithm that locates all minimum operation in a string. We have been implemented algorithm and found that our program calculated that smaller distance than one string. We develop PBigram edit distance and show that edit distance or the similarity and implementation using dynamic programming. The performance of the proposed approach is evaluated using number edit and percentage similarity measures.

Keywords: Edit distance, String Matching, String Similarity

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Authors: Diana M.L. Wong

Abstract:

This paper presents an integrated case based and rule based reasoning method for car faulty diagnosis. The reasoning method is done through extracting the past cases from the Proton Service Center while comparing with the preset rules to deduce a diagnosis/solution to a car service case. New cases will be stored to the knowledge base. The test cases examples illustrate the effectiveness of the proposed integrated reasoning. It has proven accuracy of similar reasoning if carried out by a service advisor from the service center.

Keywords: component; case based reasoning (CBR), rule basedreasoning (RBR), decision support systems, diagnosis tool.

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Authors: Suresh S. Salankar, Balasaheb M. Patre

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Research into the problem of classification of sonar signals has been taken up as a challenging task for the neural networks. This paper investigates the design of an optimal classifier using a Multi layer Perceptron Neural Network (MLP NN) and Support Vector Machines (SVM). Results obtained using sonar data sets suggest that SVM classifier perform well in comparison with well-known MLP NN classifier. An average classification accuracy of 91.974% is achieved with SVM classifier and 90.3609% with MLP NN classifier, on the test instances. The area under the Receiver Operating Characteristics (ROC) curve for the proposed SVM classifier on test data set is found as 0.981183, which is very close to unity and this clearly confirms the excellent quality of the proposed classifier. The SVM classifier employed in this paper is implemented using kernel Adatron algorithm is seen to be robust and relatively insensitive to the parameter initialization in comparison to MLP NN.

Keywords: Classification, MLP NN, backpropagation algorithm, SVM, Receiver Operating Characteristics.

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Authors: Ileladewa Adeoye Abiodun, Cheng Wai Khuen

Abstract:

Multi-Agent Systems (MAS) emerged in the pursuit to improve our standard of living, and hence can manifest complex human behaviors such as communication, decision making, negotiation and self-organization. The Social Network Services (SNSs) have attracted millions of users, many of whom have integrated these sites into their daily practices. The domains of MAS and SNS have lots of similarities such as architecture, features and functions. Exploring social network users- behavior through multiagent model is therefore our research focus, in order to generate more accurate and meaningful information to SNS users. An application of MAS is the e-Auction and e-Rental services of the Universiti Cyber AgenT(UniCAT), a Social Network for students in Universiti Tunku Abdul Rahman (UTAR), Kampar, Malaysia, built around the Belief- Desire-Intention (BDI) model. However, in spite of the various advantages of the BDI model, it has also been discovered to have some shortcomings. This paper therefore proposes a multi-agent framework utilizing a modified BDI model- Belief-Desire-Intention in Dynamic and Uncertain Situations (BDIDUS), using UniCAT system as a case study.

Keywords: Distributed Data Mining, Multi-Agent Systems, Preference-Based, SNS.

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Authors: Mahmoud Moh'd Mhashi

Abstract:

A new algorithm called Character-Comparison to Character-Access (CCCA) is developed to test the effect of both: 1) converting character-comparison and number-comparison into character-access and 2) the starting point of checking on the performance of the checking operation in string searching. An experiment is performed using both English text and DNA text with different sizes. The results are compared with five algorithms, namely, Naive, BM, Inf_Suf_Pref, Raita, and Cycle. With the CCCA algorithm, the results suggest that the evaluation criteria of the average number of total comparisons are improved up to 35%. Furthermore, the results suggest that the clock time required by the other algorithms is improved in range from 22.13% to 42.33% by the new CCCA algorithm.

Keywords: Pattern matching, string searching, charactercomparison, character-access, text type, and checking

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Authors: Anjin Park, Sungju Yun, Jungwhan Kim, Seungk Min, Keechul Jung

Abstract:

Finger spelling is an art of communicating by signs made with fingers, and has been introduced into sign language to serve as a bridge between the sign language and the verbal language. Previous approaches to finger spelling recognition are classified into two categories: glove-based and vision-based approaches. The glove-based approach is simpler and more accurate recognizing work of hand posture than vision-based, yet the interfaces require the user to wear a cumbersome and carry a load of cables that connected the device to a computer. In contrast, the vision-based approaches provide an attractive alternative to the cumbersome interface, and promise more natural and unobtrusive human-computer interaction. The vision-based approaches generally consist of two steps: hand extraction and recognition, and two steps are processed independently. This paper proposes real-time vision-based Korean finger spelling recognition system by integrating hand extraction into recognition. First, we tentatively detect a hand region using CAMShift algorithm. Then fill factor and aspect ratio estimated by width and height estimated by CAMShift are used to choose candidate from database, which can reduce the number of matching in recognition step. To recognize the finger spelling, we use DTW(dynamic time warping) based on modified chain codes, to be robust to scale and orientation variations. In this procedure, since accurate hand regions, without holes and noises, should be extracted to improve the precision, we use graph cuts algorithm that globally minimize the energy function elegantly expressed by Markov random fields (MRFs). In the experiments, the computational times are less than 130ms, and the times are not related to the number of templates of finger spellings in database, as candidate templates are selected in extraction step.

Keywords: CAMShift, DTW, Graph Cuts, MRF.

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Authors: Do-Jin Jang, Sung-Ah Kim

Abstract:

A kinetic façade responds to user requirements and environmental conditions.  In designing a kinetic façade, kinetic patterns play a key role in determining its performance. This paper proposes a biomimetic method for the multi-objective optimization for kinetic façade design. The autonomous decentralized control system is combined with flocking algorithm. The flocking agents are autonomously reacting to sensor values and bring about kinetic patterns changing over time. A series of experiments were conducted to verify the potential and limitations of the flocking based decentralized control. As a result, it could show the highest performance balancing multiple objectives such as solar radiation and openness among the comparison group.

Keywords: Biomimicry, flocking algorithm, autonomous decentralized control, multi-objective optimization.

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Authors: G. Shojatalab

Abstract:

In this paper, all variables are supposed to be integer and positive. In this modern method, objective function is assumed to be maximized or minimized but constraints are always explained like less or equal to. In this method, choosing a dual combination of ideal nonequivalent and omitting one of variables. With continuing this act, finally, having one nonequivalent with (n-m+1) unknown quantities in which final nonequivalent, m is counter for constraints, n is counter for variables of decision.

Keywords: Integer, Programming, Operation Research, Variables of decision.

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Authors: Y. Harold Robinson, M. Rajaram, E. Golden Julie, S. Balaji

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In wireless sensor networks, locality and positioning information can be captured using Global Positioning System (GPS). This message can be congregated initially from spot to identify the system. Users can retrieve information of interest from a wireless sensor network (WSN) by injecting queries and gathering results from the mobile sink nodes. Routing is the progression of choosing optimal path in a mobile network. Intermediate node employs permutation of device nodes into teams and generating cluster heads that gather the data from entity cluster’s node and encourage the collective data to base station. WSNs are widely used for gathering data. Since sensors are power-constrained devices, it is quite vital for them to reduce the power utilization. A tree-based data fusion clustering routing algorithm (TBDFC) is used to reduce energy consumption in wireless device networks. Here, the nodes in a tree use the cluster formation, whereas the elevation of the tree is decided based on the distance of the member nodes to the cluster-head. Network simulation shows that this scheme improves the power utilization by the nodes, and thus considerably improves the lifetime.

Keywords: WSN, TBDFC, LEACH, PEGASIS, TREEPSI.

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Authors: C. Ardil

Abstract:

This paper aims to present an objective quantitative methodology on how to evaluate individual’s scholarly research output using multiple criteria decision analysis. A multiple criteria decision making analysis (MCDMA) methodological process is adopted to build a multiple criteria evaluation model. With the introduction of the scholar index, which gives significant information about a researcher's productivity and the scholarly impact of his or her publications in a single number (s is the number of publications with at least s citations); cumulative research citation index; the scholar index is included in the citation databases to cover the multidimensional complexity of scholarly research performance and to undertake objective evaluations with scholar index. The scholar index, one of publication activity indexes, is analyzed by considering it to be the most appropriate sciencemetric indicator which allows to smooth over many drawbacks of scholarly output assessment by mere calculation of the number of publications (quantity) and citations (quality). Hence, this study includes a set of indicators-based scholar index to be used for evaluating scholarly researchers. Google Scholar open science database was used to assess and discuss scholarly productivity and impact of researchers. Based on the experiment of computing the scholar index, and its derivative indexes for a set of researchers on open research database platform, quantitative methods of assessing scholarly research output were successfully considered to rank researchers. The proposed methodology considers the ranking, and the selection of data on which a scholarly research performance evaluation was based, the analysis of the data, and the presentation of the multiple criteria analysis results.

Keywords: Multiple Criteria Decision Making Analysis, MCDMA, Research Performance Evaluation, Scholar Index, h index, Science Citation Index, Science Efficiency, Cumulative Citation Index, Sciencemetrics

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Authors: Hsian Ming Goo

Abstract:

The paper concerns a special approximate algorithm of the square root of the specific positive integer, which is built by the use of the property of positive integer solution of the Pell’s equation, together with using some elementary theorems of matrices, and then takes it to compare with general used the Newton’s method and give a practical numerical example and error analysis; it is unexpected to find its special property: the significant figure of the approximation value of the square root of positive integer will increase one digit by one. It is well useful in some occasions.

Keywords: Special approximate algorithm, square root, Pell’s equation, Newton’s method, error analysis.

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Authors: Wiem Daoud Ben Amor, Luis Martínez López, Jr., Hela Moalla Frikha

Abstract:

Most of the multi-criteria group decision making (MCGDM) problems dealing with qualitative criteria require consideration of the large background of expert information. It is common that experts have different degrees of knowledge for giving their alternative assessments according to criteria. So, it seems logical that they use different evaluation scales to express their judgment, i.e., multi granular linguistic scales. In this context, we propose the extension of the classical additive ratio assessment (ARAS) method to the case of a hierarchical linguistics term for managing multi granular linguistic scales in uncertain context where uncertainty is modeled by means in linguistic information. The proposed approach is called the extended hierarchical linguistics-ARAS method (ELH-ARAS). Within the ELH-ARAS approach, the decision maker (DMs) can diagnose the results (the ranking of the alternatives) in a decomposed style i.e., not only at one level of the hierarchy but also at the intermediate ones. Also, the developed approach allows a feedback transformation i.e., the collective final results of all experts are able to be transformed at any level of the extended linguistic hierarchy that each expert has previously used. Therefore, the ELH-ARAS technique makes it easier for decision-makers to understand the results. Finally, an MCGDM case study is given to illustrate the proposed approach.

Keywords: Additive ratio assessment, extended hierarchical linguistic, multi-criteria group decision making problems, multi granular linguistic contexts.

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Authors: S. Panda, S. C. Swain, A. K. Baliarsingh, C. Ardil

Abstract:

Optimal supplementary damping controller design for Thyristor Controlled Series Compensator (TCSC) is presented in this paper. For the proposed controller design, a multi-objective fitness function consisting of both damping factors and real part of system electromachanical eigenvalue is used and Real- Coded Genetic Algorithm (RCGA) is employed for the optimal supplementary controller parameters. The performance of the designed supplementary TCSC-based damping controller is tested on a weakly connected power system with different disturbances and loading conditions with parameter variations. Simulation results are presented and compared with a conventional power system stabilizer and also with the TCSC-based supplementary controller when the controller parameters are not optimized to show the effectiveness and robustness of the proposed approach over a wide range of loading conditions and disturbances.

Keywords: Power System Oscillations, Real-Coded Genetic Algorithm (RCGA), Thyristor Controlled Series Compensator (TCSC), Damping Controller, Power System Stabilizer.

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Authors: Gayadhar Panda, Sidhartha Panda, C. Ardil

Abstract:

A modified Genetic Algorithm (GA) based optimal selection of parameters for Automatic Generation Control (AGC) of multi-area electric energy systems is proposed in this paper. Simulations on multi-area reheat thermal system with and without consideration of nonlinearity like governor dead band followed by 1% step load perturbation is performed to exemplify the optimum parameter search. In this proposed method, a modified Genetic Algorithm is proposed where one point crossover with modification is employed. Positional dependency in respect of crossing site helps to maintain diversity of search point as well as exploitation of already known optimum value. This makes a trade-off between exploration and exploitation of search space to find global optimum in less number of generations. The proposed GA along with decomposition technique as developed has been used to obtain the optimum megawatt frequency control of multi-area electric energy systems. Time-domain simulations are conducted with trapezoidal integration along with decomposition technique. The superiority of the proposed method over existing one is verified from simulations and comparisons.

Keywords: Automatic Generation Control (AGC), Reheat, Proportional Integral (PI) controller, Dead Band, Genetic Algorithm(GA).

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Authors: Derya Eren Akyol, Gonca Tuncel, G. Mirac Bayhan

Abstract:

Activity-Based Costing (ABC) represents an alternative paradigm to traditional cost accounting system and it often provides more accurate cost information for decision making such as product pricing, product mix, and make-orbuy decisions. ABC models the causal relationships between products and the resources used in their production and traces the cost of products according to the activities through the use of appropriate cost drivers. In this paper, the implementation of the ABC in a manufacturing system is analyzed and a comparison with the traditional cost based system in terms of the effects on the product costs are carried out to highlight the difference between two costing methodologies. By using this methodology, a valuable insight into the factors that cause the cost is provided, helping to better manage the activities of the company.

Keywords: Activity-based costing, manufacturing systems, product costs, traditional costing.

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Authors: Andrey V. Timofeev, Dmitry V. Egorov

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This paper introduces an original method of parametric optimization of the structure for multimodal decisionlevel fusion scheme which combines the results of the partial solution of the classification task obtained from assembly of the mono-modal classifiers. As a result, a multimodal fusion classifier which has the minimum value of the total error rate has been obtained.

Keywords: Сlassification accuracy, fusion solution, total error rate.

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Authors: Pejman Hosseinioun, Rose Shayeghi, Ghasem Ghorbani Rostam

Abstract:

Nowadays, obtaining traditional statistics and reports is not adequate for the needs of organizational managers. The managers need to analyze and to transform the raw data into knowledge in the world filled with information. Therefore in this regard various processes have been developed. In the meantime the artificial intelligence-based processes are used and the new topics such as business intelligence and knowledge discovery have emerged. In the current paper it is sought to study the business intelligence and its applications in the organizations.

Keywords: Business intelligence, business intelligence infrastructures, business processes.

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Authors: R. Prakash, B. Meenakshipriya, R. Kumaravelan

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This paper presents modeling and simulation of Grid Connected Photovoltaic (PV) system by using improved mathematical model. The model is used to study different parameter variations and effects on the PV array including operating temperature and solar irradiation level. In this paper stepped P&O algorithm is proposed for MPPT control. This algorithm will identify the suitable duty ratio in which the DC-DC converter should be operated to maximize the power output. Photo voltaic array with proposed stepped P&O-MPPT controller can operate in the maximum power point for the whole range of solar data (irradiance and temperature).

Keywords: Photovoltaic (PV), Maximum Power Point Tracking (MPPT), Boost converter, Stepped Perturb & Observe method (Stepped P&O).

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Authors: Sofia Ayouche, Rachid Ellaia, Rajae Aboulaich

Abstract:

Today, insurers may use the yield curve as an indicator evaluation of the profit or the performance of their portfolios; therefore, they modeled it by one class of model that has the ability to fit and forecast the future term structure of interest rates. This class of model is the Nelson-Siegel-Svensson model. Unfortunately, many authors have reported a lot of difficulties when they want to calibrate the model because the optimization problem is not convex and has multiple local optima. In this context, we implement a hybrid Particle Swarm optimization and Nelder Mead algorithm in order to minimize by least squares method, the difference between the zero-coupon curve and the NSS curve.

Keywords: Optimization, zero-coupon curve, Nelson-Siegel- Svensson, Particle Swarm Optimization, Nelder-Mead Algorithm.

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Authors: Atilla Bayram

Abstract:

This paper presents the trajectory tracking control of a spatial redundant hybrid manipulator. This manipulator consists of two parallel manipulators which are a variable geometry truss (VGT) module. In fact, each VGT module with 3-degress of freedom (DOF) is a planar parallel manipulator and their operational planes of these VGT modules are arranged to be orthogonal to each other. Also, the manipulator contains a twist motion part attached to the top of the second VGT module to supply the missing orientation of the endeffector. These three modules constitute totally 7-DOF hybrid (parallel-parallel) redundant spatial manipulator. The forward kinematics equations of this manipulator are obtained, then, according to these equations, the inverse kinematics is solved based on an optimization with the joint limit avoidance. The dynamic equations are formed by using virtual work method. In order to test the performance of the redundant manipulator and the controllers presented, two different desired trajectories are followed by using the computed force control method and a switching control method. The switching control method is combined with the computed force control method and genetic algorithm. In the switching control method, the genetic algorithm is only used for fine tuning in the compensation of the trajectory tracking errors.

Keywords: Computed force control method, genetic algorithm, hybrid manipulator, inverse kinematics of redundant manipulators, variable geometry truss.

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Authors: Fatma A. Karkory, Ali A. Abudalmola

Abstract:

The travelling salesman problem (TSP) is a combinatorial optimization problem in which the goal is to find the shortest path between different cities that the salesman takes. In other words, the problem deals with finding a route covering all cities so that total distance and execution time is minimized. This paper adopts the nearest neighbor and minimum spanning tree algorithm to solve the well-known travelling salesman problem. The algorithms were implemented using java programming language. The approach is tested on three graphs that making a TSP tour instance of 5-city, 10 –city, and 229–city. The computation results validate the performance of the proposed algorithm.

Keywords: Heuristics, minimum spanning tree algorithm, Nearest Neighbor, Travelling Salesman Problem (TSP).

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