Search results for: elliptic curve digital signature algorithm

Authors: Jehad A. H. Hammad, Nur'Aini binti Abdul Rashid

Abstract:

With the rapid development in the field of life sciences and the flooding of genomic information, the need for faster and scalable searching methods has become urgent. One of the approaches that were investigated is indexing. The indexing methods have been categorized into three categories which are the lengthbased index algorithms, transformation-based algorithms and mixed techniques-based algorithms. In this research, we focused on the transformation based methods. We embedded the N-gram method into the transformation-based method to build an inverted index table. We then applied the parallel methods to speed up the index building time and to reduce the overall retrieval time when querying the genomic database. Our experiments show that the use of N-Gram transformation algorithm is an economical solution; it saves time and space too. The result shows that the size of the index is smaller than the size of the dataset when the size of N-Gram is 5 and 6. The parallel N-Gram transformation algorithm-s results indicate that the uses of parallel programming with large dataset are promising which can be improved further.

Keywords: Biological sequence, Database index, N-gram indexing, Parallel computing, Sequence retrieval.

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Authors: Brandtner Patrick, Staberhofer Franz

Abstract:

Logistics and Supply Chain Management are of crucial importance for organisational success. In the era of Digitalization, several implications and improvement potentials for these domains arise, which at the same time could lead to decreased competitiveness and could endanger long-term company success if ignored or neglected. However, empirical research on the issue of Digitalization and benefits purported to it by practitioners is scarce and mainly focused on single technologies or separate, isolated Supply Chain blocks as e.g. distribution logistics or procurement only. The current paper applies a holistic focus group approach to elaborate practitioner use cases at the nexus of the concepts of Supply Chain Management (SCM) and Digitalization. In the course of three focus group workshops with over 45 participants from more than 20 organisations, a comprehensive set of benefit entitlements and areas for improvement in terms of applying digitalization to SCM is developed. The main results of the paper indicate the relevance of Digitalization being realized in practice. In the form of seventeen concrete research action fields, the benefit entitlements are aggregated and transformed into potential starting points for future research projects in this area. The main contribution of this paper is an empirically grounded basis for future research projects and an overview of actual research action fields from practitioners’ point of view.

Keywords: Digital transformation, supply chain management, digital supply chain, value networks.

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Authors: M. R. Ghasemi, R. Ghiasi, H. Varaee

Abstract:

Model updating method has received increasing attention in damage detection structures based on measured modal parameters. Therefore, a probability-based damage detection (PBDD) procedure based on a model updating procedure is presented in this paper, in which a one-stage model-based damage identification technique based on the dynamic features of a structure is investigated. The presented framework uses a finite element updating method with a Monte Carlo simulation that considers the uncertainty caused by measurement noise. Enhanced ideal gas molecular movement (EIGMM) is used as the main algorithm for model updating. Ideal gas molecular movement (IGMM) is a multiagent algorithm based on the ideal gas molecular movement. Ideal gas molecules disperse rapidly in different directions and cover all the space inside. This is embedded in the high speed of molecules, collisions between them and with the surrounding barriers. In IGMM algorithm to accomplish the optimal solutions, the initial population of gas molecules is randomly generated and the governing equations related to the velocity of gas molecules and collisions between those are utilized. In this paper, an enhanced version of IGMM, which removes unchanged variables after specified iterations, is developed. The proposed method is implemented on two numerical examples in the field of structural damage detection. The results show that the proposed method can perform well and competitive in PBDD of structures.

Keywords: Enhanced ideal gas molecular movement, ideal gas molecular movement, model updating method, probability-based damage detection, uncertainty quantification.

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Authors: R. Krishnamoorthi, N. Kannan

Abstract:

In this paper, a new algorithm for generating codebook is proposed for vector quantization (VQ) in image coding. The significant features of the training image vectors are extracted by using the proposed Orthogonal Polynomials based transformation. We propose to generate the codebook by partitioning these feature vectors into a binary tree. Each feature vector at a non-terminal node of the binary tree is directed to one of the two descendants by comparing a single feature associated with that node to a threshold. The binary tree codebook is used for encoding and decoding the feature vectors. In the decoding process the feature vectors are subjected to inverse transformation with the help of basis functions of the proposed Orthogonal Polynomials based transformation to get back the approximated input image training vectors. The results of the proposed coding are compared with the VQ using Discrete Cosine Transform (DCT) and Pairwise Nearest Neighbor (PNN) algorithm. The new algorithm results in a considerable reduction in computation time and provides better reconstructed picture quality.

Keywords: Orthogonal Polynomials, Image Coding, Vector Quantization, TSVQ, Binary Tree Classifier

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Authors: Cheng-Hong Yang, Yu-Huei Cheng, Hsueh-Wei Chang, Li-Yeh Chuang

Abstract:

Before performing polymerase chain reactions (PCR), a feasible primer set is required. Many primer design methods have been proposed for design a feasible primer set. However, the majority of these methods require a relatively long time to obtain an optimal solution since large quantities of template DNA need to be analyzed. Furthermore, the designed primer sets usually do not provide a specific PCR product. In recent years, evolutionary computation has been applied to PCR primer design and yielded promising results. In this paper, a particle swarm optimization (PSO) algorithm is proposed to solve primer design problems associated with providing a specific product for PCR experiments. A test set of the gene CYP1A1, associated with a heightened lung cancer risk was analyzed and the comparison of accuracy and running time with the genetic algorithm (GA) and memetic algorithm (MA) was performed. A comparison of results indicated that the proposed PSO method for primer design finds optimal or near-optimal primer sets and effective PCR products in a relatively short time.

Keywords: polymerase chain reaction (PCR), primer design, evolutionary computation, particle swarm optimization (PSO).

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Authors: Janis Šliseris, Karlis Rocens

Abstract:

Optimization of rational geometrical and mechanical parameters of panel with curved plywood ribs is considered in this paper. The panel consists of cylindrical plywood ribs manufactured from Finish plywood, upper and bottom plywood flange, stiffness diaphragms. Panel is filled with foam. Minimal ratio of structure self weight and load that could be applied to structure is considered as rationality criteria. Optimization is done, by using classical beam theory without nonlinearities. Optimization of discreet design variables is done by Genetic algorithm.

Keywords: Curved plywood ribs, genetic algorithm, rationalparameters of ribbed panel, structure optimization.

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Authors: A. R. Seifi

Abstract:

This work presents a new algorithm based on a combination of fuzzy (FUZ), Dynamic Programming (DP), and Genetic Algorithm (GA) approach for capacitor allocation in distribution feeders. The problem formulation considers two distinct objectives related to total cost of power loss and total cost of capacitors including the purchase and installation costs. The novel formulation is a multi-objective and non-differentiable optimization problem. The proposed method of this article uses fuzzy reasoning for sitting of capacitors in radial distribution feeders, DP for sizing and finally GA for finding the optimum shape of membership functions which are used in fuzzy reasoning stage. The proposed method has been implemented in a software package and its effectiveness has been verified through a 9-bus radial distribution feeder for the sake of conclusions supports. A comparison has been done among the proposed method of this paper and similar methods in other research works that shows the effectiveness of the proposed method of this paper for solving optimum capacitor planning problem.

Keywords: Capacitor planning, Fuzzy logic method, Genetic Algorithm, Dynamic programming, Radial Distribution feeder

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Authors: Israa Sh. Tawfic, Sema Koc Kayhan

Abstract:

Given a large sparse signal, great wishes are to reconstruct the signal precisely and accurately from lease number of measurements as possible as it could. Although this seems possible by theory, the difficulty is in built an algorithm to perform the accuracy and efficiency of reconstructing. This paper proposes a new proved method to reconstruct sparse signal depend on using new method called Least Support Matching Pursuit (LS-OMP) merge it with the theory of Partial Knowing Support (PSK) given new method called Partially Knowing of Least Support Orthogonal Matching Pursuit (PKLS-OMP). The new methods depend on the greedy algorithm to compute the support which depends on the number of iterations. So to make it faster, the PKLS-OMP adds the idea of partial knowing support of its algorithm. It shows the efficiency, simplicity, and accuracy to get back the original signal if the sampling matrix satisfies the Restricted Isometry Property (RIP). Simulation results also show that it outperforms many algorithms especially for compressible signals.

Keywords: Compressed sensing, Lest Support Orthogonal Matching Pursuit, Partial Knowing Support, Restricted isometry property, signal reconstruction.

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Authors: S. M. Seyedhosseini, A. Makui, M. Ghadami

Abstract:

Globalization and therefore increasing tight competition among companies, have resulted to increase the importance of making well-timed decision. Devising and employing effective strategies, that are flexible and adaptive to changing market, stand a greater chance of being effective in the long-term. In other side, a clear focus on managing the entire product lifecycle has emerged as critical areas for investment. Therefore, applying wellorganized tools to employ past experience in new case, helps to make proper and managerial decisions. Case based reasoning (CBR) is based on a means of solving a new problem by using or adapting solutions to old problems. In this paper, an adapted CBR model with k-nearest neighbor (K-NN) is employed to provide suggestions for better decision making which are adopted for a given product in the middle of life phase. The set of solutions are weighted by CBR in the principle of group decision making. Wrapper approach of genetic algorithm is employed to generate optimal feature subsets. The dataset of the department store, including various products which are collected among two years, have been used. K-fold approach is used to evaluate the classification accuracy rate. Empirical results are compared with classical case based reasoning algorithm which has no special process for feature selection, CBR-PCA algorithm based on filter approach feature selection, and Artificial Neural Network. The results indicate that the predictive performance of the model, compare with two CBR algorithms, in specific case is more effective.

Keywords: Case based reasoning, Genetic algorithm, Groupdecision making, Product management.

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Authors: Insung Jung, Gi-Nam Wang

Abstract:

The objective of this paper is to a design of pattern classification model based on the back-propagation (BP) algorithm for decision support system. Standard BP model has done full connection of each node in the layers from input to output layers. Therefore, it takes a lot of computing time and iteration computing for good performance and less accepted error rate when we are doing some pattern generation or training the network. However, this model is using exclusive connection in between hidden layer nodes and output nodes. The advantage of this model is less number of iteration and better performance compare with standard back-propagation model. We simulated some cases of classification data and different setting of network factors (e.g. hidden layer number and nodes, number of classification and iteration). During our simulation, we found that most of simulations cases were satisfied by BP based using exclusive connection network model compared to standard BP. We expect that this algorithm can be available to identification of user face, analysis of data, mapping data in between environment data and information.

Keywords: Neural network, Back-propagation, classification.

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Authors: George Karkavitsas, Maria Rangoussi

Abstract:

We present a genetic algorithm application to the problem of object registration (i.e., object detection, localization and recognition) in a class of medical images containing various types of blood cells. The genetic algorithm approach taken here is seen to be most appropriate for this type of image, due to the characteristics of the objects. Successful cell registration results on real life microscope images of blood cells show the potential of the proposed approach.

Keywords: Genetic algorithms, object registration, pattern recognition, blood cell microscope images.

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Authors: J. B. Seo, K. J. Kim, S. W. Nam

Abstract:

In this paper, a nonlinear acoustic echo cancellation (AEC) system is proposed, whereby 3rd order Volterra filtering is utilized along with a variable step-size Gauss-Seidel pseudo affine projection (VSSGS-PAP) algorithm. In particular, the proposed nonlinear AEC system is developed by considering a double-talk situation with near-end signal variation. Simulation results demonstrate that the proposed approach yields better nonlinear AEC performance than conventional approaches.

Keywords: Acoustic echo cancellation (AEC), Volterra filtering, variable step-size, GS-PAP.

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Authors: Younis R. Elhaddad, Aiman S.Gannous

Abstract:

The particular interests of this paper is to explore if the simple Genetic Algorithms (GA) starts with population of only two individuals and applying different crossover technique over these parents to produced 104 children, each one has different attributes inherited from their parents; is better than starting with population of 100 individuals; and using only one type crossover (order crossover OX). For this reason we implement GA with 52 different crossover techniques; each one produce two children; which means 104 different children will be produced and this may discover more search space, also we implement classic GA with order crossover and many experiments were done over 3 Travel Salesman Problem (TSP) to find out which method is better, and according to the results we can say that GA with Multi-crossovers is much better.

Keywords: Artificial intelligence, genetic algorithm, order crossover, travel salesman problem.

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Authors: Weerachi Sarakorn, I-Ming Tang

Abstract:

A mathematical model for the transmission of SARS is developed. In addition to dividing the population into susceptible (high and low risk), exposed, infected, quarantined, diagnosed and recovered classes, we have included a class called untraced. The model simulates the Gompertz curves which are the best representation of the cumulative numbers of probable SARS cases in Hong Kong and Singapore. The values of the parameters in the model which produces the best fit of the observed data for each city are obtained by using a differential evolution algorithm. It is seen that the values for the parameters needed to simulate the observed daily behaviors of the two epidemics are different.

Keywords: SARS, mathematical modelling, differential evolution algorithm.

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Authors: Si-Gwan Kim

Abstract:

Small-size and low-power sensors with sensing, signal processing and wireless communication capabilities is suitable for the wireless sensor networks. Due to the limited resources and battery constraints, complex routing algorithms used for the ad-hoc networks cannot be employed in sensor networks. In this paper, we propose node-disjoint multi-path hexagon-based routing algorithms in wireless sensor networks. We suggest the details of the algorithm and compare it with other works. Simulation results show that the proposed scheme achieves better performance in terms of efficiency and message delivery ratio.

Keywords: Clustering, multi-path, routing protocol, sensor network.

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Authors: S. A. Banani, M. A. Masnadi-Shirazi

Abstract:

This paper presents a new algorithm which yields a nonlinear state estimator called iterated unscented Kalman filter. This state estimator makes use of both statistical and analytical linearization techniques in different parts of the filtering process. It outperforms the other three nonlinear state estimators: unscented Kalman filter (UKF), extended Kalman filter (EKF) and iterated extended Kalman filter (IEKF) when there is severe nonlinearity in system equation and less nonlinearity in measurement equation. The algorithm performance has been verified by illustrating some simulation results.

Keywords: Extended Kalman Filter, Iterated EKF, Nonlinearstate estimator, Unscented Kalman Filter.

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Authors: Imran Ahmed, Muhammad Islam, Syed Inayat Ali Shah, Awais Adnan

Abstract:

The identification and classification of weeds are of major technical and economical importance in the agricultural industry. To automate these activities, like in shape, color and texture, weed control system is feasible. The goal of this paper is to build a real-time, machine vision weed control system that can detect weed locations. In order to accomplish this objective, a real-time robotic system is developed to identify and locate outdoor plants using machine vision technology and pattern recognition. The algorithm is developed to classify images into broad and narrow class for real-time selective herbicide application. The developed algorithm has been tested on weeds at various locations, which have shown that the algorithm to be very effectiveness in weed identification. Further the results show a very reliable performance on weeds under varying field conditions. The analysis of the results shows over 90 percent classification accuracy over 140 sample images (broad and narrow) with 70 samples from each category of weeds.

Keywords: Weed detection, Image Processing, real-timerecognition, Standard Deviation.

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Authors: Talib Hashim Hasan

Abstract:

This paper describes simple implementation of homotopy (also called continuation) algorithm for determining the proper resistance of the resistor to dissipate energy at a specified rate of an electric circuit. Homotopy algorithm can be considered as a developing of the classical methods in numerical computing such as Newton-Raphson and fixed point methods. In homoptopy methods, an embedding parameter is used to control the convergence. The method purposed in this work utilizes a special homotopy called Newton homotopy. Numerical example solved in MATLAB is given to show the effectiveness of the purposed method

Keywords: electrical circuit homotopy, methods, MATLAB, Newton homotopy

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Authors: Amer Ezoji, Mohammad Sedighi

Abstract:

In the article, the wire winding process for the reinforcement of a pressure vessel frame has been studied. Firstly, the importance of the wire winding method has been explained and literature was reviewed. The main step in the design process is the methodology axial force control. The frame consists of two columns and two semi-cylinders with circumstantial wires. A computational algorithm has been presented based on the governing equations and relations on stress-strain behavior of the whole system of the frame.  Then a case study was studied to calculate the frame dimensions and wire winding procedure.

Keywords: Wire winding, Frame, stress, Design for Manufacturing.

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Authors: Taisir Eldos, Aws Kanan, Waleed Nazih, Ahmad Khatatbih

Abstract:

Chemical Reaction Optimization (CRO) is an optimization metaheuristic inspired by the nature of chemical reactions as a natural process of transforming the substances from unstable to stable states. Starting with some unstable molecules with excessive energy, a sequence of interactions takes the set to a state of minimum energy. Researchers reported successful application of the algorithm in solving some engineering problems, like the quadratic assignment problem, with superior performance when compared with other optimization algorithms. We adapted this optimization algorithm to the Printed Circuit Board Drilling Problem (PCBDP) towards reducing the drilling time and hence improving the PCB manufacturing throughput. Although the PCBDP can be viewed as instance of the popular Traveling Salesman Problem (TSP), it has some characteristics that would require special attention to the transactions that explore the solution landscape. Experimental test results using the standard CROToolBox are not promising for practically sized problems, while it could find optimal solutions for artificial problems and small benchmarks as a proof of concept.

Keywords: Evolutionary Algorithms, Chemical Reaction Optimization, Traveling Salesman, Board Drilling.

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Authors: P. Ghann, J. Shiguang, C. Zhou

Abstract:

Access control is one of the most challenging issues facing information security. Access control is defined as, the ability to permit or deny access to a particular computational resource or digital information by an unauthorized user or subject. The concept of usage control (UCON) has been introduced as a unified approach to capture a number of extensions for access control models and systems. In UCON, an access decision is determined by three factors: authorizations, obligations and conditions. Attribute mutability and decision continuity are two distinct characteristics introduced by UCON for the first time. An observation of UCON components indicates that, the components are predefined and static. In this paper, we propose a new and flexible model of usage control for the creation and elimination of some of these components; for example new objects, subjects, attributes and integrate these with the original UCON model. We also propose a model for concurrent usage scenarios in UCON.

Keywords: Access Control, Concurrency, Digital container, Usage control.

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Authors: Tonislav Ivanov, Oleksii Nedashkivskyi, Denis Babeshko, Vadim Pinskiy, Matthew Putman

Abstract:

Training a machine learning model for object detection that generalizes well is known to benefit from a training dataset with diverse examples. However, training datasets usually contain many repeats of common examples of a class and lack rarely seen examples. This is due to the process commonly used during human annotation where a person would proceed sequentially through a list of images labeling a sufficiently high total number of examples. Instead, the method presented involves an active process where, after the initial labeling of several images is completed, the next subset of images for labeling is selected by an algorithm. This process of algorithmic image selection and manual labeling continues in an iterative fashion. The algorithm used for the image selection is a deep learning algorithm, based on the U-shaped architecture, which quantifies the presence of unseen data in each image in order to find images that contain the most novel examples. Moreover, the location of the unseen data in each image is highlighted, aiding the labeler in spotting these examples. Experiments performed using semiconductor wafer data show that labeling a subset of the data, curated by this algorithm, resulted in a model with a better performance than a model produced from sequentially labeling the same amount of data. Also, similar performance is achieved compared to a model trained on exhaustive labeling of the whole dataset. Overall, the proposed approach results in a dataset that has a diverse set of examples per class as well as more balanced classes, which proves beneficial when training a deep learning model.

Keywords: Computer vision, deep learning, object detection, semiconductor.

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Authors: Ibrahim Gomaa, Hoda M. O. Mokhtar

Abstract:

Although most of the existing skyline queries algorithms focused basically on querying static points through static databases; with the expanding number of sensors, wireless communications and mobile applications, the demand for continuous skyline queries has increased. Unlike traditional skyline queries which only consider static attributes, continuous skyline queries include dynamic attributes, as well as the static ones. However, as skyline queries computation is based on checking the domination of skyline points over all dimensions, considering both the static and dynamic attributes without separation is required. In this paper, we present an efficient algorithm for computing continuous skyline queries without discriminating between static and dynamic attributes. Our algorithm in brief proceeds as follows: First, it excludes the points which will not be in the initial skyline result; this pruning phase reduces the required number of comparisons. Second, the association between the spatial positions of data points is examined; this phase gives an idea of where changes in the result might occur and consequently enables us to efficiently update the skyline result (continuous update) rather than computing the skyline from scratch. Finally, experimental evaluation is provided which demonstrates the accuracy, performance and efficiency of our algorithm over other existing approaches.

Keywords: Continuous query processing, dynamic database, moving object, skyline queries.

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Authors: Amin Sedighfar, M. R. Moniri

Abstract:

Determination of state of charge (SOC) in today’s world becomes an increasingly important issue in all the applications that include a battery. In fact, estimation of the SOC is a fundamental need for the battery, which is the most important energy storage in Hybrid Electric Vehicles (HEVs), smart grid systems, drones, UPS and so on. Regarding those applications, the SOC estimation algorithm is expected to be precise and easy to implement. This paper presents an online method for the estimation of the SOC of Valve-Regulated Lead Acid (VRLA) batteries. The proposed method uses the well-known Kalman Filter (KF), and Neural Networks (NNs) and all of the simulations have been done with MATLAB software. The NN is trained offline using the data collected from the battery discharging process. A generic cell model is used, and the underlying dynamic behavior of the model has used two capacitors (bulk and surface) and three resistors (terminal, surface, and end), where the SOC determined from the voltage represents the bulk capacitor. The aim of this work is to compare the performance of conventional integration-based SOC estimation methods with a mixed algorithm. Moreover, by containing the effect of temperature, the final result becomes more accurate. 

Keywords: Kalman filter, neural networks, state-of-charge, VRLA battery.

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Authors: V. T. S. Dao, T. G. Etoh, C. Vo Le, H. D. Nguyen, K. Takehara, T. Akino, K. Nishi

Abstract:

Since 2004, we have been developing an in-situ storage image sensor (ISIS) that captures more than 100 consecutive images at a frame rate of 10 Mfps with ultra-high sensitivity as well as the video camera for use with this ISIS. Currently, basic research is continuing in an attempt to increase the frame rate up to 100 Mfps and above. In order to suppress electro-magnetic noise at such high frequency, a digital-noiseless imaging transfer scheme has been developed utilizing solely sinusoidal driving voltages. This paper presents highly efficient-yet-accurate expressions to estimate attenuation as well as phase delay of driving voltages through RC networks of an ultra-high-speed image sensor. Elmore metric for a fundamental RC chain is employed as the first-order approximation. By application of dimensional analysis to SPICE data, we found a simple expression that significantly improves the accuracy of the approximation. Similarly, another simple closed-form model to estimate phase delay through fundamental RC networks is also obtained. Estimation error of both expressions is much less than previous works, only less 2% for most of the cases . The framework of this analysis can be extended to address similar issues of other VLSI structures.

Keywords: Dimensional Analysis, ISIS, Digital-noiseless, RC network, Attenuation, Phase Delay, Elmore model

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Authors: F. Yildiz, S. Y. Oturanc

Abstract:

Advances technology in the field of photogrammetry replaces analog cameras with reflection on aircraft GPS/IMU system with a digital aerial camera. In this system, when determining the position of the camera with the GPS, camera rotations are also determined by the IMU systems. All around the world, digital aerial cameras have been used for the photogrammetry applications in the last ten years. In this way, in terms of the work done in photogrammetry it is possible to use time effectively, costs to be reduced to a minimum level, the opportunity to make fast and accurate. Geo-referencing techniques that are the cornerstone of the GPS / INS systems, photogrammetric triangulation of images required for balancing (interior and exterior orientation) brings flexibility to the process. Also geo-referencing process; needed in the application of photogrammetry targets to help to reduce the number of ground control points. In this study, the use of direct and indirect georeferencing techniques on the accuracy of the points was investigated in the production of photogrammetric mapping.

Keywords: Photogrammetry, GPS/IMU Systems, Geo- Referencing.

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Authors: Y. K. Lin, H. T. Hsieh, F. Y. Hsieh

Abstract:

Total weighted tardiness is a measure of customer satisfaction. Minimizing it represents satisfying the general requirement of on-time delivery. In this research, we consider an ant colony optimization (ACO) algorithm to solve the problem of scheduling unrelated parallel machines to minimize total weighted tardiness. The problem is NP-hard in the strong sense. Computational results show that the proposed ACO algorithm is giving promising results compared to other existing algorithms.

Keywords: ant colony optimization, total weighted tardiness, unrelated parallel machines.

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Authors: Carlo Cernicchiaro, Pedro D. Gaspar, Martim L. Aguiar

Abstract:

The agricultural sector is becoming more critical than ever in view of the expected overpopulation of the Earth. The introduction of robotic solutions in this field is an increasingly researched topic to make the most of the Earth's resources, thus going to avoid the problems of wear and tear of the human body due to the harsh agricultural work, and open the possibility of a constant careful processing 24 hours a day. This project is realized for a terrestrial autonomous robot aimed to navigate in an orchard collecting fallen peaches below the trees. When it receives the signal indicating the low battery, it has to return to the docking station where it will replace its battery and then return to the last work point and resume its routine. Considering a preset path in orchards with tree rows with variable length by which the robot goes iteratively using the algorithm D*. In case of low battery, the D* algorithm is still used to determine the fastest return path to the docking station as well as to come back from the docking station to the last work point. MATLAB simulations were performed to analyze the flexibility and adaptability of the developed algorithm. The simulation results show an enormous potential for adaptability, particularly in view of the irregularity of orchard field, since it is not flat and undergoes modifications over time from fallen branch as well as from other obstacles and constraints. The D* algorithm determines the best route in spite of the irregularity of the terrain. Moreover, in this work, it will be shown a possible solution to improve the initial points tracking and reduce time between movements.

Keywords: Path planning, fastest return path, agricultural terrestrial robot, autonomous, docking station.

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Authors: M. Moosavi, H. Khatibzadeh

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In this article, we study demiclosed and strongly quasi-nonexpansive of a sequence generated by the proximal point algorithm for a finite family of quasi-nonexpansive mappings in Hadamard spaces. Δ-convergence of iterations for the sequence of strongly quasi-nonexpansive mappings as well as the strong convergence of the Halpern type regularization of them to a common fixed point of sequence are also established. Our results generalize and improve several previously known results of the existing literature.

Keywords: Fixed point, Hadamard space, proximal point algorithm, quasi-nonexpansive sequence of mappings, resolvent.

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Authors: Farhad Asadi, S. Hossein Sadati

Abstract:

Bayesian approach can be used for parameter identification and extraction in state space models and its ability for analyzing sequence of data in dynamical system is proved in different literatures. In this paper, adaptive Kalman filter with Bayesian approach for identification of variances in measurement parameter noise is developed. Next, it is applied for estimation of the dynamical state and measurement data in discrete linear dynamical system. This algorithm at each step time estimates noise variance in measurement noise and state of system with Kalman filter. Next, approximation is designed at each step separately and consequently sufficient statistics of the state and noise variances are computed with a fixed-point iteration of an adaptive Kalman filter. Different simulations are applied for showing the influence of noise variance in measurement data on algorithm. Firstly, the effect of noise variance and its distribution on detection and identification performance is simulated in Kalman filter without Bayesian formulation. Then, simulation is applied to adaptive Kalman filter with the ability of noise variance tracking in measurement data. In these simulations, the influence of noise distribution of measurement data in each step is estimated, and true variance of data is obtained by algorithm and is compared in different scenarios. Afterwards, one typical modeling of nonlinear state space model with inducing noise measurement is simulated by this approach. Finally, the performance and the important limitations of this algorithm in these simulations are explained. 

Keywords: adaptive filtering, Bayesian approach Kalman filtering approach, variance tracking

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