Search results for: Hybrid genetic algorithm
2386 Solving an Extended Resource Leveling Problem with Multiobjective Evolutionary Algorithms
Authors: Javier Roca, Etienne Pugnaghi, Gaëtan Libert
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We introduce an extended resource leveling model that abstracts real life projects that consider specific work ranges for each resource. Contrary to traditional resource leveling problems this model considers scarce resources and multiple objectives: the minimization of the project makespan and the leveling of each resource usage over time. We formulate this model as a multiobjective optimization problem and we propose a multiobjective genetic algorithm-based solver to optimize it. This solver consists in a two-stage process: a main stage where we obtain non-dominated solutions for all the objectives, and a postprocessing stage where we seek to specifically improve the resource leveling of these solutions. We propose an intelligent encoding for the solver that allows including domain specific knowledge in the solving mechanism. The chosen encoding proves to be effective to solve leveling problems with scarce resources and multiple objectives. The outcome of the proposed solvers represent optimized trade-offs (alternatives) that can be later evaluated by a decision maker, this multi-solution approach represents an advantage over the traditional single solution approach. We compare the proposed solver with state-of-art resource leveling methods and we report competitive and performing results.
Keywords: Intelligent problem encoding, multiobjective decision making, evolutionary computing, RCPSP, resource leveling.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 41942385 Chemical Composition of Variety 'Nante' Hybrid Carrots Cultivated in Latvia
Authors: Tatjana Rakcejeva, Ingrida Augspole, Lija Dukalska, Fredijs Dimins
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carrot is one of the important root vegetable crops, and it is highly nutritious as it contains appreciable amount of vitamins, minerals and β-carotene. The major objective of current research was to evaluate the chemical composition of carrot variety 'Nante' hybrids in general and to select the best samples for fresh-cut salad production. The research was accomplished on fresh in Latvia cultivated carrots harvested in Zemgale region in the first part of October, 2011 and immediately used for experiments. Late-bearing variety 'Nante' hybrid carrots were used for analysis: 'Nante/Berlikum', 'Nante/Maestro', 'Nante/Forto', 'Nante/Bolero' and 'Nante/Champion'. The quality parameters as moisture, soluble solid, firmness, b-carotene, carotenoid, color, polyphenols, total phenolic compounds and total antioxidant capacity were analyzed using standard methods. For fresh-cut salad production as more applicable could be recommended hybrids 'Nante/Forto' and 'Nante/Berlikum' - mainly because it-s higher nutritive value, as higher total phenolic compounds, polyphenols and pronounced antioxidant capacity.Keywords: carrots, chemical composition, evaluation
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 21702384 Partially Knowing of Least Support Orthogonal Matching Pursuit (PKLS-OMP) for Recovering Signal
Authors: Israa Sh. Tawfic, Sema Koc Kayhan
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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.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 22322383 Pattern Classification of Back-Propagation Algorithm Using Exclusive Connecting Network
Authors: Insung Jung, Gi-Nam Wang
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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.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 16562382 Exploiting Two Intelligent Models to Predict Water Level: A Field Study of Urmia Lake, Iran
Authors: Shahab Kavehkar, Mohammad Ali Ghorbani, Valeriy Khokhlov, Afshin Ashrafzadeh, Sabereh Darbandi
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Water level forecasting using records of past time series is of importance in water resources engineering and management. For example, water level affects groundwater tables in low-lying coastal areas, as well as hydrological regimes of some coastal rivers. Then, a reliable prediction of sea-level variations is required in coastal engineering and hydrologic studies. During the past two decades, the approaches based on the Genetic Programming (GP) and Artificial Neural Networks (ANN) were developed. In the present study, the GP is used to forecast daily water level variations for a set of time intervals using observed water levels. The measurements from a single tide gauge at Urmia Lake, Northwest Iran, were used to train and validate the GP approach for the period from January 1997 to July 2008. Statistics, the root mean square error and correlation coefficient, are used to verify model by comparing with a corresponding outputs from Artificial Neural Network model. The results show that both these artificial intelligence methodologies are satisfactory and can be considered as alternatives to the conventional harmonic analysis.
Keywords: Water-Level variation, forecasting, artificial neural networks, genetic programming, comparative analysis.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 23322381 Nonlinear Acoustic Echo Cancellation Using Volterra Filtering with a Variable Step-Size GS-PAP Algorithm
Authors: J. B. Seo, K. J. Kim, S. W. Nam
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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.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 18142380 Robust Steam Temperature Regulation for Distillation of Essential Oil Extraction Process using Hybrid Fuzzy-PD plus PID Controller
Authors: Nurhani Kasuan, Zakariah Yusuf, Mohd Nasir Taib, Mohd Hezri Fazalul Rahiman, Nazurah Tajuddin, Mohd Azri Abdul Aziz
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This paper presents a hybrid fuzzy-PD plus PID (HFPP) controller and its application to steam distillation process for essential oil extraction system. Steam temperature is one of the most significant parameters that can influence the composition of essential oil yield. Due to parameter variations and changes in operation conditions during distillation, a robust steam temperature controller becomes nontrivial to avoid the degradation of essential oil quality. Initially, the PRBS input is triggered to the system and output of steam temperature is modeled using ARX model structure. The parameter estimation and tuning method is adopted by simulation using HFPP controller scheme. The effectiveness and robustness of proposed controller technique is validated by real time implementation to the system. The performance of HFPP using 25 and 49 fuzzy rules is compared. The experimental result demonstrates the proposed HFPP using 49 fuzzy rules achieves a better, consistent and robust controller compared to PID when considering the test on tracking the set point and the effects due to disturbance.Keywords: Fuzzy Logic controller, steam temperature, steam distillation, real time control.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 28412379 No one Set of Parameter Values Can Simulate the Epidemics Due to SARS Occurring at Different Localities
Authors: Weerachi Sarakorn, I-Ming Tang
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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.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 14482378 Cluster-Based Multi-Path Routing Algorithm in Wireless Sensor Networks
Authors: Si-Gwan Kim
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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.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 24712377 Molecular Epidemiology and Genotyping of Bovine Viral Diarrhea Virus in Xinjiang Uygur Autonomous Region of China
Authors: Yan Ren, Jun Qiao, Xianxia Liu, Pengyan Wang, Qiang Fu, Huijun Shi, Fei Guo, Yuanzhi Wang, Hui Zhang, Jinliang Sheng, Xinli Gu, Xiao-Jun Liu, Chuangfu Chen
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As part of national epidemiological survey on bovine viral diarrhea virus (BVDV), a total of 274 dejecta samples were collected from 14 cattle farms in 8 areas of Xinjiang Uygur Autonomous Region in northwestern China. Total RNA was extracted from each sample, and 5--untranslated region (UTR) of BVDV genome was amplified by using two-step reverse transcriptase-polymerase chain reaction (RT-PCR). The PCR products were subsequently sequenced to study the genetic variations of BVDV in these areas. Among the 274 samples, 33 samples were found virus-positive. According to sequence analysis of the PCR products, the 33 samples could be arranged into 16 groups. All the sequences, however, were highly conserved with BVDV Osloss strains. The virus possessed theses sequences belonged to BVDV-1b subtype by phylogenetic analysis. Based on these data, we established a typing tree for BVDV in these areas. Our results suggested that BVDV-1b was a predominant subgenotype in northwestern China and no correlation between the genetic and geographical distances could be observed above the farm level.Keywords: bovine viral diarrhea virus, molecular epidemiology, phylogenetic analysis.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 24892376 A New Version of Unscented Kalman Filter
Authors: S. A. Banani, M. A. Masnadi-Shirazi
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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.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 28872375 A Real-Time Specific Weed Recognition System Using Statistical Methods
Authors: Imran Ahmed, Muhammad Islam, Syed Inayat Ali Shah, Awais Adnan
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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.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 22642374 The Application of Homotopy Method In Solving Electrical Circuit Design Problem
Authors: Talib Hashim Hasan
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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 methodKeywords: electrical circuit homotopy, methods, MATLAB, Newton homotopy
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 30302373 A Computational Design Algorithm for Manufacturing of Reinforced Structures with Wire Winding
Authors: Amer Ezoji, Mohammad Sedighi
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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.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 17822372 Adapting the Chemical Reaction Optimization Algorithm to the Printed Circuit Board Drilling Problem
Authors: Taisir Eldos, Aws Kanan, Waleed Nazih, Ahmad Khatatbih
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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.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 32312371 Image Ranking to Assist Object Labeling for Training Detection Models
Authors: Tonislav Ivanov, Oleksii Nedashkivskyi, Denis Babeshko, Vadim Pinskiy, Matthew Putman
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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.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 8292370 Computing Continuous Skyline Queries without Discriminating between Static and Dynamic Attributes
Authors: Ibrahim Gomaa, Hoda M. O. Mokhtar
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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.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 12442369 Fiber-Reinforced Sandwich Structures Based on Selective Laser Sintering: A Technological View
Authors: T. Häfele, J. Kaspar, M. Vielhaber, W. Calles, J. Griebsch
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The demand for an increasing diversification of the product spectrum associated with the current huge customization desire and subsequently the decreasing unit quantities of each production lot is gaining more and more importance within a great variety of industrial branches, e.g. automotive industry. Nevertheless, traditional product development and production processes (molding, extrusion) are already reaching their limits or fail to address these trends of a flexible and digitized production in view of a product variability up to lot size one. Thus, upcoming innovative production concepts like the additive manufacturing technology basically create new opportunities with regard to extensive potentials in product development (constructive optimization) and manufacturing (economic individualization), but mostly suffer from insufficient strength regarding structural components. Therefore, this contribution presents an innovative technological and procedural conception of a hybrid additive manufacturing process (fiber-reinforced sandwich structures based on selective laser sintering technology) to overcome these current structural weaknesses, and consequently support the design of complex lightweight components.
Keywords: Additive manufacturing, fiber-reinforced plastics, hybrid design, lightweight design.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 12222368 Unrelated Parallel Machines Scheduling Problem Using an Ant Colony Optimization Approach
Authors: Y. K. Lin, H. T. Hsieh, F. Y. Hsieh
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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.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 18902367 Efficient DTW-Based Speech Recognition System for Isolated Words of Arabic Language
Authors: Khalid A. Darabkh, Ala F. Khalifeh, Baraa A. Bathech, Saed W. Sabah
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Despite the fact that Arabic language is currently one of the most common languages worldwide, there has been only a little research on Arabic speech recognition relative to other languages such as English and Japanese. Generally, digital speech processing and voice recognition algorithms are of special importance for designing efficient, accurate, as well as fast automatic speech recognition systems. However, the speech recognition process carried out in this paper is divided into three stages as follows: firstly, the signal is preprocessed to reduce noise effects. After that, the signal is digitized and hearingized. Consequently, the voice activity regions are segmented using voice activity detection (VAD) algorithm. Secondly, features are extracted from the speech signal using Mel-frequency cepstral coefficients (MFCC) algorithm. Moreover, delta and acceleration (delta-delta) coefficients have been added for the reason of improving the recognition accuracy. Finally, each test word-s features are compared to the training database using dynamic time warping (DTW) algorithm. Utilizing the best set up made for all affected parameters to the aforementioned techniques, the proposed system achieved a recognition rate of about 98.5% which outperformed other HMM and ANN-based approaches available in the literature.Keywords: Arabic speech recognition, MFCC, DTW, VAD.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 40752366 Hybrid MAC Protocols Characteristics in Multi-hops Wireless Sensor Networks
Authors: M. Miladi, T. Ezzedine, R. Bouallegue
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In the current decade, wireless sensor networks are emerging as a peculiar multi-disciplinary research area. By this way, energy efficiency is one of the fundamental research themes in the design of Medium Access Control (MAC) protocols for wireless sensor networks. Thus, in order to optimize the energy consumption in these networks, a variety of MAC protocols are available in the literature. These schemes were commonly evaluated under simple network density and a few results are published on their robustness in realistic network-s size. We, in this paper, provide an analytical study aiming to highlight the energy waste sources in wireless sensor networks. Then, we experiment three energy efficient hybrid CSMA/CA based MAC protocols optimized for wireless sensor networks: Sensor-MAC (SMAC), Time-out MAC (TMAC) and Traffic aware Energy Efficient MAC (TEEM). We investigate these protocols with different network densities in order to discuss the end-to-end performances of these schemes (i.e. in terms of energy efficiency, delay and throughput). Through Network Simulator (NS- 2) implementations, we explore the behaviors of these protocols with respect to the network density. In fact, this study may help the multihops sensor networks designers to design or select the MAC layer which matches better their applications aims.Keywords: Energy efficiency, medium access control, network density, wireless sensor networks.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 16272365 Fast Return Path Planning for Agricultural Autonomous Terrestrial Robot in a Known Field
Authors: Carlo Cernicchiaro, Pedro D. Gaspar, Martim L. Aguiar
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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.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 8612364 Fixed Point of Lipschitz Quasi Nonexpansive Mappings
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.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1922363 Adaptive Kalman Filter for Noise Estimation and Identification with Bayesian Approach
Authors: Farhad Asadi, S. Hossein Sadati
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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
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 6192362 Ec-A: A Task Allocation Algorithm for Energy Minimization in Multiprocessor Systems
Authors: Anju S. Pillai, T.B. Isha
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With the necessity of increased processing capacity with less energy consumption; power aware multiprocessor system has gained more attention in the recent future. One of the additional challenges that is to be solved in a multi-processor system when compared to uni-processor system is job allocation. This paper presents a novel task dependent job allocation algorithm: Energy centric- Allocation (Ec-A) and Rate Monotonic (RM) scheduling to minimize energy consumption in a multiprocessor system. A simulation analysis is carried out to verify the performance increase with reduction in energy consumption and required number of processors in the system.
Keywords: Energy consumption, Job allocation, Multiprocessor systems, Task dependent.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 21872361 Real Time Lidar and Radar High-Level Fusion for Obstacle Detection and Tracking with Evaluation on a Ground Truth
Authors: Hatem Hajri, Mohamed-Cherif Rahal
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Both Lidars and Radars are sensors for obstacle detection. While Lidars are very accurate on obstacles positions and less accurate on their velocities, Radars are more precise on obstacles velocities and less precise on their positions. Sensor fusion between Lidar and Radar aims at improving obstacle detection using advantages of the two sensors. The present paper proposes a real-time Lidar/Radar data fusion algorithm for obstacle detection and tracking based on the global nearest neighbour standard filter (GNN). This algorithm is implemented and embedded in an automative vehicle as a component generated by a real-time multisensor software. The benefits of data fusion comparing with the use of a single sensor are illustrated through several tracking scenarios (on a highway and on a bend) and using real-time kinematic sensors mounted on the ego and tracked vehicles as a ground truth.Keywords: Ground truth, Hungarian algorithm, lidar Radar data fusion, global nearest neighbor filter.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 9622360 Forensic Speaker Verification in Noisy Environmental by Enhancing the Speech Signal Using ICA Approach
Authors: Ahmed Kamil Hasan Al-Ali, Bouchra Senadji, Ganesh Naik
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We propose a system to real environmental noise and channel mismatch for forensic speaker verification systems. This method is based on suppressing various types of real environmental noise by using independent component analysis (ICA) algorithm. The enhanced speech signal is applied to mel frequency cepstral coefficients (MFCC) or MFCC feature warping to extract the essential characteristics of the speech signal. Channel effects are reduced using an intermediate vector (i-vector) and probabilistic linear discriminant analysis (PLDA) approach for classification. The proposed algorithm is evaluated by using an Australian forensic voice comparison database, combined with car, street and home noises from QUT-NOISE at a signal to noise ratio (SNR) ranging from -10 dB to 10 dB. Experimental results indicate that the MFCC feature warping-ICA achieves a reduction in equal error rate about (48.22%, 44.66%, and 50.07%) over using MFCC feature warping when the test speech signals are corrupted with random sessions of street, car, and home noises at -10 dB SNR.Keywords: Noisy forensic speaker verification, ICA algorithm, MFCC, MFCC feature warping.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 9912359 Efficient Secured Lossless Coding of Medical Images– Using Modified Runlength Coding for Character Representation
Authors: S. Annadurai, P. Geetha
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Lossless compression schemes with secure transmission play a key role in telemedicine applications that helps in accurate diagnosis and research. Traditional cryptographic algorithms for data security are not fast enough to process vast amount of data. Hence a novel Secured lossless compression approach proposed in this paper is based on reversible integer wavelet transform, EZW algorithm, new modified runlength coding for character representation and selective bit scrambling. The use of the lifting scheme allows generating truly lossless integer-to-integer wavelet transforms. Images are compressed/decompressed by well-known EZW algorithm. The proposed modified runlength coding greatly improves the compression performance and also increases the security level. This work employs scrambling method which is fast, simple to implement and it provides security. Lossless compression ratios and distortion performance of this proposed method are found to be better than other lossless techniques.Keywords: EZW algorithm, lifting scheme, losslesscompression, reversible integer wavelet transform, securetransmission, selective bit scrambling, modified runlength coding .
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 13672358 Undecimated Wavelet Transform Based Contrast Enhancement
Authors: Numan Unaldi, Samil Temel, Süleyman Demirci
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A novel undecimated wavelet transform based contrast enhancement algorithmis proposed to for both gray scale andcolor images. Contrast enhancement is realized by tuning the magnitude of approximation coefficients at each level with respect to the approximation coefficients of one higher level during the inverse transform phase in a center/surround enhancement sense.The performance of the proposed algorithm is evaluated using a statistical visual contrast measure (VCM). Experimental results on the proposed algorithm show improvement in terms of the VCM.
Keywords: Image enhancement, local contrast enhancement, visual contrast measure.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 27462357 An Efficient Protocol for Cyclic Somatic Embryogenesis in Neem (Azadirachta indica A Juss.)
Authors: Mithilesh Singh, Rakhi Chaturvedi
Abstract:
Neem is a highly heterozygous and commercially important perennial plant. Conventionally, it is propagated by seeds which loose viability within two weeks. Strictly cross pollinating nature of the plant causes serious barrier to the genetic improvement by conventional methods. Alternative methods of tree improvement such as somatic hybridization, mutagenesis and genetic transformation require an efficient in vitro plant regeneration system. In this regard, somatic embryogenesis particularly secondary somatic embryogenesis may offer an effective system for large scale plant propagation without affecting the clonal fidelity of the regenerants. It can be used for synthetic seed production, which further bolsters conservation of this tree species which is otherwise very difficult The present report describes the culture conditions necessary to induce and maintain repetitive somatic embryogenesis, for the first time, in neem. Out of various treatments tested, the somatic embryos were induced directly from immature zygotic embryos of neem on MS + TDZ (0.1 μM) + ABA (4 μM), in more than 76 % cultures. Direct secondary somatic embryogenesis occurred from primary somatic embryos on MS + IAA (5 μM) + GA3 (5 μM) in 12.5 % cultures. Embryogenic competence of the explant as well as of the primary embryos was maintained for a long period by repeated subcultures at frequent intervals. A maximum of 10 % of these somatic embryos were converted into plantlets.Keywords: Azadirachta indica A. Juss., Cytokinin, Somatic embryogenesis, zygotic embryo culture.
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