Search results for: Scheduling algorithm
Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 3589

Search results for: Scheduling algorithm

1729 Implementation of Neural Network Based Electricity Load Forecasting

Authors: Myint Myint Yi, Khin Sandar Linn, Marlar Kyaw

Abstract:

This paper proposed a novel model for short term load forecast (STLF) in the electricity market. The prior electricity demand data are treated as time series. The model is composed of several neural networks whose data are processed using a wavelet technique. The model is created in the form of a simulation program written with MATLAB. The load data are treated as time series data. They are decomposed into several wavelet coefficient series using the wavelet transform technique known as Non-decimated Wavelet Transform (NWT). The reason for using this technique is the belief in the possibility of extracting hidden patterns from the time series data. The wavelet coefficient series are used to train the neural networks (NNs) and used as the inputs to the NNs for electricity load prediction. The Scale Conjugate Gradient (SCG) algorithm is used as the learning algorithm for the NNs. To get the final forecast data, the outputs from the NNs are recombined using the same wavelet technique. The model was evaluated with the electricity load data of Electronic Engineering Department in Mandalay Technological University in Myanmar. The simulation results showed that the model was capable of producing a reasonable forecasting accuracy in STLF.

Keywords: Neural network, Load forecast, Time series, wavelettransform.

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1728 Multi-Robotic Partial Disassembly Line Balancing with Robotic Efficiency Difference via HNSGA-II

Authors: Tao Yin, Zeqiang Zhang, Wei Liang, Yanqing Zeng, Yu Zhang

Abstract:

To accelerate the remanufacturing process of electronic waste products, this study designs a partial disassembly line with the multi-robotic station to effectively dispose of excessive wastes. The multi-robotic partial disassembly line is a technical upgrade to the existing manual disassembly line. Balancing optimization can make the disassembly line smoother and more efficient. For partial disassembly line balancing with the multi-robotic station (PDLBMRS), a mixed-integer programming model (MIPM) considering the robotic efficiency differences is established to minimize cycle time, energy consumption and hazard index and to calculate their optimal global values. Besides, an enhanced NSGA-II algorithm (HNSGA-II) is proposed to optimize PDLBMRS efficiently. Finally, MIPM and HNSGA-II are applied to an actual mixed disassembly case of two types of computers, the comparison of the results solved by GUROBI and HNSGA-II verifies the correctness of the model and excellent performance of the algorithm, and the obtained Pareto solution set provides multiple options for decision-makers.

Keywords: Waste disposal, disassembly line balancing, multi-robot station, robotic efficiency difference, HNSGA-II.

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1727 Small Signal Stability Assessment Employing PSO Based TCSC Controller with Comparison to GA Based Design

Authors: D. Mondal, A. Chakrabarti, A. Sengupta

Abstract:

This paper aims to select the optimal location and setting parameters of TCSC (Thyristor Controlled Series Compensator) controller using Particle Swarm Optimization (PSO) and Genetic Algorithm (GA) to mitigate small signal oscillations in a multimachine power system. Though Power System Stabilizers (PSSs) are prime choice in this issue, installation of FACTS device has been suggested here in order to achieve appreciable damping of system oscillations. However, performance of any FACTS devices highly depends upon its parameters and suitable location in the power network. In this paper PSO as well as GA based techniques are used separately and compared their performances to investigate this problem. The results of small signal stability analysis have been represented employing eigenvalue as well as time domain response in face of two common power system disturbances e.g., varying load and transmission line outage. It has been revealed that the PSO based TCSC controller is more effective than GA based controller even during critical loading condition.

Keywords: Genetic Algorithm, Particle Swarm Optimization, Small Signal Stability, Thyristor Controlled Series Compensator.

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1726 Matching Pursuit based Removal of Cardiac Pulse-Related Artifacts in EEG/fMRI

Authors: Rainer Schneider, Stephan Lau, Levin Kuhlmann, Simon Vogrin, Maciej Gratkowski, Mark Cook, Jens Haueisen

Abstract:

Cardiac pulse-related artifacts in the EEG recorded simultaneously with fMRI are complex and highly variable. Their effective removal is an unsolved problem. Our aim is to develop an adaptive removal algorithm based on the matching pursuit (MP) technique and to compare it to established methods using a visual evoked potential (VEP). We recorded the VEP inside the static magnetic field of an MR scanner (with artifacts) as well as in an electrically shielded room (artifact free). The MP-based artifact removal outperformed average artifact subtraction (AAS) and optimal basis set removal (OBS) in terms of restoring the EEG field map topography of the VEP. Subsequently, a dipole model was fitted to the VEP under each condition using a realistic boundary element head model. The source location of the VEP recorded inside the MR scanner was closest to that of the artifact free VEP after cleaning with the MP-based algorithm as well as with AAS. While none of the tested algorithms offered complete removal, MP showed promising results due to its ability to adapt to variations of latency, frequency and amplitude of individual artifact occurrences while still utilizing a common template.

Keywords: matching pursuit, ballistocardiogram, artifactremoval, EEG/fMRI.

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1725 Genetic Algorithm Based Design of Fuzzy Logic Power System Stabilizers in Multimachine Power System

Authors: Manisha Dubey, Aalok Dubey

Abstract:

This paper presents an approach for the design of fuzzy logic power system stabilizers using genetic algorithms. In the proposed fuzzy expert system, speed deviation and its derivative have been selected as fuzzy inputs. In this approach the parameters of the fuzzy logic controllers have been tuned using genetic algorithm. Incorporation of GA in the design of fuzzy logic power system stabilizer will add an intelligent dimension to the stabilizer and significantly reduces computational time in the design process. It is shown in this paper that the system dynamic performance can be improved significantly by incorporating a genetic-based searching mechanism. To demonstrate the robustness of the genetic based fuzzy logic power system stabilizer (GFLPSS), simulation studies on multimachine system subjected to small perturbation and three-phase fault have been carried out. Simulation results show the superiority and robustness of GA based power system stabilizer as compare to conventionally tuned controller to enhance system dynamic performance over a wide range of operating conditions.

Keywords: Dynamic stability, Fuzzy logic power systemstabilizer, Genetic Algorithms, Genetic based power systemstabilizer

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1724 A New Approach for Predicting and Optimizing Weld Bead Geometry in GMAW

Authors: Farhad Kolahan, Mehdi Heidari

Abstract:

Gas Metal Arc Welding (GMAW) processes is an important joining process widely used in metal fabrication industries. This paper addresses modeling and optimization of this technique using a set of experimental data and regression analysis. The set of experimental data has been used to assess the influence of GMAW process parameters in weld bead geometry. The process variables considered here include voltage (V); wire feed rate (F); torch Angle (A); welding speed (S) and nozzle-to-plate distance (D). The process output characteristics include weld bead height, width and penetration. The Taguchi method and regression modeling are used in order to establish the relationships between input and output parameters. The adequacy of the model is evaluated using analysis of variance (ANOVA) technique. In the next stage, the proposed model is embedded into a Simulated Annealing (SA) algorithm to optimize the GMAW process parameters. The objective is to determine a suitable set of process parameters that can produce desired bead geometry, considering the ranges of the process parameters. Computational results prove the effectiveness of the proposed model and optimization procedure.

Keywords: Weld Bead Geometry, GMAW welding, Processparameters Optimization, Modeling, SA algorithm

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1723 Segmentation of Arabic Handwritten Numeral Strings Based on Watershed Approach

Authors: Nidal F. Shilbayeh, Remah W. Al-Khatib, Sameer A. Nooh

Abstract:

Arabic offline handwriting recognition systems are considered as one of the most challenging topics. Arabic Handwritten Numeral Strings are used to automate systems that deal with numbers such as postal code, banking account numbers and numbers on car plates. Segmentation of connected numerals is the main bottleneck in the handwritten numeral recognition system.  This is in turn can increase the speed and efficiency of the recognition system. In this paper, we proposed algorithms for automatic segmentation and feature extraction of Arabic handwritten numeral strings based on Watershed approach. The algorithms have been designed and implemented to achieve the main goal of segmenting and extracting the string of numeral digits written by hand especially in a courtesy amount of bank checks. The segmentation algorithm partitions the string into multiple regions that can be associated with the properties of one or more criteria. The numeral extraction algorithm extracts the numeral string digits into separated individual digit. Both algorithms for segmentation and feature extraction have been tested successfully and efficiently for all types of numerals.

Keywords: Handwritten numerals, segmentation, courtesy amount, feature extraction, numeral recognition.

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1722 An Efficient Energy Adaptive Hybrid Error Correction Technique for Underwater Wireless Sensor Networks

Authors: Ammar Elyas babiker, M.Nordin B. Zakaria, Hassan Yosif, Samir B. Ibrahim

Abstract:

Variable channel conditions in underwater networks, and variable distances between sensors due to water current, leads to variable bit error rate (BER). This variability in BER has great effects on energy efficiency of error correction techniques used. In this paper an efficient energy adaptive hybrid error correction technique (AHECT) is proposed. AHECT adaptively changes error technique from pure retransmission (ARQ) in a low BER case to a hybrid technique with variable encoding rates (ARQ & FEC) in a high BER cases. An adaptation algorithm depends on a precalculated packet acceptance rate (PAR) look-up table, current BER, packet size and error correction technique used is proposed. Based on this adaptation algorithm a periodically 3-bit feedback is added to the acknowledgment packet to state which error correction technique is suitable for the current channel conditions and distance. Comparative studies were done between this technique and other techniques, and the results show that AHECT is more energy efficient and has high probability of success than all those techniques.

Keywords: Underwater communication, wireless sensornetworks, error correction technique, energy efficiency

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1721 Combining the Description Features of UMLRT and CSP+T Specifications Applied to a Complete Design of Real-Time Systems

Authors: Kawtar Benghazi Akhlaki, Manuel I. Capel-Tuñón

Abstract:

UML is a collection of notations for capturing a software system specification. These notations have a specific syntax defined by the Object Management Group (OMG), but many of their constructs only present informal semantics. They are primarily graphical, with textual annotation. The inadequacies of standard UML as a vehicle for complete specification and implementation of real-time embedded systems has led to a variety of competing and complementary proposals. The Real-time UML profile (UML-RT), developed and standardized by OMG, defines a unified framework to express the time, scheduling and performance aspects of a system. We present in this paper a framework approach aimed at deriving a complete specification of a real-time system. Therefore, we combine two methods, a semiformal one, UML-RT, which allows the visual modeling of a realtime system and a formal one, CSP+T, which is a design language including the specification of real-time requirements. As to show the applicability of the approach, a correct design of a real-time system with hard real time constraints by applying a set of mapping rules is obtained.

Keywords: CSP+T, formal software specification, process algebras, real-time systems, unified modeling language.

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1720 Person Identification using Gait by Combined Features of Width and Shape of the Binary Silhouette

Authors: M.K. Bhuyan, Aragala Jagan.

Abstract:

Current image-based individual human recognition methods, such as fingerprints, face, or iris biometric modalities generally require a cooperative subject, views from certain aspects, and physical contact or close proximity. These methods cannot reliably recognize non-cooperating individuals at a distance in the real world under changing environmental conditions. Gait, which concerns recognizing individuals by the way they walk, is a relatively new biometric without these disadvantages. The inherent gait characteristic of an individual makes it irreplaceable and useful in visual surveillance. In this paper, an efficient gait recognition system for human identification by extracting two features namely width vector of the binary silhouette and the MPEG-7-based region-based shape descriptors is proposed. In the proposed method, foreground objects i.e., human and other moving objects are extracted by estimating background information by a Gaussian Mixture Model (GMM) and subsequently, median filtering operation is performed for removing noises in the background subtracted image. A moving target classification algorithm is used to separate human being (i.e., pedestrian) from other foreground objects (viz., vehicles). Shape and boundary information is used in the moving target classification algorithm. Subsequently, width vector of the outer contour of binary silhouette and the MPEG-7 Angular Radial Transform coefficients are taken as the feature vector. Next, the Principal Component Analysis (PCA) is applied to the selected feature vector to reduce its dimensionality. These extracted feature vectors are used to train an Hidden Markov Model (HMM) for identification of some individuals. The proposed system is evaluated using some gait sequences and the experimental results show the efficacy of the proposed algorithm.

Keywords: Gait Recognition, Gaussian Mixture Model, PrincipalComponent Analysis, MPEG-7 Angular Radial Transform.

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1719 Parkinsons Disease Classification using Neural Network and Feature Selection

Authors: Anchana Khemphila, Veera Boonjing

Abstract:

In this study, the Multi-Layer Perceptron (MLP)with Back-Propagation learning algorithm are used to classify to effective diagnosis Parkinsons disease(PD).It-s a challenging problem for medical community.Typically characterized by tremor, PD occurs due to the loss of dopamine in the brains thalamic region that results in involuntary or oscillatory movement in the body. A feature selection algorithm along with biomedical test values to diagnose Parkinson disease.Clinical diagnosis is done mostly by doctor-s expertise and experience.But still cases are reported of wrong diagnosis and treatment. Patients are asked to take number of tests for diagnosis.In many cases,not all the tests contribute towards effective diagnosis of a disease.Our work is to classify the presence of Parkinson disease with reduced number of attributes.Original,22 attributes are involved in classify.We use Information Gain to determine the attributes which reduced the number of attributes which is need to be taken from patients.The Artificial neural networks is used to classify the diagnosis of patients.Twenty-Two attributes are reduced to sixteen attributes.The accuracy is in training data set is 82.051% and in the validation data set is 83.333%.

Keywords: Data mining, classification, Parkinson disease, artificial neural networks, feature selection, information gain.

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1718 A New DIDS Design Based on a Combination Feature Selection Approach

Authors: Adel Sabry Eesa, Adnan Mohsin Abdulazeez Brifcani, Zeynep Orman

Abstract:

Feature selection has been used in many fields such as classification, data mining and object recognition and proven to be effective for removing irrelevant and redundant features from the original dataset. In this paper, a new design of distributed intrusion detection system using a combination feature selection model based on bees and decision tree. Bees algorithm is used as the search strategy to find the optimal subset of features, whereas decision tree is used as a judgment for the selected features. Both the produced features and the generated rules are used by Decision Making Mobile Agent to decide whether there is an attack or not in the networks. Decision Making Mobile Agent will migrate through the networks, moving from node to another, if it found that there is an attack on one of the nodes, it then alerts the user through User Interface Agent or takes some action through Action Mobile Agent. The KDD Cup 99 dataset is used to test the effectiveness of the proposed system. The results show that even if only four features are used, the proposed system gives a better performance when it is compared with the obtained results using all 41 features.

Keywords: Distributed intrusion detection system, mobile agent, feature selection, Bees Algorithm, decision tree.

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1717 Multi-objective Optimization with Fuzzy Based Ranking for TCSC Supplementary Controller to Improve Rotor Angle and Voltage Stability

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

Abstract:

Many real-world optimization problems involve multiple conflicting objectives and the use of evolutionary algorithms to solve the problems has attracted much attention recently. This paper investigates the application of multi-objective optimization technique for the design of a Thyristor Controlled Series Compensator (TCSC)-based controller to enhance the performance of a power system. The design objective is to improve both rotor angle stability and system voltage profile. A Genetic Algorithm (GA) based solution technique is applied to generate a Pareto set of global optimal solutions to the given multi-objective optimisation problem. Further, a fuzzy-based membership value assignment method is employed to choose the best compromise solution from the obtained Pareto solution set. Simulation results are presented to show the effectiveness and robustness of the proposed approach.

Keywords: Multi-objective optimisation, thyristor controlled series compensator, power system stability, genetic algorithm, pareto solution set, fuzzy ranking.

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1716 On Analysis of Boundness Property for ECATNets by Using Rewriting Logic

Authors: Noura Boudiaf, Allaoua Chaoui

Abstract:

To analyze the behavior of Petri nets, the accessibility graph and Model Checking are widely used. However, if the analyzed Petri net is unbounded then the accessibility graph becomes infinite and Model Checking can not be used even for small Petri nets. ECATNets [2] are a category of algebraic Petri nets. The main feature of ECATNets is their sound and complete semantics based on rewriting logic [8] and its language Maude [9]. ECATNets analysis may be done by using techniques of accessibility analysis and Model Checking defined in Maude. But, these two techniques supported by Maude do not work also with infinite-states systems. As a category of Petri nets, ECATNets can be unbounded and so infinite systems. In order to know if we can apply accessibility analysis and Model Checking of Maude to an ECATNet, we propose in this paper an algorithm allowing the detection if the ECATNet is bounded or not. Moreover, we propose a rewriting logic based tool implementing this algorithm. We show that the development of this tool using the Maude system is facilitated thanks to the reflectivity of the rewriting logic. Indeed, the self-interpretation of this logic allows us both the modelling of an ECATNet and acting on it.

Keywords: ECATNets, Rewriting Logic, Maude, Finite-stateSystems, Infinite-state Systems, Boundness Property Checking.

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1715 Adaptive and Personalizing Learning Sequence Using Modified Roulette Wheel Selection Algorithm

Authors: Melvin A. Ballera

Abstract:

Prior literature in the field of adaptive and personalized learning sequence in e-learning have proposed and implemented various mechanisms to improve the learning process such as individualization and personalization, but complex to implement due to expensive algorithmic programming and need of extensive and prior data. The main objective of personalizing learning sequence is to maximize learning by dynamically selecting the closest teaching operation in order to achieve the learning competency of learner. In this paper, a revolutionary technique has been proposed and tested to perform individualization and personalization using modified reversed roulette wheel selection algorithm that runs at O(n). The technique is simpler to implement and is algorithmically less expensive compared to other revolutionary algorithms since it collects the dynamic real time performance matrix such as examinations, reviews, and study to form the RWSA single numerical fitness value. Results show that the implemented system is capable of recommending new learning sequences that lessens time of study based on student's prior knowledge and real performance matrix.

Keywords: E-learning, fitness value, personalized learning sequence, reversed roulette wheel selection algorithms.

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1714 Web-Based Architecture of a System for Design Assessment of Night Vision Devices

Authors: Daniela I. Borissova, Ivan C. Mustakerov, Evgeni D. Bantutov

Abstract:

Nowadays the devices of night vision are widely used both for military and civil applications. The variety of night vision applications require a variety of the night vision devices designs. A web-based architecture of a software system for design assessment before producing of night vision devices is developed. The proposed architecture of the web-based system is based on the application of a mathematical model for designing of night vision devices. An algorithm with two components – for iterative design and for intelligent design is developed and integrated into system architecture. The iterative component suggests compatible modules combinations to choose from. The intelligent component provides compatible combinations of modules  satisfying given user requirements to device parameters. The proposed web-based architecture of a system for design assessment of night vision devices is tested via a prototype of the system. The testing showed the applicability of both iterative and intelligent components of algorithm. 

Keywords: Night vision devices, design modeling, software architecture, web-based system.

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1713 A Study of Visual Attention in Diagnosing Cerebellar Tumours

Authors: Kuryati Kipli, Kasumawati Lias, Dayang Azra Awang Mat, Al-Khalid Othman, Ade Syaheda Wani Marzuki, Nurdiani Zamhari

Abstract:

Visual attention allows user to select the most relevant information to ongoing behaviour. This paper presents a study on; i) the performance of people measurements, ii) accurateness of people measurement of the peaks that correspond to chemical quantities from the Magnetic Resonance Spectroscopy (MRS) graphs and iii) affects of people measurements to the algorithm-based diagnosis. Participant-s eye-movement was recorded using eye-tracker tool (Eyelink II). This experiment involves three participants for examining 20 MRS graphs to estimate the peaks of chemical quantities which indicate the abnormalities associated with Cerebellar Tumours (CT). The status of each MRS is verified by using decision algorithm. Analysis involves determination of humans-s eye movement pattern in measuring the peak of spectrograms, scan path and determining the relationship of distributions of fixation durations with the accuracy of measurement. In particular, the eye-tracking data revealed which aspects of the spectrogram received more visual attention and in what order they were viewed. This preliminary investigation provides a proof of concept for use of the eye tracking technology as the basis for expanded CT diagnosis.

Keywords: eye tracking, fixation durations, pattern, scan paths, spectrograms, visual.

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1712 Internet Bandwidth Network Quality Management: The Case Study of Telecom Organization of Thailand

Authors: Sriaroonnirun Sittha, Rotchanakitumnuai Siriluck

Abstract:

This paper addresses a current problem that occurs among Thai internet service providers with regard to bandwidth network quality management. The IPSTAR department of Telecom Organization of Thailand public company (TOT); the largest internet service provider in Thailand, is the case study to analyze the problem that exists. The Internet bandwidth network quality management (iBWQM) framework is mainly applied to the problem that has been found. Bandwidth management policy (BMP) and quality of service (QoS) are two antecedents of iBWQM. This paper investigates internet user behavior, marketing demand and network operation views in order to determine bandwidth management policy (e.g. quota management, scheduling and malicious management). The congestion of bandwidth is also analyzed to enhance quality of service (QoS). Moreover, the iBWQM framework is able to improve the quality of service and increase bandwidth utilization, minimize complaint rate concerns to slow speed, and provide network planning guidelines through Thai Internet services providers.

Keywords: Internet bandwidth management, Internet serviceprovider, Internet usage behavior, Quality of Service.

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1711 Identification of Nonlinear Predictor and Simulator Models of a Cement Rotary Kiln by Locally Linear Neuro-Fuzzy Technique

Authors: Masoud Sadeghian, Alireza Fatehi

Abstract:

One of the most important parts of a cement factory is the cement rotary kiln which plays a key role in quality and quantity of produced cement. In this part, the physical exertion and bilateral movement of air and materials, together with chemical reactions take place. Thus, this system has immensely complex and nonlinear dynamic equations. These equations have not worked out yet. Only in exceptional case; however, a large number of the involved parameter were crossed out and an approximation model was presented instead. This issue caused many problems for designing a cement rotary kiln controller. In this paper, we presented nonlinear predictor and simulator models for a real cement rotary kiln by using nonlinear identification technique on the Locally Linear Neuro- Fuzzy (LLNF) model. For the first time, a simulator model as well as a predictor one with a precise fifteen minute prediction horizon for a cement rotary kiln is presented. These models are trained by LOLIMOT algorithm which is an incremental tree-structure algorithm. At the end, the characteristics of these models are expressed. Furthermore, we presented the pros and cons of these models. The data collected from White Saveh Cement Company is used for modeling.

Keywords: Cement rotary kiln, nonlinear identification, Locally Linear Neuro-Fuzzy model.

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1710 Real-time 3D Feature Extraction without Explicit 3D Object Reconstruction

Authors: Kwangjin Hong, Chulhan Lee, Keechul Jung, Kyoungsu Oh

Abstract:

For the communication between human and computer in an interactive computing environment, the gesture recognition is studied vigorously. Therefore, a lot of studies have proposed efficient methods about the recognition algorithm using 2D camera captured images. However, there is a limitation to these methods, such as the extracted features cannot fully represent the object in real world. Although many studies used 3D features instead of 2D features for more accurate gesture recognition, the problem, such as the processing time to generate 3D objects, is still unsolved in related researches. Therefore we propose a method to extract the 3D features combined with the 3D object reconstruction. This method uses the modified GPU-based visual hull generation algorithm which disables unnecessary processes, such as the texture calculation to generate three kinds of 3D projection maps as the 3D feature: a nearest boundary, a farthest boundary, and a thickness of the object projected on the base-plane. In the section of experimental results, we present results of proposed method on eight human postures: T shape, both hands up, right hand up, left hand up, hands front, stand, sit and bend, and compare the computational time of the proposed method with that of the previous methods.

Keywords: Fast 3D Feature Extraction, Gesture Recognition, Computer Vision.

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1709 Parallel-computing Approach for FFT Implementation on Digital Signal Processor (DSP)

Authors: Yi-Pin Hsu, Shin-Yu Lin

Abstract:

An efficient parallel form in digital signal processor can improve the algorithm performance. The butterfly structure is an important role in fast Fourier transform (FFT), because its symmetry form is suitable for hardware implementation. Although it can perform a symmetric structure, the performance will be reduced under the data-dependent flow characteristic. Even though recent research which call as novel memory reference reduction methods (NMRRM) for FFT focus on reduce memory reference in twiddle factor, the data-dependent property still exists. In this paper, we propose a parallel-computing approach for FFT implementation on digital signal processor (DSP) which is based on data-independent property and still hold the property of low-memory reference. The proposed method combines final two steps in NMRRM FFT to perform a novel data-independent structure, besides it is very suitable for multi-operation-unit digital signal processor and dual-core system. We have applied the proposed method of radix-2 FFT algorithm in low memory reference on TI TMSC320C64x DSP. Experimental results show the method can reduce 33.8% clock cycles comparing with the NMRRM FFT implementation and keep the low-memory reference property.

Keywords: Parallel-computing, FFT, low-memory reference, TIDSP.

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1708 Locomotion Effects of Redundant Degrees of Freedom in Multi-Legged Quadruped Robots

Authors: Hossein Keshavarz, Alejandro Ramirez-Serrano

Abstract:

Energy efficiency and locomotion speed are two key parameters for legged robots, thus finding ways to improve them are important. This paper proposes a locomotion framework to analyze the energy usage and speed of quadruped robots via a Genetic Algorithm (GA) optimization process. For this, a quadruped robot platform with joint redundancy in its hind legs that we believe will help multi-legged robots improve their speed and energy consumption is used. ContinuO, the quadruped robot of interest, has 14 active degrees of freedom (DoFs), including three DoFs for each front leg, and unlike previously developed quadruped robots, four DoFs for each hind leg. ContinuO aims to realize a cost-effective quadruped robot for real-world scenarios with high-speeds and the ability to overcome large obstructions. The proposed framework is used to locomote the robot and analyze its energy consumed at diverse stride lengths and locomotion speeds. The analysis is performed by comparing the obtained results in two modes, with and without the joint redundancy on the robot’s hind legs.

Keywords: Genetic algorithm optimization, locomotion path planning, quadruped robots, redundant legs.

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1707 Modeling and Simulating Reaction-Diffusion Systems with State-Dependent Diffusion Coefficients

Authors: Paola Lecca, Lorenzo Dematte, Corrado Priami

Abstract:

The present models and simulation algorithms of intracellular stochastic kinetics are usually based on the premise that diffusion is so fast that the concentrations of all the involved species are homogeneous in space. However, recents experimental measurements of intracellular diffusion constants indicate that the assumption of a homogeneous well-stirred cytosol is not necessarily valid even for small prokaryotic cells. In this work a mathematical treatment of diffusion that can be incorporated in a stochastic algorithm simulating the dynamics of a reaction-diffusion system is presented. The movement of a molecule A from a region i to a region j of the space is represented as a first order reaction Ai k- ! Aj , where the rate constant k depends on the diffusion coefficient. The diffusion coefficients are modeled as function of the local concentration of the solutes, their intrinsic viscosities, their frictional coefficients and the temperature of the system. The stochastic time evolution of the system is given by the occurrence of diffusion events and chemical reaction events. At each time step an event (reaction or diffusion) is selected from a probability distribution of waiting times determined by the intrinsic reaction kinetics and diffusion dynamics. To demonstrate the method the simulation results of the reaction-diffusion system of chaperoneassisted protein folding in cytoplasm are shown.

Keywords: Reaction-diffusion systems, diffusion coefficient, stochastic simulation algorithm.

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1706 Human Fall Detection by FMCW Radar Based on Time-Varying Range-Doppler Features

Authors: Xiang Yu, Chuntao Feng, Lu Yang, Meiyang Song, Wenhao Zhou

Abstract:

The existing two-dimensional micro-Doppler features extraction ignores the correlation information between the spatial and temporal dimension features. For the range-Doppler map, the time dimension is introduced, and a frequency modulation continuous wave (FMCW) radar human fall detection algorithm based on time-varying range-Doppler features is proposed. Firstly, the range-Doppler sequence maps are generated from the echo signals of the continuous motion of the human body collected by the radar. Then the three-dimensional data cube composed of multiple frames of range-Doppler maps is input into the three-dimensional Convolutional Neural Network (3D CNN). The spatial and temporal features of time-varying range-Doppler are extracted by the convolution layer and pool layer at the same time. Finally, the extracted spatial and temporal features are input into the fully connected layer for classification. The experimental results show that the proposed fall detection algorithm has a detection accuracy of 95.66%.

Keywords: FMCW radar, fall detection, 3D CNN, time-varying range-Doppler features.

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1705 Optimizing Dialogue Strategy Learning Using Learning Automata

Authors: G. Kumaravelan, R. Sivakumar

Abstract:

Modeling the behavior of the dialogue management in the design of a spoken dialogue system using statistical methodologies is currently a growing research area. This paper presents a work on developing an adaptive learning approach to optimize dialogue strategy. At the core of our system is a method formalizing dialogue management as a sequential decision making under uncertainty whose underlying probabilistic structure has a Markov Chain. Researchers have mostly focused on model-free algorithms for automating the design of dialogue management using machine learning techniques such as reinforcement learning. But in model-free algorithms there exist a dilemma in engaging the type of exploration versus exploitation. Hence we present a model-based online policy learning algorithm using interconnected learning automata for optimizing dialogue strategy. The proposed algorithm is capable of deriving an optimal policy that prescribes what action should be taken in various states of conversation so as to maximize the expected total reward to attain the goal and incorporates good exploration and exploitation in its updates to improve the naturalness of humancomputer interaction. We test the proposed approach using the most sophisticated evaluation framework PARADISE for accessing to the railway information system.

Keywords: Dialogue management, Learning automata, Reinforcement learning, Spoken dialogue system

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1704 Robust FACTS Controller Design Employing Modern Heuristic Optimization Techniques

Authors: A.K.Balirsingh, S.C.Swain, S. Panda

Abstract:

Recently, Genetic Algorithms (GA) and Differential Evolution (DE) algorithm technique have attracted considerable attention among various modern heuristic optimization techniques. Since the two approaches are supposed to find a solution to a given objective function but employ different strategies and computational effort, it is appropriate to compare their performance. This paper presents the application and performance comparison of DE and GA optimization techniques, for flexible ac transmission system (FACTS)-based controller design. The design objective is to enhance the power system stability. The design problem of the FACTS-based controller is formulated as an optimization problem and both the PSO and GA optimization techniques are employed to search for optimal controller parameters. The performance of both optimization techniques has been compared. Further, the optimized controllers are tested on a weekly connected power system subjected to different disturbances, and their performance is compared with the conventional power system stabilizer (CPSS). The eigenvalue analysis and non-linear simulation results are presented and compared to show the effectiveness of both the techniques in designing a FACTS-based controller, to enhance power system stability.

Keywords: Differential Evolution, Flexible AC TransmissionSystems (FACTS), Genetic Algorithm, Low Frequency Oscillations, Single-machine Infinite Bus Power System.

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1703 Load Frequency Control of Nonlinear Interconnected Hydro-Thermal System Using Differential Evolution Technique

Authors: Banaja Mohanty, Prakash Kumar Hota

Abstract:

This paper presents a differential evolution algorithm to design a robust PI and PID controllers for Load Frequency Control (LFC) of nonlinear interconnected power systems considering the boiler dynamics, Governor Dead Band (GDB), Generation Rate Constraint (GRC). Differential evolution algorithm is employed to search for the optimal controller parameters. The proposed method easily copes of with nonlinear constraints. Further the proposed controller is simple, effective and can ensure the desirable overall system performance. The superiority of the proposed approach has been shown by comparing the results with published fuzzy logic controller for the same power systems. The comparison is done using various performance measures like overshoot, settling time and standard error criteria of frequency and tie-line power deviation following a 1% step load perturbation in hydro area. It is noticed that, the dynamic performance of proposed controller is better than fuzzy logic controller. Furthermore, it is also seen that the proposed system is robust and is not affected by change in the system parameters.

Keywords: Automatic Generation control (AGC), Generation Rate Constraint (GRC), Governor Dead Band (GDB), Differential Evolution (DE)

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1702 Protein Secondary Structure Prediction Using Parallelized Rule Induction from Coverings

Authors: Leong Lee, Cyriac Kandoth, Jennifer L. Leopold, Ronald L. Frank

Abstract:

Protein 3D structure prediction has always been an important research area in bioinformatics. In particular, the prediction of secondary structure has been a well-studied research topic. Despite the recent breakthrough of combining multiple sequence alignment information and artificial intelligence algorithms to predict protein secondary structure, the Q3 accuracy of various computational prediction algorithms rarely has exceeded 75%. In a previous paper [1], this research team presented a rule-based method called RT-RICO (Relaxed Threshold Rule Induction from Coverings) to predict protein secondary structure. The average Q3 accuracy on the sample datasets using RT-RICO was 80.3%, an improvement over comparable computational methods. Although this demonstrated that RT-RICO might be a promising approach for predicting secondary structure, the algorithm-s computational complexity and program running time limited its use. Herein a parallelized implementation of a slightly modified RT-RICO approach is presented. This new version of the algorithm facilitated the testing of a much larger dataset of 396 protein domains [2]. Parallelized RTRICO achieved a Q3 score of 74.6%, which is higher than the consensus prediction accuracy of 72.9% that was achieved for the same test dataset by a combination of four secondary structure prediction methods [2].

Keywords: data mining, protein secondary structure prediction, parallelization.

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1701 Real-time Network Anomaly Detection Systems Based on Machine-Learning Algorithms

Authors: Zahra Ramezanpanah, Joachim Carvallo, Aurelien Rodriguez

Abstract:

This paper aims to detect anomalies in streaming data using machine learning algorithms. In this regard, we designed two separate pipelines and evaluated the effectiveness of each separately. The first pipeline, based on supervised machine learning methods, consists of two phases. In the first phase, we trained several supervised models using the UNSW-NB15 data set. We measured the efficiency of each using different performance metrics and selected the best model for the second phase. At the beginning of the second phase, we first, using Argus Server, sniffed a local area network. Several types of attacks were simulated and then sent the sniffed data to a running algorithm at short intervals. This algorithm can display the results of each packet of received data in real-time using the trained model. The second pipeline presented in this paper is based on unsupervised algorithms, in which a Temporal Graph Network (TGN) is used to monitor a local network. The TGN is trained to predict the probability of future states of the network based on its past behavior. Our contribution in this section is introducing an indicator to identify anomalies from these predicted probabilities.

Keywords: Cyber-security, Intrusion Detection Systems, Temporal Graph Network, Anomaly Detection.

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1700 An Efficient Approach to Mining Frequent Itemsets on Data Streams

Authors: Sara Ansari, Mohammad Hadi Sadreddini

Abstract:

The increasing importance of data stream arising in a wide range of advanced applications has led to the extensive study of mining frequent patterns. Mining data streams poses many new challenges amongst which are the one-scan nature, the unbounded memory requirement and the high arrival rate of data streams. In this paper, we propose a new approach for mining itemsets on data stream. Our approach SFIDS has been developed based on FIDS algorithm. The main attempts were to keep some advantages of the previous approach and resolve some of its drawbacks, and consequently to improve run time and memory consumption. Our approach has the following advantages: using a data structure similar to lattice for keeping frequent itemsets, separating regions from each other with deleting common nodes that results in a decrease in search space, memory consumption and run time; and Finally, considering CPU constraint, with increasing arrival rate of data that result in overloading system, SFIDS automatically detect this situation and discard some of unprocessing data. We guarantee that error of results is bounded to user pre-specified threshold, based on a probability technique. Final results show that SFIDS algorithm could attain about 50% run time improvement than FIDS approach.

Keywords: Data stream, frequent itemset, stream mining.

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