Search results for: visual communication.

Authors: Reza Mohammadi, Mahmod R. Sahebi, Mehrnoosh Omati, Milad Vahidi

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Classification of high resolution polarimetric Synthetic Aperture Radar (PolSAR) images plays an important role in land cover and land use management. Recently, classification algorithms based on Bag of Visual Words (BOVW) model have attracted significant interest among scholars and researchers in and out of the field of remote sensing. In this paper, BOVW model with pixel based low-level features has been implemented to classify a subset of San Francisco bay PolSAR image, acquired by RADARSAR 2 in C-band. We have used segment-based decision-making strategy and compared the result with the result of traditional Support Vector Machine (SVM) classifier. 90.95% overall accuracy of the classification with the proposed algorithm has shown that the proposed algorithm is comparable with the state-of-the-art methods. In addition to increase in the classification accuracy, the proposed method has decreased undesirable speckle effect of SAR images.

Keywords: Bag of Visual Words, classification, feature extraction, land cover management, Polarimetric Synthetic Aperture Radar.

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Authors: Wern-Yarng Shieh, Chao Qian, Bingnan Pei

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A design of communication area for infrared electronic-toll-collection systems to provide an extended communication interval in the vehicle traveling direction and regular boundary between contiguous traffic lanes is proposed. By utilizing two typical low-cost commercial infrared LEDs with different half-intensity angles Φ1/2 = 22◦ and 10◦, the radiation pattern of the emitter is designed to properly adjust the spatial distribution of the signal power. The aforementioned purpose can be achieved with an LED array in a three-piece structure with appropriate mounting angles. With this emitter, the influence of the mounting parameters, including the mounting height and mounting angles of the on-board unit and road-side unit, on the system performance in terms of the received signal strength and communication area are investigated. The results reveal that, for our emitter proposed in this paper, the ideal ”long-and-narrow” characteristic of the communication area is very little affected by these mounting parameters. An optimum mounting configuration is also suggested.

Keywords: Dedicated short-range communication (DSRC), electronic toll collection (ETC), infrared communication, intelligent transportation system (ITS), multilane free flow.

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Authors: K. Matušínská, H. Starzyczná, M. Stoklasa

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The paper deals with finding and describing of the effective marketing communication forms relating to the segment 50+ in the financial market in the Czech Republic. The segment 50+ can be seen as a great marketing potential in the future but unfortunately the Czech financial institutions haven´t still reacted enough to this fact and they haven´t prepared appropriate marketing programs for this customers´ segment. Demographic aging is a fundamental characteristic of the current European population evolution but the perspective of further population aging is more noticeable in the Czech Republic. This paper is based on data from one part of primary marketing research. Paper determinates the basic problem areas as well as definition of marketing communication in the financial market, defining the primary research problem, hypothesis and primary research methodology. Finally suitable marketing communication approach to selected sub-segment at age of 50-60 years is proposed according to marketing research findings.

Keywords: Population aging in the Czech Republic, segment 50+, financial services, marketing communication, marketing research, marketing communication approach.

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Authors: Lixin Tian, Wei Xue

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Many jobs in society go underground, such as mine mining, tunnel construction and subways, which are vital to the development of society. Once accidents occur in these places, the interruption of traditional wired communication is not conducive to the development of rescue work. In order to realize the positioning, early warning and command functions of underground personnel and improve rescue efficiency, it is necessary to develop and design an emergency ground communication system. It is easy to be subjected to narrowband interference when performing conventional underground communication. Spreading communication can be used for this problem. However, general spread spectrum methods such as direct spread communication are inefficient, so it is proposed to use parallel combined spread spectrum (PCSS) communication to improve efficiency. The PCSS communication not only has the anti-interference ability and the good concealment of the traditional spread spectrum system, but also has a relatively high frequency band utilization rate and a strong information transmission capability. So, this technology has been widely used in practice. This paper presents a PCSS communication model-multiple detection parallel combined spread spectrum (MDPCSS) communication system. In this paper, the principle of MDPCSS communication system is described, that is, the sequence at the transmitting end is processed in blocks and cyclically shifted to facilitate multiple detection at the receiving end. The block diagrams of the transmitter and receiver of the MDPCSS communication system are introduced. At the same time, the calculation formula of the system bit error rate (BER) is introduced, and the simulation and analysis of the BER of the system are completed. By comparing with the common parallel PCSS communication, we can draw a conclusion that it is indeed possible to reduce the BER and improve the system performance. Furthermore, the influence of different pseudo-code lengths selected on the system BER is simulated and analyzed, and the conclusion is that the larger the pseudo-code length is, the smaller the system error rate is.

Keywords: Cyclic shift, multiple detection, parallel combined spread spectrum, PN code.

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Authors: B. Gültekin, T. Gültekin

Abstract:

Peace diplomacy is the most important international tool to maintain peace all over the World. This study consists of three parts. In the first part, the leadership of Devlet Bahçeli, leader of the Nationalist Movement Party, will be introduced as a tool of peace communication and peace management. Also, in this part, peace communication will be explained by the peace leadership traits of Devlet Bahçeli, who is one of the efficient political leaders representing the concepts of compromise and agreement on different sides of politics. In the second part of study, it is aimed to analyze Devlet Bahçeli’s leadership within the frame of peace communication and the final part of this study is about creating an original public communication model for public diplomacy based on Devlet Bahçeli as an example. As a result, the main purpose of this study is to develop an original peace communication model including peace modules, peace management projects, original dialogue procedures and protocols exhibited in the policies of Devlet Bahçeli. The political leadership represented by Devlet Bahçeli inspires political leaders to provide peace communication. In this study, principles and policies of peace leadership of Devlet Bahçeli will be explained as an original model on a peace communication platform.

Keywords: Dialogue management, public diplomacy, peace diplomacy, peace leadership.

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Authors: Mounir Frikha, Michael Meincke, Semia Barouni

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This paper proposes a vehicle-to-vehicle propagation model implemented with SDL. To estimate the channel characteristics for Inter-Vehicle communication, we first define a predicted propagation pathloss between the moving vehicles under three typical scenarios. A Ray-tracing method is used for the simple gamma model performance.

Keywords: Inter-vehicle communication (IVC), propagationmodel, road traffic, road vicinity, pathloss.

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Authors: H. Eshraghi., L. Salehi.

Abstract:

The purpose of this study was to survey the effect of organizational communication system on the conflict in physical education offices of Isfahan province. The research methodology of this research was a descriptive study. All employees working in physical education offices of Isfahan province were included in the sample for this study (N= 236). Researcher made questionnaire and demographic questionnaire were used as investigation instruments. Based on the result of chi square test, there is significant difference between organizational communication system and interpersonal conflict. The most of participants evaluate communication in an informal way and pointed out that the communication channels were not open. Based on the result of binomial test, interpersonal conflict exists in physical education offices of Isfahan.

Keywords: Communication, Employees, Interpersonal conflict.

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Authors: P. Vazan, P. Tanuska, M. Kebisek, S. Duchovicova

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The paper deals with communication standards for control and production system. The authors formulate the requirements for communication security protection. The paper is focused on application protocols of the industrial networks and their basic classification. The typical attacks are analysed and the safety protection, based on requirements for specific industrial network is suggested and defined in this paper.

Keywords: Application protocols, communication standards, industrial networks.

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Authors: Paul David Henry

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This paper describes the results and implications of a correlational study of learning styles and learner satisfaction. The relationship of these empirical concepts was examined in the context of traditional versus e-blended modes of course delivery in an introductory graduate research course. Significant results indicated that the visual side of the visual-verbal dimension of students- learning style(s) was positively correlated to satisfaction with themselves as learners in an e-blended course delivery mode and negatively correlated to satisfaction with the classroom environment in the context of a traditional classroom course delivery mode.

Keywords: Course delivery mode, e-blended, hybrid, learner satisfaction, learning style.

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Authors: Yali Zheng, Peipei Luo, Shinan Chen, Jiasheng Hao, Hong Cheng

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Most of traditional visual indoor navigation algorithms and methods only consider the localization in ordinary daytime, while we focus on the indoor re-localization in low light in the paper. As RGB images are degraded in low light, less discriminative infrared and depth image pairs are taken, as the input, by RGB-D cameras, the most similar candidates, as the output, are searched from databases which is built in the bag-of-word framework. Epipolar constraints can be used to relocalize the query infrared and depth image sequence. We evaluate our method in two datasets captured by Kinect2. The results demonstrate very promising re-localization results for indoor navigation system in low light environments.

Keywords: Indoor navigation, low light, RGB-D camera, vision based.

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Authors: Mada Sanjaya, Halimatussadiyah, Dian Syah Maulana

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The nonlinear chaotic non-autonomous fourth order system is algebraically simple but can generate complex chaotic attractors. In this paper, non-autonomous fourth order chaotic oscillator circuits were designed and simulated. Also chaotic nonautonomous Attractor is addressed suitable for chaotic masking communication circuits using Matlab® and MultiSIM® programs. We have demonstrated in simulations that chaos can be synchronized and applied to signal masking communications. We suggest that this phenomenon of chaos synchronism may serve as the basis for little known chaotic non-autonomous Attractor to achieve signal masking communication applications. Simulation results are used to visualize and illustrate the effectiveness of non-autonomous chaotic system in signal masking. All simulations results performed on nonautonomous chaotic system are verify the applicable of secure communication.

Keywords: Bidirectional chaotic synchronization, double bellattractor, secure communication

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Authors: M. J. Park, S. H. Lee, C. H. Lee, O. M. Kwon

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This paper studies a secondary voltage control framework of the microgrids based on the consensus for a communication network of multiagent. The proposed control is designed by the communication network with one-way links. The communication network is modeled by a directed graph. At this time, the concept of sampling is considered as the communication constraint among each distributed generator in the microgrids. To analyze the sampling effects on the secondary voltage control of the microgrids, by using Lyapunov theory and some mathematical techniques, the sufficient condition for such problem will be established regarding linear matrix inequality (LMI). Finally, some simulation results are given to illustrate the necessity of the consideration of the sampling effects on the secondary voltage control of the microgrids.

Keywords: Microgrids, secondary control, multiagent, sampling, LMI.

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Authors: Hamed Qazanfari, Hamid Hassanpour, Kazem Qazanfari

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In this paper, a method is provided for content-based image retrieval. Content-based image retrieval system searches query an image based on its visual content in an image database to retrieve similar images. In this paper, with the aim of simulating the human visual system sensitivity to image's edges and color features, the concept of color difference histogram (CDH) is used. CDH includes the perceptually color difference between two neighboring pixels with regard to colors and edge orientations. Since the HSV color space is close to the human visual system, the CDH is calculated in this color space. In addition, to improve the color features, the color histogram in HSV color space is also used as a feature. Among the extracted features, efficient features are selected using entropy and correlation criteria. The final features extract the content of images most efficiently. The proposed method has been evaluated on three standard databases Corel 5k, Corel 10k and UKBench. Experimental results show that the accuracy of the proposed image retrieval method is significantly improved compared to the recently developed methods.

Keywords: Content-based image retrieval, color difference histogram, efficient features selection, entropy, correlation.

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Authors: Noor Attar

Abstract:

This paper provides an overview of the current situation of HIV/AIDS patients in the Kingdom of Saudi Arabia (KSA) and a literature review of the concepts of stigma communication, communication of social support. These concepts provide the basis for the proposed methods, which will include conducting a textual analysis of materials that are currently distributed to family members of people living with HIV/AIDS (PLWHIV/A) in KSA and creating an educational brochure. The brochure will aim to help families of PLWHIV/A in KSA (1) understand how stigma shapes the experience of PLWHIV/A, (2) realize the role of positive communication as a helpful social support, and (3) develop the ability to provide positive social support for their loved ones.

Keywords: HIV/AIDS, Saudi Arabia, social support, stigma communication.

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Authors: Daohong Yang, Xiang Zhang, Wanting Zhou, Lei Li

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Visual Simultaneous Localization and Mapping (VSLAM) is a technology that gathers information about the surrounding environment to ascertain its own position and create a map. It is widely used in computer vision, robotics, and various other fields. Many visual SLAM systems, such as OBSLAM3, utilize a constant velocity motion model. The utilization of this model facilitates the determination of the initial pose of the current frame, thereby enhancing the efficiency and precision of feature matching. However, it is often difficult to satisfy the constant velocity motion model in actual situations. This can result in a significant deviation between the obtained initial pose and the true value, leading to errors in nonlinear optimization results. Therefore, this paper proposes a motion model based on acceleration that can be applied to most SLAM systems. To provide a more accurate description of the camera pose acceleration, we separate the pose transformation matrix into its rotation matrix and translation vector components. The rotation matrix is now represented by a rotation vector. We assume that, over a short period, the changes in rotating angular velocity and translation vector remain constant. Based on this assumption, the initial pose of the current frame is estimated. In addition, the error of the constant velocity model is analyzed theoretically. Finally, we apply our proposed approach to the ORBSLAM3 system and evaluate two sets of sequences from the TUM datasets. The results show that our proposed method has a more accurate initial pose estimation, resulting in an improvement of 6.61% and 6.46% in the accuracy of the ORBSLAM3 system on the two test sequences, respectively.

Keywords: Error estimation, constant acceleration motion model, pose estimation, visual SLAM.

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Authors: Michal Kopcek, Tomas Skulavik, Michal Kebisek, Gabriela Krizanova

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The operation of nuclear power plants involves continuous monitoring of the environment in their area. This monitoring is performed using a complex data acquisition system, which collects status information about the system itself and values of many important physical variables e.g. temperature, humidity, dose rate etc. This paper describes a proposal and optimization of communication that takes place in teledosimetric system between the central control server responsible for the data processing and storing and the decentralized measuring stations, which are measuring the physical variables. Analyzes of ongoing communication were performed and consequently the optimization of the system architecture and communication was done.

Keywords: Communication protocol, transmission optimization, data acquisition.

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Authors: R. Keerativittatayut, B. Kaewkamnerdpong, J. Laothamatas, W. Sungkarat

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Dynamic Causal Modeling (DCM) functional Magnetic Resonance Imaging (fMRI) is a promising technique to study the connectivity among brain regions and effects of stimuli through modeling neuronal interactions from time-series neuroimaging. The aim of this study is to study characteristics of a mirror neuron system (MNS) in elderly group (age: 60-70 years old). Twenty volunteers were MRI scanned with visual stimuli to study a functional brain network. DCM was employed to determine the mechanism of mirror neuron effects. The results revealed major activated areas including precentral gyrus, inferior parietal lobule, inferior occipital gyrus, and supplementary motor area. When visual stimuli were presented, the feed-forward connectivity from visual area to conjunction area was increased and forwarded to motor area. Moreover, the connectivity from the conjunction areas to premotor area was also increased. Such findings can be useful for future diagnostic process for elderly with diseases such as Parkinson-s and Alzheimer-s.

Keywords: Mirror Neuron System (MNS), Dynamic Causal Modeling (DCM), Functional Magnetic Resonance Imaging (fMRI)

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Authors: Philip T. Roundy

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This paper examines the influence of communication form on employee uncertainty during mergers and acquisitions (M&As). Specifically, the author uses narrative theory to analyze how narrative organizational communication affects the three components of uncertainty – decreased predictive, explanatory, and descriptive ability. It is hypothesized that employees whose organizations use narrative M&A communication will have greater predictive, explanatory, and descriptive abilities than employees of organizations using non-narrative M&A communication. This paper contributes to the stream of research examining uncertainty during mergers and acquisitions and argues that narratives are an effective means of managing uncertainty in the mergers and acquisitions context.

Keywords: Narrative Theory, Mergers and Acquisitions, Employee Uncertainty.

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Authors: Carlos V. Regueiro, Jose E. Domenech, Roberto Iglesias, Jose L. Correa

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In this work a visual and reactive contour following behaviour is learned by reinforcement. With artificial vision the environment is perceived in 3D, and it is possible to avoid obstacles that are invisible to other sensors that are more common in mobile robotics. Reinforcement learning reduces the need for intervention in behaviour design, and simplifies its adjustment to the environment, the robot and the task. In order to facilitate its generalisation to other behaviours and to reduce the role of the designer, we propose a regular image-based codification of states. Even though this is much more difficult, our implementation converges and is robust. Results are presented with a Pioneer 2 AT on a Gazebo 3D simulator.

Keywords: Image-based State Codification, Mobile Robotics, ReinforcementLearning, Visual Behaviour.

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Authors: Eklas Hossain, Sheroz Khan, Ahad Ali

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Power line communications may be used as a data communication channel in public and indoor distribution networks so that it does not require the installing of new cables. Industrial low voltage distribution network may be utilized for data transfer required by the on-line condition monitoring of electric motors. This paper presents a pilot distribution network for modeling low voltage power line as data transfer channel. The signal attenuation in communication channels in the pilot environment is presented and the analysis is done by varying the corresponding parameters for the signal attenuation.

Keywords: Data communication, indoor distribution networks, low voltage, power line.

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Authors: Robert F. Kenny

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Because today-s media centric students have adopted digital as their native form of communication, teachers are having increasingly difficult time motivating reluctant readers to read and write. Our research has shown these text-averse individuals can learn to understand the importance of reading and writing if the instruction is based on digital narratives. While these students are naturally attracted to story, they are better at consuming them than creating them. Therefore, any intervention that utilizes story as its basis needs to include instruction on the elements of story making. This paper presents a series of digitally-based tools to identify potential weaknesses of visually impaired visual learners and to help motivate these and other media-centric students to select and complete books that are assigned to them

Keywords: Cognitive tempo, digital narratives, digital Booktalk

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Authors: Ahmed Mansouri, Naoji Matsumoto

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This research is a comparative study of complexity, as a multidimensional concept, in the context of streetscape composition in Algeria and Japan. 80 streetscapes visual arrays have been collected and then presented to 20 participants, with different cultural backgrounds, in order to be categorized and classified according to their degrees of complexity. Three analysis methods have been used in this research: cluster analysis, ranking method and Hayashi Quantification method (Method III). The results showed that complexity, disorder, irregularity and disorganization are often conflicting concepts in the urban context. Algerian daytime streetscapes seem to be balanced, ordered and regular, and Japanese daytime streetscapes seem to be unbalanced, regular and vivid. Variety, richness and irregularity with some aspects of order and organization seem to characterize Algerian night streetscapes. Japanese night streetscapes seem to be more related to balance, regularity, order and organization with some aspects of confusion and ambiguity. Complexity characterized mainly Algerian avenues with green infrastructure. Therefore, for Japanese participants, Japanese traditional night streetscapes were complex. And for foreigners, Algerian and Japanese avenues nightscapes were the most complex visual arrays.

Keywords: Streetscape, Nightscape, Complexity, Visual Array, Affordance, Cluster Analysis, Hayashi Quantification Method.

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Authors: Pablo Barrera, Jose M. Canas, Vicente Matellan

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This paper addresses the problem of determining the current 3D location of a moving object and robustly tracking it from a sequence of camera images. The approach presented here uses a particle filter and does not perform any explicit triangulation. Only the color of the object to be tracked is required, but not any precisemotion model. The observation model we have developed avoids the color filtering of the entire image. That and the Monte Carlotechniques inside the particle filter provide real time performance.Experiments with two real cameras are presented and lessons learned are commented. The approach scales easily to more than two cameras and new sensor cues.

Keywords: Monte Carlo sampling, multiple view, particle filters, visual tracking.

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Authors: Bilgehan Gültekin, Tuba Gültekin

Abstract:

It is quite essential to form dialogue mechanisms and dialogue channels to solve intercultural communication issues. Therefore, every country should develop a intercultural education project which aims to resolve international communication issues. For proper mediation training, the first step is to reach an agreement on the actors to run the project. The strongest mediation mechanisms in the world should be analyzed and initiated within the educational policies. A communication-based mediation model should be developed for international mediation training. Mediators can use their convincing communication skills as a part of this model. At the first, fundamental stages of the mediation training should be specified within the scope of the model. Another important topic at this point is common sence and peace leaders to act as an ombudsman in this process. Especially for solving some social issues and conflicts, common sense leaders acting as an ombudsman would lead to effective communication. In mediation training that is run by universities and non-governmental organizations, another phase is to focus on conducting the meetings. In intercultural mediation training, one of the most critical topics is to conduct the meeting traffic and performing a shuttle diplomacy. Meeting traffic is where the mediator organizes meetings with the parties with initiative powers, in order to contribute to the solution of the issue, and schedule these meetings. In this notice titled “ Intercultural mediation training and the training process of common sense leaders by the leadership of universities communication and artistic campaigns" , communication models and strategies about this topic will be constructed and an intercultural art activities and perspectives will be presented.

Keywords: Intercultural communication, mediation education, common sense leaders, artistic sensitivity

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Authors: Rabi W. Yousif, Mohd Asri Hj Mansor

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In this paper, we present a novel technique called Self-Learning Expert System (SLES). Unlike Expert System, where there is a need for an expert to impart experiences and knowledge to create the knowledge base, this technique tries to acquire the experience and knowledge automatically. To display this technique at work, a simulation of a mobile robot navigating through an environment with obstacles is employed using visual basic. The mobile robot will move through this area without colliding with any obstacle and save the path that it took. If the mobile robot has to go through a similar environment again, then it will apply this experience to help it move through quicker without having to check for collision.

Keywords: Expert system, knowledge base, mobile robot, visual basic.

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Authors: Jonghoon Kim, Gilwon Yoon

Abstract:

A wrist-band type biosignal measurement system and its data transfer through human body communication (HBC) were investigated. An HBC method based on pulses of ultra-wide band instead of using frequency or amplitude modulations was studied and implemented since the system became very compact and it was more suited for personal or mobile health monitoring. Our system measured photo-plethysmogram (PPG) and measured PPG signals were transmitted through a finger to a monitoring PC system. The device was compact and low-power consuming. HBC communication has very strongsecurity measures since it does not use wireless network.Furthermore, biosignal monitoring system becomes handy because it does not need to have wire connections.

Keywords: Biosignal, human body communication, mobile health, PPG, ultrawide band.

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Authors: Antonio Natali, Ambra Molesini

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In modern distributed software systems, the issue of communication among composing parts represents a critical point, but the idea of extending conventional programming languages with general purpose communication constructs seems difficult to realize. As a consequence, there is a (growing) gap between the abstraction level required by distributed applications and the concepts provided by platforms that enable communication. This work intends to discuss how the Model Driven Software Development approach can be considered as a mature technology to generate in automatic way the schematic part of applications related to communication, by providing at the same time high level specialized languages useful in all the phases of software production. To achieve the goal, a stack of languages (meta-meta¬models) has been introduced in order to describe – at different levels of abstraction – the collaborative behavior of generic entities in terms of communication actions related to a taxonomy of messages. Finally, the generation of platforms for communication is viewed as a form of specification of language semantics, that provides executable models of applications together with model-checking supports and effective runtime environments.

Keywords: Interactions, specific languages, meta-models, model driven development.

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Authors: Arshaluys Mushkambaryan

Abstract:

The purpose of this study is to explore how the emotions at the moment of conflict escalation are expressed nonverbally and how it can be detected by the parties involved in the conflicting situation. The study consists of two parts, in the first part it starts with the definition of "conflict" and "nonverbal communication". Further it includes the analysis of emotions and types of emotions, which may bring to the conflict escalation. Four types of emotions and emotion constructs are analyzed, particularly fear, anger, guilt and frustration. The second part of the study analyses the general role of nonverbal behavior in interaction and communication, which information it may give during communication to the person, who sends or receives those signals. The study finishes with the analysis of the nonverbal expression of analyzed emotions and on how it can be used during interaction.

Keywords: Conflict Escalation, Emotions, Nonverbal communication,

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Authors: Shu-Hui Jan, Hui-Ping Tserng, Shih-Ping Ho

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Construction project control attempts to obtain real-time as-built schedule information and to eliminate project delays by effectively enhancing dynamic schedule control and management. Suitable platforms for enhancing an as-built schedule visually during the construction phase are necessary and important for general contractors. As the application of building information modeling (BIM) becomes more common, schedule management integrated with the BIM approach becomes essential to enhance visual construction management implementation for the general contractor during the construction phase. To enhance visualization of the updated as-built schedule for the general contractor, this study presents a novel system called the Construction BIM-assisted Schedule Management (ConBIM-SM) system for general contractors in Taiwan. The primary purpose of this study is to develop a web ConBIM-SM system for the general contractor to enhance visual as-built schedule information sharing and efficiency in tracking construction as-built schedule. Finally, the ConBIM-SM system is applied to a case study of a commerce building project in Taiwan to verify its efficacy and demonstrate its effectiveness during the construction phase. The advantages of the ConBIM-SM system lie in improved project control and management efficiency for general contractors, and in providing BIM-assisted as-built schedule tracking and management, to access the most current as-built schedule information through a web browser. The case study results show that the ConBIM-SM system is an effective visual as-built schedule management platform integrated with the BIM approach for general contractors in a construction project.

Keywords: BIM, Building information modeling, construction schedule management, as-built schedule management, BIM schedule updating mechanism.

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Authors: ML. Benmessaoud, A. Lamrani, K. Nemra, AK. Souici

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This paper presents an Extended Kaman Filter implementation of a single-camera Visual Simultaneous Localization and Mapping algorithm, a novel algorithm for simultaneous localization and mapping problem widely studied in mobile robotics field. The algorithm is vision and odometry-based, The odometry data is incremental, and therefore it will accumulate error over time, since the robot may slip or may be lifted, consequently if the odometry is used alone we can not accurately estimate the robot position, in this paper we show that a combination of odometry and visual landmark via the extended Kalman filter can improve the robot position estimate. We use a Pioneer II robot and motorized pan tilt camera models to implement the algorithm.

Keywords: Mobile Robot, Navigation, vSLAM, EKF, monocular.

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