Search results for: Heuristic Search

Authors: M. Elsisi, M. Soliman, M. A. S. Aboelela, W. Mansour

Abstract:

This paper considers the design of Dual Proportional- Integral (DPI) Load Frequency Control (LFC), using gravitational search algorithm (GSA). The design is carried out for nonlinear hydrothermal power system where generation rate constraint (GRC) and governor dead band are considered. Furthermore, time delays imposed by governor-turbine, thermodynamic process, and communication channels are investigated. GSA is utilized to search for optimal controller parameters by minimizing a time-domain based objective function. GSA-based DPI has been compared to Ziegler- Nichols based PI, and Genetic Algorithm (GA) based PI controllers in order to demonstrate the superior efficiency of the proposed design. Simulation results are carried for a wide range of operating conditions and system parameters variations.

Keywords: Gravitational Search Algorithm (GSA), Load Frequency Control (LFC), Dual Proportional-Integral (DPI) controller.

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Authors: Cha-Hwa Lin, Je-Wei Hu

Abstract:

The conventional GA combined with a local search algorithm, such as the 2-OPT, forms a hybrid genetic algorithm(HGA) for the traveling salesman problem (TSP). However, the geometric properties which are problem specific knowledge can be used to improve the search process of the HGA. Some tour segments (edges) of TSPs are fine while some maybe too long to appear in a short tour. This knowledge could constrain GAs to work out with fine tour segments without considering long tour segments as often. Consequently, a new algorithm is proposed, called intelligent-OPT hybrid genetic algorithm (IOHGA), to improve the GA and the 2-OPT algorithm in order to reduce the search time for the optimal solution. Based on the geometric properties, all the tour segments are assigned 2-level priorities to distinguish between good and bad genes. A simulation study was conducted to evaluate the performance of the IOHGA. The experimental results indicate that in general the IOHGA could obtain near-optimal solutions with less time and better accuracy than the hybrid genetic algorithm with simulated annealing algorithm (HGA(SA)).

Keywords: Traveling salesman problem, hybrid geneticalgorithm, priority selection, 2-OPT.

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Authors: Chakkrit Snae

Abstract:

Names are important in many societies, even in technologically oriented ones which use e.g. ID systems to identify individual people. Names such as surnames are the most important as they are used in many processes, such as identifying of people and genealogical research. On the other hand variation of names can be a major problem for the identification and search for people, e.g. web search or security reasons. Name matching presumes a-priori that the recorded name written in one alphabet reflects the phonetic identity of two samples or some transcription error in copying a previously recorded name. We add to this the lode that the two names imply the same person. This paper describes name variations and some basic description of various name matching algorithms developed to overcome name variation and to find reasonable variants of names which can be used to further increasing mismatches for record linkage and name search. The implementation contains algorithms for computing a range of fuzzy matching based on different types of algorithms, e.g. composite and hybrid methods and allowing us to test and measure algorithms for accuracy. NYSIIS, LIG2 and Phonex have been shown to perform well and provided sufficient flexibility to be included in the linkage/matching process for optimising name searching.

Keywords: Data mining, name matching algorithm, nominaldata, searching system.

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Authors: Halil Ibrahim Demir, Abdullah Hulusi Kokcam, Fuat Simsir, Özer Uygun

Abstract:

Traditionally, three important manufacturing functions which are process planning, scheduling and due-date assignment are performed sequentially and separately. Although there are numerous works on the integration of process planning and scheduling and plenty of works focusing on scheduling with due date assignment, there are only a few works on integrated process planning, scheduling and due-date assignment. Although due-dates are determined without taking into account of weights of the customers in the literature, here weighted due-date assignment is employed to get better performance. Jobs are scheduled according to weighted earliest due date dispatching rule and due dates are determined according to some popular due date assignment methods by taking into account of the weights of each job. Simulated Annealing, Evolutionary Strategies, Random Search, hybrid of Random Search and Simulated Annealing, and hybrid of Random Search and Evolutionary Strategies, are applied as solution techniques. Three important manufacturing functions are integrated step-by-step and higher integration levels are found better. Search meta-heuristics are found to be very useful while improving performance measure.

Keywords: Evolutionary strategies, hybrid searches, process planning, simulated annealing, weighted due-date assignment, weighted scheduling.

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Authors: Grigorios N. Beligiannis, Georgios A. Tsirogiannis, Panayotis E. Pintelas

Abstract:

In this contribution, a way to enhance the performance of the classic Genetic Algorithm is proposed. The idea of restarting a Genetic Algorithm is applied in order to obtain better knowledge of the solution space of the problem. A new operator of 'insertion' is introduced so as to exploit (utilize) the information that has already been collected before the restarting procedure. Finally, numerical experiments comparing the performance of the classic Genetic Algorithm and the Genetic Algorithm with restartings, for some well known test functions, are given.

Keywords: Genetic Algorithms, Restartings, Search space exploration, Search space exploitation.

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Authors: M. Senthil Arumugam, M.V.C. Rao

Abstract:

This paper presents a novel two-phase hybrid optimization algorithm with hybrid genetic operators to solve the optimal control problem of a single stage hybrid manufacturing system. The proposed hybrid real coded genetic algorithm (HRCGA) is developed in such a way that a simple real coded GA acts as a base level search, which makes a quick decision to direct the search towards the optimal region, and a local search method is next employed to do fine tuning. The hybrid genetic operators involved in the proposed algorithm improve both the quality of the solution and convergence speed. The phase–1 uses conventional real coded genetic algorithm (RCGA), while optimisation by direct search and systematic reduction of the size of search region is employed in the phase – 2. A typical numerical example of an optimal control problem with the number of jobs varying from 10 to 50 is included to illustrate the efficacy of the proposed algorithm. Several statistical analyses are done to compare the validity of the proposed algorithm with the conventional RCGA and PSO techniques. Hypothesis t – test and analysis of variance (ANOVA) test are also carried out to validate the effectiveness of the proposed algorithm. The results clearly demonstrate that the proposed algorithm not only improves the quality but also is more efficient in converging to the optimal value faster. They can outperform the conventional real coded GA (RCGA) and the efficient particle swarm optimisation (PSO) algorithm in quality of the optimal solution and also in terms of convergence to the actual optimum value.

Keywords: Hybrid systems, optimal control, real coded genetic algorithm (RCGA), Particle swarm optimization (PSO), Hybrid real coded GA (HRCGA), and Hybrid genetic operators.

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Authors: Hei-Chia Wang, Che-Tsung Yang

Abstract:

While the explosive increase in information published on the Web, researchers have to filter information when searching for conference related information. To make it easier for users to search related information, this paper uses Topic Maps and social information to implement ontology since ontology can provide the formalisms and knowledge structuring for comprehensive and transportable machine understanding that digital information requires. Besides enhancing information in Topic Maps, this paper proposes a method of constructing research Topic Maps considering social information. First, extract conference data from the web. Then extract conference topics and the relationships between them through the proposed method. Finally visualize it for users to search and browse. This paper uses ontology, containing abundant of knowledge hierarchy structure, to facilitate researchers getting useful search results. However, most previous ontology construction methods didn-t take “people" into account. So this paper also analyzes the social information which helps researchers find the possibilities of cooperation/combination as well as associations between research topics, and tries to offer better results.

Keywords: Ontology, topic maps, social information, co-authorship.

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Authors: Guowei Hou, Lixin Yu, Wei Zhuang, Hui Qin, Xue Yang

Abstract:

Formal verification is proposed to ensure the correctness of the design and make functional verification more efficient. As cache plays a vital role in the design of System on Chip (SoC), and cache with Memory Management Unit (MMU) and cache memory unit makes the state space too large for simulation to verify, then a formal verification is presented for such system design. In the paper, a formal model checking verification flow is suggested and a new cache memory model which is called “exhaustive search model” is proposed. Instead of using large size ram to denote the whole cache memory, exhaustive search model employs just two cache blocks. For cache system contains data cache (Dcache) and instruction cache (Icache), Dcache memory model and Icache memory model are established separately using the same mechanism. At last, the novel model is employed to the verification of a cache which is module of a custom-built SoC system that has been applied in practical, and the result shows that the cache system is verified correctly using the exhaustive search model, and it makes the verification much more manageable and flexible.

Keywords: Cache system, formal verification, novel model, System on Chip (SoC).

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Authors: M. R. AlRashidi, K. M. El-Naggar, M. F. AlHajri

Abstract:

A new technique based on Pattern search optimization is proposed for estimating different solar cell parameters in this paper. The estimated parameters are the generated photocurrent, saturation current, series resistance, shunt resistance, and ideality factor. The proposed approach is tested and validated using double diode model to show its potential. Performance of the developed approach is quite interesting which signifies its potential as a promising estimation tool.

Keywords: Solar Cell, Parameter Estimation, Pattern Search.

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Authors: Suguru Ochiai, Toru Yabuki, Yoshiki Yamaguchi, Yuetsu Kodama

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In this paper, we propose a Connect6 solver which adopts a hybrid approach based on a tree-search algorithm and image processing techniques. The solver must deal with the complicated computation and provide high performance in order to make real-time decisions. The proposed approach enables the solver to be implemented on a single Spartan-6 XC6SLX45 FPGA produced by XILINX without using any external devices. The compact implementation is achieved through image processing techniques to optimize a tree-search algorithm of the Connect6 game. The tree search is widely used in computer games and the optimal search brings the best move in every turn of a computer game. Thus, many tree-search algorithms such as Minimax algorithm and artificial intelligence approaches have been widely proposed in this field. However, there is one fundamental problem in this area; the computation time increases rapidly in response to the growth of the game tree. It means the larger the game tree is, the bigger the circuit size is because of their highly parallel computation characteristics. Here, this paper aims to reduce the size of a Connect6 game tree using image processing techniques and its position symmetric property. The proposed solver is composed of four computational modules: a two-dimensional checkmate strategy checker, a template matching module, a skilful-line predictor, and a next-move selector. These modules work well together in selecting next moves from some candidates and the total amount of their circuits is small. The details of the hardware design for an FPGA implementation are described and the performance of this design is also shown in this paper.

Keywords: Connect6, pattern matching, game-tree reduction, hardware direct computation

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Authors: Martin Dostal, Dalibor Fiala, Karel Ježek

Abstract:

In this paper we would like to introduce some of the best practices of using semantic markup and its significance in the success of web applications. Search engines are one of the best ways to reach potential customers and are some of the main indicators of web sites' fruitfulness. We will introduce the most important semantic vocabularies which are used by Google and Yahoo. Afterwards, we will explain the process of semantic markup implementation and its significance for search engines and other semantic markup consumers. We will describe techniques for slow conceiving RDFa markup to our web application for collecting Call for papers (CFP) announcements.

Keywords: Call for papers, Google, RDFa, semantic markup, semantic web, Yahoo.

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Authors: I. Turk Cakir, B. Hacisahinoglu, S. Kartal, A. Yilmaz, A. Yilmaz, Z. Uysal, O. Cakir

Abstract:

In the search for new physics beyond the Standard Model, Flavour Changing Neutral Current (FCNC) is a good research field in terms of the observability at future colliders. Increased Higgs production with higher energy and luminosity in colliders is essential for verification or falsification of our knowledge of physics and predictions, and the search for new physics. Prospective electron-proton collider constituent of the Future Circular Collider project is FCC-eh. It offers great sensitivity due to its high luminosity and low interference. In this work, thq FCNC interaction vertex with off-shell top quark decay at electron-proton colliders is studied. By using MadGraph5_aMC@NLO multi-purpose event generator, observability of tuh and tch couplings are obtained with equal coupling scenario. Upper limit on branching ratio of tree level top quark FCNC decay is determined as 0.012% at FCC-eh with 1 ab ^−1 luminosity.

Keywords: FCC, FCNC, Higgs Boson, Top Quark.

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Authors: Sanaa Chafik, ImaneDaoudi, Mounim A. El Yacoubi, Hamid El Ouardi

Abstract:

Locality Sensitive Hashing (LSH) is one of the most promising techniques for solving nearest neighbour search problem in high dimensional space. Euclidean LSH is the most popular variation of LSH that has been successfully applied in many multimedia applications. However, the Euclidean LSH presents limitations that affect structure and query performances. The main limitation of the Euclidean LSH is the large memory consumption. In order to achieve a good accuracy, a large number of hash tables is required. In this paper, we propose a new hashing algorithm to overcome the storage space problem and improve query time, while keeping a good accuracy as similar to that achieved by the original Euclidean LSH. The Experimental results on a real large-scale dataset show that the proposed approach achieves good performances and consumes less memory than the Euclidean LSH.

Keywords: Approximate Nearest Neighbor Search, Content based image retrieval (CBIR), Curse of dimensionality, Locality sensitive hashing, Multidimensional indexing, Scalability.

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Authors: David Lindström

Abstract:

We evaluate the performance of a numerical method for global optimization of expensive functions. The method is using a response surface to guide the search for the global optimum. This metamodel could be based on radial basis functions, kriging, or a combination of different models. We discuss how to set the cyclic parameters of the optimization method to get a balance between local and global search. We also discuss the eventual problem with Runge oscillations in the response surface.

Keywords: Expensive function, infill sampling criterion, kriging, global optimization, response surface, Runge phenomenon.

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Authors: Wullapa Wongsinlatam

Abstract:

Back propagation algorithm (BP) is a widely used technique in artificial neural network and has been used as a tool for solving the time series problems, such as decreasing training time, maximizing the ability to fall into local minima, and optimizing sensitivity of the initial weights and bias. This paper proposes an improvement of a BP technique which is called IM-COH algorithm (IM-COH). By combining IM-COH algorithm with cuckoo search algorithm (CS), the result is cuckoo search improved control output hidden layer algorithm (CS-IM-COH). This new algorithm has a better ability in optimizing sensitivity of the initial weights and bias than the original BP algorithm. In this research, the algorithm of CS-IM-COH is compared with the original BP, the IM-COH, and the original BP with CS (CS-BP). Furthermore, the selected benchmarks, four time series samples, are shown in this research for illustration. The research shows that the CS-IM-COH algorithm give the best forecasting results compared with the selected samples.

Keywords: Artificial neural networks, back propagation algorithm, time series, local minima problem, metaheuristic optimization.

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Authors: St. Karagiannis, A. I. Dounis, T. Chalastras, P. Tiropanis, D. Papachristos

Abstract:

This work presents the design of an expert system that aims in the procurement of patient medial background and in the search for suitable skin test selections. Skin testing is the tool used most widely to diagnose allergies. The language of expert systems CLIPS is used as a tool of designing. Finally, we present the evaluation of the proposed expert system which was achieved with the import of certain medical cases and the system produced with suitable successful skin tests.

Keywords: Artificial intelligence, expert system - CLIPS, allergy and skin test.

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Authors: Halil Ibrahim Demir, Caner Erden, Mumtaz Ipek, Ozer Uygun

Abstract:

Traditionally, the three important manufacturing functions, which are process planning, scheduling and due-date assignment, are performed separately and sequentially. For couple of decades, hundreds of studies are done on integrated process planning and scheduling problems and numerous researches are performed on scheduling with due date assignment problem, but unfortunately the integration of these three important functions are not adequately addressed. Here, the integration of these three important functions is studied by using genetic, random-genetic hybrid, simulated annealing, random-simulated annealing hybrid and random search techniques. As well, the importance of the integration of these three functions and the power of meta-heuristics and of hybrid heuristics are studied.

Keywords: Process planning, weighted scheduling, weighted due-date assignment, genetic search, simulated annealing, hybrid meta-heuristics.

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Authors: Yasmeen A. S. Essawy, Khaled Nassar

Abstract:

With the rapid increase of complexity in the building industry, professionals in the A/E/C industry were forced to adopt Building Information Modeling (BIM) in order to enhance the communication between the different project stakeholders throughout the project life cycle and create a semantic object-oriented building model that can support geometric-topological analysis of building elements during design and construction. This paper presents a model that extracts topological relationships and geometrical properties of building elements from an existing fully designed BIM, and maps this information into a directed acyclic Elemental Graph Data Model (EGDM). The model incorporates BIM-based search algorithms for automatic deduction of geometrical data and topological relationships for each building element type. Using graph search algorithms, such as Depth First Search (DFS) and topological sortings, all possible construction sequences can be generated and compared against production and construction rules to generate an optimized construction sequence and its associated schedule. The model is implemented in a C# platform.

Keywords: Building information modeling, elemental graph data model, geometric and topological data models, and graph theory.

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Authors: Eva Eggeling, Dieter W. Fellner, Torsten Ullrich

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The objective of global optimization is to find the globally best solution of a model. Nonlinear models are ubiquitous in many applications and their solution often requires a global search approach; i.e. for a function f from a set A ⊂ Rn to the real numbers, an element x0 ∈ A is sought-after, such that ∀ x ∈ A : f(x0) ≤ f(x). Depending on the field of application, the question whether a found solution x0 is not only a local minimum but a global one is very important. This article presents a probabilistic approach to determine the probability of a solution being a global minimum. The approach is independent of the used global search method and only requires a limited, convex parameter domain A as well as a Lipschitz continuous function f whose Lipschitz constant is not needed to be known.

Keywords: global optimization, probability theory, probability of globality

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Authors: Ahmed Al-Ani

Abstract:

Feature selection is an important step in many pattern classification problems. It is applied to select a subset of features, from a much larger set, such that the selected subset is sufficient to perform the classification task. Due to its importance, the problem of feature selection has been investigated by many researchers. In this paper, a novel feature subset search procedure that utilizes the Ant Colony Optimization (ACO) is presented. The ACO is a metaheuristic inspired by the behavior of real ants in their search for the shortest paths to food sources. It looks for optimal solutions by considering both local heuristics and previous knowledge. When applied to two different classification problems, the proposed algorithm achieved very promising results.

Keywords: Ant Colony Optimization, ant systems, feature selection, pattern recognition.

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Authors: S. Dhahri, A. Zitouni, H. Chaouch, R. Tourki

Abstract:

This paper presents an adaptive motion estimator that can be dynamically reconfigured by the best algorithm depending on the variation of the video nature during the lifetime of an application under running. The 4 Step Search (4SS) and the Gradient Search (GS) algorithms are integrated in the estimator in order to be used in the case of rapid and slow video sequences respectively. The Full Search Block Matching (FSBM) algorithm has been also integrated in order to be used in the case of the video sequences which are not real time oriented. In order to efficiently reduce the computational cost while achieving better visual quality with low cost power, the proposed motion estimator is based on a Variable Block Size (VBS) scheme that uses only the 16x16, 16x8, 8x16 and 8x8 modes. Experimental results show that the adaptive motion estimator allows better results in term of Peak Signal to Noise Ratio (PSNR), computational cost, FPGA occupied area, and dissipated power relatively to the most popular variable block size schemes presented in the literature.

Keywords: H264, Configurable Motion Estimator, VariableBlock Size, PSNR, Dissipated power.

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Authors: Noor Atinah Ahmad

Abstract:

The Minimal Residual (MR) is modified for adaptive filtering application. Three forms of MR based algorithm are presented: i) the low complexity SPCG, ii) MREDSI, and iii) MREDSII. The low complexity is a reduced complexity version of a previously proposed SPCG algorithm. Approximations introduced reduce the algorithm to an LMS type algorithm, but, maintain the superior convergence of the SPCG algorithm. Both MREDSI and MREDSII are MR based methods with Euclidean direction of search. The choice of Euclidean directions is shown via simulation to give better misadjustment compared to their gradient search counterparts.

Keywords: Adaptive filtering, Adaptive least square, Minimalresidual method.

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Authors: Kiran Ijaz, Umar Manzoor, Arshad Ali Shahid

Abstract:

In this paper we present an extension to Vision Based LRTA* (VLRTA*) known as Vision Based Moving Target Search (VMTS) for capturing unknown moving target in unknown territory with randomly generated obstacles. Target position is unknown to the agents and they cannot predict its position using any probability method. Agents have omni directional vision but can see in one direction at some point in time. Agent-s vision will be blocked by the obstacles in the search space so agent can not see through the obstacles. Proposed algorithm is evaluated on large number of scenarios. Scenarios include grids of sizes from 10x10 to 100x100. Grids had obstacles randomly placed, occupying 0% to 50%, in increments of 10%, of the search space. Experiments used 2 to 9 agents for each randomly generated maze with same obstacle ratio. Observed results suggests that VMTS is effective in locate target time, solution quality and virtual target. In addition, VMTS becomes more efficient if the number of agents is increased with proportion to obstacle ratio.

Keywords: Vision, MTS, Unknown Target, Coordination, VMTS, Multi-Agent.

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Authors: Jiangyong Liu, Xiangxiang Xu, Bote Luo, Xiaoxue Luo, Jiang Zhu, Lingzhi Yi

Abstract:

To address the problems of non-linearity and high randomness of the original power load sequence causing the degradation of power load forecasting accuracy, a short-term load forecasting method is proposed. The method is based on the least square support vector machine (LSSVM) optimized by an improved sparrow search algorithm combined with the variational mode decomposition proposed in this paper. The application of the variational mode decomposition technique decomposes the raw power load data into a series of intrinsic mode functions components, which can reduce the complexity and instability of the raw data while overcoming modal confounding; the proposed improved sparrow search algorithm can solve the problem of difficult selection of learning parameters in the LSSVM. Finally, through comparison experiments, the results show that the method can effectively improve prediction accuracy.

Keywords: Load forecasting, variational mode decomposition, improved sparrow search algorithm, least square support vector machine.

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Authors: Mhand Hifi, Hedi Mhalla, Mustapha Michaphy

Abstract:

In this paper, we study the multi-scenario knapsack problem, a variant of the well-known NP-Hard single knapsack problem. We investigate the use of an adaptive algorithm for solving heuristically the problem. The used method combines two complementary phases: a size reduction phase and a dynamic 2- opt procedure one. First, the reduction phase applies a polynomial reduction strategy; that is used for reducing the size problem. Second, the adaptive search procedure is applied in order to attain a feasible solution Finally, the performances of two versions of the proposed algorithm are evaluated on a set of randomly generated instances.

Keywords: combinatorial optimization, max-min optimization, knapsack, heuristics, problem reduction

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Authors: Abdelkader Dekdouk

Abstract:

In this paper we propose a novel approach for searching eCommerce products using a mobile phone, illustrated by a prototype eCoMobile. This approach aims to globalize the mobile search by integrating the concept of user multilinguism into it. To show that, we particularly deal with English and Arabic languages. Indeed the mobile user can formulate his query on a commercial product in either language (English/Arabic). The description of his information need on commercial products relies on the ontology that represents the conceptualization of the product catalogue knowledge domain defined in both English and Arabic languages. A query expressed on a mobile device client defines the concept that corresponds to the name of the product followed by a set of pairs (property, value) specifying the characteristics of the product. Once a query is submitted it is then communicated to the server side which analyses it and in its turn performs an http request to an eCommerce application server (like Amazon). This latter responds by returning an XML file representing a set of elements where each element defines an item of the searched product with its specific characteristics. The XML file is analyzed on the server side and then items are displayed on the mobile device client along with its relevant characteristics in the chosen language.

Keywords: Mobile computing, search engine, multilingualglobal eCommerce, ontology, XML.

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Authors: Trung Hieu Tran, Hyo-Moon Cho, Sang-Bock Cho

Abstract:

Motion estimation is the most computationally intensive part in video processing. Many fast motion estimation algorithms have been proposed to decrease the computational complexity by reducing the number of candidate motion vectors. However, these studies are for fast search algorithms themselves while almost image and video compressions are operated with software based. Therefore, the timing constraints for running these motion estimation algorithms not only challenge for the video codec but also overwhelm for some of processors. In this paper, the performance of motion estimation is enhanced by using Intel's Streaming SIMD Extension 2 (SSE2) technology with Intel Pentium 4 processor.

Keywords: Motion Estimation, Full Search, Three StepSearch, MMX/SSE/SSE2 Technologies, SIMD.

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Authors: M. Pandi, K. Premalatha

Abstract:

A DNA microarray technology is a collection of microscopic DNA spots attached to a solid surface. Scientists use DNA microarrays to measure the expression levels of large numbers of genes simultaneously or to genotype multiple regions of a genome. Elucidating the patterns hidden in gene expression data offers a tremendous opportunity for an enhanced understanding of functional genomics. However, the large number of genes and the complexity of biological networks greatly increase the challenges of comprehending and interpreting the resulting mass of data, which often consists of millions of measurements. It is handled by clustering which reveals the natural structures and identifying the interesting patterns in the underlying data. In this paper, gene based clustering in gene expression data is proposed using Cuckoo Search with Differential Evolution (CS-DE). The experiment results are analyzed with gene expression benchmark datasets. The results show that CS-DE outperforms CS in benchmark datasets. To find the validation of the clustering results, this work is tested with one internal and one external cluster validation indexes.

Keywords: DNA, Microarray, genomics, Cuckoo Search, Differential Evolution, Gene expression data, Clustering.

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Authors: Avishai Sintov, Roland Menassa, Amir Shapiro

Abstract:

Industrial robotic arms utilize multiple end-effectors, each for a specific part and for a specific task. We propose a novel algorithm which will define a single end-effector’s configuration able to grasp a given set of objects with different geometries. The algorithm will have great benefit in production lines allowing a single robot to grasp various parts. Hence, reducing the number of endeffectors needed. Moreover, the algorithm will reduce end-effector design and manufacturing time and final product cost. The algorithm searches for a common grasp over the set of objects. The search algorithm maps all possible grasps for each object which satisfy a quality criterion and takes into account possible external wrenches (forces and torques) applied to the object. The mapped grasps are- represented by high-dimensional feature vectors which describes the shape of the gripper. We generate a database of all possible grasps for each object in the feature space. Then we use a search and classification algorithm for intersecting all possible grasps over all parts and finding a single common grasp suitable for all objects. We present simulations of planar and spatial objects to validate the feasibility of the approach.

Keywords: Common Grasping, Search Algorithm, Robotic End-Effector.

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Authors: Shimal Das, Dibyendu Ghoshal

Abstract:

The effect of directional search using iterated functional system has been studied on four images taken from databases. The images are portioned successively towards smaller dimension. Presented method provides the faster rate of convergence with respect to processing time in the flat region, but the same has been found to be slower at the border of the images and edges. It has also been revealed that the PSNR is lower at the edges and border portions of the image, and it is found to be higher in the uniform gray region, under the same external illumination and external noise environment.

Keywords: Iterated functional system, fractal compression, structural similarity index measure, fractal block coding, affine transformations.

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