Search results for: inverse methods

Authors: Mutuku Muvengei, John Kihiu

Abstract:

This paper focuses on the development of bond graph dynamic model of the mechanical dynamics of an excavating mechanism previously designed to be used with small tractors, which are fabricated in the Engineering Workshops of Jomo Kenyatta University of Agriculture and Technology. To develop a mechanical dynamics model of the manipulator, forward recursive equations similar to those applied in iterative Newton-Euler method were used to obtain kinematic relationships between the time rates of joint variables and the generalized cartesian velocities for the centroids of the links. Representing the obtained kinematic relationships in bondgraphic form, while considering the link weights and momenta as the elements led to a detailed bond graph model of the manipulator. The bond graph method was found to reduce significantly the number of recursive computations performed on a 3 DOF manipulator for a mechanical dynamic model to result, hence indicating that bond graph method is more computationally efficient than the Newton-Euler method in developing dynamic models of 3 DOF planar manipulators. The model was verified by comparing the joint torque expressions of a two link planar manipulator to those obtained using Newton- Euler and Lagrangian methods as analyzed in robotic textbooks. The expressions were found to agree indicating that the model captures the aspects of rigid body dynamics of the manipulator. Based on the model developed, actuator sizing and valve sizing methodologies were developed and used to obtain the optimal sizes of the pistons and spool valve ports respectively. It was found that using the pump with the sized flow rate capacity, the engine of the tractor is able to power the excavating mechanism in digging a sandy-loom soil.

Keywords: Actuators, bond graphs, inverse dynamics, recursive equations, quintic polynomial trajectory.

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Authors: Jingyu Hou

Abstract:

This paper proposes a new teaching and learning approach-project and module based teaching and learning (PMBTL). The PMBTL approach incorporates the merits of project/problem based and module based learning methods, and overcomes the limitations of these methods. The correlation between teaching, learning, practice and assessment is emphasized in this approach, and new methods have been proposed accordingly. The distinct features of these new methods differentiate the PMBTL approach from conventional teaching approaches. Evaluation of this approach on practical teaching and learning activities demonstrates the effectiveness and stability of the approach in improving the performance and quality of teaching and learning. The approach proposed in this paper is also intuitive to the design of other teaching units. 

Keywords: Computer science education, project and module based, software engineering.

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Authors: Elaheh Jooybar, Mohammad J. Abdekhodaie, Marcel Karperien, Pieter J. Dijkstra

Abstract:

In this study, hyaluronic acid (HA) microgels were developed for the goal of protein delivery. First, a hyaluronic acid-tyramine conjugate (HA-TA) was synthesized with a degree of substitution of 13 TA moieties per 100 disaccharide units. Then, HA-TA microdroplets were produced using a water in oil emulsion method and crosslinked in the presence of horseradish peroxidase (HRP) and hydrogen peroxide (H₂O₂). Loading capacity and the release kinetics of lysozyme and BSA, as model proteins, were investigated. It was shown that lysozyme, a cationic protein, can be incorporated efficiently in the HA microgels, while the loading efficiency for BSA, as a negatively charged protein, is low. The release profile of lysozyme showed a sustained release over a period of one month. The results demonstrated that the HA-TA microgels are a good carrier for spatial delivery of cationic proteins for biomedical applications.

Keywords: Microgel, inverse emulsion, protein delivery, hyaluronic acid, crosslinking.

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Authors: Mina Alibeigi, Sattar Hashemi, Ali Hamzeh

Abstract:

Since dealing with high dimensional data is computationally complex and sometimes even intractable, recently several feature reductions methods have been developed to reduce the dimensionality of the data in order to simplify the calculation analysis in various applications such as text categorization, signal processing, image retrieval, gene expressions and etc. Among feature reduction techniques, feature selection is one the most popular methods due to the preservation of the original features. In this paper, we propose a new unsupervised feature selection method which will remove redundant features from the original feature space by the use of probability density functions of various features. To show the effectiveness of the proposed method, popular feature selection methods have been implemented and compared. Experimental results on the several datasets derived from UCI repository database, illustrate the effectiveness of our proposed methods in comparison with the other compared methods in terms of both classification accuracy and the number of selected features.

Keywords: Feature, Feature Selection, Filter, Probability Density Function

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Authors: Ashvin Gopaul, Jayrani Cheeneebash, Kamleshsing Baurhoo

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In this paper we study some numerical methods to solve a model one-dimensional convection–diffusion equation. The semi-discretisation of the space variable results into a system of ordinary differential equations and the solution of the latter involves the evaluation of a matrix exponent. Since the calculation of this term is computationally expensive, we study some methods based on Krylov subspace and on Restrictive Taylor series approximation respectively. We also consider the Chebyshev Pseudospectral collocation method to do the spatial discretisation and we present the numerical solution obtained by these methods.

Keywords: Chebyshev Pseudospectral collocation method, convection-diffusion equation, restrictive Taylor approximation.

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Authors: B. Leela Devi, A. Sankar

Abstract:

The web’s increased popularity has included a huge amount of information, due to which automated web page classification systems are essential to improve search engines’ performance. Web pages have many features like HTML or XML tags, hyperlinks, URLs and text contents which can be considered during an automated classification process. It is known that Webpage classification is enhanced by hyperlinks as it reflects Web page linkages. The aim of this study is to reduce the number of features to be used to improve the accuracy of the classification of web pages. In this paper, a novel feature selection method using an improved Particle Swarm Optimization (PSO) using principle of evolution is proposed. The extracted features were tested on the WebKB dataset using a parallel Neural Network to reduce the computational cost.

Keywords: Web page classification, WebKB Dataset, Term Frequency-Inverse Document Frequency (TF-IDF), Particle Swarm Optimization (PSO).

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Authors: Sunitha S. L., V. Udayashankara

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Hearing impairment is the number one chronic disability affecting many people in the world. Background noise is particularly damaging to speech intelligibility for people with hearing loss especially for sensorineural loss patients. Several investigations on speech intelligibility have demonstrated sensorineural loss patients need 5-15 dB higher SNR than the normal hearing subjects. This paper describes Discrete Hartley Transform Power Normalized Least Mean Square algorithm (DHT-LMS) to improve the SNR and to reduce the convergence rate of the Least Means Square (LMS) for sensorineural loss patients. The DHT transforms n real numbers to n real numbers, and has the convenient property of being its own inverse. It can be effectively used for noise cancellation with less convergence time. The simulated result shows the superior characteristics by improving the SNR at least 9 dB for input SNR with zero dB and faster convergence rate (eigenvalue ratio 12) compare to time domain method and DFT-LMS.

Keywords: Hearing Impairment, DHT-LMS, Convergence rate, SNR improvement.

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Authors: H. Ogras, M. Turk

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In this study, a system of encryption based on chaotic sequences is described. The system is used for encrypting digital image data for the purpose of secure image transmission. An image secure communication scheme based on Logistic map chaotic sequences with a nonlinear function is proposed in this paper. Encryption and decryption keys are obtained by one-dimensional Logistic map that generates secret key for the input of the nonlinear function. Receiver can recover the information using the received signal and identical key sequences through the inverse system technique. The results of computer simulations indicate that the transmitted source image can be correctly and reliably recovered by using proposed scheme even under the noisy channel. The performance of the system will be discussed through evaluating the quality of recovered image with and without channel noise.

Keywords: Digital image, Image encryption, Secure communication

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Authors: Mikko Löytynoja, Nedeljko Cvejic, Tapio Seppänen

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In this paper we introduce three watermarking methods that can be used to count the number of times that a user has played some content. The proposed methods are tested with audio content in our experimental system using the most common signal processing attacks. The test results show that the watermarking methods used enable the watermark to be extracted under the most common attacks with a low bit error rate.

Keywords: Digital rights management, restricted usage, content protection, spread spectrum, audio watermarking.

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Authors: Fereshteh Afkari, Davood Bagheri

Abstract:

The effect of teaching method on learning assistance Dunn Review .The study, to compare the effects of collaboration on teaching mathematics learning courses, including writing, science, experimental girl students by other methods of teaching basic first paid and the amount of learning students methods have been trained to cooperate with other students with other traditional methods have been trained to compare. The survey on 100 students in Tehran that using random sampling ¬ cluster of girl students between the first primary selections was performed. Considering the topic of semi-experimental research methods used to practice the necessary information by questionnaire, examination questions by the researcher, in collaboration with teachers and view authority in this field and related courses that teach these must have been collected. Research samples to test and control groups were divided. Experimental group and control group collaboration using traditional methods of mathematics courses, including writing and experimental sciences were trained. Research results using statistical methods T is obtained in two independent groups show that, through training assistance will lead to positive results and student learning in comparison with traditional methods, will increase also led to collaboration methods increase skills to solve math lesson practice, better understanding and increased skill level of students in practical lessons such as science and has been writing.

Keywords: method of teaching, learning, collaboration

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Authors: Sophia Hayes, Kenny L. Liang, Sahil Sharma, Austin Shema, Mahmoud Bader, Mohamed Elbarkouky

Abstract:

Despite being one of the most significant economic contributors of the country, Canada’s construction industry is lagging behind other sectors when it comes to labor productivity improvements. The construction industry is very collaborative as a general contractor, will hire trade contractors to perform most of a project’s work; meaning low productivity from one contractor can have a domino effect on the shared success of a project. To address this issue and encourage trade contractors to improve their productivity tracking methods, an investigative study was done on the productivity views and tracking methods of various trade contractors. Additionally, an in-depth review was done on four standard tracking methods used in the construction industry: cost codes, benchmarking, the job productivity measurement (JPM) standard, and WorkFace Planning (WFP). The four tracking methods were used as a baseline in comparing the trade contractors’ responses, determining gaps within their current tracking methods, and for making improvement recommendations. 15 interviews were conducted with different trades to analyze how contractors value productivity. The results of these analyses indicated that there seem to be gaps within the construction industry when it comes to an understanding of the purpose and value in productivity tracking. The trade contractors also shared their current productivity tracking systems; which were then compared to the four standard tracking methods used in the construction industry. Gaps were identified in their various tracking methods and using a framework; recommendations were made based on the type of trade on how to improve how they track productivity.

Keywords: Trade contractors’ productivity, productivity tracking, cost codes, benchmarking, job productivity measurement, JPM, workface planning WFP.

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Authors: Sangjun Park, Sangbae Jeong, Moonsung Han, Minsoo hahn

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In this paper, a target signal detection method using multiple signal classification (MUSIC) algorithm is proposed. The MUSIC algorithm is a subspace-based direction of arrival (DOA) estimation method. The algorithm detects the DOAs of multiple sources using the inverse of the eigenvalue-weighted eigen spectra. To apply the algorithm to target signal detection for GSC-based beamforming, we utilize its spectral response for the target DOA in noisy conditions. For evaluation of the algorithm, the performance of the proposed target signal detection method is compared with that of the normalized cross-correlation (NCC), the fixed beamforming, and the power ratio method. Experimental results show that the proposed algorithm significantly outperforms the conventional ones in receiver operating characteristics(ROC) curves.

Keywords: Beamforming, direction of arrival, multiple signal classification, target signal detection.

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Authors: Ming Cong, Yinghua Wu, Dong Liu, Haiying Wen, Junfa Yu

Abstract:

In order to improve control performance and eliminate steady, a coupling compensation for 6-DOF parallel robot is presented. Taking dynamic load Tank Simulator as the research object, this paper analyzes the coupling of 6-DOC parallel robot considering the degree of freedom of the 6-DOF parallel manipulator. The coupling angle and coupling velocity are derived based on inverse kinematics model. It uses the mechanism-model combined method which takes practical moving track that considering the performance of motion controller and motor as its input to make the study. Experimental results show that the coupling compensation improves motion stability as well as accuracy. Besides, it decreases the dither amplitude of dynamic load Tank Simulator.

Keywords: coupling compensation, screw theory, parallel robot, mechanism-model combined motion

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Authors: A.Tajaddini

Abstract:

In this paper, two matrix iterative methods are presented to solve the matrix equation A1X1B1 + A2X2B2 + ... + AlXlBl = C the minimum residual problem l i=1 AiXiBi−CF = minXi∈BRni×ni l i=1 AiXiBi−CF and the matrix nearness problem [X1, X2, ..., Xl] = min[X1,X2,...,Xl]∈SE [X1,X2, ...,Xl] − [X1, X2, ..., Xl]F , where BRni×ni is the set of bisymmetric matrices, and SE is the solution set of above matrix equation or minimum residual problem. These matrix iterative methods have faster convergence rate and higher accuracy than former methods. Paige’s algorithms are used as the frame method for deriving these matrix iterative methods. The numerical example is used to illustrate the efficiency of these new methods.

Keywords: Bisymmetric matrices, Paige’s algorithms, Least square.

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Authors: Yue Zhao, Jianping Li

Abstract:

This paper covers the present situation and problem of experimental teaching of mathematics specialty in recent years, puts forward and demonstrates experimental teaching methods for different education. From the aspects of content and experimental teaching approach, uses as an example the course “Experiment for Program Designing & Algorithmic Language" and discusses teaching practice and laboratory course work. In addition a series of successful methods and measures are introduced in experimental teaching.

Keywords: Differentiated teaching, experimental teaching, program design and algorithmic language, teaching method.

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Authors: I. Otete, A. I. Ejere, I. S. Okunzuwa

Abstract:

In this work, we used the Hulthen-Yukawa potential to obtain the bound state energy eigenvalues of the Schrödinger equation in D-dimensions within the frame work of the Nikiforov-Uvarov (NU) method. We demonstrated the graphical behaviour of the Hulthen and the Yukawa potential and investigated how the screening parameter and the potential depth affected the structure and the nature of the bound state eigenvalues. The results we obtained showed that increasing the screening parameter lowers the energy eigenvalues. Also, the eigenvalues acted as an inverse function of the potential depth. That is, increasing the potential depth reduces the energy eigenvalues.

Keywords: Schrödinger's equation, bound state, Hulthen-Yukawa potential, Nikiforov-Uvarov, D-dimensions

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Authors: Steven W. Su , Hung Nguyen, Rob Jarman, Joe Zhu, David Lowe, Peter McLean, Shoudong Huang, Nghia T. Nguyen, Russell Nicholson, Kaili Weng

Abstract:

This paper proposed a nonlinear model predictive control (MPC) method for the control of gantry crane. One of the main motivations to apply MPC to control gantry crane is based on its ability to handle control constraints for multivariable systems. A pre-compensator is constructed to compensate the input nonlinearity (nonsymmetric dead zone with saturation) by using its inverse function. By well tuning the weighting function matrices, the control system can properly compromise the control between crane position and swing angle. The proposed control algorithm was implemented for the control of gantry crane system in System Control Lab of University of Technology, Sydney (UTS), and achieved desired experimental results.

Keywords: Model Predictive Control, Control constraints, Input nonlinearity compensation, Overhead gantry crane.

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Authors: Guangbin Wang, Ning Zhang, Fuping Tan

Abstract:

In this paper, we present parallel alternating two-stage methods for solving linear system Ax = b, where A is a monotone matrix or an H-matrix. And we give some convergence results of these methods for nonsingular linear system.

Keywords: Parallel, alternating two-stage, convergence, linear system.

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Authors: Wen Po Cheng, Chia Yun Chung, Ruey Fang Yu, Chao Feng Chen

Abstract:

The main objective of this research was to study the differences of aluminum hydrolytic products between two PACl preparation methods. These two methods were the acidification process of freshly formed amorphous Al(OH)₃ and the conventional alkalization process of aluminum chloride solution. According to Ferron test and ²⁷Al NMR analysis of those two PACl preparation procedures, the reaction rate constant (k) values and Al₁₃ percentage of acid addition process at high basicity value were both lower than those values of the alkaline addition process. The results showed that the molecular structure and size distribution of the aluminum species in both preparing methods were suspected to be significantly different at high basicity value.

Keywords: Polyaluminum chloride, Al13, amorphous aluminum hydroxide, Ferron test.

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Authors: Ch. Surawut, D. Sukawat

Abstract:

In order to utilize results from global climate models, dynamical and statistical downscaling techniques have been developed. For dynamical downscaling, usually a limited area numerical model is used, with associated high computational cost. This research proposes dynamic equation for specific space-time regional climate downscaling from the Educational Global Climate Model (EdGCM) for Southeast Asia. The equation is for surface air temperature. This equation provides downscaling values of surface air temperature at any specific location and time without running a regional climate model. In the proposed equations, surface air temperature is approximated from ground temperature, sensible heat flux and 2m wind speed. Results from the application of the equation show that the errors from the proposed equations are less than the errors for direct interpolation from EdGCM.

Keywords: Dynamic Equation, Downscaling, Inverse distance weight interpolation.

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Authors: Yu-Shuai Chen , Chien-Ching Chiu , Chung-Hsin Huang, Chien-Hung Chen

Abstract:

The bit error rate (BER) performance for ultra-wide band (UWB) indoor communication with impact of metallic furniture is investigated. The impulse responses of different indoor environments for any transmitter and receiver location are computed by shooting and bouncing ray/image and inverse Fourier transform techniques. By using the impulse responses of these multipath channels, the BER performance for binary pulse amplitude modulation (BPAM) impulse radio UWB communication system are calculated. Numerical results have shown that the multi-path effect by the metallic cabinets is an important factor for BER performance. Also the outage probability for the UWB multipath environment with metallic cabinets is more serious (about 18%) than with wooden cabinets. Finally, it is worth noting that in these cases the present work provides not only comparative information but also quantitative information on the performance reduction.

Keywords: UWB, multipath, outage probability.

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Authors: N.S. Tomer, Phool Singh, Manoj Kumar

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The flow and heat transfer characteristics for natural convection along an inclined plate in a saturated porous medium with an applied magnetic field have been studied. The fluid viscosity has been assumed to be an inverse function of temperature. Assuming temperature vary as a power function of distance. The transformed ordinary differential equations have solved by numerical integration using Runge-Kutta method. The velocity and temperature profile components on the plate are computed and discussed in detail for various values of the variable viscosity parameter, inclination angle, magnetic field parameter, and real constant (λ). The results have also been interpreted with the aid of tables and graphs. The numerical values of Nusselt number have been calculated for the mentioned parameters.

Keywords: Heat Transfer, Magnetic Field, Porosity, Viscosity

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Authors: P. Řehoř, D. Holátová, V. Doležalová

Abstract:

Paper deals with analysis of strategic management methods in non-profit making organization in the Czech Republic. Strategic management represents an aggregate of methods and approaches that can be applied for managing organizations - in this article the organizations which associate owners and keepers of nonstate forest properties. Authors use these methods of strategic management: analysis of stakeholders, SWOT analysis and questionnaire inquiries. The questionnaire was distributed electronically via e-mail. In October 2013 we obtained data from a total of 84 questionnaires. Based on the results the authors recommend the using of confrontation strategy which improves the competitiveness of non-profit making organizations.

Keywords: Strategic management, non-profit making organization, strategy analysis, SWOT analysis, strategy, competitiveness.

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Authors: Sandeep Chandana, Rene V. Mayorga

Abstract:

The paper presents a new hybridization methodology involving Neural, Fuzzy and Rough Computing. A Rough Sets based approximation technique has been proposed based on a certain Neuro – Fuzzy architecture. A New Rough Neuron composition consisting of a combination of a Lower Bound neuron and a Boundary neuron has also been described. The conventional convergence of error in back propagation has been given away for a new framework based on 'Output Excitation Factor' and an inverse input transfer function. The paper also presents a brief comparison of performances, of the existing Rough Neural Networks and ANFIS architecture against the proposed methodology. It can be observed that the rough approximation based neuro-fuzzy architecture is superior to its counterparts.

Keywords: Boundary neuron, neuro-fuzzy, output excitation factor, RANFIS, rough approximation, rough neural computing.

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Authors: V. K. Banga, R. Kumar, Y. Singh

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In this paper, we present optimal control for movement and trajectory planning for four degrees-of-freedom robot using Fuzzy Logic (FL) and Genetic Algorithms (GAs). We have evaluated using Fuzzy Logic (FL) and Genetic Algorithms (GAs) for four degree-of-freedom (4 DOF) robotics arm, Uncertainties like; Movement, Friction and Settling Time in robotic arm movement have been compensated using Fuzzy logic and Genetic Algorithms. The development of a fuzzy genetic optimization algorithm is presented and discussed. The result are compared only GA and Fuzzy GA. This paper describes genetic algorithms, which is designed to optimize robot movement and trajectory. Though the model represents is a general model for redundant structures and could represent any n-link structures. The result is a complete trajectory planning with Fuzzy logic and Genetic algorithms demonstrating the flexibility of this technique of artificial intelligence.

Keywords: Inverse kinematics, Genetic algorithms (GAs), Fuzzy logic (FL), Trajectory planning.

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Authors: Sahar Noori, Seyed Amir Hossein, Mohammad Ebrahimi

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This paper is devoted to predict laminar and turbulent heating rates around blunt re-entry spacecraft at hypersonic conditions. Heating calculation of a hypersonic body is normally performed during the critical part of its flight trajectory. The procedure is of an inverse method, where a shock wave is assumed, and the body shape that supports this shock, as well as the flowfield between the shock and body, are calculated. For simplicity the normal momentum equation is replaced with a second order pressure relation; this simplification significantly reduces computation time. The geometries specified in this research, are parabola and ellipsoids which may have conical after bodies. An excellent agreement is observed between the results obtained in this paper and those calculated by others- research. Since this method is much faster than Navier-Stokes solutions, it can be used in preliminary design, parametric study of hypersonic vehicles.

Keywords: Aerodynamic Heating, Blunt Body, Hypersonic Flow, Laminar, Turbulent.

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Authors: Belkacem Brahmi, Mohand Ouamer Bibi

Abstract:

In this paper, we present a new method for solving quadratic programming problems, not strictly convex. Constraints of the problem are linear equalities and inequalities, with bounded variables. The suggested method combines the active-set strategies and support methods. The algorithm of the method and numerical experiments are presented, while comparing our approach with the active set method on randomly generated problems.

Keywords: Convex quadratic programming, dual support methods, active set methods.

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Authors: Mahesh Pal

Abstract:

This paper proposes to use ETM+ multispectral data and panchromatic band as well as texture features derived from the panchromatic band for land cover classification. Four texture features including one 'internal texture' and three GLCM based textures namely correlation, entropy, and inverse different moment were used in combination with ETM+ multispectral data. Two data sets involving combination of multispectral, panchromatic band and its texture were used and results were compared with those obtained by using multispectral data alone. A decision tree classifier with and without boosting were used to classify different datasets. Results from this study suggest that the dataset consisting of panchromatic band, four of its texture features and multispectral data was able to increase the classification accuracy by about 2%. In comparison, a boosted decision tree was able to increase the classification accuracy by about 3% with the same dataset.

Keywords: Internal texture; GLCM; decision tree; boosting; classification accuracy.

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Authors: Pinho C., Madaleno M.

Abstract:

German electricity European options on futures using Lévy processes for the underlying asset are examined. Implied volatility evolution, under each of the considered models, is discussed after calibrating for the Merton jump diffusion (MJD), variance gamma (VG), normal inverse Gaussian (NIG), Carr, Geman, Madan and Yor (CGMY) and the Black and Scholes (B&S) model. Implied volatility is examined for the entire sample period, revealing some curious features about market evolution, where data fitting performances of the five models are compared. It is shown that variance gamma processes provide relatively better results and that implied volatility shows significant differences through time, having increasingly evolved. Volatility changes for changed uncertainty, or else, increasing futures prices and there is evidence for the need to account for seasonality when modelling both electricity spot/futures prices and volatility.

Keywords: Calibration, Electricity Markets, Implied Volatility, Lévy Models, Options on Futures, Pricing

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Authors: Xie Kefeng, Zhang He

Abstract:

For the stability and control demand of offshore small floating platform, a 2-HUS/U parallel mechanism was presented as offshore platform. Inverse kinematics was obtained by institutional constraint equation, and the dynamic model of offshore 2-HUS/U parallel platform was derived based on rigid body’s Lagrangian method. The equivalent moment of inertia, damping and driving force/torque variation of offshore 2-HUS/U parallel platform were analyzed. A numerical example shows that, for parallel platform of given motion, system’s equivalent inertia changes 1.25 times maximally. During the movement of platform, they change dramatically with the system configuration and have coupling characteristics. The maximum equivalent drive torque is 800 N. At the same time, the curve of platform’s driving force/torque is smooth and has good sine features. The control system needs to be adjusted according to kinetic equation during stability and control and it provides a basis for the optimization of control system.

Keywords: 2-HUS/U platform, Dynamics, Lagrange, Parallel platform.

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