Search results for: Lifting Scheme

Authors: H. El-Kamchouchi, Heba Gaber, Fatma Ahmed, Dalia H. El-Kamchouchi

Abstract:

Fault tolerance and data security are two important issues in modern communication systems. During the transmission of data between the sender and receiver, errors may occur frequently. Therefore, the sender must re-transmit the data to the receiver in order to correct these errors, which makes the system very feeble. To improve the scalability of the scheme, we present a proxy signature scheme with fault tolerance over an efficient and secure authenticated key agreement protocol based on the improved RSA system. Authenticated key agreement protocols have an important role in building a secure communications network between the two parties.

Keywords: Proxy signature, fault tolerance, improved RSA, key agreement.

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Authors: Krishnamoorthy R, Rajavijayalakshmi K, Punidha R

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In this paper, a near lossless image coding scheme based on Orthogonal Polynomials Transform (OPT) has been presented. The polynomial operators and polynomials basis operators are obtained from set of orthogonal polynomials functions for the proposed transform coding. The image is partitioned into a number of distinct square blocks and the proposed transform coding is applied to each of these individually. After applying the proposed transform coding, the transformed coefficients are rearranged into a sub-band structure. The Embedded Zerotree (EZ) coding algorithm is then employed to quantize the coefficients. The proposed transform is implemented for various block sizes and the performance is compared with existing Discrete Cosine Transform (DCT) transform coding scheme.

Keywords: Near-lossless Coding, Orthogonal Polynomials Transform, Embedded Zerotree Coding

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Authors: Marzieh Dosti, Alireza Nazemi

Abstract:

Recently, it is found that telegraph equation is more suitable than ordinary diffusion equation in modelling reaction diffusion for such branches of sciences. In this paper, a numerical solution for the one-dimensional hyperbolic telegraph equation by using the collocation method using the septic splines is proposed. The scheme works in a similar fashion as finite difference methods. Test problems are used to validate our scheme by calculate L2-norm and L∞-norm. The accuracy of the presented method is demonstrated by two test problems. The numerical results are found to be in good agreement with the exact solutions.

Keywords: B-spline, collocation method, second-order hyperbolic telegraph equation, difference schemes.

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Authors: Soyoon Bak, Sunyoung Bu, Philsu Kim

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In this paper, a backward semi-Lagrangian scheme combined with the second-order backward difference formula is designed to calculate the numerical solutions of nonlinear advection-diffusion equations. The primary aims of this paper are to remove any iteration process and to get an efficient algorithm with the convergence order of accuracy 2 in time. In order to achieve these objects, we use the second-order central finite difference and the B-spline approximations of degree 2 and 3 in order to approximate the diffusion term and the spatial discretization, respectively. For the temporal discretization, the second order backward difference formula is applied. To calculate the numerical solution of the starting point of the characteristic curves, we use the error correction methodology developed by the authors recently. The proposed algorithm turns out to be completely iteration free, which resolves the main weakness of the conventional backward semi-Lagrangian method. Also, the adaptability of the proposed method is indicated by numerical simulations for Burgers’ equations. Throughout these numerical simulations, it is shown that the numerical results is in good agreement with the analytic solution and the present scheme offer better accuracy in comparison with other existing numerical schemes.

Keywords: Semi-Lagrangian method, Iteration free method, Nonlinear advection-diffusion equation.

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Authors: Jong-Whoi Shin, Soon-Tai Park, Chong-Sun Hwang

Abstract:

Active network was developed to solve the problem of the current sharing-based network–difficulty in applying new technology, service or standard, and duplicated operation at several protocol layers. Active network can transport the packet loaded with the executable codes, which enables to change the state of the network node. However, if the network node is placed in the sharing-based network, security and safety issues should be resolved. To satisfy this requirement, various security aspects are required such as authentication, authorization, confidentiality and integrity. Among these security components, the core factor is the encryption key. As a result, this study is designed to propose the scheme that manages the encryption key, which is used to provide security of the comprehensive active directory, based on the domain.

Keywords: Active Network, Domain-based Key Management, Security Components.

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Authors: Rajendra K. Ray, H. V. R. Mittal

Abstract:

A numerical study is made of laminar, unsteady flow behind a rotationally oscillating circular cylinder using a recently developed higher order compact (HOC) scheme. The stream function vorticity formulation of Navier-Stokes (N-S) equations in cylindrical polar coordinates are considered as the governing equations. The temporal behaviour of vortex formation and relevant streamline patterns of the flow are scrutinized over broad ranges of two externally specified parameters namely dimensionless forced oscillating frequency Sf and dimensionless peak rotation rate αm for the Reynolds-s number Re = 200. Excellent agreements are found both qualitatively and quantitatively with the existing experimental and standard numerical results.

Keywords: HOC, Navier-Stokes, non-uniform polar grids, rotationally oscillating cylinder.

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Authors: Tanveer Ahmed Bhuiyan, Samiul Hayder Choudhury, Asif Al - Rasheed, S.P. Majumder

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In this paper, the effect of atmospheric turbulence on bit error probability in free-space optical CDMA scheme with Sequence Inverse Keyed (SIK) optical correlator receiver is analyzed. Here Intensity Modulation scheme is considered for transmission. The turbulence induced fading is described by the newly introduced gamma-gamma pdf[1] as a tractable mathematical model for atmospheric turbulence. Results are evaluated with Gold and Kasami code & it is shown that Gold sequence can be used for more efficient transmission than Kasami sequence in an atmospheric turbulence channel.

Keywords: CDMA, gamma-gamma pdf, atmospheric turbulence, Kasami, Gold, SIK, BER, Power Penalty, FSO.

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Authors: Y. K. Chen, K. C. Chiou, C. Y. Chen

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The cumulative conformance count (CCC) charts are widespread in process monitoring of high-yield manufacturing. Recently, it is found the use of variable sampling interval (VSI) scheme could further enhance the efficiency of the standard CCC charts. The average time to signal (ATS) a shift in defect rate has become traditional measure of efficiency of a chart with the VSI scheme. Determining the ATS is frequently a difficult and tedious task. A simple method based on a finite Markov Chain approach for modeling the ATS is developed. In addition, numerical results are given.

Keywords: Cumulative conformance count, variable sampling interval, Markov Chain, average time to signal, control chart.

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Authors: S. R. A. Rahim, I. Musirin, M. M. Othman, M. H. Hussain

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Loss minimization is a long progressing issue mainly in distribution system. Nevertheless its effect led to temperature rise due to significant voltage drop through the distribution line. Thus, compensation scheme should be proper scheduled in the attempt to alleviate the voltage drop phenomenon. Distributed generation has been profoundly known for voltage profile improvement; provided that over-compensation or under-compensation phenomena are avoided. This paper addresses the issue of voltage improvement through different type DG installation. In ensuring optimal sizing and location of the DGs, pre-developed EMEFA technique was made use for this purpose. Incremental loading condition subjected to the system is the concern such that it is beneficial to the power system operator.

Keywords: Distributed generation, EMEFA, power loss, voltage profile.

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Authors: N. Veerasamy, C. J. Cheyne

Abstract:

Users of computer systems may often require the private transfer of messages/communications between parties across a network. Information warfare and the protection and dominance of information in the military context is a prime example of an application area in which the confidentiality of data needs to be maintained. The safe transportation of critical data is therefore often a vital requirement for many private communications. However, unwanted interception/sniffing of communications is also a possibility. An elementary stealthy transfer scheme is therefore proposed by the authors. This scheme makes use of encoding, splitting of a message and the use of a hashing algorithm to verify the correctness of the reconstructed message. For this proof-of-concept purpose, the authors have experimented with the random sending of encoded parts of a message and the construction thereof to demonstrate how data can stealthily be transferred across a network so as to prevent the obvious retrieval of data.

Keywords: Construction, encode, interception, stealthy.

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Authors: Hadj Bourdoucen, Amer Alhabsi

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In this paper, a post processing scheme is suggested for improvement of Bit Error-Rate (BER) in optical fiber transmission receivers. The developed scheme has been tested on optical fiber systems operating with a non-return-to-zero (NRZ) format at transmission rates of up to 10Gbps. The transmission system considered is based on well known transmitters and receivers blocks operating at wavelengths in the region of 1550 nm using a standard single mode fiber. Performance of improved detected signals has been evaluated via the analysis of quality factor and computed bit error rates. Numerical simulations have shown a noticeable improvement of the system BER after implementation of the suggested post processing operation on the detected electrical signals.

Keywords: BER improvement, Optical fiber, transmissionperformance, NRZ.

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Authors: Yih-Chuan Lin, Jung-Hong Li

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In this paper, we propose a reversible watermarking scheme based on histogram shifting (HS) to embed watermark bits into the H.264/AVC standard videos by modifying the last nonzero level in the context adaptive variable length coding (CAVLC) domain. The proposed method collects all of the last nonzero coefficients (or called last level coefficient) of 4×4 sub-macro blocks in a macro block and utilizes predictions for the current last level from the neighbor block-s last levels to embed watermark bits. The feature of the proposed method is low computational and has the ability of reversible recovery. The experimental results have demonstrated that our proposed scheme has acceptable degradation on video quality and output bit-rate for most test videos.

Keywords: Reversible data hiding, H.264/AVC standard, CAVLC, Histogram shifting

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Authors: Anurag Saxena, Alkesh Agrawal, Dinesh Kumar

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The next generation mobile communication systems i.e. fourth generation (4G) was developed to accommodate the quality of service and required data rate. This project focuses on multiple access technique proposed in 4G communication systems. It is attempted to demonstrate the IDMA (Interleave Division Multiple Access) technology. The basic principle of IDMA is that interleaver is different for each user whereas CDMA employs different signatures. IDMA inherits many advantages of CDMA such as robust against fading, easy cell planning; dynamic channel sharing and IDMA increase the spectral efficiency and reduce the receiver complexity. In this, performance of IDMA is analyzed using QC-LDPC coding scheme further it is compared with LDPC coding and at last BER is calculated and plotted in MATLAB.

Keywords: 4G, QC-LDPC, CDMA, IDMA.

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Authors: Maria P. Tzamtzi, Fotis N. Koumboulis

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We propose a control design scheme that aims to prevent undesirable liquid outpouring and suppress sloshing during the forward and backward tilting phases of the pouring process, for the case of liquid containers carried by manipulators. The proposed scheme combines a partial inverse dynamics controller with a PID controller, tuned with the use of a “metaheuristic" search algorithm. The “metaheuristic" search algorithm tunes the PID controller based on simulation results of the plant-s linearization around the operating point corresponding to the critical tilting angle, where outpouring initiates. Liquid motion is modeled using the well-known pendulumtype model. However, the proposed controller does not require measurements of the liquid-s motion within the tank.

Keywords: Robotic systems, Controller design, Sloshingsuppression, Metaheuristic optimization.

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Authors: Bo Yang, Christopher Monterola

Abstract:

Urban intersection control without the use of the traffic light has the potential to vastly improve the efficiency of the urban traffic flow. For most proposals in the literature, such lightless intersection control depends on the mass market commercialization of highly intelligent autonomous vehicles (AV), which limits the prospects of near future implementation. We present an efficient lightless intersection traffic control scheme that only requires Level 1 AV as defined by NHTSA. The technological barriers of such lightless intersection control are thus very low. Our algorithm can also accommodate a mixture of AVs and conventional vehicles. We also carry out large scale numerical analysis to illustrate the feasibility, safety and robustness, comfort level, and control efficiency of our intersection control scheme.

Keywords: Intersection control, autonomous vehicles, traffic modelling, intelligent transport system.

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Authors: M. Hamad Hassan, S.A.M. Gilani

Abstract:

In this paper, a novel scheme is proposed for Ownership Identification and Color Image Authentication by deploying Cryptography & Digital Watermarking. The color image is first transformed from RGB to YST color space exclusively designed for watermarking. Followed by color space transformation, each channel is divided into 4×4 non-overlapping blocks with selection of central 2×2 sub-blocks. Depending upon the channel selected two to three LSBs of each central 2×2 sub-block are set to zero to hold the ownership, authentication and recovery information. The size & position of sub-block is important for correct localization, enhanced security & fast computation. As YS ÔèÑ T so it is suitable to embed the recovery information apart from the ownership and authentication information, therefore 4×4 block of T channel along with ownership information is then deployed by SHA160 to compute the content based hash that is unique and invulnerable to birthday attack or hash collision instead of using MD5 that may raise the condition i.e. H(m)=H(m'). For recovery, intensity mean of 4x4 block of each channel is computed and encoded upto eight bits. For watermark embedding, key based mapping of blocks is performed using 2DTorus Automorphism. Our scheme is oblivious, generates highly imperceptible images with correct localization of tampering within reasonable time and has the ability to recover the original work with probability of near one.

Keywords: Hash Collision, LSB, MD5, PSNR, SHA160

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Authors: V.S.Kale, S.R.Bhide, P.P.Bedekar, G.V.K.Mohan

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The protection of parallel transmission lines has been a challenging task due to mutual coupling between the adjacent circuits of the line. This paper presents a novel scheme for detection and classification of faults on parallel transmission lines. The proposed approach uses combination of wavelet transform and neural network, to solve the problem. While wavelet transform is a powerful mathematical tool which can be employed as a fast and very effective means of analyzing power system transient signals, artificial neural network has a ability to classify non-linear relationship between measured signals by identifying different patterns of the associated signals. The proposed algorithm consists of time-frequency analysis of fault generated transients using wavelet transform, followed by pattern recognition using artificial neural network to identify the type of the fault. MATLAB/Simulink is used to generate fault signals and verify the correctness of the algorithm. The adaptive discrimination scheme is tested by simulating different types of fault and varying fault resistance, fault location and fault inception time, on a given power system model. The simulation results show that the proposed scheme for fault diagnosis is able to classify all the faults on the parallel transmission line rapidly and correctly.

Keywords: Artificial neural network, fault detection and classification, parallel transmission lines, wavelet transform.

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Authors: Seung-Jun Yu, Jang-Kyun Ahn, Eui-Young Lee, Hyoung-Kyu Song

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Space-time block codes (STBC) and spatial multiplexing (SM) are promising techniques that effectively exploit multipleinput multiple-output (MIMO) transmission to achieve more reliable communication and a higher multiplexing rate, respectively. In this paper, we study a practical design for hybrid scheme with multi-input multi-output orthogonal frequency division multiplexing (MIMOOFDM) systems to flexibly maximize the tradeoff between diversity and multiplexing gains. Unlike the existing STBC and SM designs which are suitable for the integer multiplexing rate, the proposed design can achieve arbitrary number of multiplexing rate.

Keywords: Space-Time Block Codes, Spatial Multiplexing, MIMO-OFDM.

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Authors: Rekha Kandwal, Kamal K.Bharadwaj

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Knowledge is indispensable but voluminous knowledge becomes a bottleneck for efficient processing. A great challenge for data mining activity is the generation of large number of potential rules as a result of mining process. In fact sometimes result size is comparable to the original data. Traditional data mining pruning activities such as support do not sufficiently reduce the huge rule space. Moreover, many practical applications are characterized by continual change of data and knowledge, thereby making knowledge voluminous with each change. The most predominant representation of the discovered knowledge is the standard Production Rules (PRs) in the form If P Then D. Michalski & Winston proposed Censored Production Rules (CPRs), as an extension of production rules, that exhibit variable precision and supports an efficient mechanism for handling exceptions. A CPR is an augmented production rule of the form: If P Then D Unless C, where C (Censor) is an exception to the rule. Such rules are employed in situations in which the conditional statement 'If P Then D' holds frequently and the assertion C holds rarely. By using a rule of this type we are free to ignore the exception conditions, when the resources needed to establish its presence, are tight or there is simply no information available as to whether it holds or not. Thus the 'If P Then D' part of the CPR expresses important information while the Unless C part acts only as a switch changes the polarity of D to ~D. In this paper a scheme based on Dempster-Shafer Theory (DST) interpretation of a CPR is suggested for discovering CPRs from the discovered flat PRs. The discovery of CPRs from flat rules would result in considerable reduction of the already discovered rules. The proposed scheme incrementally incorporates new knowledge and also reduces the size of knowledge base considerably with each episode. Examples are given to demonstrate the behaviour of the proposed scheme. The suggested cumulative learning scheme would be useful in mining data streams.

Keywords: Censored production rules, cumulative learning, data mining, machine learning.

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Authors: Ehsan Hassankhan, Davood A. Khaburi

Abstract:

Direct Torque Control is a control technique in AC drive systems to obtain high performance torque control. The conventional DTC drive contains a pair of hysteresis comparators. DTC drives utilizing hysteresis comparators suffer from high torque ripple and variable switching frequency. The most common solution to those problems is to use the space vector depends on the reference torque and flux. In this Paper The space vector modulation technique (SVPWM) is applied to 2 level inverter control in the proposed DTC-based induction motor drive system, thereby dramatically reducing the torque ripple. Then the controller based on space vector modulation is designed to be applied in the control of Induction Motor (IM) with a three-level Inverter. This type of Inverter has several advantages over the standard two-level VSI, such as a greater number of levels in the output voltage waveforms, Lower dV/dt, less harmonic distortion in voltage and current waveforms and lower switching frequencies. This paper proposes a general SVPWM algorithm for three-level based on standard two-level SVPWM. The proposed scheme is described clearly and simulation results are reported to demonstrate its effectiveness. The entire control scheme is implemented with Matlab/Simulink.

Keywords: Direct torque control, space vector Pulsewidthmodulation(SVPWM), neutral point clamped(NPC), two-levelinverter.

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Authors: Chun-Chuan Yang, Jeng-Yueng Chen, Yi-Ting Mai, Chen-Ming Yang

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In this paper, the design of integrated sleep scheduling for relay nodes and user equipments under a Donor eNB (DeNB) in the mode of Time Division Duplex (TDD) in LTE-A is presented. The idea of virtual time is proposed to deal with the discontinuous pattern of the available radio resource in TDD, and based on the estimation of the traffic load, three power saving schemes in the top-down strategy are presented. Associated mechanisms in each scheme including calculation of the virtual subframe capacity, the algorithm of integrated sleep scheduling, and the mapping mechanisms for the backhaul link and the access link are presented in the paper. Simulation study shows the advantage of the proposed schemes in energy saving over the standard DRX scheme.

Keywords: LTE-A, Relay, TDD, Power Saving.

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Authors: S. Chaisit, H.Y. Kung, N.T. Phuong

Abstract:

Radio frequency identification (RFID) applications have grown rapidly in many industries, especially in indoor location identification. The advantage of using received signal strength indicator (RSSI) values as an indoor location measurement method is a cost-effective approach without installing extra hardware. Because the accuracy of many positioning schemes using RSSI values is limited by interference factors and the environment, thus it is challenging to use RFID location techniques based on integrating positioning algorithm design. This study proposes the location estimation approach and analyzes a scheme relying on RSSI values to minimize location errors. In addition, this paper examines different factors that affect location accuracy by integrating the backpropagation neural network (BPN) with the LANDMARC algorithm in a training phase and an online phase. First, the training phase computes coordinates obtained from the LANDMARC algorithm, which uses RSSI values and the real coordinates of reference tags as training data for constructing an appropriate BPN architecture and training length. Second, in the online phase, the LANDMARC algorithm calculates the coordinates of tracking tags, which are then used as BPN inputs to obtain location estimates. The results show that the proposed scheme can estimate locations more accurately compared to LANDMARC without extra devices.

Keywords: BPNs, indoor location, location estimation, intelligent location identification.

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Authors: Salim Istyaq, Mohammad Sarosh Umar

Abstract:

Today, the mankind is in the stage of development, every day comes with new proposal of technology, in order to secure these types of technology, we also prepare high yielding security modules to conserve these resources. The capacity of human brain to recognize anything is far more than any species; this is all due to our developing cycle of curiosity. In this paper, we proposed a scheme based on graphical password using QR Code which provides more security to the recent online system. It also contains a supportive sound signature. In this system, authentication is done using sequence of images in QR code form. Users select one click-point per image with the help of QR scanner or recognizer. The encoded phrase in a QR code emphasizes the minimum probability of attacking via shoulder surfing or other attacks.

Keywords: Graphical password, QR code, sound signature, image authentication, cued click point.

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Authors: Osama Terra, Hatem Hussein, Adriaan Van Brakel

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Dense wavelength division multiplexing (DWDM) technology requires tight specification and therefore measurement of wavelength accuracy and stability of the telecommunication lasers. Thus, calibration of the used Optical Spectrum Analyzers (OSAs) that are used to measure wavelength is of a great importance. Proficiency testing must be performed on such measuring activity to insure the accuracy of the measurement results. In this paper, a new comparison scheme is introduced to test the performance of such calibrations. This comparison scheme is implemented between NIS-Egypt and NMISA-South Africa for the calibration of the wavelength scale of an OSA. Both institutes employ reference gas cell to calibrate OSA according to the standard IEC/ BS EN 62129 (2006). The result of this comparison is compiled in this paper.

Keywords: OSA calibration, HCN gas cell, DWDM technology, wavelength measurement.

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Authors: X. Z. Gao, S. J. Ovaska, X. Wang

Abstract:

Prediction of sinusoidal signals with time-varying frequencies has been an important research topic in power electronics systems. To solve this problem, we propose a new fuzzy predictive filtering scheme, which is based on a Finite Impulse Response (FIR) filter bank. Fuzzy logic is introduced here to provide appropriate interpolation of individual filter outputs. Therefore, instead of regular 'hard' switching, our method has the advantageous 'soft' switching among different filters. Simulation comparisons between the fuzzy predictive filtering and conventional filter bank-based approach are made to demonstrate that the new scheme can achieve an enhanced prediction performance for slowly changing sinusoidal input signals.

Keywords: Predictive filtering, fuzzy logic, sinusoidal signals, time-varying frequencies.

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Authors: T. Benmiloud, A. Omari

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This paper presents a new technique of compensation of the effect of variation parameters in the direct field oriented control of induction motor. The proposed method uses an adaptive tuning of the value of synchronous speed to obtain the robustness for the field oriented control. We show that this adaptive tuning allows having robustness for direct field oriented control to changes in rotor resistance, load torque and rotational speed. The effectiveness of the proposed control scheme is verified by numerical simulations. The numerical validation results of the proposed scheme have presented good performances compared to the usual direct-field oriented control.

Keywords: Induction motor, direct field-oriented control, compensation of variation parameters, fuzzy logic controller.

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Authors: Jingjing Lan, Jun Zhou, Xin Liu

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In this paper, a low-power digital controller for DC-DC power conversion was presented. The controller generates the pulse-width modulated (PWM) signal from digital inputs provided by analog-to-digital converter (ADC). An efficient and simple design scheme to develop the control unit was discussed. This method allows minimization of the consumed resources of the chip and it is based on direct digital design approach. In this application, with the proposed scheme, nearly half area and two-third of the power consumption was saved compared to the conventional schemes. This work illustrates the possibility of implementing low-power and area-efficient power management circuit using direct digital design based approach. 

Keywords: Buck converter, DC-DC power conversion, digital control, proportional-integral (PI) controller.

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Authors: Jong-Moon Chung, Hyung-Weon Cho, Ki-Yong Jin, Min-Hee Cho

Abstract:

In this paper, we present an analytical framework for the evaluation of the uplink performance of multihop cellular networks based on dynamic time division duplex (TDD). New wireless broadband protocols, such as WiMAX, WiBro, and 3G-LTE apply TDD, and mobile communication protocols under standardization (e.g., IEEE802.16j) are investigating mobile multihop relay (MMR) as a future technology. In this paper a novel MMR TDD scheme is presented, where the dynamic range of the frame is shared to traffic resources of asymmetric nature and multihop relaying. The mobile communication channel interference model comprises of inner and co-channel interference (CCI). The performance analysis focuses on the uplink due to the fact that the effects of dynamic resource allocation show significant performance degradation only in the uplink compared to time division multiple access (TDMA) schemes due to CCI [1-3], where the downlink results to be the same or better.The analysis was based on the signal to interference power ratio (SIR) outage probability of dynamic TDD (D-TDD) and TDMA systems,which are the most widespread mobile communication multi-user control techniques. This paper presents the uplink SIR outage probability with multihop results and shows that the dynamic TDD scheme applying MMR can provide a performance improvement compared to single hop applications if executed properly.

Keywords: Co-Channel Interference, Dynamic TDD, MobileMultihop Reply, Cellular Network, Time Division Multiple Access.

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Authors: M. Tahmasebi, R.A. Rahman, M. Mailah, M. Gohari

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The control of sprayer boom undesired vibrations pose a great challenge to investigators due to various disturbances and conditions. Sprayer boom movements lead to reduce of spread efficiency and crop yield. This paper describes the design of a novel control method for an active suspension system applying proportional-integral-derivative (PID) controller with an active force control (AFC) scheme integration of an iterative learning algorithm employed to a sprayer boom. The iterative learning as an intelligent method is principally used as a method to calculate the best value of the estimated inertia of the sprayer boom needed for the AFC loop. Results show that the proposed AFC-based scheme performs much better than the standard PID control technique. Also, this shows that the system is more robust and accurate.

Keywords: Active force control, sprayer boom, active suspension, iterative learning.

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Authors: Bibhya Sharma, Jito Vanualailai, Jai Raj

Abstract:

This paper proposes a new obstacle and collision avoidance control laws for a three-dimensional swarm of boids. The swarm exhibit collective emergent behaviors whilst avoiding the obstacles in the workspace. While flocking, animals group up in order to do various tasks and even a greater chance of evading predators. A generalized algorithms for attraction to the centroid, inter-individual swarm avoidance and obstacle avoidance is designed in this paper. We present a set of new continuous time-invariant velocity control laws is presented which is formulated via the Lyapunov-based control scheme. The control laws proposed in this paper also ensures practical stability of the system. The effectiveness of the proposed control laws is demonstrated via computer simulations

 

Keywords: Lyapunov-based Control Scheme, Motion planning, Practical stability, Swarm.

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