Search results for: Mamdani fuzzy logic inference
Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 1268

Search results for: Mamdani fuzzy logic inference

218 FPGA Implementation of a Vision-Based Blind Spot Warning System

Authors: Yu Ren Lin, Yu Hong Li

Abstract:

Vision-based intelligent vehicle applications often require large amounts of memory to handle video streaming and image processing, which in turn increases complexity of hardware and software. This paper presents an FPGA implement of a vision-based blind spot warning system. Using video frames, the information of the blind spot area turns into one-dimensional information. Analysis of the estimated entropy of image allows the detection of an object in time. This idea has been implemented in the XtremeDSP video starter kit. The blind spot warning system uses only 13% of its logic resources and 95k bits block memory, and its frame rate is over 30 frames per sec (fps).

Keywords: blind-spot area, image, FPGA

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217 FPGA Implement of a Vision Based Lane Departure Warning System

Authors: Yu Ren Lin, Yi Feng Su

Abstract:

Using vision based solution in intelligent vehicle application often needs large memory to handle video stream and image process which increase complexity of hardware and software. In this paper, we present a FPGA implement of a vision based lane departure warning system. By taking frame of videos, the line gradient of line is estimated and the lane marks are found. By analysis the position of lane mark, departure of vehicle will be detected in time. This idea has been implemented in Xilinx Spartan6 FPGA. The lane departure warning system used 39% logic resources and no memory of the device. The average availability is 92.5%. The frame rate is more than 30 frames per second (fps).

Keywords: Lane departure warning system, image, FPGA.

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216 Soft Connected Spaces and Soft Paracompact Spaces

Authors: Fucai Lin

Abstract:

Soft topological spaces are considered as mathematical tools for dealing with uncertainties, and a fuzzy topological space is a special case of the soft topological space. The purpose of this paper is to study soft topological spaces. We introduce some new concepts in soft topological spaces such as soft closed mapping, soft open mappings, soft connected spaces and soft paracompact spaces. We also redefine the concept of soft points such that it is reasonable in soft topological spaces. Moreover, some basic properties of these concepts are explored.

Keywords: soft sets, soft open mappings, soft closed mappings, soft connected spaces, soft paracompact spaces.

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215 Formal Modeling and Verification of Software Models

Authors: Siamak Rasulzadeh

Abstract:

Graph transformation has recently become more and more popular as a general visual modeling language to formally state the dynamic semantics of the designed models. Especially, it is a very natural formalism for languages which basically are graph (e.g. UML). Using this technique, we present a highly understandable yet precise approach to formally model and analyze the behavioral semantics of UML 2.0 Activity diagrams. In our proposal, AGG is used to design Activities, then using our previous approach to model checking graph transformation systems, designers can verify and analyze designed Activity diagrams by checking the interesting properties as combination of graph rules and LTL (Linear Temporal Logic) formulas on the Activities.

Keywords: UML 2.0 Activity, Verification, Model Checking, Graph Transformation, Dynamic Semantics.

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214 Comparative Study of Decision Trees and Rough Sets Theory as Knowledge ExtractionTools for Design and Control of Industrial Processes

Authors: Marcin Perzyk, Artur Soroczynski

Abstract:

General requirements for knowledge representation in the form of logic rules, applicable to design and control of industrial processes, are formulated. Characteristic behavior of decision trees (DTs) and rough sets theory (RST) in rules extraction from recorded data is discussed and illustrated with simple examples. The significance of the models- drawbacks was evaluated, using simulated and industrial data sets. It is concluded that performance of DTs may be considerably poorer in several important aspects, compared to RST, particularly when not only a characterization of a problem is required, but also detailed and precise rules are needed, according to actual, specific problems to be solved.

Keywords: Knowledge extraction, decision trees, rough setstheory, industrial processes.

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213 PSO Based Optimal Design of Fractional Order Controller for Industrial Application

Authors: Rohit Gupta, Ruchika

Abstract:

In this paper, a PSO based fractional order PID (FOPID) controller is proposed for concentration control of an isothermal Continuous Stirred Tank Reactor (CSTR) problem. CSTR is used to carry out chemical reactions in industries, which possesses complex nonlinear dynamic characteristics. Particle Swarm Optimization algorithm technique, which is an evolutionary optimization technique based on the movement and intelligence of swarm is proposed for tuning of the controller for this system. Comparisons of proposed controller with conventional and fuzzy based controller illustrate the superiority of proposed PSO-FOPID controller.

Keywords: CSTR, Fractional Order PID Controller, Partical Swarm Optimization.

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212 Soliton Interaction in Multi-Core Optical Fiber: Application to WDM System

Authors: S. Arun Prakash, V. Malathi, M. S. Mani Rajan

Abstract:

The analytical bright two soliton solution of the 3- coupled nonlinear Schrödinger equations with variable coefficients in birefringent optical fiber is obtained by Darboux transformation method. To the design of ultra-speed optical devices, Soliton interaction and control in birefringence fiber is investigated. Lax pair is constructed for N coupled NLS system through AKNS method. Using two-soliton solution, we demonstrate different interaction behaviors of solitons in birefringent fiber depending on the choice of control parameters. Our results shows that interactions of optical solitons have some specific applications such as construction of logic gates, optical computing, soliton switching, and soliton amplification in wavelength division multiplexing (WDM) system.

Keywords: Optical soliton, soliton interaction, soliton switching, WDM.

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211 A Description Logics Based Approach for Building Multi-Viewpoints Ontologies

Authors: M. Hemam, M. Djezzar, T. Djouad

Abstract:

We are interested in the problem of building an ontology in a heterogeneous organization, by taking into account different viewpoints and different terminologies of communities in the organization. Such ontology, that we call multi-viewpoint ontology, confers to the same universe of discourse, several partial descriptions, where each one is relative to a particular viewpoint. In addition, these partial descriptions share at global level, ontological elements constituent a consensus between the various viewpoints. In order to provide response elements to this problem we define a multi-viewpoints knowledge model based on viewpoint and ontology notions. The multi-viewpoints knowledge model is used to formalize the multi-viewpoints ontology in description logics language.

Keywords: Description logic, knowledge engineering, ontology, viewpoint.

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210 An HCI Template for Distributed Applications

Authors: Xizhi Li

Abstract:

Both software applications and their development environment are becoming more and more distributed. This trend impacts not only the way software computes, but also how it looks. This article proposes a Human Computer Interface (HCI) template from three representative applications we have developed. These applications include a Multi-Agent System based software, a 3D Internet computer game with distributed game world logic, and a programming language environment used in constructing distributed neural network and its visualizations. HCI concepts that are common to these applications are described in abstract terms in the template. These include off-line presentation of global entities, entities inside a hierarchical namespace, communication and languages, reconfiguration of entity references in a graph, impersonation and access right, etc. We believe the metaphor that underlies an HCI concept as well as the relationships between a bunch of HCI concepts are crucial to the design of software systems and vice versa.

Keywords: HCI, MAS, computer game, programming language

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209 Evaluation of Risks in New Product Innovation

Authors: Emre Alptekin, Damla Yalçınyiğit, Gülfem Alptekin

Abstract:

In highly competitive environments, a growing number of companies must regularly launch new products speedily and successfully. A company-s success is based on the systematic, conscious product designing method which meets the market requirements and takes risks as well as resources into consideration. Research has found that developing and launching new products are inherently risky endeavors. Hence in this research, we aim at introducing a risk evaluation framework for the new product innovation process. Our framework is based on the fuzzy analytical hierarchy process (FAHP) methodology. We have applied all the stages of the framework on the risk evaluation process of a pharmaceuticals company.

Keywords: Evaluation, risks, product innovation.

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208 Web Application for Evaluating Tests in Distance Learning Systems

Authors: Bogdan Walek, Vladimir Bradac, Radim Farana

Abstract:

Distance learning systems offer useful methods of learning and usually contain a final course test or another form of test. The paper proposes a web application for evaluating tests using an expert system in distance learning systems. The proposed web application is appropriate for didactic tests or tests with results for subsequent studying follow-up courses. The web application works with test questions and uses an expert system and LFLC tool for test evaluation. After test evaluation, the results are visualized and shown to the student.

Keywords: Distance learning, test, uncertainty, fuzzy, expert system, student.

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207 Memristor: The Missing Circuit Element and its Application

Authors: Vishnu Pratap Singh Kirar

Abstract:

Memristor is also known as the fourth fundamental passive circuit element. When current flows in one direction through the device, the electrical resistance increases and when current flows in the opposite direction, the resistance decreases. When the current is stopped, the component retains the last resistance that it had, and when the flow of charge starts again, the resistance of the circuit will be what it was when it was last active. It behaves as a nonlinear resistor with memory. Recently memristors have generated wide research interest and have found many applications. In this paper we survey the various applications of memristors which include non volatile memory, nanoelectronic memories, computer logic, neuromorphic computer architectures low power remote sensing applications, crossbar latches as transistor replacements, analog computations and switches.

Keywords: Memristor, non-volatile memory, arithmatic operation, programmable resistor.

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206 Drowsiness Warning System Using Artificial Intelligence

Authors: Nidhi Sharma, V. K. Banga

Abstract:

Nowadays, driving support systems, such as car navigation systems, are getting common, and they support drivers in several aspects. It is important for driving support systems to detect status of driver's consciousness. Particularly, detecting driver's drowsiness could prevent drivers from collisions caused by drowsy driving. In this paper, we discuss the various artificial detection methods for detecting driver's drowsiness processing technique. This system is based on facial images analysis for warning the driver of drowsiness or in attention to prevent traffic accidents.

Keywords: Neuro-Fuzzy Model, Halstead Model, Walston-FelixModel, Bailey-Basili Model, Doty Model, GA Based Model, GeneticAlgorithm.

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205 An Integrative Bayesian Approach to Supporting the Prediction of Protein-Protein Interactions: A Case Study in Human Heart Failure

Authors: Fiona Browne, Huiru Zheng, Haiying Wang, Francisco Azuaje

Abstract:

Recent years have seen a growing trend towards the integration of multiple information sources to support large-scale prediction of protein-protein interaction (PPI) networks in model organisms. Despite advances in computational approaches, the combination of multiple “omic" datasets representing the same type of data, e.g. different gene expression datasets, has not been rigorously studied. Furthermore, there is a need to further investigate the inference capability of powerful approaches, such as fullyconnected Bayesian networks, in the context of the prediction of PPI networks. This paper addresses these limitations by proposing a Bayesian approach to integrate multiple datasets, some of which encode the same type of “omic" data to support the identification of PPI networks. The case study reported involved the combination of three gene expression datasets relevant to human heart failure (HF). In comparison with two traditional methods, Naive Bayesian and maximum likelihood ratio approaches, the proposed technique can accurately identify known PPI and can be applied to infer potentially novel interactions.

Keywords: Bayesian network, Classification, Data integration, Protein interaction networks.

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204 Structural Engineering Forensic Evaluation of Misdiagnosed Concrete Masonry Wall Cracking

Authors: W. C. Bracken

Abstract:

Given that concrete masonry walls are expected to experience shrinkage combined with thermal expansion and contraction, and in some cases even carbonation, throughout their service life, cracking is to be expected. However, after concrete masonry walls have been placed into service, originally anticipated and accounted for cracking is often misdiagnosed as a structural defect. Such misdiagnoses often result in or are used to support litigation. This paper begins by discussing the causes and types of anticipated cracking within concrete masonry walls followed by a discussion on the processes and analyses that exists for properly evaluating them and their significance. From here, the paper then presents a case of misdiagnosed concrete masonry cracking and the flawed logic employed to support litigation.

Keywords: Concrete masonry, masonry wall cracking, structural defect, structural damage, construction defect, forensic investigation.

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203 A Novel Digital Calibration Technique for Gain and Offset Mismatch in TIΣΔ ADCs

Authors: Ali Beydoun, Van-Tam Nguyen, Patrick Loumeau

Abstract:

Time interleaved sigma-delta (TIΣΔ) architecture is a potential candidate for high bandwidth analog to digital converters (ADC) which remains a bottleneck for software and cognitive radio receivers. However, the performance of the TIΣΔ architecture is limited by the unavoidable gain and offset mismatches resulting from the manufacturing process. This paper presents a novel digital calibration method to compensate the gain and offset mismatch effect. The proposed method takes advantage of the reconstruction digital signal processing on each channel and requires only few logic components for implementation. The run time calibration is estimated to 10 and 15 clock cycles for offset cancellation and gain mismatch calibration respectively.

Keywords: sigma-delta, calibration, gain and offset mismatches, analog-to-digital conversion, time-interleaving.

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202 Research on Hypermediated Images in Asian Films

Authors: Somi Nah, Timothy Yoonsuk Lee, Jinhwan Yu

Abstract:

In films, visual effects have played the role of expressing realities more realistically or describing imaginations as if they are real. Such images are immediated images representing realism, and the logic of immediation for the reality of images has been perceived dominant in visual effects. In order for immediation to have an identity as immediation, there should be the opposite concept hypermediation. In the mid 2000s, hypermediated images were settled as a code of mass culture in Asia. Thus, among Asian films highly popular in those days, this study selected five displaying hypermediated images – 2 Korean, 2 Japanese, and 1 Thailand movies – and examined the semiotic meanings of such images using Roland Barthes- directional and implicated meaning analysis and Metz-s paradigmatic analysis method, focusing on how hypermediated images work in the general context of the films, how they are associated with spaces, and what meanings they try to carry.

Keywords: Asian Films, Hypermediated Images, Semiotics, Visual Effects

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201 A Scheme of Model Verification of the Concurrent Discrete Wavelet Transform (DWT) for Image Compression

Authors: Kamrul Hasan Talukder, Koichi Harada

Abstract:

The scientific community has invested a great deal of effort in the fields of discrete wavelet transform in the last few decades. Discrete wavelet transform (DWT) associated with the vector quantization has been proved to be a very useful tool for the compression of image. However, the DWT is very computationally intensive process requiring innovative and computationally efficient method to obtain the image compression. The concurrent transformation of the image can be an important solution to this problem. This paper proposes a model of concurrent DWT for image compression. Additionally, the formal verification of the model has also been performed. Here the Symbolic Model Verifier (SMV) has been used as the formal verification tool. The system has been modeled in SMV and some properties have been verified formally.

Keywords: Computation Tree Logic, Discrete WaveletTransform, Formal Verification, Image Compression, Symbolic Model Verifier.

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200 Design and Control Algorithms for Power Electronic Converters for EV Applications

Authors: Ilya Kavalchuk, Mehdi Seyedmahmoudian, Ben Horan, Aman Than Oo, Alex Stojcevski

Abstract:

The power electronic components within Electric Vehicles (EV) need to operate in several important modes. Some modes directly influence safety, while others influence vehicle performance. Given the variety of functions and operational modes required of the power electronics, it needs to meet efficiency requirements to minimize power losses. Another challenge in the control and construction of such systems is the ability to support bidirectional power flow. This paper considers the construction, operation, and feasibility of available converters for electric vehicles with feasible configurations of electrical buses and loads. This paper describes logic and control signals for the converters for different operations conditions based on the efficiency and energy usage bases.

Keywords: Electric Vehicles, Electrical Machines Control, Power Electronics, Powerflow Regulations.

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199 Narrative and Expository Text Reading Comprehension by Fourth Grade Spanish-Speaking Children

Authors: Mariela V. De Mier, Veronica S. Sanchez Abchi, Ana M. Borzone

Abstract:

This work aims to explore the factors that have an incidence in reading comprehension process, with different type of texts. In a recent study with 2nd, 3rd and 4th grade children, it was observed that reading comprehension of narrative texts was better than comprehension of expository texts. Nevertheless it seems that not only the type of text but also other textual factors would account for comprehension depending on the cognitive processing demands posed by the text. In order to explore this assumption, three narrative and three expository texts were elaborated with different degree of complexity. A group of 40 fourth grade Spanish-speaking children took part in the study. Children were asked to read the texts and answer orally three literal and three inferential questions for each text. The quantitative and qualitative analysis of children responses showed that children had difficulties in both, narrative and expository texts. The problem was to answer those questions that involved establishing complex relationships among information units that were present in the text or that should be activated from children’s previous knowledge to make an inference. Considering the data analysis, it could be concluded that there is some interaction between the type of text and the cognitive processing load of a specific text.

Keywords: comprehension, textual factors, type of text, processing demands.

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198 The Pixel Value Data Approach for Rainfall Forecasting Based on GOES-9 Satellite Image Sequence Analysis

Authors: C. Yaiprasert, K. Jaroensutasinee, M. Jaroensutasinee

Abstract:

To develop a process of extracting pixel values over the using of satellite remote sensing image data in Thailand. It is a very important and effective method of forecasting rainfall. This paper presents an approach for forecasting a possible rainfall area based on pixel values from remote sensing satellite images. First, a method uses an automatic extraction process of the pixel value data from the satellite image sequence. Then, a data process is designed to enable the inference of correlations between pixel value and possible rainfall occurrences. The result, when we have a high averaged pixel value of daily water vapor data, we will also have a high amount of daily rainfall. This suggests that the amount of averaged pixel values can be used as an indicator of raining events. There are some positive associations between pixel values of daily water vapor images and the amount of daily rainfall at each rain-gauge station throughout Thailand. The proposed approach was proven to be a helpful manual for rainfall forecasting from meteorologists by which using automated analyzing and interpreting process of meteorological remote sensing data.

Keywords: Pixel values, satellite image, water vapor, rainfall, image processing.

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197 Meta-reasoning for Multi-agent Communication of Semantic Web Information

Authors: Visit Hirankitti, Vuong Tran Xuan

Abstract:

Meta-reasoning is essential for multi-agent communication. In this paper we propose a framework of multi-agent communication in which agents employ meta-reasoning to reason with agent and ontology locations in order to communicate semantic information with other agents on the semantic web and also reason with multiple distributed ontologies. We shall argue that multi-agent communication of Semantic Web information cannot be realized without the need to reason with agent and ontology locations. This is because for an agent to be able to communicate with another agent, it must know where and how to send a message to that agent. Similarly, for an agent to be able to reason with an external semantic web ontology, it must know where and how to access to that ontology. The agent framework and its communication mechanism are formulated entirely in meta-logic.

Keywords: Semantic Web, agent communication, ontologies.

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196 Low Leakage MUX/XOR Functions Using Symmetric and Asymmetric FinFETs

Authors: Farid Moshgelani, Dhamin Al-Khalili, Côme Rozon

Abstract:

In this paper, FinFET devices are analyzed with emphasis on sub-threshold leakage current control. This is achieved through proper biasing of the back gate, and through the use of asymmetric work functions for the four terminal FinFET devices. We are also examining different configurations of multiplexers and XOR gates using transistors of symmetric and asymmetric work functions. Based on extensive characterization data for MUX circuits, our proposed configuration using symmetric devices lead to leakage current and delay improvements of 65% and 47% respectively compared to results in the literature. For XOR gates, a 90% improvement in the average leakage current is achieved by using asymmetric devices. All simulations are based on a 25nm FinFET technology using the University of Florida UFDG model.

Keywords: FinFET, logic functions, asymmetric workfunction devices, back gate biasing, sub-threshold leakage current.

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195 Low Cost Chip Set Selection Algorithm for Multi-way Partitioning of Digital System

Authors: Jae Young Park, Soongyu Kwon, Kyu Han Kim, Hyeong Geon Lee, Jong Tae Kim

Abstract:

This paper considers the problem of finding low cost chip set for a minimum cost partitioning of a large logic circuits. Chip sets are selected from a given library. Each chip in the library has a different price, area, and I/O pin. We propose a low cost chip set selection algorithm. Inputs to the algorithm are a netlist and a chip information in the library. Output is a list of chip sets satisfied with area and maximum partitioning number and it is sorted by cost. The algorithm finds the sorted list of chip sets from minimum cost to maximum cost. We used MCNC benchmark circuits for experiments. The experimental results show that all of chip sets found satisfy the multiple partitioning constraints.

Keywords: lowest cost chip set, MCNC benchmark, multi-way partitioning.

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194 Efficient Hardware Implementation of an Elliptic Curve Cryptographic Processor Over GF (2 163)

Authors: Massoud Masoumi, Hosseyn Mahdizadeh

Abstract:

A new and highly efficient architecture for elliptic curve scalar point multiplication which is optimized for a binary field recommended by NIST and is well-suited for elliptic curve cryptographic (ECC) applications is presented. To achieve the maximum architectural and timing improvements we have reorganized and reordered the critical path of the Lopez-Dahab scalar point multiplication architecture such that logic structures are implemented in parallel and operations in the critical path are diverted to noncritical paths. With G=41, the proposed design is capable of performing a field multiplication over the extension field with degree 163 in 11.92 s with the maximum achievable frequency of 251 MHz on Xilinx Virtex-4 (XC4VLX200) while 22% of the chip area is occupied, where G is the digit size of the underlying digit-serial finite field multiplier.

Keywords: Elliptic curve cryptography, FPGA implementation, scalar point multiplication.

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193 Modeling Hybrid Systems with MLD Approach and Analysis of the Model Size and Complexity

Authors: H. Mahboubi, B. Moshiri, A. Khaki Seddigh

Abstract:

Recently, a great amount of interest has been shown in the field of modeling and controlling hybrid systems. One of the efficient and common methods in this area utilizes the mixed logicaldynamical (MLD) systems in the modeling. In this method, the system constraints are transformed into mixed-integer inequalities by defining some logic statements. In this paper, a system containing three tanks is modeled as a nonlinear switched system by using the MLD framework. Comparing the model size of the three-tank system with that of a two-tank system, it is deduced that the number of binary variables, the size of the system and its complexity tremendously increases with the number of tanks, which makes the control of the system more difficult. Therefore, methods should be found which result in fewer mixed-integer inequalities.

Keywords: Hybrid systems, mixed-integer inequalities, mixed logical dynamical systems, multi-tank system.

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192 Hardware Prototyping of an Efficient Encryption Engine

Authors: Muhammad I. Ibrahimy, Mamun B.I. Reaz, Khandaker Asaduzzaman, Sazzad Hussain

Abstract:

An approach to develop the FPGA of a flexible key RSA encryption engine that can be used as a standard device in the secured communication system is presented. The VHDL modeling of this RSA encryption engine has the unique characteristics of supporting multiple key sizes, thus can easily be fit into the systems that require different levels of security. A simple nested loop addition and subtraction have been used in order to implement the RSA operation. This has made the processing time faster and used comparatively smaller amount of space in the FPGA. The hardware design is targeted on Altera STRATIX II device and determined that the flexible key RSA encryption engine can be best suited in the device named EP2S30F484C3. The RSA encryption implementation has made use of 13,779 units of logic elements and achieved a clock frequency of 17.77MHz. It has been verified that this RSA encryption engine can perform 32-bit, 256-bit and 1024-bit encryption operation in less than 41.585us, 531.515us and 790.61us respectively.

Keywords: RSA, FPGA, Communication, Security, VHDL.

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191 Technological Analysis Questionnaire for Preliminary Feasibility Study on R&D Program

Authors: Seongmin Yim

Abstract:

The Korean government has applied preliminary feasibility study for a new R&D program over about $50 Million since 2008 as a part of official process in budget planning. The investigations of technology, policy, and economics are carried out separately to arrive at a definite result: whether a program is feasible or unfeasible. This paper describes the concept and check-points related to technological analysis from a preliminary evaluation’s stand-point. First of all, the fundamental concept of technological analysis in evaluation systems such as Program Assessment Rating Tool (PART) by Office of Management and Budget (OMB) and Evaluation Methods by Department of Energy (DOE) in the United States, the Green Book in the United Kingdom are reviewed. After the review, customized questionnaire for technological analysis are developed. Conclusively, limitations and further research directions are provided.

Keywords: Preliminary Feasibility Study, R&D Program, Evaluation System, Technological analysis, R&D Logic Analysis.

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190 Computer-based Alarm Processing and Presentation Methods in Nuclear Power Plants

Authors: Jung-Woon Lee, Jung-Taek Kim, Jae-Chang Park, In-Koo Hwang, Sung-Pil Lyu

Abstract:

Computerized alarm systems have been applied increasingly to nuclear power plants. For existing plants, an add-on computer alarm system is often installed to the control rooms. Alarm avalanches during the plant transients are major problems with the alarm systems in nuclear power plants. Computerized alarm systems can process alarms to reduce the number of alarms during the plant transients. This paper describes various alarm processing methods, an alarm cause tracking function, and various alarm presentation schemes to show alarm information to the operators effectively which are considered during the development of several computerized alarm systems for Korean nuclear power plants and are found to be helpful to the operators.

Keywords: Alarm processing, Alarm presentation, Alarm causetracking, Alarm logic diagram computerization, Alarm patternrecognition.

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189 Intelligent Vision System for Human-Robot Interface

Authors: Al-Amin Bhuiyan, Chang Hong Liu

Abstract:

This paper addresses the development of an intelligent vision system for human-robot interaction. The two novel contributions of this paper are 1) Detection of human faces and 2) Localizing the eye. The method is based on visual attributes of human skin colors and geometrical analysis of face skeleton. This paper introduces a spatial domain filtering method named ?Fuzzily skewed filter' which incorporates Fuzzy rules for deciding the gray level of pixels in the image in their neighborhoods and takes advantages of both the median and averaging filters. The effectiveness of the method has been justified over implementing the eye tracking commands to an entertainment robot, named ''AIBO''.

Keywords: Fuzzily skewed filter, human-robot interface, rmscontrast, skin color segmentation.

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