Search results for: intelligent navigation

Authors: Rung-Shiang Cheng, Wei-Jun Hong, Jheng-Syun Wang, Kawuu W. Lin

Abstract:

Users rely increasingly on Location-Based Services (LBS) and automated navigation/guidance systems nowadays. However, while such services are easily implemented in outdoor environments using Global Positioning System (GPS) technology, a requirement still exists for accurate localization and guidance schemes in indoor settings. Accordingly, the present study presents a methodology based on GPS, Bluetooth Low Energy (BLE) beacons, and Near Field Communication (NFC) technology. Through establishing graphic information and the design of algorithm, this study develops a guidance system for indoor and outdoor on smartphones, with aim to provide users a smart life through this system. The presented system is implemented on a smartphone and evaluated on a student campus environment. The experimental results confirm the ability of the presented app to switch automatically from an outdoor mode to an indoor mode and to guide the user to the requested target destination via the shortest possible route.

Keywords: Beacon, BLE, Dijkstra algorithm, indoor, GPS, near field communication technology.

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Authors: T. Gotoh, T. Takayama, M. Ishiki, T. Ikeda

Abstract:

Recently, majors of doctors are divided into terribly lots of detailed areas. However, it is actually not a rare case that a doctor has a patient who is not in his/her major. He/She must judge an assessment and make a medical treatment plan for this patient. According to our investigation, conventional approaches such as image diagnosis cooperation are insufficient. This paper proposes an 'Assessment / Medical Treatment Plan Consulting System'. We have implemented a pilot system based on our proposition. Its effectiveness is clarified by an evaluation.

Keywords: Application, computational intelligence and telecommunications, medicine, intelligent systems.

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Authors: Gizem Kodak

Abstract:

The Strait of Çanakkale (Dardanelles), together with the Strait of Istanbul and the Sea of Marmara, form the Turkish Straits System. In other words, the Strait of Çanakkale is the southern gate of the system that connects the Black Sea countries with the other countries of the world. Due to the heavy maritime traffic, it is important to scientifically examine the accident characteristics in the region. In particular, the results indicated by the descriptive statistics are of critical importance in order to strengthen the safety of navigation. At this point, exploratory data analysis offers strategic outputs in terms of defining the problem and knowing the strengths and weaknesses against possible accident risk. The study aims to determine the accident characteristics in the Strait of Çanakkale with temporal and spatial analysis of historical data, using Exploratory Data Analysis (EDA) as the research method. The study's results will reveal the general characteristics of maritime accidents in the region and form the infrastructure for future studies. Therefore, the text provides a clear description of the research goals and methodology, and the study's contributions are well-defined.

Keywords: Maritime Accidents, EDA, Strait of Çanakkale, navigational safety.

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Authors: Yun-Pang Flötteröd, Jakob Erdmann

Abstract:

The human behaviors during evacuations are quite complex. One of the critical behaviors which affect the efficiency of evacuation is route choice. Therefore, the respective simulation modeling work needs to function properly. In this paper, Simulation of Urban Mobility’s (SUMO) current dynamic route modeling during evacuation, i.e. the rerouting functions, is examined with a real case study. The result consistency of the simulation and the reality is checked as well. Four influence factors (1) time to get information, (2) probability to cancel a trip, (3) probability to use navigation equipment, and (4) rerouting and information updating period are considered to analyze possible traffic impacts during the evacuation and to examine the rerouting functions in SUMO. Furthermore, some behavioral characters of the case study are analyzed with use of the corresponding detector data and applied in the simulation. The experiment results show that the dynamic route modeling in SUMO can deal with the proposed scenarios properly. Some issues and function needs related to route choice are discussed and further improvements are suggested.

Keywords: Evacuation, microscopic traffic simulation, rerouting, SUMO.

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Authors: Ali Reza Mehrabian, Caro Lucas

Abstract:

In this paper a new control strategy based on Brain Emotional Learning (BEL) model has been introduced. A modified BEL model has been proposed to increase the degree of freedom, controlling capability, reliability and robustness, which can be implemented in real engineering systems. The performance of the proposed BEL controller has been illustrated by applying it on different nonlinear uncertain systems, showing very good adaptability and robustness, while maintaining stability.

Keywords: Learning control systems, emotional decision making, nonlinear systems, adaptive control.

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Authors: Mohammed Qasim, Kyoung-Dae Kim

Abstract:

In this paper, we present the design of the super-ellipsoidal potential function (SEPF), that can be used for autonomous collision avoidance of an unmanned aerial vehicle (UAV) in a 3-dimensional space. In the design of SEPF, we have the full control over the shape and size of the potential function. In particular, we can adjust the length, width, height, and the amount of flattening at the tips of the potential function so that the collision avoidance motion vector generated from the potential function can be adjusted accordingly. Based on the idea of the SEPF, we also propose an approach for the local autonomy of a UAV for its collision avoidance when the UAV is teleoperated by a human operator. In our proposed approach, a teleoperated UAV can not only avoid collision autonomously with other surrounding objects but also track the operator’s control input as closely as possible. As a result, an operator can always be in control of the UAV for his/her high-level guidance and navigation task without worrying too much about the UAVs collision avoidance while it is being teleoperated. The effectiveness of the proposed approach is demonstrated through a human-in-the-loop simulation of quadrotor UAV teleoperation using virtual robot experimentation platform (v-rep) and Matlab programs.

Keywords: Artificial potential function, autonomy, collision avoidance, teleoperation, quadrotor, UAV.

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Authors: Hataitep Wongsuwarn, Djitt Laowattana

Abstract:

This paper summaries basic principles and concepts of intelligent controls, implemented in humanoid robotics as well as recent algorithms being devised for advanced control of humanoid robots. Secondly, this paper presents a new approach neuro-fuzzy system. We have included some simulating results from our computational intelligence technique that will be applied to our humanoid robot. Subsequently, we determine a relationship between joint trajectories and located forces on robot-s foot through a proposed neuro-fuzzy technique.

Keywords: Biped Robot, Computational Intelligence, Static and Dynamic Walking, Gait Synthesis, Neuro-Fuzzy System.

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Authors: Ahmed M. Al-Hasem

Abstract:

A study of the tidal current behavior and bathymetric changes was undertaken in order to establish an information base for future coastal management. The average velocity for tidal current was 0.46 m/s and the maximum velocity was 1.08 m/s during ebb tide. During spring tides, maximum velocities range from 0.90 m/s to 1.08 m/s, whereas maximum velocities vary from 0.40 m/s to 0.60 m/s during neap tides. Despite greater current velocities during flood tide, the bathymetric features enhance the dominance of the ebb tide. This can be related to the abundance of fine sediments from the ebb current approaching the study area, and the relatively coarser sediment from the approaching flood current. Significant bathymetric changes for the period from 1985 to 1998 were found with dominance of erosion process. Approximately 96.5% of depth changes occurred within the depth change classes of -5 m to 5 m. The high erosion processes within the study area will subsequently result in high accretion processes, particularly in the north, the location of the proposed Boubyan Port and its navigation channel.

Keywords: Bathymetric change, Boubyan Island, GIS, Khor Abdullah, tidal current behavior.

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Authors: Selim Yannier, Asif Sabanovic, Ahmet Onat, Muhammet Bastan

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In this work, we suggested a new approach for the control of a mobile robot capable of being a building block of an intelligent agent. This approach includes obstacle avoidance and goal tracking implemented as two different sliding mode controllers. A geometry based behavior arbitration is proposed for fusing the two outputs. Proposed structure is tested on simulations and real robot. Results have confirmed the high performance of the method.

Keywords: Autonomous Mobile Robot, Behavior Based Control, Fast Local Obstacle Avoidance, Sliding Mode Control.

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Authors: Kevser Simsek, Rahime Gunay

Abstract:

In this paper, we focused primarily on Istanbul data that is gathered by using intelligent transportation systems (ITS), and considered the developments in traffic information delivery and future applications that are being planned for implementation. Since traffic congestion is increasing and travel times are becoming less consistent and less predictable, traffic information delivery has become a critical issue. Considering the fuel consumption and wasted time in traffic, advanced traffic information systems are becoming increasingly valuable which enables travelers to plan their trips more accurately and easily.

Keywords: Data Fusion, Istanbul, ITS, Real Time Information, Traffic Information, Travel Time, Urban Mobility

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Authors: Omid Mirmotahari, Yngvar Berg, Mats Hovin

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The problem discussed in this paper involves packing fresh fish fileet of the northern Cod into a standard square container. The fish is first cleaned and split and then collected on a belt ready to be stacked in a container. The aim of our work is to pack the fish into the container with constraints on the amount of overlap allowed for the fileets. The current focus is to design a packing cell that can be real-time and of practical use, while finding the optimal solution to the degree of overlap and minimise the unused space of the container.

Keywords: Facilities Planning and Management, Intelligent Systems, Manufacturing Systems, Operations Research, Production Planning and Control.

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Authors: T. C. Manjunath, C. Ardil

Abstract:

This paper deals with the design and the implementation of an automatic task planner for a robot, irrespective of whether it is a stationary robot or a mobile robot. The aim of the task planner nothing but, they are planning systems which are used to plan a particular task and do the robotic manipulation. This planning system is embedded into the system software in the computer, which is interfaced to the computer. When the instructions are given using the computer, this is transformed into real time application using the robot. All the AI based algorithms are written and saved in the control software, which acts as the intelligent task planning system.

Keywords: AI, Robot, Task Planner, RT, Algorithm, Specs, Controller.

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Authors: I. Yakubu, Y. Y. Ziggah, E. A. Gyamera

Abstract:

The Global Navigation Satellite System (GNSS) started with the launch of the United State Department of Defense Global Positioning System (GPS). GNSS systems has grown over the years to include: GLONASS (Russia); Galileo (European Union); BeiDou (China). Any GNSS architecture consists of three major segments: Space, Control and User Segments. Errors such as; multipath, ionospheric and tropospheric effects, satellite clocks, receiver noise and orbit errors (relativity effect) have significant effects on GNSS positioning. To obtain centimeter level accuracy, the impacts of the relative motion of the satellites and earth need to be taken into account. This paper discusses the relevance of the theory of relativity as a source of error for GNSS receivers for position fix based on available relevant literature. Review of relevant literature reveals that due to relativity; Time dilation, Gravitational frequency shift and Sagnac effect cause significant influence on the use of GNSS receivers for positioning by an error range of ± 2.5 m based on pseudo-range computation.

Keywords: GNSS, relativistic effects, pseudo-range, accuracy.

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Authors: H. Dornhackl, K. Kadletz, R. Luh, P. Tavolato

Abstract:

In this paper, we describe the use of formal methods to model malware behaviour. The modelling of harmful behaviour rests upon syntactic structures that represent malicious procedures inside malware. The malicious activities are modelled by a formal grammar, where API calls’ components are the terminals and the set of API calls used in combination to achieve a goal are designated non-terminals. The combination of different non-terminals in various ways and tiers make up the attack vectors that are used by harmful software. Based on these syntactic structures a parser can be generated which takes execution traces as input for pattern recognition.

Keywords: Malware behaviour, modelling, parsing, search, pattern matching.

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Authors: S. Sutor, R. Röhr, G. Pujolle, R. Reda

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This paper presents a highly efficient algorithm for detecting and tracking humans and objects in video surveillance sequences. Mean shift clustering is applied on backgrounddifferenced image sequences. For efficiency, all calculations are performed on integral images. Novel corresponding exponential integral kernels are introduced to allow the application of nonuniform kernels for clustering, which dramatically increases robustness without giving up the efficiency of the integral data structures. Experimental results demonstrating the power of this approach are presented.

Keywords: Clustering, Integral Images, Kernels, Person Detection, Person Tracking, Intelligent Video Surveillance.

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Authors: Amin Milani Fard, Mohsen Kahani, Reza Ghaemi, Hamid Tabatabaee

Abstract:

In this paper we propose a multi-agent architecture for web information retrieval using fuzzy logic based result fusion mechanism. The model is designed in JADE framework and takes advantage of JXTA agent communication method to allow agent communication through firewalls and network address translators. This approach enables developers to build and deploy P2P applications through a unified medium to manage agent-based document retrieval from multiple sources.

Keywords: Information retrieval systems, list fusion methods, document score, multi-agent systems.

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Authors: O. S. Ebrahim, K. O. Shawky, M. A. Badr, P. K. Jain

Abstract:

This paper describes an efficient; low-cost; high-availability; induction motor (IM) drive system with intelligent supervisory control for water distribution networks including storage tank. To increase the operational efficiency and reduce cost, the IM drive system includes main pumping unit and an auxiliary voltage source inverter (VSI) fed unit. The main unit comprises smart star/delta starter, regenerative fluid clutch, switched VAR compensator, and hysteresis liquid-level controller. Three-state energy saving mode (ESM) is defined at no-load and a logic algorithm is developed for best energetic cost reduction. To reduce voltage sag, the supervisory controller operates the switched VAR compensator upon motor starting. To provide smart star/delta starter at low cost, a method based on current sensing is developed for interlocking, malfunction detection, and life–cycles counting and used to synthesize an improved fuzzy logic (FL) based availability assessment scheme. Furthermore, a recurrent neural network (RNN) full state estimator is proposed to provide sensor fault-tolerant algorithm for the feedback control. The auxiliary unit is working at low flow rates and improves the system efficiency and flexibility for distributed generation during islanding mode. Compared with doubly-fed IM, the proposed one ensures 30% working throughput under main motor/pump fault conditions, higher efficiency, and marginal cost difference. This is critically important in case of water networks. Theoretical analysis, computer simulations, cost study, as well as efficiency evaluation, using timely cascaded energy-conservative systems, are performed on IM experimental setup to demonstrate the validity and effectiveness of the proposed drive and control.

Keywords: Artificial Neural Network, ANN, Availability Assessment, Cloud Computing, Energy Saving, Induction Machine, IM, Supervisory Control, Fuzzy Logic, FL, Pumped Storage.

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Authors: Maryam Humayun, Zafar I. Malik, Shaukat Ali

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Computer animation is a widely adopted technique used to specify the movement of various objects on screen. The key issue of this technique is the specification of motion. Motion Control Methods are such methods which are used to specify the actions of objects. This paper discusses the various types of motion control methods with special focus on behavioral animation. A behavioral model is also proposed which takes into account the emotions and perceptions of an actor which in turn generate its behavior. This model makes use of an expert system to generate tasks for the actors which specify the actions to be performed in the virtual environment.

Keywords: Behavioral animation, emotion, expert system, perception.

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Authors: Ho-Yeon Kim, Dong-Min Kang, Jun-Ho Lee, Tai-Myoung Chung

Abstract:

Recently, a vehicular ad-hoc networks(VANETs) for Intelligent Transport System(ITS) have become able safety and convenience services surpassing the simple services such as an electronic toll collection system. To provide the proper services, VANET needs infrastructure over the country infrastructure. Thus, we have to spend a huge sum of human resources. In this reason, several studies have been made on the usage of cellular networks instead of new protocols this study is to assess a performance evaluation of the cellular network for VANET. In this paper, the result of a for the suitability of cellular networks for VANET experiment, The LTE(Long Term Evolution) of cellular networks found to be most suitable among the others cellular networks

Keywords: Vehicle communication, VANET, Cellular network

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Authors: A. Faro, D. Giordano, C. Spampinato

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Traffic management in an urban area is highly facilitated by the knowledge of the traffic conditions in every street or highway involved in the vehicular mobility system. Aim of the paper is to propose a neuro-fuzzy approach able to compute the main parameters of a traffic system, i.e., car density, velocity and flow, by using the images collected by the web-cams located at the crossroads of the traffic network. The performances of this approach encourage its application when the traffic system is far from the saturation. A fuzzy model is also outlined to evaluate when it is suitable to use more accurate, even if more time consuming, algorithms for measuring traffic conditions near to saturation.

Keywords: Neuro-fuzzy networks, computer vision, Fuzzy systems, intelligent transportation system.

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Authors: N. Soussi, M. Bahaj

Abstract:

The enormous amount of information stored on the web increases from one day to the next, exposing the web currently faced with the inevitable difficulties of research pertinent information that users really want. The problem today is not limited to expanding the size of the information highways, but to design a system for intelligent search. The vast majority of this information is stored in relational databases, which in turn represent a backend for managing RDF data of the semantic web. This problem has motivated us to write this paper in order to establish an effective approach to support semantic transformation algorithm for SPARQL queries to SQL queries, more precisely SPARQL SELECT queries; by adopting this method, the relational database can be questioned easily with SPARQL queries maintaining the same performance.

Keywords: RDF, Semantic Web, SPARQL, SPARQL Query Transformation, SQL.

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Authors: G. Sokhansefat, M. Delavar, M. Banedj-Schafii

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Recently research on human wayfinding has focused mainly on mental representations rather than processes of wayfinding. The objective of this paper is to demonstrate the rationality behind applying multi-agent simulation paradigm to the modeling of rescuer team wayfinding in order to develop computational theory of perceptual wayfinding in crisis situations using image schemata and affordances, which explains how people find a specific destination in an unfamiliar building such as a hospital. The hypothesis of this paper is that successful navigation is possible if the agents are able to make the correct decision through well-defined cues in critical cases, so the design of the building signage is evaluated through the multi-agent-based simulation. In addition, a special case of wayfinding in a building, finding one-s way through three hospitals, is used to demonstrate the model. Thereby, total rescue time for rescue operation during building fire is computed. This paper discuses the computed rescue time for various signage localization and provides experimental result for optimization of building signage design. Therefore the most appropriate signage design resulted in the shortest total rescue time in various situations.

Keywords: Multi-Agent system (MAS), Spatial Cognition, Wayfinding, Indoor Environment, Geospatial Information System (GIS).

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Authors: Gopi Kandaswamy, P. Balamuralidhar

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Fully autonomous small Unmanned Aerial Vehicles (UAVs) are increasingly being used in many commercial applications. Although a lot of research has been done to develop safe, reliable and durable UAVs, accidents due to electronic and structural failures are not uncommon and pose a huge safety risk to the UAV operators and the public. Hence there is a strong need for an automated health monitoring system for UAVs with a view to minimizing mission failures thereby increasing safety. This paper describes our approach to monitoring the electronic and structural components in a small UAV without the need for additional sensors to do the monitoring. Our system monitors data from four sources; sensors, navigation algorithms, control inputs from the operator and flight controller outputs. It then does statistical analysis on the data and applies a rule based engine to detect failures. This information can then be fed back into the UAV and a decision to continue or abort the mission can be taken automatically by the UAV and independent of the operator. Our system has been verified using data obtained from real flights over the past year from UAVs of various sizes that have been designed and deployed by us for various applications.

Keywords: Fault detection, health monitoring, unmanned aerial vehicles, vibration analysis.

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Authors: Seyoung Kim, Jeongmin Kim, Kwang Ryel Ryu

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A database that records average traffic speeds measured at five-minute intervals for all the links in the traffic network of a metropolitan city. While learning from this data the models that can predict future traffic speed would be beneficial for the applications such as the car navigation system, building predictive models for every link becomes a nontrivial job if the number of links in a given network is huge. An advantage of adopting k-nearest neighbor (k-NN) as predictive models is that it does not require any explicit model building. Instead, k-NN takes a long time to make a prediction because it needs to search for the k-nearest neighbors in the database at prediction time. In this paper, we investigate how much we can speed up k-NN in making traffic speed predictions by reducing the amount of data to be searched for without a significant sacrifice of prediction accuracy. The rationale behind this is that we had a better look at only the recent data because the traffic patterns not only repeat daily or weekly but also change over time. In our experiments, we build several different k-NN models employing different sets of features which are the current and past traffic speeds of the target link and the neighbor links in its up/down-stream. The performances of these models are compared by measuring the average prediction accuracy and the average time taken to make a prediction using various amounts of data.

Keywords: Big data, k-NN, machine learning, traffic speed prediction.

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Authors: Alshalaa A. Shleeg, Issmail M. Ellabib

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Breast cancer is a major health burden worldwide being a major cause of death amongst women. In this paper, Fuzzy Inference Systems (FIS) are developed for the evaluation of breast cancer risk using Mamdani-type and Sugeno-type models. The paper outlines the basic difference between Mamdani-type FIS and Sugeno-type FIS. The results demonstrated the performance comparison of the two systems and the advantages of using Sugeno- type over Mamdani-type.

Keywords: Breast cancer diagnosis, Fuzzy Inference System (FIS), Fuzzy Logic, fuzzy intelligent technique.

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Authors: Dipankaj G Medhi, Juri Dakua

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Recommender Systems act as personalized decision guides, aiding users in decisions on matters related to personal taste. Most previous research on Recommender Systems has focused on the statistical accuracy of the algorithms driving the systems, with no emphasis on the trustworthiness of the user. RS depends on information provided by different users to gather its knowledge. We believe, if a large group of users provide wrong information it will not be possible for the RS to arrive in an accurate conclusion. The system described in this paper introduce the concept of Testing the knowledge of user to filter out these “bad users". This paper emphasizes on the mechanism used to provide robust and effective recommendation.

Keywords: Collaborative Filtering, Content Based Filtering, Intelligent Agent, Level of Interest, Recommendation System.

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Authors: Gaurav Upadhyay, Nand Kishore, Prashant Ranjan, V. S. Tripathi, Shivesh Tripathi

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A frequency reconfigurable multiband antenna for intelligent transportation system (ITS) applications is proposed in this paper. A PIN-diode is used for reconfigurability. Centre frequencies are 1.38, 1.98, 2.89, 3.86, and 4.34 GHz in “ON” state of Diode and 1.56, 2.16, 2.88, 3.91 and 4.45 GHz in “OFF” state. Achieved maximum bandwidth is 18%. The maximum gain of the proposed antenna is 2.7 dBi in “ON” state and 3.95 dBi in “OFF” state of the diode. The antenna is simulated, fabricated, and tested in the lab. Measured and simulated results are in good confirmation.

Keywords: ITS, multiband antenna, PIN-diode, reconfigurable.

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Authors: Naiqin Feng, Yuhui Qiu, Yingshan Zhang, Fang Wang

Abstract:

A logic model for analyzing complex systems- stability is very useful to many areas of sciences. In the real world, we are enlightened from some natural phenomena such as “biosphere", “food chain", “ecological balance" etc. By research and practice, and taking advantage of the orthogonality and symmetry defined by the theory of multilateral matrices, we put forward a logic analysis model of stability of complex systems with three relations, and prove it by means of mathematics. This logic model is usually successful in analyzing stability of a complex system. The structure of the logic model is not only clear and simple, but also can be easily used to research and solve many stability problems of complex systems. As an application, some examples are given.

Keywords: Complex system, logic model, relation, stability.

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Authors: Suresh Shirgave, Prakash Kulkarni, José Borges

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The continuous growth in the size of the World Wide Web has resulted in intricate Web sites, demanding enhanced user skills and more sophisticated tools to help the Web user to find the desired information. In order to make Web more user friendly, it is necessary to provide personalized services and recommendations to the Web user. For discovering interesting and frequent navigation patterns from Web server logs many Web usage mining techniques have been applied. The recommendation accuracy of usage based techniques can be improved by integrating Web site content and site structure in the personalization process.

Herein, we propose semantically enriched Web Usage Mining method for Personalization (SWUMP), an extension to solely usage based technique. This approach is a combination of the fields of Web Usage Mining and Semantic Web. In the proposed method, we envisage enriching the undirected graph derived from usage data with rich semantic information extracted from the Web pages and the Web site structure. The experimental results show that the SWUMP generates accurate recommendations and is able to achieve 10-20% better accuracy than the solely usage based model. The SWUMP addresses the new item problem inherent to solely usage based techniques.

Keywords: Prediction, Recommendation, Semantic Web Usage Mining, Web Usage Mining.

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Authors: Jamie Otelsberg, Nagarajan Akshay, Rao R. Bhavani

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This paper discusses our preliminary experiences in the design of a user interface of a computerized content-rich vocational training courseware meant for users with little or no computer experience. In targeting a growing population with limited access to skills training of any sort, we faced numerous challenges, including language and cultural differences, resource limits, gender boundaries and, in many cases, the simple lack of trainee motivation. With the size of the unskilled population increasing much more rapidly than the numbers of sufficiently skilled teachers, there is little choice but to develop teaching techniques that will take advantage of emerging computer-based training technologies. However, in striving to serve populations with minimal computer literacy, one must carefully design the user interface to accommodate their cultural, social, educational, motivational and other differences. Our work, which uses computer based and haptic simulation technologies to deliver training to these populations, has provided some useful insights on potential user interface design approaches.

Keywords: User interface design, digitally illiterate, vocational training, navigation issues, computer human interaction, human factors.

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