Search results for: robotic library

Authors: K. Jarmkom, P. Eakwaropas, W. Khobjai, S. Techaeoi

Abstract:

Ancient Thai perfumed powder was used as a fragrance for clothing, food, and the body. Plant-based natural Thai perfume products are known as Pang-Rum. The objective of this study was to evaluate the stability of essential oils after six months of incubation. The chemical compositions were determined by gas chromatography-mass spectrometry (GC-MS), in terms of the qualitative composition of the isolated essential oil. The isolation of the essential oil of natural products by incubate sample for 5 min at 40 ºC is described. The volatile components were identified by percentage of total peak areas comparing their retention times of GC chromatograph with NIST mass spectral library. The results show no significant difference in the seven chromatograms of perfumed powder (Pang-Rum) both with binder and without binder. Further identification was done by GC-MS. Some components of Pang-Rum with/without binder were changed by temperature and time.

Keywords: GC-MS analysis, essential oils, stability, Pang-Rum.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 973

Authors: L. Tao, T. J. Sun, Z. H. Li

Abstract:

The knowledge base of welding defect recognition is essentially incomplete. This characteristic determines that the recognition results do not reflect the actual situation. It also has a further influence on the classification of welding quality. This paper is concerned with the study of a rough set based method to reduce the influence and improve the classification accuracy. At first, a rough set model of welding quality intelligent classification has been built. Both condition and decision attributes have been specified. Later on, groups of the representative multiple compound defects have been chosen from the defect library and then classified correctly to form the decision table. Finally, the redundant information of the decision table has been reducted and the optimal decision rules have been reached. By this method, we are able to reclassify the misclassified defects to the right quality level. Compared with the ordinary ones, this method has higher accuracy and better robustness.

Keywords: intelligent decision, rough set, welding defects, welding quality level

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1558

Authors: Li Shoutao, Gordon Lee

Abstract:

Evolutionary robotics is concerned with the design of intelligent systems with life-like properties by means of simulated evolution. Approaches in evolutionary robotics can be categorized according to the control structures that represent the behavior and the parameters of the controller that undergo adaptation. The basic idea is to automatically synthesize behaviors that enable the robot to perform useful tasks in complex environments. The evolutionary algorithm searches through the space of parameterized controllers that map sensory perceptions to control actions, thus realizing a specific robotic behavior. Further, the evolutionary algorithm maintains and improves a population of candidate behaviors by means of selection, recombination and mutation. A fitness function evaluates the performance of the resulting behavior according to the robot-s task or mission. In this paper, the focus is in the use of genetic algorithms to solve a multi-objective optimization problem representing robot behaviors; in particular, the A-Compander Law is employed in selecting the weight of each objective during the optimization process. Results using an adaptive fitness function show that this approach can efficiently react to complex tasks under variable environments.

Keywords: adaptive fuzzy neural inference, evolutionary tuning

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1465

Authors: Sufian Ashraf Mazhari, Surendra Kumar

Abstract:

Robot manipulators are highly coupled nonlinear systems, therefore real system and mathematical model of dynamics used for control system design are not same. Hence, fine-tuning of controller is always needed. For better tuning fast simulation speed is desired. Since, Matlab incorporates LAPACK to increase the speed and complexity of matrix computation, dynamics, forward and inverse kinematics of PUMA 560 is modeled on Matlab/Simulink in such a way that all operations are matrix based which give very less simulation time. This paper compares PID parameter tuning using Genetic Algorithm, Simulated Annealing, Generalized Pattern Search (GPS) and Hybrid Search techniques. Controller performances for all these methods are compared in terms of joint space ITSE and cartesian space ISE for tracking circular and butterfly trajectories. Disturbance signal is added to check robustness of controller. GAGPS hybrid search technique is showing best results for tuning PID controller parameters in terms of ITSE and robustness.

Keywords: Controller Tuning, Genetic Algorithm, Pattern Search, Robotic Controller, Simulated Annealing.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 3666

Authors: Asil Y. Zureigat, Ayat A. Oudat

Abstract:

Analyzing the old and bringing in the new is an ever-ongoing process in driving innovations in architecture. This paper looks at the excessive use of stone in apartment buildings in Amman and speculates on the existing possibilities of changing the cladding material. By looking at architectural exceptions present in Amman, the paper seeks to make the exception the rule, by adding new materials to the architectural library of Amman and in turn, project a series of possible new identities to the existing stone scape. Through distributing a survey, conducting a photographic study on exceptional buildings and shedding light on the historical narrative of stone, the paper highlights the ways in which new finishing materials such as plaster, paint and stone variations could be introduced in an attempt to project a new architectural identity to Amman.

Keywords: Architectural city identity, cladding materials, façade architecture, image of the city.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 494

Authors: Reza Hassanpour, Asadollah Shahbahrami, Stephan Wong

Abstract:

Skin color based tracking techniques often assume a static skin color model obtained either from an offline set of library images or the first few frames of a video stream. These models can show a weak performance in presence of changing lighting or imaging conditions. We propose an adaptive skin color model based on the Gaussian mixture model to handle the changing conditions. Initial estimation of the number and weights of skin color clusters are obtained using a modified form of the general Expectation maximization algorithm, The model adapts to changes in imaging conditions and refines the model parameters dynamically using spatial and temporal constraints. Experimental results show that the method can be used in effectively tracking of hand and face regions.

Keywords: Face detection, Segmentation, Tracking, Gaussian Mixture Model, Adaptation.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2377

Authors: Ladan Tajaddini

Abstract:

Iranians- imagination of heaven, which is the reward of a person-s good deeds during their life, has shown itself in pleasant and green gardens where earthly gardens were made as representations of paradise. Iranians are also quite interested in making their earthly gardens and plantations around their buildings. With Iran-s hot and dry climate with a lack of sufficient water for plantation coverage, it becomes noticeable how important it is to Iranians- art in making gardens. This study, with regard to examples, documents and library studies, investigates the characteristics of Persian gardens. The result shows that elements such as soil, water, plants and layout have been used in forming a unique style of Persian gardens. Bagh-e Shah Zadeh Mahan (Mahan prince garden) is a typical example and has been carefully studied. In this paper I try to investigate and evaluate the characteristics of a Persian garden by means of a descriptive approach.

Keywords: environmental planning, Persian garden, landscape, shah zadeh garden, soil and water, gardening.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2882

Authors: V. B. Bastos, M. P. Lima, P. R. G. Kurka

Abstract:

This paper applies to the creation of virtual 3D environments for the study and development of mobile robot image based navigation algorithms and techniques, which need to operate robustly and efficiently. The test of these algorithms can be performed in a physical way, from conducting experiments on a prototype, or by numerical simulations. Current simulation platforms for robotic applications do not have flexible and updated models for image rendering, being unable to reproduce complex light effects and materials. Thus, it is necessary to create a test platform that integrates sophisticated simulated applications of real environments for navigation, with data and image processing. This work proposes the development of a high-level platform for building 3D model’s environments and the test of image-based navigation algorithms for mobile robots. Techniques were used for applying texture and lighting effects in order to accurately represent the generation of rendered images regarding the real world version. The application will integrate image processing scripts, trajectory control, dynamic modeling and simulation techniques for physics representation and picture rendering with the open source 3D creation suite - Blender.

Keywords: Simulation, visual navigation, mobile robot, data visualization.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1007

Authors: Martin Doran, Roy Sterritt, George Wilkie

Abstract:

The majority of today’s mobile robots are very dependent on battery power. Mobile robots can operate untethered for a number of hours but eventually they will need to recharge their batteries in-order to continue to function. While computer processing and sensors have become cheaper and more powerful each year, battery development has progress very little. They are slow to re-charge, inefficient and lagging behind in the general progression of robotic development we see today. However, batteries are relatively cheap and when fully charged, can supply high power output necessary for operating heavy mobile robots. As there are no cheap alternatives to batteries, we need to find efficient ways to manage the power that batteries provide during their operational lifetime. This paper proposes the use of autonomic principles of self-adaption to address the behavioral changes a battery experiences as it gets older. In life, as we get older, we cannot perform tasks in the same way as we did in our youth; these tasks generally take longer to perform and require more of our energy to complete. Batteries also suffer from a form of degradation. As a battery gets older, it loses the ability to retain the same charge capacity it would have when brand new. This paper investigates how we can adapt the current state of a battery charge and cycle count, to the requirements of a mobile robot to perform its tasks.

Keywords: Autonomic, self-adaptive, self-optimizing, degradation.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 856

Authors: Suguru Yoshioka, Seiichi Tani, Seinosuke Toda

Abstract:

In historical science and social science, the influence of natural disaster upon society is a matter of great interest. In recent years, some archives are made through many hands for natural disasters, however it is inefficiency and waste. So, we suppose a computer system to create a historical natural disaster archive. As the target of this analysis, we consider newspaper articles. The news articles are considered to be typical examples that prescribe the temporal relations of affairs for natural disaster. In order to do this analysis, we identify the occurrences in newspaper articles by some index entries, considering the affairs which are specific to natural disasters, and show the temporal relation between natural disasters. We designed and implemented the automatic system of “extraction of the occurrences of natural disaster" and “temporal relation table for natural disaster."

Keywords: Database, digital library, corpus, historical natural disaster, temporal relation

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1371

Authors: Mustafa Kavraz

Abstract:

This study investigated the differences in the objective parameters of sound depending on the changes in the lengths of the lateral surfaces of a space and on the replacement of the sound absorbers that are placed on these surfaces. To this end, three models of room were chosen. The widths and heights of these rooms were the same but the lengths of the rooms were changed. The smallest room was 8 m. wide and 10 m. long. The lengths of the other two rooms were 15 m. and 20 m. For each model, the differences in the objective parameters of sound were determined by keeping all the material in the space intact and by changing only the positions of the sound absorbers that were placed on the walls. The sound absorbers that were used on the walls were of two different sizes. The sound absorbers that were placed on the walls were 4 m and 8 m. long and story-height (3 m.). In all model room types, the sound absorbers were placed on the long walls in three different ways: at the end of the long walls where the long walls meet the front wall; at the end of the long walls where the long walls meet the back wall; and in the middle part of the long walls. Except for the specially placed sound absorbers, the ground, wall and ceiling surfaces were covered with three different materials. There were no constructional elements such as doors and windows on the walls. On the surfaces, the materials specified in the Odeon 10 material library were used as coating material. Linoleum was used as flooring material, painted plaster as wall coating material and gypsum boards as ceiling covering (2 layers with a total of 32 mm. thickness). These were preferred due to the fact that they are the commonly used materials for these purposes. This study investigated the differences in the objective parameters of sound depending on the changes in the lengths of the lateral surfaces of a space and on the replacement of the sound absorbers that are placed on these surfaces. To this end, three models of room were chosen. The widths and heights of these rooms were the same but the lengths of the rooms were changed. The smallest room was 8 m. wide and 10 m. long. The lengths of the other two rooms were 15 m. and 20 m. For each model, the differences in the objective parameters of sound were determined by keeping all the material in the space intact and by changing only the positions of the sound absorbers that were placed on the walls. The sound absorbers that were used on the walls were of two different sizes. The sound absorbers that were placed on the walls were 4 m and 8 m. long and story-height (3 m.). In all model room types, the sound absorbers were placed on the long walls in three different ways: at the end of the long walls where the long walls meet the front wall; at the end of the long walls where the long walls meet the back wall; and in the middle part of the long walls. Except for the specially placed sound absorbers, the ground, wall and ceiling surfaces were covered with three different materials. There were no constructional elements such as doors and windows on the walls. On the surfaces, the materials specified in the Odeon 10 material library were used as coating material. Linoleum was used as flooring material, painted plaster as wall coating material and gypsum boards as ceiling covering (2 layers with a total of 32 mm. thickness). These were preferred due to the fact that they are the commonly used materials for these purposes.

Keywords: Jnd, objective parameters of sound, room model, sound absorber.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1501

Authors: Shiuh-Jer Huang, Yu-Chi Liu, Su-Hai Hsiang

Abstract:

A novel low-cost impedance control structure is proposed for monitoring the contact force between end-effector and environment without installing an expensive force/torque sensor. Theoretically, the end-effector contact force can be estimated from the superposition of each joint control torque. There have a nonlinear matrix mapping function between each joint motor control input and end-effector actuating force/torques vector. This new force control structure can be implemented based on this estimated mapping matrix. First, the robot end-effector is manipulated to specified positions, then the force controller is actuated based on the hall sensor current feedback of each joint motor. The model-free fuzzy sliding mode control (FSMC) strategy is employed to design the position and force controllers, respectively. All the hardware circuits and software control programs are designed on an Altera Nios II embedded development kit to constitute an embedded system structure for a retrofitted Mitsubishi 5 DOF robot. Experimental results show that PI and FSMC force control algorithms can achieve reasonable contact force monitoring objective based on this hardware control structure.

Keywords: Robot, impedance control, fuzzy sliding mode control, contact force estimator.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 3941

Authors: Ksheeraj Sai Vepuri, Nada Attar

Abstract:

We as humans use words with accompanying visual and facial cues to communicate effectively. Classifying facial emotion using computer vision methodologies has been an active research area in the computer vision field. In this paper, we propose a simple method for facial expression recognition that enhances accuracy. We tested our method on the FER-2013 dataset that contains static images. Instead of using Histogram equalization to preprocess the dataset, we used Unsharp Mask to emphasize texture and details and sharpened the edges. We also used ImageDataGenerator from Keras library for data augmentation. Then we used Convolutional Neural Networks (CNN) model to classify the images into 7 different facial expressions, yielding an accuracy of 69.46% on the test set. Our results show that using image preprocessing such as the sharpening technique for a CNN model can improve the performance, even when the CNN model is relatively simple.

Keywords: Facial expression recognition, image pre-processing, deep learning, CNN.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 495

Authors: Sheng-Hsiu Kuo, Pao-Hsiung Chiu, Reui-Kuo Lin, Yan-Ting Lin

Abstract:

A one-step conservative level set method, combined with a global mass correction method, is developed in this study to simulate the incompressible two-phase flows. The present framework do not need to solve the conservative level set scheme at two separated steps, and the global mass can be exactly conserved. The present method is then more efficient than two-step conservative level set scheme. The dispersion-relation-preserving schemes are utilized for the advection terms. The pressure Poisson equation solver is applied to GPU computation using the pCDR library developed by National Center for High-Performance Computing, Taiwan. The SMP parallelization is used to accelerate the rest of calculations. Three benchmark problems were done for the performance evaluation. Good agreements with the referenced solutions are demonstrated for all the investigated problems.

Keywords: Conservative level set method, two-phase flow, dispersion-relation-preserving, graphics processing unit (GPU), multi-threading.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2029

Authors: Emre Akyürek, Anthony Huynh, Tatiana Kalganova

Abstract:

The Ambidextrous Robot Hand is a robotic device with the purpose to mimic either the gestures of a right or a left hand. The symmetrical behavior of its fingers allows them to bend in one way or another keeping a compliant and anthropomorphic shape. However, in addition to gestures they can reproduce on both sides, an asymmetrical mechanical design with a three tendons routing has been engineered to reduce the number of actuators. As a consequence, control algorithms must be adapted to drive efficiently the ambidextrous fingers from one position to another and to include grasping features. These movements are controlled by pneumatic muscles, which are nonlinear actuators. As their elasticity constantly varies when they are under actuation, the length of pneumatic muscles and the force they provide may differ for a same value of pressurized air. The control algorithms introduced in this paper take both the fingers asymmetrical design and the pneumatic muscles nonlinearity into account to permit an accurate control of the Ambidextrous Robot Hand. The finger motion is achieved by combining a classic PID controller with a phase plane switching control that turns the gain constants into dynamic values. The grasping ability is made possible because of a sliding mode control that makes the fingers adapt to the shape of an object before strengthening their positions.

Keywords: Ambidextrous hand, intelligent algorithms, nonlinear actuators, pneumatic muscles, robotics, sliding control.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2206

Authors: Broderick Crawford, Ricardo Soto, Natalia Berrios, Eduardo Olguin

Abstract:

In this paper, we present a binary cat swarm optimization for solving the Set covering problem. The set covering problem is a well-known NP-hard problem with many practical applications, including those involving scheduling, production planning and location problems. Binary cat swarm optimization is a recent swarm metaheuristic technique based on the behavior of discrete cats. Domestic cats show the ability to hunt and are curious about moving objects. The cats have two modes of behavior: seeking mode and tracing mode. We illustrate this approach with 65 instances of the problem from the OR-Library. Moreover, we solve this problem with 40 new binarization techniques and we select the technical with the best results obtained. Finally, we make a comparison between results obtained in previous studies and the new binarization technique, that is, with roulette wheel as transfer function and V3 as discretization technique.

Keywords: Binary cat swarm optimization, set covering problem, metaheuristic, binarization methods.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2295

Authors: Meng-Hui Chen, Chiao-Wei Yu, Pei-Chann Chang

Abstract:

Imperial competitive algorithm (ICA) simulates a multi-agent algorithm. Each agent is like a kingdom has its country, and the strongest country in each agent is called imperialist, others are colony. Countries are competitive with imperialist which in the same kingdom by evolving. So this country will move in the search space to find better solutions with higher fitness to be a new imperialist. The main idea in this paper is using the peculiarity of ICA to explore the search space to solve the kinds of combinational problems. Otherwise, we also study to use the greed search to increase the local search ability. To verify the proposed algorithm in this paper, the experimental results of traveling salesman problem (TSP) is according to the traveling salesman problem library (TSPLIB). The results show that the proposed algorithm has higher performance than the other known methods.

Keywords: Traveling Salesman Problem, Artificial Chromosomes, Greedy Search, Imperial Competitive Algorithm.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1851

Authors: S. Raja Balachandar, K. Kannan

Abstract:

A new Meta heuristic approach called "Randomized gravitational emulation search algorithm (RGES)" for solving large size set covering problems has been designed. This algorithm is found upon introducing randomization concept along with the two of the four primary parameters -velocity- and -gravity- in physics. A new heuristic operator is introduced in the domain of RGES to maintain feasibility specifically for the set covering problem to yield best solutions. The performance of this algorithm has been evaluated on a large set of benchmark problems from OR-library. Computational results showed that the randomized gravitational emulation search algorithm - based heuristic is capable of producing high quality solutions. The performance of this heuristic when compared with other existing heuristic algorithms is found to be excellent in terms of solution quality.

Keywords: Set covering problem, velocity, gravitational force, Newton's law, meta heuristic, combinatorial optimization.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2186

Authors: P. Panichnumsin, B. K. Ahring, A. Nopharatana, P. Chaipresert

Abstract:

In this study, we illustrated the performance and microbial community of single- and two-phase systems anaerobically co-digesting cassava pulp and pig manure. The results showed that the volatile solid reduction and biogas productivity of two-phase CSTR were 66 ± 4% and 2000 ± 210 ml l-1 d-1, while those of singlephase CSTR were 59 ± 1% and 1670 ± 60 ml l-1 d-1, respectively. Codigestion in two-phase CSTR gave higher 12% solid degradation and 25% methane production than single-phase CSTR. Phylogenetic analysis of 16S rDNA clone library revealed that the Bacteroidetes were the most abundant group, followed by the Clostridia in singlephase CSTR. In hydrolysis/acidification reactor of two-phase system, the bacteria within the phylum Firmicutes, especially Clostridium, Eubacteriaceae and Lactobacillus were the dominant phylogenetic groups. Among the Archaea, Methanosaeta sp. was the exclusive predominant in both digesters while the relative abundance of Methanosaeta sp. and Methanospirillum hungatei differed between the two systems.

Keywords: Anaerobic co-digestion, Cassava pulp, Microbialdiversity, Pig manure.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1858

Authors: S. Raja Balachandar, K.Kannan

Abstract:

A new Meta heuristic approach called "Randomized gravitational emulation search algorithm (RGES)" for solving vertex covering problems has been designed. This algorithm is found upon introducing randomization concept along with the two of the four primary parameters -velocity- and -gravity- in physics. A new heuristic operator is introduced in the domain of RGES to maintain feasibility specifically for the vertex covering problem to yield best solutions. The performance of this algorithm has been evaluated on a large set of benchmark problems from OR-library. Computational results showed that the randomized gravitational emulation search algorithm - based heuristic is capable of producing high quality solutions. The performance of this heuristic when compared with other existing heuristic algorithms is found to be excellent in terms of solution quality.

Keywords: Vertex covering Problem, Velocity, Gravitational Force, Newton's Law, Meta Heuristic, Combinatorial optimization.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1964

Authors: V. Sacca, A. Sarica, F. Novellino, S. Barone, T. Tallarico, E. Filippelli, A. Granata, P. Valentino, A. Quattrone

Abstract:

In the last few years, resting-state functional MRI (rs-fMRI) was widely used to investigate the architecture of brain networks by investigating the Blood Oxygenation Level Dependent response. This technique represented an interesting, robust and reliable approach to compare pathologic and healthy subjects in order to investigate neurodegenerative diseases evolution. On the other hand, the elaboration of rs-fMRI data resulted to be very prone to noise due to confounding factors especially the head motion. Head motion has long been known to be a source of artefacts in task-based functional MRI studies, but it has become a particularly challenging problem in recent studies using rs-fMRI. The aim of this work was to evaluate in MS patients a well-known motion correction algorithm from the FMRIB's Software Library - MCFLIRT - that could be applied to minimize the head motion distortions, allowing to correctly interpret rs-fMRI results.

Keywords: Head motion correction, MCFLIRT algorithm, multiple sclerosis, resting state fMRI.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1133

Authors: Adrienne Kline, Jaydip Desai

Abstract:

Electroencephalogram (EEG) is a noninvasive technique that registers signals originating from the firing of neurons in the brain. The Emotiv EEG Neuroheadset is a consumer product comprised of 14 EEG channels and was used to record the reactions of the neurons within the brain to two forms of stimuli in 10 participants. These stimuli consisted of auditory and visual formats that provided directions of ‘right’ or ‘left.’ Participants were instructed to raise their right or left arm in accordance with the instruction given. A scenario in OpenViBE was generated to both stimulate the participants while recording their data. In OpenViBE, the Graz Motor BCI Stimulator algorithm was configured to govern the duration and number of visual stimuli. Utilizing EEGLAB under the cross platform MATLAB®, the electrodes most stimulated during the study were defined. Data outputs from EEGLAB were analyzed using IBM SPSS Statistics® Version 20. This aided in determining the electrodes to use in the development of a brain-machine interface (BMI) using real-time EEG signals from the Emotiv EEG Neuroheadset. Signal processing and feature extraction were accomplished via the Simulink® signal processing toolbox. An Arduino™ Duemilanove microcontroller was used to link the Emotiv EEG Neuroheadset and the right and left Mecha TE™ Hands.

Keywords: Brain-machine interface, EEGLAB, emotiv EEG neuroheadset, openViBE, simulink.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2757

Authors: Zoran Constantinescu, Monica Vlâdoiu

Abstract:

Lately there has been a significant boost of interest in music digital libraries, which constitute an attractive area of research and development due to their inherent interesting issues and challenging technical problems, solutions to which will be highly appreciated by enthusiastic end-users. We present here a DL that we have developed to support users in their quest for classical music pieces within a particular collection of 18,000+ audio recordings. To cope with the early DL model limitations, we have used a refined socio-semantic and contextual model that allows rich bibliographic content description, along with semantic annotations, reviewing, rating, knowledge sharing etc. The multi-layered service model allows incorporation of local and distributed information, construction of rich hypermedia documents, expressing the complex relationships between various objects and multi-dimensional spaces, agents, actors, services, communities, scenarios etc., and facilitates collaborative activities to offer to individual users the needed collections and services.

Keywords: audio recordings, music metadata, music digitallibrary, socio-semantic model

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1617

Authors: Yuzana, Khin Marlar Tun

Abstract:

Personal name matching system is the core of essential task in national citizen database, text and web mining, information retrieval, online library system, e-commerce and record linkage system. It has necessitated to the all embracing research in the vicinity of name matching. Traditional name matching methods are suitable for English and other Latin based language. Asian languages which have no word boundary such as Myanmar language still requires sounds alike matching system in Unicode based application. Hence we proposed matching algorithm to get analogous sounds alike (phonetic) pattern that is convenient for Myanmar character spelling. According to the nature of Myanmar character, we consider for word boundary fragmentation, collation of character. Thus we use pattern conversion algorithm which fabricates words in pattern with fragmented and collated. We create the Myanmar sounds alike phonetic group to help in the phonetic matching. The experimental results show that fragmentation accuracy in 99.32% and processing time in 1.72 ms.

Keywords: natural language processing, name matching, phonetic matching

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1755

Authors: R. Moosazadeh

Abstract:

Among the Ottomans, dress was one of the means of expression of the society to which an individual was belonged, and as much as the cloth of the dress, its color reflected the individual's class. Those cloths, and the type and color of the dresses that were worn in the court, were forbidden to ordinary people. In addition, whatever the person's position was, his/her clothes were changed according to that special time and position. The clothes that were worn on trips and ceremonies were different from ordinary clothes in everyday life. At the time of the Ottoman Empire and the old Turkey, the miniature forms, and historical manuscripts were an indicator of the time of that day, and each of them is used as a document from the history of that time for today. The method used in this study is descriptive-analytical and the data collection procedure has been done through library. In this article, the cloth, shape and form of the Kaftan is considered. Firstly, a summary of the history and an explanation of this style of dressing and the importance of it at that time are considered. Finally, by the completion of this research, some of the findings of this research are mentioned, such as the distinctive features of this style and the process of updating it to use it in the present era.

Keywords: Kaftan, cloth, Ottoman, Turkey.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 672

Authors: Fanqiang Kong, Chending Bian

Abstract:

In this work, we exploit two assumed properties of the abundances of the observed signatures (endmembers) in order to reconstruct the abundances from hyperspectral data. Joint-sparsity is the first property of the abundances, which assumes the adjacent pixels can be expressed as different linear combinations of same materials. The second property is rank-deficiency where the number of endmembers participating in hyperspectral data is very small compared with the dimensionality of spectral library, which means that the abundances matrix of the endmembers is a low-rank matrix. These assumptions lead to an optimization problem for the sparse unmixing model that requires minimizing a combined l_2,p-norm and nuclear norm. We propose a variable splitting and augmented Lagrangian algorithm to solve the optimization problem. Experimental evaluation carried out on synthetic and real hyperspectral data shows that the proposed method outperforms the state-of-the-art algorithms with a better spectral unmixing accuracy.

Keywords: Hyperspectral unmixing, joint-sparse, low-rank representation, abundance estimation.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 734

Authors: U. Yerlikaya, R. T. Balkan

Abstract:

In this research, a method is developed to obtain high-dimensional configuration space for path planning problems. In typical cases, the path planning problems are solved directly in the 3-dimensional (D) workspace. However, this method is inefficient in handling the robots with various geometrical and mechanical restrictions. To overcome these difficulties, path planning may be formalized and solved in a new space which is called configuration space. The number of dimensions of the configuration space comes from the degree of freedoms of the system of interest. The method can be applied in two ways. In the first way, the point clouds of all the bodies of the system and interaction of them are used. The second way is performed via using the clearance function of simulation software where the minimum distances between surfaces of bodies are simultaneously measured. A double-turret system is held in the scope of this study. The 4-D configuration space of a double-turret system is obtained in these two ways. As a result, the difference between these two methods is around 1%, depending on the density of the point cloud. The disparity between the two forms steadily decreases as the point cloud density increases. At the end of the study, in order to verify 4-D configuration space obtained, 4-D path planning problem was realized as 2-D + 2-D and a sample path planning is carried out with using A* algorithm. Then, the accuracy of the configuration space is proved using the obtained paths on the simulation model of the double-turret system.

Keywords: A* Algorithm, autonomous turrets, high-dimensional C-Space, manifold C-Space, point clouds.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 322

Authors: Padmanabhan Balasubramanian, R. Chinnadurai

Abstract:

This paper deals with a power-conscious ANDEXOR- Inverter type logic implementation for a complex class of Boolean functions, namely Achilles- heel functions. Different variants of the above function class have been considered viz. positive, negative and pure horn for analysis and simulation purposes. The proposed realization is compared with the decomposed implementation corresponding to an existing standard AND-EXOR logic minimizer; both result in Boolean networks with good testability attribute. It could be noted that an AND-OR-EXOR type logic network does not exist for the positive phase of this unique class of logic function. Experimental results report significant savings in all the power consumption components for designs based on standard cells pertaining to a 130nm UMC CMOS process The simulations have been extended to validate the savings across all three library corners (typical, best and worst case specifications).

Keywords: Achilles' heel functions, AND-EXOR-Inverter logic, CMOS technology, low power design.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1841

Authors: Siti Juryiah Mohd Khalid, Norazlina Dol

Abstract:

Academic libraries in Malaysia are still not prepared for disaster even though several occasions have been reported. The study sets out to assess the current status of preparedness in disaster management among Malaysian academic libraries in the State of Selangor and the Federal Territory of Kuala Lumpur. To obtain a base level of knowledge on disaster preparedness of current practices, a questionnaire was distributed to chief librarians or their assignees in charge of disaster or emergency preparedness at 40 academic libraries and 34 responses were received. The study revolved around the current status of preparedness, on various issues including existence of disaster preparedness plan among academic libraries in Malaysia, disaster experiences by the academic libraries, funding, risk assessment activities and involvement of library staff in disaster management. Frequency and percentage tables were used in the analysis of the data collected. Some of the academic libraries under study have experienced one form of disaster or the other. Most of the academic libraries do not have a written disaster preparedness plan. The risk assessments and staff involvement in disaster preparedness by these libraries were generally adequate.

Keywords: Academic libraries, disaster preparedness plan, disaster management, emergency plan.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 3271

Authors: M. Ramezanifard, J. Dargahi, S. Najarian, N. Narayanan

Abstract:

One of the major disadvantages of the minimally invasive surgery (MIS) is the lack of tactile feedback to the surgeon. In order to identify and avoid any damage to the grasped complex tissue by endoscopic graspers, it is important to measure the local softness of tissue during MIS. One way to display the measured softness to the surgeon is a graphical method. In this paper, a new tactile sensor has been reported. The tactile sensor consists of an array of four softness sensors, which are integrated into the jaws of a modified commercial endoscopic grasper. Each individual softness sensor consists of two piezoelectric polymer Polyvinylidene Fluoride (PVDF) films, which are positioned below a rigid and a compliant cylinder. The compliant cylinder is fabricated using a micro molding technique. The combination of output voltages from PVDF films is used to determine the softness of the grasped object. The theoretical analysis of the sensor is also presented. A method has been developed with the aim of reproducing the tactile softness to the surgeon by using a graphical method. In this approach, the proposed system, including the interfacing and the data acquisition card, receives signals from the array of softness sensors. After the signals are processed, the tactile information is displayed by means of a color coding method. It is shown that the degrees of softness of the grasped objects/tissues can be visually differentiated and displayed on a monitor.

Keywords: Minimally invasive surgery, Robotic surgery, Sensor, Softness, Tactile.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1665