Search results for: the Gradient projection for sparse reconstruction.
Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 655

Search results for: the Gradient projection for sparse reconstruction.

625 Finding Sparse Features in Face Detection Using Genetic Algorithms

Authors: H. Sagha, S. Kasaei, E. Enayati, M. Dehghani

Abstract:

Although Face detection is not a recent activity in the field of image processing, it is still an open area for research. The greatest step in this field is the work reported by Viola and its recent analogous is Huang et al. Both of them use similar features and also similar training process. The former is just for detecting upright faces, but the latter can detect multi-view faces in still grayscale images using new features called 'sparse feature'. Finding these features is very time consuming and inefficient by proposed methods. Here, we propose a new approach for finding sparse features using a genetic algorithm system. This method requires less computational cost and gets more effective features in learning process for face detection that causes more accuracy.

Keywords: Face Detection, Genetic Algorithms, Sparse Feature.

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624 A New Seed Projection Method for Solving Shifted Systems with Multiple Right-Hand Sides

Authors: Chao Li, Hao Liu

Abstract:

In this paper, we propose a new seed projection method for solving shifted systems with multiple right-hand sides. This seed projection method uses a seed selection strategy. Numerical experiments are presented to show the efficiency of the newly method.

Keywords: shifted systems, multiple right-hand sides, seed projection.

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623 Learning an Overcomplete Dictionary using a Cauchy Mixture Model for Sparse Decay

Authors: E. S. Gower, M. O. J. Hawksford

Abstract:

An algorithm for learning an overcomplete dictionary using a Cauchy mixture model for sparse decomposition of an underdetermined mixing system is introduced. The mixture density function is derived from a ratio sample of the observed mixture signals where 1) there are at least two but not necessarily more mixture signals observed, 2) the source signals are statistically independent and 3) the sources are sparse. The basis vectors of the dictionary are learned via the optimization of the location parameters of the Cauchy mixture components, which is shown to be more accurate and robust than the conventional data mining methods usually employed for this task. Using a well known sparse decomposition algorithm, we extract three speech signals from two mixtures based on the estimated dictionary. Further tests with additive Gaussian noise are used to demonstrate the proposed algorithm-s robustness to outliers.

Keywords: expectation-maximization, Pitman estimator, sparsedecomposition

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622 A New Modification of Nonlinear Conjugate Gradient Coefficients with Global Convergence Properties

Authors: Ahmad Alhawarat, Mustafa Mamat, Mohd Rivaie, Ismail Mohd

Abstract:

Conjugate gradient method has been enormously used to solve large scale unconstrained optimization problems due to the number of iteration, memory, CPU time, and convergence property, in this paper we find a new class of nonlinear conjugate gradient coefficient with global convergence properties proved by exact line search. The numerical results for our new βK give a good result when it compared with well known formulas.

Keywords: Conjugate gradient method, conjugate gradient coefficient, global convergence.

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621 Variable Step-Size Affine Projection Algorithm With a Weighted and Regularized Projection Matrix

Authors: Tao Dai, Andy Adler, Behnam Shahrrava

Abstract:

This paper presents a forgetting factor scheme for variable step-size affine projection algorithms (APA). The proposed scheme uses a forgetting processed input matrix as the projection matrix of pseudo-inverse to estimate system deviation. This method introduces temporal weights into the projection matrix, which is typically a better model of the real error's behavior than homogeneous temporal weights. The regularization overcomes the ill-conditioning introduced by both the forgetting process and the increasing size of the input matrix. This algorithm is tested by independent trials with coloured input signals and various parameter combinations. Results show that the proposed algorithm is superior in terms of convergence rate and misadjustment compared to existing algorithms. As a special case, a variable step size NLMS with forgetting factor is also presented in this paper.

Keywords: Adaptive signal processing, affine projection algorithms, variable step-size adaptive algorithms, regularization.

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620 A Stereo Vision System for Top View Book Scanners

Authors: Erik Lilienblum, Robert Niese, Bernd Michaelis

Abstract:

This paper proposes a novel stereo vision technique for top view book scanners which provide us with dense 3d point clouds of page surfaces. This is a precondition to dewarp bound volumes independent of 2d information on the page. Our method is based on algorithms, which normally require the projection of pattern sequences with structured light. We use image sequences of the moving stripe lighting of the top view scanner instead of an additional light projection. Thus the stereo vision setup is simplified without losing measurement accuracy. Furthermore we improve a surface model dewarping method through introducing a difference vector based on real measurements. Although our proposed method is hardly expensive neither in calculation time nor in hardware requirements we present good dewarping results even for difficult examples.

Keywords: stereo vision, 3d surface reconstruction, dewarpingdocuments, book scanner

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619 Determination and Comparison of Fabric Pills Distribution Using Image Processing and Spatial Data Analysis Tools

Authors: Lenka Techniková, Maroš Tunák, Jiří Janáček

Abstract:

This work deals with the determination and comparison of pill patterns in 2 sets of fabric samples which differ in way of pill creation. The first set contains fabric samples with the pills created by simulation on a Martindale abrasion machine, while pills in the second set originated during normal wearing and maintenance. The goal of the study is to determine whether the pattern of the fabric pills created by simulation is the same as the pattern of naturally occurring pills. The system of determination and comparison of the pills is based on image processing and spatial data analysis tools. Firstly, 3D reconstruction of the fabric surfaces with the pills is realized with using a gradient fields method. The gradient fields method creates a 3D fabric surface from a set of 4 images. Thereafter, the pills are detected in 3D fabric surfaces using image-processing tools in the MATLAB software. Determination and comparison of the pills patterns of two sets of fabric samples is based on spatial data analysis using tools in R software.

Keywords: 3D reconstruction of the surface, image analysis tools, distribution of the pills, spatial data analysis tools.

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618 Parallel Pipelined Conjugate Gradient Algorithm on Heterogeneous Platforms

Authors: Sergey Kopysov, Nikita Nedozhogin, Leonid Tonkov

Abstract:

The article presents a parallel iterative solver for large sparse linear systems which can be used on a heterogeneous platform. Traditionally, the problem of solving linear systems do not scale well on cluster containing multiple Central Processing Units (multi-CPUs cluster) or cluster containing multiple Graphics Processing Units (multi-GPUs cluster). For example, most of the attempts to implement the classical conjugate gradient method were at best counted in the same amount of time as the problem was enlarged. The paper proposes the pipelined variant of the conjugate gradient method (PCG), a formulation that is potentially better suited for hybrid CPU/GPU computing since it requires only one synchronization point per one iteration, instead of two for standard CG (Conjugate Gradient). The standard and pipelined CG methods need the vector entries generated by current GPU and other GPUs for matrix-vector product. So the communication between GPUs becomes a major performance bottleneck on miltiGPU cluster. The article presents an approach to minimize the communications between parallel parts of algorithms. Additionally, computation and communication can be overlapped to reduce the impact of data exchange. Using pipelined version of the CG method with one synchronization point, the possibility of asynchronous calculations and communications, load balancing between the CPU and GPU for solving the large linear systems allows for scalability. The algorithm is implemented with the combined use of technologies: MPI, OpenMP and CUDA. We show that almost optimum speed up on 8-CPU/2GPU may be reached (relatively to a one GPU execution). The parallelized solver achieves a speedup of up to 5.49 times on 16 NVIDIA Tesla GPUs, as compared to one GPU.

Keywords: Conjugate Gradient, GPU, parallel programming, pipelined algorithm.

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617 Optimal Economic Restructuring Aimed at an Increase in GDP Constrained by a Decrease in Energy Consumption and CO2 Emissions

Authors: Alexander Y. Vaninsky

Abstract:

The objective of this paper is finding the way of economic restructuring - that is, change in the shares of sectoral gross outputs - resulting in the maximum possible increase in the gross domestic product (GDP) combined with decreases in energy consumption and CO2 emissions. It uses an input-output model for the GDP and factorial models for the energy consumption and CO2 emissions to determine the projection of the gradient of GDP, and the antigradients of the energy consumption and CO2 emissions, respectively, on a subspace formed by the structure-related variables. Since the gradient (antigradient) provides a direction of the steepest increase (decrease) of the objective function, and their projections retain this property for the functions' limitation to the subspace, each of the three directional vectors solves a particular problem of optimal structural change. In the next step, a type of factor analysis is applied to find a convex combination of the projected gradient and antigradients having maximal possible positive correlation with each of the three. This convex combination provides the desired direction of the structural change. The national economy of the United States is used as an example of applications.

Keywords: Economic restructuring, Input-Output analysis, Divisia index, Factorial decomposition, E3 models.

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616 Research on the Correlation of the Fluctuating Density Gradient of the Compressible Flows

Authors: Yasuo Obikane

Abstract:

This work is to study a roll of the fluctuating density gradient in the compressible flows for the computational fluid dynamics (CFD). A new anisotropy tensor with the fluctuating density gradient is introduced, and is used for an invariant modeling technique to model the turbulent density gradient correlation equation derived from the continuity equation. The modeling equation is decomposed into three groups: group proportional to the mean velocity, and that proportional to the mean strain rate, and that proportional to the mean density. The characteristics of the correlation in a wake are extracted from the results by the two dimensional direct simulation, and shows the strong correlation with the vorticity in the wake near the body. Thus, it can be concluded that the correlation of the density gradient is a significant parameter to describe the quick generation of the turbulent property in the compressible flows.

Keywords: Turbulence Modeling , Density Gradient Correlation, Compressible

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615 The Variable Step-Size Gauss-Seidel Pseudo Affine Projection Algorithm

Authors: F. Albu, C. Paleologu

Abstract:

In this paper, a new pseudo affine projection (AP) algorithm based on Gauss-Seidel (GS) iterations is proposed for acoustic echo cancellation (AEC). It is shown that the algorithm is robust against near-end signal variations (including double-talk).

Keywords: pseudo affine projection algorithm, acoustic echo cancellation, double-talk.

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614 Social Capital in Housing Reconstruction Post Disaster Case of Yogyakarta Post Earthquake

Authors: Ikaputra

Abstract:

This paper will focus on the concept of social capital for especially housing reconstruction Post Disaster. The context of the study is Indonesia and Yogyakarta Post Earthquake 2006 as a case, but it is expected that the concept can be adopted in general post disaster reconstruction. The discussion will begin by addressing issues on House Reconstruction Post Disaster in Indonesia and Yogyakarta; defining Social Capital as a concept for effective management capacity based on community; Social Capital Post Java Earthquake utilizing Gotong Royong—community mutual self-help, and Approach and Strategy towards Community-based Reconstruction.

Keywords: Community empowerment, Gotong Royong, post disaster, reconstruction, social capital, Yogyakarta-Indonesia.

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613 Weight Functions for Signal Reconstruction Based On Level Crossings

Authors: Nagesha, G. Hemantha Kumar

Abstract:

Although the level crossing concept has been the subject of intensive investigation over the last few years, certain problems of great interest remain unsolved. One of these concern is distribution of threshold levels. This paper presents a new threshold level allocation schemes for level crossing based on nonuniform sampling. Intuitively, it is more reasonable if the information rich regions of the signal are sampled finer and those with sparse information are sampled coarser. To achieve this objective, we propose non-linear quantization functions which dynamically assign the number of quantization levels depending on the importance of the given amplitude range. Two new approaches to determine the importance of the given amplitude segment are presented. The proposed methods are based on exponential and logarithmic functions. Various aspects of proposed techniques are discussed and experimentally validated. Its efficacy is investigated by comparison with uniform sampling.

Keywords: speech signals, sampling, signal reconstruction, asynchronousdelta modulation, non-linear quantization.

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612 Data-Reusing Adaptive Filtering Algorithms with Adaptive Error Constraint

Authors: Young-Seok Choi

Abstract:

We present a family of data-reusing and affine projection algorithms. For identification of a noisy linear finite impulse response channel, a partial knowledge of a channel, especially noise, can be used to improve the performance of the adaptive filter. Motivated by this fact, the proposed scheme incorporates an estimate of a knowledge of noise. A constraint, called the adaptive noise constraint, estimates an unknown information of noise. By imposing this constraint on a cost function of data-reusing and affine projection algorithms, a cost function based on the adaptive noise constraint and Lagrange multiplier is defined. Minimizing the new cost function leads to the adaptive noise constrained (ANC) data-reusing and affine projection algorithms. Experimental results comparing the proposed schemes to standard data-reusing and affine projection algorithms clearly indicate their superior performance.

Keywords: Data-reusing, affine projection algorithm, error constraint, system identification.

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611 Segmentation of Noisy Digital Images with Stochastic Gradient Kernel

Authors: Abhishek Neogi, Jayesh Verma, Pinaki Pratim Acharjya

Abstract:

Image segmentation and edge detection is a fundamental section in image processing. In case of noisy images Edge Detection is very less effective if we use conventional Spatial Filters like Sobel, Prewitt, LOG, Laplacian etc. To overcome this problem we have proposed the use of Stochastic Gradient Mask instead of Spatial Filters for generating gradient images. The present study has shown that the resultant images obtained by applying Stochastic Gradient Masks appear to be much clearer and sharper as per Edge detection is considered.

Keywords: Image segmentation, edge Detection, noisy images, spatialfilters, stochastic gradient kernel.

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610 A Study on Applying 3D Reconstruction to 3D Last Morphing

Authors: Shih-Wen Hsiao, Rong-Qi Chen, Chien-Yu Lin

Abstract:

When it comes to last, it is regarded as the critical foundation of shoe design and development. A computer aided methodology for various last form designs is proposed in this study. The reverse engineering is mainly applied to the process of scanning for the last form. Then with the minimum energy for revision of surface continuity, the surface reconstruction of last is rebuilt by the feature curves of the scanned last. When the surface reconstruction of last is completed, the weighted arithmetic mean method is applied to the computation on the shape morphing for the control mesh of last, thus 3D last form of different sizes is generated from its original form feature with functions remained. In the end, the result of this study is applied to an application for 3D last reconstruction system. The practicability of the proposed methodology is verified through later case studies.

Keywords: Reverse engineering, Surface reconstruction, Surface continuity, Shape morphing.

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609 A Family of Affine Projection Adaptive Filtering Algorithms With Selective Regressors

Authors: Mohammad Shams Esfand Abadi, Nader Hadizadeh Kashani, Vahid Mehrdad

Abstract:

In this paper we present a general formalism for the establishment of the family of selective regressor affine projection algorithms (SR-APA). The SR-APA, the SR regularized APA (SR-RAPA), the SR partial rank algorithm (SR-PRA), the SR binormalized data reusing least mean squares (SR-BNDR-LMS), and the SR normalized LMS with orthogonal correction factors (SR-NLMS-OCF) algorithms are established by this general formalism. We demonstrate the performance of the presented algorithms through simulations in acoustic echo cancellation scenario.

Keywords: Adaptive filter, affine projection, selective regressor.

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608 Current Trends in Eco-Friendly Reconstruction after the Great East Japan Earthquake

Authors: Ayaka Kamiyama, Akihiro Iijima

Abstract:

On March 11, 2011, the East coast of Japan was hit by one of the strongest earthquakes in history, followed by a devastating tsunami. Although most lifelines, infrastructure, and public facilities have been restored gradually, recovery efforts in terms of disposal of disaster waste and revival of primary industry are lagging. This study presents a summary of the damage inflicted by the earthquake and the current status of reconstruction in the disaster area. Moreover, we discuss the current trends and future perspectives on recently implemented eco-friendly reconstruction projects and focus on the pro-environmental behavior of disaster victims which is emerging as a result of the energy shortage after the earthquake. Finally, we offer ideas for initiatives for the next stage of the reconstruction policies.

Keywords: Agriculture, Disaster wastes, Pro-environmental behavior, Reconstruction policies.

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607 Combination Scheme of Affine Projection Algorithm Filters with Complementary Order

Authors: Young-Seok Choi

Abstract:

This paper proposes a complementary combination scheme of affine projection algorithm (APA) filters with different order of input regressors. A convex combination provides an interesting way to keep the advantage of APA having different order of input regressors. Consequently, a novel APA which has the rapid convergence and the reduced steady-state error is derived. Experimental results show the good properties of the proposed algorithm.

Keywords: Adaptive filter, affine projection algorithm, convex combination, input order.

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606 A Projection Method Based on Extended Krylov Subspaces for Solving Sylvester Equations

Authors: Yiqin Lin, Liang Bao, Yimin Wei

Abstract:

In this paper we study numerical methods for solving Sylvester matrix equations of the form AX +XBT +CDT = 0. A new projection method is proposed. The union of Krylov subspaces in A and its inverse and the union of Krylov subspaces in B and its inverse are used as the right and left projection subspaces, respectively. The Arnoldi-like process for constructing the orthonormal basis of the projection subspaces is outlined. We show that the approximate solution is an exact solution of a perturbed Sylvester matrix equation. Moreover, exact expression for the norm of residual is derived and results on finite termination and convergence are presented. Some numerical examples are presented to illustrate the effectiveness of the proposed method.

Keywords: Arnoldi process, Krylov subspace, Iterative method, Sylvester equation, Dissipative matrix.

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605 Affine Projection Algorithm with Variable Data-Reuse Factor

Authors: ChangWoo Lee, Young Kow Lee, Sung Jun Ban, SungHoo Choi, Sang Woo Kim

Abstract:

This paper suggests a new Affine Projection (AP) algorithm with variable data-reuse factor using the condition number as a decision factor. To reduce computational burden, we adopt a recently reported technique which estimates the condition number of an input data matrix. Several simulations show that the new algorithm has better performance than that of the conventional AP algorithm.

Keywords: Affine projection algorithm, variable data-reuse factor, condition number, convergence rate, misalignment.

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604 Partially Knowing of Least Support Orthogonal Matching Pursuit (PKLS-OMP) for Recovering Signal

Authors: Israa Sh. Tawfic, Sema Koc Kayhan

Abstract:

Given a large sparse signal, great wishes are to reconstruct the signal precisely and accurately from lease number of measurements as possible as it could. Although this seems possible by theory, the difficulty is in built an algorithm to perform the accuracy and efficiency of reconstructing. This paper proposes a new proved method to reconstruct sparse signal depend on using new method called Least Support Matching Pursuit (LS-OMP) merge it with the theory of Partial Knowing Support (PSK) given new method called Partially Knowing of Least Support Orthogonal Matching Pursuit (PKLS-OMP). The new methods depend on the greedy algorithm to compute the support which depends on the number of iterations. So to make it faster, the PKLS-OMP adds the idea of partial knowing support of its algorithm. It shows the efficiency, simplicity, and accuracy to get back the original signal if the sampling matrix satisfies the Restricted Isometry Property (RIP). Simulation results also show that it outperforms many algorithms especially for compressible signals.

Keywords: Compressed sensing, Lest Support Orthogonal Matching Pursuit, Partial Knowing Support, Restricted isometry property, signal reconstruction.

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603 Dynamic Measurement System Modeling with Machine Learning Algorithms

Authors: Changqiao Wu, Guoqing Ding, Xin Chen

Abstract:

In this paper, ways of modeling dynamic measurement systems are discussed. Specially, for linear system with single-input single-output, it could be modeled with shallow neural network. Then, gradient based optimization algorithms are used for searching the proper coefficients. Besides, method with normal equation and second order gradient descent are proposed to accelerate the modeling process, and ways of better gradient estimation are discussed. It shows that the mathematical essence of the learning objective is maximum likelihood with noises under Gaussian distribution. For conventional gradient descent, the mini-batch learning and gradient with momentum contribute to faster convergence and enhance model ability. Lastly, experimental results proved the effectiveness of second order gradient descent algorithm, and indicated that optimization with normal equation was the most suitable for linear dynamic models.

Keywords: Dynamic system modeling, neural network, normal equation, second order gradient descent.

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602 Green Function and Eshelby Tensor Based on Mindlin’s 2nd Gradient Model: An Explicit Study of Spherical Inclusion Case

Authors: A. Selmi, A. Bisharat

Abstract:

Using Fourier transform and based on the Mindlin's 2nd gradient model that involves two length scale parameters, the Green's function, the Eshelby tensor, and the Eshelby-like tensor for a spherical inclusion are derived. It is proved that the Eshelby tensor consists of two parts; the classical Eshelby tensor and a gradient part including the length scale parameters which enable the interpretation of the size effect. When the strain gradient is not taken into account, the obtained Green's function and Eshelby tensor reduce to its analogue based on the classical elasticity. The Eshelby tensor in and outside the inclusion, the volume average of the gradient part and the Eshelby-like tensor are explicitly obtained. Unlike the classical Eshelby tensor, the results show that the components of the new Eshelby tensor vary with the position and the inclusion dimensions. It is demonstrated that the contribution of the gradient part should not be neglected.

Keywords: Eshelby tensor, Eshelby-like tensor, Green’s function, Mindlin’s 2nd gradient model, Spherical inclusion.

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601 New Efficient Iterative Optimization Algorithm to Design the Two Channel QMF Bank

Authors: Ram Kumar Soni, Alok Jain, Rajiv Saxena

Abstract:

This paper proposes an efficient method for the design of two channel quadrature mirror filter (QMF) bank. To achieve minimum value of reconstruction error near to perfect reconstruction, a linear optimization process has been proposed. Prototype low pass filter has been designed using Kaiser window function. The modified algorithm has been developed to optimize the reconstruction error using linear objective function through iteration method. The result obtained, show that the performance of the proposed algorithm is better than that of the already exists methods.

Keywords: Filterbank, near perfect reconstruction, Kaiserwindow, QMF.

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600 Flexural Strength Design of RC Beams with Consideration of Strain Gradient Effect

Authors: Mantai Chen, Johnny Ching Ming Ho

Abstract:

The stress-strain relationship of concrete under flexure is one of the essential parameters in assessing ultimate flexural strength capacity of RC beams. Currently, the concrete stress-strain curve in flexure is obtained by incorporating a constant scale-down factor of 0.85 in the uniaxial stress-strain curve. However, it was revealed that strain gradient would improve the maximum concrete stress under flexure and concrete stress-strain curve is strain gradient dependent. Based on the strain-gradient-dependent concrete stress-strain curve, the investigation of the combined effects of strain gradient and concrete strength on flexural strength of RC beams was extended to high strength concrete up to 100 MPa by theoretical analysis. As an extension and application of the authors’ previous study, a new flexural strength design method incorporating the combined effects of strain gradient and concrete strength is developed. A set of equivalent rectangular concrete stress block parameters is proposed and applied to produce a series of design charts showing that the flexural strength of RC beams are improved with strain gradient effect considered.

Keywords: Beams, Equivalent concrete stress block, Flexural strength, Strain gradient.

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599 A Dictionary Learning Method Based On EMD for Audio Sparse Representation

Authors: Yueming Wang, Zenghui Zhang, Rendong Ying, Peilin Liu

Abstract:

Sparse representation has long been studied and several dictionary learning methods have been proposed. The dictionary learning methods are widely used because they are adaptive. In this paper, a new dictionary learning method for audio is proposed. Signals are at first decomposed into different degrees of Intrinsic Mode Functions (IMF) using Empirical Mode Decomposition (EMD) technique. Then these IMFs form a learned dictionary. To reduce the size of the dictionary, the K-means method is applied to the dictionary to generate a K-EMD dictionary. Compared to K-SVD algorithm, the K-EMD dictionary decomposes audio signals into structured components, thus the sparsity of the representation is increased by 34.4% and the SNR of the recovered audio signals is increased by 20.9%.

Keywords: Dictionary Learning, EMD, K-means Method, Sparse Representation.

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598 Learning Flexible Neural Networks for Pattern Recognition

Authors: A. Mirzaaghazadeh, H. Motameni, M. Karshenas, H. Nematzadeh

Abstract:

Learning the gradient of neuron's activity function like the weight of links causes a new specification which is flexibility. In flexible neural networks because of supervising and controlling the operation of neurons, all the burden of the learning is not dedicated to the weight of links, therefore in each period of learning of each neuron, in fact the gradient of their activity function, cooperate in order to achieve the goal of learning thus the number of learning will be decreased considerably. Furthermore, learning neurons parameters immunes them against changing in their inputs and factors which cause such changing. Likewise initial selecting of weights, type of activity function, selecting the initial gradient of activity function and selecting a fixed amount which is multiplied by gradient of error to calculate the weight changes and gradient of activity function, has a direct affect in convergence of network for learning.

Keywords: Back propagation, Flexible, Gradient, Learning, Neural network, Pattern recognition.

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597 Analytical Analysis of Image Representation by Their Discrete Wavelet Transform

Authors: R. M. Farouk

Abstract:

In this paper, we present an analytical analysis of the representation of images as the magnitudes of their transform with the discrete wavelets. Such a representation plays as a model for complex cells in the early stage of visual processing and of high technical usefulness for image understanding, because it makes the representation insensitive to small local shifts. We found that if the signals are band limited and of zero mean, then reconstruction from the magnitudes is unique up to the sign for almost all signals. We also present an iterative reconstruction algorithm which yields very good reconstruction up to the sign minor numerical errors in the very low frequencies.

Keywords: Wavelets, Image processing signal processing, Image reconstruction

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596 Hybrid Gravity Gradient Inversion-Ant Colony Optimization Algorithm for Motion Planning of Mobile Robots

Authors: Meng Wu

Abstract:

Motion planning is a common task required to be fulfilled by robots. A strategy combining Ant Colony Optimization (ACO) and gravity gradient inversion algorithm is proposed for motion planning of mobile robots. In this paper, in order to realize optimal motion planning strategy, the cost function in ACO is designed based on gravity gradient inversion algorithm. The obstacles around mobile robot can cause gravity gradient anomalies; the gradiometer is installed on the mobile robot to detect the gravity gradient anomalies. After obtaining the anomalies, gravity gradient inversion algorithm is employed to calculate relative distance and orientation between mobile robot and obstacles. The relative distance and orientation deduced from gravity gradient inversion algorithm is employed as cost function in ACO algorithm to realize motion planning. The proposed strategy is validated by the simulation and experiment results.

Keywords: Motion planning, gravity gradient inversion algorithm, ant colony optimization.

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