Robot Vision Application based on Complex 3D Pose Computation
The paper presents a technique suitable in robot
vision applications where it is not possible to establish the object position from one view. Usually, one view pose calculation methods
are based on the correspondence of image features established at a
training step and exactly the same image features extracted at the
execution step, for a different object pose. When such a
correspondence is not feasible because of the lack of specific features
a new method is proposed. In the first step the method computes
from two views the 3D pose of feature points. Subsequently, using a
registration algorithm, the set of 3D feature points extracted at the execution phase is aligned with the set of 3D feature points extracted
at the training phase. The result is a Euclidean transform which have
to be used by robot head for reorientation at execution step.
Study of a BVAR(p) Process Applied to U.S. Commodity Market Data
The paper presents an applied study of a multivariate AR(p) process fitted to daily data from U.S. commodity futures markets with the use of Bayesian statistics. In the first part a detailed description of the methods used is given. In the second part two BVAR models are chosen one with assumption of lognormal, the second with normal distribution of prices conditioned on the parameters. For a comparison two simple benchmark models are chosen that are commonly used in todays Financial Mathematics. The article compares the quality of predictions of all the models, tries to find an adequate rate of forgetting of information and questions the validity of Efficient Market Hypothesis in the semi-strong form.
Simplex Method for Fuzzy Variable Linear Programming Problems
Fuzzy linear programming is an application of fuzzy set theory in linear decision making problems and most of these problems are related to linear programming with fuzzy variables. A convenient method for solving these problems is based on using of auxiliary problem. In this paper a new method for solving fuzzy variable linear programming problems directly using linear ranking functions is proposed. This method uses simplex tableau which is used for solving linear programming problems in crisp environment before.
Investigation of a Transition from Steady Convection to Chaos in Porous Media Using Piecewise Variational Iteration Method
In this paper, a new dependable algorithm based on an adaptation of the standard variational iteration method (VIM) is used for analyzing the transition from steady convection to chaos for lowto-intermediate Rayleigh numbers convection in porous media. The solution trajectories show the transition from steady convection to chaos that occurs at a slightly subcritical value of Rayleigh number, the critical value being associated with the loss of linear stability of the steady convection solution. The VIM is treated as an algorithm in a sequence of intervals for finding accurate approximate solutions to the considered model and other dynamical systems. We shall call this technique as the piecewise VIM. Numerical comparisons between the piecewise VIM and the classical fourth-order Runge–Kutta (RK4) numerical solutions reveal that the proposed technique is a promising tool for the nonlinear chaotic and nonchaotic systems.
Development of Improved Three Dimensional Unstructured Tetrahedral Mesh Generator
Meshing is the process of discretizing problem
domain into many sub domains before the numerical calculation can
be performed. One of the most popular meshes among many types of meshes is tetrahedral mesh, due to their flexibility to fit into almost
any domain shape. In both 2D and 3D domains, triangular and tetrahedral meshes can be generated by using Delaunay triangulation.
The quality of mesh is an important factor in performing any Computational Fluid Dynamics (CFD) simulations as the results is
highly affected by the mesh quality. Many efforts had been done in
order to improve the quality of the mesh. The paper describes a mesh
generation routine which has been developed capable of generating
high quality tetrahedral cells in arbitrary complex geometry. A few
test cases in CFD problems are used for testing the mesh generator.
The result of the mesh is compared with the one generated by a
commercial software. The results show that no sliver exists for the
meshes generated, and the overall quality is acceptable since the percentage of the bad tetrahedral is relatively small. The boundary
recovery was also successfully done where all the missing faces are
Realization of Design Features for Linear Flow Splitting in NX 6
Within the collaborative research center 666 a new
product development approach and the innovative manufacturing
method of linear flow splitting are being developed. So far the design process is supported by 3D-CAD models utilizing User Defined
Features in standard CAD-Systems. This paper now presents new
functions for generating 3D-models of integral sheet metal products with bifurcations using Siemens PLM NX 6. The emphasis is placed
on design and semi-automated insertion of User Defined Features.
Therefore User Defined Features for both, linear flow splitting
and its derivative linear bend splitting, were developed. In order to facilitate the modeling process, an application was developed
that guides through the insertion process. Its usability and dialog layout adapt known standard features. The work presented here has
significant implications on the quality, accurateness and efficiency of the product generation process of sheet metal products with higher
Multiple Subcarrier Indoor Geolocation System in MIMO-OFDM WLAN APs Structure
This report aims to utilize existing and future Multiple-Input Multiple-Output Orthogonal Frequency Division Multiplexing Wireless Local Area Network (MIMO-OFDM WLAN) systems characteristics–such as multiple subcarriers, multiple antennas, and channel estimation characteristics–for indoor location estimation systems based on the Direction of Arrival (DOA) and Radio Signal Strength Indication (RSSI) methods. Hybrid of DOA-RSSI methods also evaluated. In the experimental data result, we show that location estimation accuracy performances can be increased by minimizing the multipath fading effect. This is done using multiple subcarrier frequencies over wideband frequencies to estimate one location. The proposed methods are analyzed in both a wide indoor environment and a typical room-sized office. In the experiments, WLAN terminal locations are estimated by measuring multiple subcarriers from arrays of three dipole antennas of access points (AP). This research demonstrates highly accurate, robust and hardware-free add-on software for indoor location estimations based on a MIMO-OFDM WLAN system.
A Dual Method for Solving General Convex Quadratic Programs
In this paper, we present a new method for solving quadratic programming problems, not strictly convex. Constraints of the problem are linear equalities and inequalities, with bounded variables. The suggested method combines the active-set strategies and support methods. The algorithm of the method and numerical experiments are presented, while comparing our approach with the active set method on randomly generated problems.
BIBD-s for (13, 5, 5), (16, 6, 5) and (21, 6, 4) Possessing Possibly an Automorphism of Order 3
When trying to enumerate all BIBD-s for given parameters,
their natural solution space appears to be huge and grows extremely with the number of points of the design. Therefore,
constructive enumerations are often carried out by assuming additional
constraints on design-s structure, automorphisms being mostly used ones. It remains a hard task to construct designs with trivial
automorphism group – those with no additional symmetry – although it is believed that most of the BIBD-s belong to that case. In
this paper, very many new designs with parameters 2-(13, 5, 5), 2-(16, 6, 5) and 2-(21, 6, 4) are constructed, assuming an action of an
automorphism of order 3. Even more, it was possible to construct millions of such designs with no non-trivial automorphisms.
Solution of Nonlinear Second-Order Pantograph Equations via Differential Transformation Method
In this work, we successfully extended one-dimensional differential transform method (DTM), by presenting and proving some theorems, to solving nonlinear high-order multi-pantograph equations. This technique provides a sequence of functions which converges to the exact solution of the problem. Some examples are given to demonstrate the validity and applicability of the present method and a comparison is made with existing results.
Computational Algorithm for Obtaining Abelian Subalgebras in Lie Algebras
The set of all abelian subalgebras is computationally
obtained for any given finite-dimensional Lie algebra, starting from the nonzero brackets in its law. More concretely, an algorithm
is described and implemented to compute a basis for each nontrivial abelian subalgebra with the help of the symbolic computation package MAPLE. Finally, it is also shown a brief computational study
for this implementation, considering both the computing time and the
Optimization and Determination of Process Parameters in Thin Film SOI Photo-BJMOSFET
We propose photo-BJMOSFET (Bipolar Junction Metal-Oxide-Semiconductor Field Effect Transistor) fabricated on SOI film. ITO film is adopted in the device as gate electrode to reduce light absorption. I-V characteristics of photo-BJMOSFET obtained in dark (dark current) and under 570nm illumination (photo current) are studied furthermore to achieve high photo-to-dark-current contrast ratio. Two variables in the calculation were the channel length and the thickness of the film which were set equal to six different values, i.e., L=2, 4, 6, 8, 10, and 12μm and three different values, i.e., dsi =100, 200 and 300nm, respectively. The results indicate that the greatest photo-to-dark-current contrast ratio is achieved with L=10μm and dsi=200 nm at VGK=0.6V.
A Cognitive Model of Character Recognition Using Support Vector Machines
In the present study, a support vector machine (SVM) learning approach to character recognition is proposed. Simple
feature detectors, similar to those found in the human visual system, were used in the SVM classifier. Alphabetic characters were rotated
to 8 different angles and using the proposed cognitive model, all characters were recognized with 100% accuracy and specificity.
These same results were found in psychiatric studies of human character recognition.
Dimensionality Reduction of PSSM Matrix and its Influence on Secondary Structure and Relative Solvent Accessibility Predictions
State-of-the-art methods for secondary structure (Porter, Psi-PRED, SAM-T99sec, Sable) and solvent accessibility (Sable, ACCpro) predictions use evolutionary profiles represented by the position specific scoring matrix (PSSM). It has been demonstrated that evolutionary profiles are the most important features in the feature space for these predictions. Unfortunately applying PSSM matrix leads to high dimensional feature spaces that may create problems with parameter optimization and generalization. Several recently published suggested that applying feature extraction for the PSSM matrix may result in improvements in secondary structure predictions. However, none of the top performing methods considered here utilizes dimensionality reduction to improve generalization. In the present study, we used simple and fast methods for features selection (t-statistics, information gain) that allow us to decrease the dimensionality of PSSM matrix by 75% and improve generalization in the case of secondary structure prediction compared to the Sable server.
A Modification on Newton's Method for Solving Systems of Nonlinear Equations
In this paper, we are concerned with the further study for system of nonlinear equations. Since systems with inaccurate function values or problems with high computational cost arise frequently in science and engineering, recently such systems have attracted researcher-s interest. In this work we present a new method which is independent of function evolutions and has a quadratic convergence. This method can be viewed as a extension of some recent methods for solving mentioned systems of nonlinear equations. Numerical results of applying this method to some test problems show the efficiently and reliability of method.
Improvement of Gregory's formula using Particle Swarm Optimization
Consider the Gregory integration (G) formula
with end corrections where h Δ is the forward difference operator with step size h. In this study we prove that can be optimized by
minimizing some of the coefficient k a in the remainder term by
particle swarm optimization. Experimental tests prove that can be rendered a powerful formula for library use.
Characterization of Responsivity, Sensitivity and Spectral Response in Thin Film SOI photo-BJMOS -FET Compatible with CMOS Technology
Photo-BJMOSFET (Bipolar Junction Metal-Oxide-
Semiconductor Field Effect Transistor) fabricated on SOI film was proposed. ITO film is adopted in the device as gate electrode to reduce
light absorption. Depletion region but not inversion region is formed
in film by applying gate voltage (but low reverse voltage) to achieve
high photo-to-dark-current ratio. Comparisons of photoelectriccharacteristics
executed among VGK=0V, 0.3V, 0.6V, 0.9V and 1.0V
(reverse voltage VAK is equal to 1.0V for total area of 10×10μm2). The
results indicate that the greatest improvement in photo-to-dark-current
ratio is achieved up to 2.38 at VGK=0.6V. In addition,
photo-BJMOSFET is compatible with CMOS integration due to big
ZMP Based Reference Generation for Biped Walking Robots
Recent fifteen years witnessed fast improvements in the field of humanoid robotics. The human-like robot structure is
more suitable to human environment with its supreme obstacle avoidance properties when compared with wheeled service robots.
However, the walking control for bipedal robots is a challenging task
due to their complex dynamics. Stable reference generation plays a very important role in control.
Linear Inverted Pendulum Model (LIPM) and the Zero Moment Point (ZMP) criterion are applied in a number of studies for stable
walking reference generation of biped walking robots. This paper follows this main approach too. We propose a natural and continuous ZMP reference trajectory for a stable and human-like walk. The ZMP reference trajectories move forward under the sole of the support foot when the robot body is supported by a single leg. Robot center of mass trajectory is obtained
from predefined ZMP reference trajectories by a Fourier series
approximation method. The Gibbs phenomenon problem common with Fourier approximations of discontinuous functions is avoided by employing continuous ZMP references. Also, these ZMP reference
trajectories possess pre-assigned single and double support phases,
which are very useful in experimental tuning work.
The ZMP based reference generation strategy is tested via threedimensional
full-dynamics simulations of a 12-degrees-of-freedom
biped robot model. Simulation results indicate that the proposed reference trajectory generation technique is successful.
CFD simulation of Pressure Drops in Liquid Acquisition Device Channel with Sub-Cooled Oxygen
In order to better understand the performance of
screen channel liquid acquisition devices (LADs) in liquid oxygen (LOX), a computational fluid dynamics (CFD) simulation of LOX passing through a LAD screen channel was conducted. In the
simulation, the screen is taken as a 'porous jump' where the pressure
drop across the screen depends on the incoming velocity and is formulated by Δp = Av + Bv2
. The CFD simulation reveals the importance of the pressure losses due to the flow entering from
across the screen and impacting and merging with the channel flow
and the vortices in the channel to the cumulative flow resistance. In fact, both the flow resistance of flows impact and mergence and the
resistance created by vortices are much larger than the friction and dynamic pressure losses in the channel and are comparable to the
flow resistance across the screen. Therefore, these resistances in the
channel must be considered as part of the evaluation for the LAD
channel performance. For proper operation of a LAD in LOX these resistances must be less than the bubble point pressure for the screen
channel in LOX. The simulation also presents the pressure and velocity distributions within the LAD screen channel, expanding the understanding of the fluid flow characteristics within the channel.