A general computational recognition primed decision model with multi-agent rescue simulation benchmark

Analytical decision making strategies rely on weighing pros and cons of multiple options in an unbounded rationality manner. Contrary to these strategies, recognition primed decision (RPD) model which is a primary naturalistic decision making (NDM) approach assumes that experienced and professional decision makers when encounter problems in real operating conditions are able to use their previous experiences and trainings in order to diagnose the problem, recall the appropriate solution, evaluate it mentally, and implement it to handle the problem in a satisficing manner. In this paper, a computational form of RPD, now called C-RPD, is presented. Unified Modeling Language was used as a modeling language to represent the proposed C-RPD model in order to make the implementation easy and obvious. To execute the model, RoboCup Rescue agent simulation environment, which is one of the best and the most famous complex and multi-agent large-scale environments, was selected. The environment simulates the incidence of fire and earthquakes in urban areas where it is the duty of the police forces, firefighters and ambulance teams to control the crisis. Firefighters of SOS team are first modeled and implemented by utilizing C-RPD and then the system is trained using an expert’s experience. There are two evaluations. To find out the convergence of different versions developed during experience adding, some of the developed versions are chosen and evaluated on seven maps. Results show performance improvements. The SOS team ranked first in an official world championship and three official open tournaments.     

Cluster Size Optimization in Sensor Networks with Decentralized Cluster-Based Protocols

Network lifetime and energy-efficiency are viewed as the dominating considerations in designing cluster-based communication protocols for wireless sensor networks. This paper analytically provides the optimal cluster size that minimizes the total energy expenditure in such networks, where all sensors communicate data through their elected cluster heads to the base station in a decentralized fashion. LEACH, LEACH-Coverage, and DBS comprise three cluster-based protocols investigated in this paper that do not require any centralized support from a certain node. The analytical outcomes are given in the form of closed-form expressions for various widely-used network configurations. Extensive simulations on different networks are used to confirm the expectations based on the analytical results. To obtain a thorough understanding of the results, cluster number variability problem is identified and inspected from the energy consumption point of view.     

Thinned-ECOC ensemble based on sequential code shrinking

Error-correcting output coding (ECOC) is a strategy to create classifier ensembles which reduces a multi-class problem into some binary sub-problems. A key issue in designing any ECOC classifier refers to defining optimal codematrix having maximum discrimination power and minimum number of columns. This paper proposes a heuristic method for application-dependent design of optimal ECOC matrix based on a thinning algorithm. The main idea of the proposed Thinned-ECOC method is to successively remove some redundant and unnecessary columns of any initial codematrix based on a metric defined for each column. As a result, computational cost of the ensemble is reduced while preserving its accuracy. Proposed method has been validated using the UCI machine learning database and further applied to a couple of real-world pattern recognition problems (the face recognition and gene expression based cancer classification). Experimental results emphasize the robustness of Thinned-ECOC in comparison with existing state-of-the-art code generation methods.     

Multiple model bank selection based on nonlinearity measure and H-gap metric

This paper provides a systematic method for model bank selection in multi-linear model analysis for nonlinear systems by presenting a new algorithm which incorporates a nonlinearity measure and a modified gap based metric. This algorithm is developed for off-line use, but can be implemented for on-line usage. Initially, the nonlinearity measure analysis based on the higher order statistic (HOS) and the linear cross correlation methods are used for decomposing the total operating space into several regions with linear models. The resulting linear models are then used to construct the primary model bank. In order to avoid unnecessary linear local models in the primary model bank, a gap based metric is introduced and applied in order to merge similar linear local models. In order to illustrate the usefulness of the proposed algorithm, two simulation examples are presented: a pH neutralization plant and a continuous stirred tank reactor (CSTR).     

Flow resistance in a compound gravel-bed bend

In this paper, the effect of a gravel-bed in a compound bend (similar to sinusoidal top view) of a natural river (Zayandehrud River flowing through Isfahan, Iran) has been investigated for flow resistance analysis, measuring the velocity with a micro current meter. The data were analysed and the following observations were made. In a compound bend, the law of the wall can be valid for up to 66% of the flow depth from the bed. The parabolic law is the most effective method for the determination of shear velocity. Based on the existing criteria for verifying the equilibrium boundary layer, the flow cannot be in equilibrium. The shear stress distribution and the sediment transport parameters have considerable influence on resistance to flow. Froude number and the flow depth relative to the representative gravel size have little effect on the flow resistance estimation.     

Effect of Iron sulfate as electrolyte additive on plasma electrolytic oxidation of aluminum alloy

This study has been carried out to investigate the incorporation of Iron(II) sulfate as an additive of electrolyte on formed AA1010 aluminum alloy, using plasma electrolytic oxidation method in silicate-based electrolytes containing Iron(II) sulfate. In order to fabricate nanocomposite coating, silicon nitride nanopowder was added to electrolyte. The effects of iron(II) sulfate additive on the voltage-time trend, microstructure, compositions, wear, and corrosion resistances of PEO coatings were investigated. In addition, current density and concentration of additive were studied as parameters that were effective on coating. Results showed that although FeSO₄ enters to the coating structure, but it does not develop a new phase. The corrosion and wear behavior of coated samples with FeSO₄ indicate an improvement as compared to those without additive.     

High Gain Modified Dual-Band and Dual-Circularly Polarized Array Antenna

Wireless Personal Communications - A novel design of double-layer dual-band circularly polarized array antennas (DDCPAAs) is presented in this paper. First, a DDCP single antenna is introduced as...     

Dynamic modeling and CPG-based trajectory generation for a masticatory rehab robot

Human mastication is a complex and rhythmic biomechanical process which is regulated by a brain stem central pattern generator (CPG). Masticatory patterns, frequency and amplitude of mastication are different from person to person and significantly depend on food properties. The central nervous system controls the activity of muscles to produce smooth transitions between different movements. Therefore, to rehab human mandibular system, there is a real need to use the concept of CPG for development of a new methodology in jaw exercises and to help jaw movements recovery. This paper proposes a novel method for real-time trajectory generation of a mastication rehab robot. The proposed method combines several methods and concepts including kinematics, dynamics, trajectory generation and CPG. The purpose of this article is to provide a methodology to enable physiotherapists to perform the human jaw rehabilitation. In this paper, the robotic setup includes two Gough–Stewart platforms. The first platform is used as the rehab robot, while the second one is used to model the human jaw system. Once the modeling is completed, the second robot will be replaced by an actual patient for the selected physiotherapy. Gibbs–Appell’s formulation is used to obtain the dynamics equations of the rehab robot. Then, a method based on the Fourier series is employed to tune parameters of the CPG. It is shown that changes in leg lengths, due to the online changes of the mastication parameters, occur in a smooth and continuous manner. The key feature of the proposed method, when applied to human mastication, is its ability to adapt to the environment and change the chewing pattern in real-time parameters, such as amplitudes as well as jaw movements velocity during mastication.