State estimation and experimental verification of a robotic vehicle with six in-wheel drives using Kalman filter

Microsystem Technologies - In this research we present an algorithm for a six-wheeled robotic vehicle with articulated suspension (RVAS) to estimate the vehicle velocity and acceleration states,...     

Modeling and control of a finger-like mechanism using bending shape memory alloys

Microsystem Technologies - In this research a biologically inspired finger-like mechanism similar to human musculoskeletal system is developed based on Shape Memory Alloys (SMAs). SMA actuators are...     

Lung nodules detection using semantic segmentation and classification with optimal features

Neural Computing and Applications - Lung cancer is a deadly disease if not diagnosed in its early stages. However, early detection of lung cancer is a challenging task due to the shape and size of...     

RFID-based interactive multimedia system for the children

In this paper, we present an interactive edutainment system for the children that leverages multimedia and RFID technologies in a seamless manner. The proposed system allows children to learn about new objects/entities by tapping on physical objects through a specially designed RFID-Bluetooth based Tangible User Interface (TUI) tool. The output of the system is delivered as a set of appropriate multimedia representations related to the objects being tapped. The TUI uses RFID technology for object identification and Bluetooth communication to transmit data to the computer where the system??s software is running. We incorporated our system in three games that allow children of different ages to benefit from the system??s functionalities and encourage them to interact with it.     

Incorporation of a Regularization Term to Control Negative Correlation in Mixture of Experts

Combining accurate neural networks (NN) in the ensemble with negative error correlation greatly improves the generalization ability. Mixture of experts (ME) is a popular combining method which employs special error function for the simultaneous training of NN experts to produce negatively correlated NN experts. Although ME can produce negatively correlated experts, it does not include a control parameter like negative correlation learning (NCL) method to adjust this parameter explicitly. In this study, an approach is proposed to introduce this advantage of NCL into the training algorithm of ME, i.e., mixture of negatively correlated experts (MNCE). In this proposed method, the capability of a control parameter for NCL is incorporated in the error function of ME, which enables its training algorithm to establish better balance in bias-variance-covariance trade-off and thus improves the generalization ability. The proposed hybrid ensemble method, MNCE, is compared with their constituent methods, ME and NCL, in solving several benchmark problems. The experimental results show that our proposed ensemble method significantly improves the performance over the original ensemble methods.     

Computability of Countable Subshifts in One Dimension

We investigate the computability of countable subshifts in one dimension, and their members. Subshifts of Cantor?CBendixson rank two contain only eventually periodic elements. Any rank two subshift in 2^? is decidable. Subshifts of rank three may contain members of arbitrary Turing degree. In contrast, effectively closed ( $\Pi^{0}_{1}$ ) subshifts of rank three contain only computable elements, but $\Pi^{0}_{1}$ subshifts of rank four may contain members of arbitrary $\Delta^{0}_{2}$ degree. There is no subshift of rank ??+1.     

A new time invariant fuzzy time series forecasting method based on particle swarm optimization

In the analysis of time invariant fuzzy time series, fuzzy logic group relationships tables have been generally preferred for determination of fuzzy logic relationships. The reason of this is that it is not need to perform complex matrix operations when these tables are used. On the other hand, when fuzzy logic group relationships tables are exploited, membership values of fuzzy sets are ignored. Thus, in defiance of fuzzy set theory, fuzzy sets’ elements with the highest membership value are only considered. This situation causes information loss and decrease in the explanation power of the model. To deal with these problems, a novel time invariant fuzzy time series forecasting approach is proposed in this study. In the proposed method, membership values in the fuzzy relationship matrix are computed by using particle swarm optimization technique. The method suggested in this study is the first method proposed in the literature in which particle swarm optimization algorithm is used to determine fuzzy relations. In addition, in order to increase forecasting accuracy and make the proposed approach more systematic, the fuzzy c-means clustering method is used for fuzzification of time series in the proposed method. The proposed method is applied to well-known time series to show the forecasting performance of the method. These time series are also analyzed by using some other forecasting methods available in the literature. Then, the results obtained from the proposed method are compared to those produced by the other methods. It is observed that the proposed method gives the most accurate forecasts.     

Energy-efficient clustering in mobile ad-hoc networks using multi-objective particle swarm optimization

A mobile ad hoc network (MANET) is dynamic in nature and is composed of wirelessly connected nodes that perform hop-by-hop routing without the help of any fixed infrastructure. One of the important requirements of a MANET is the efficiency of energy, which increases the lifetime of the network. Several techniques have been proposed by researchers to achieve this goal and one of them is clustering in MANETs that can help in providing an energy-efficient solution. Clustering involves the selection of cluster-heads (CHs) for each cluster and fewer CHs result in greater energy efficiency as these nodes drain more power than noncluster-heads. In the literature, several techniques are available for clustering by using optimization and evolutionary techniques that provide a single solution at a time. In this paper, we propose a multi-objective solution by using multi-objective particle swarm optimization (MOPSO) algorithm to optimize the number of clusters in an ad hoc network as well as energy dissipation in nodes in order to provide an energy-efficient solution and reduce the network traffic. In the proposed solution, inter-cluster and intra-cluster traffic is managed by the cluster-heads. The proposed algorithm takes into consideration the degree of nodes, transmission power, and battery power consumption of the mobile nodes. The main advantage of this method is that it provides a set of solutions at a time. These solutions are achieved through optimal Pareto front. We compare the results of the proposed approach with two other well-known clustering techniques; WCA and CLPSO-based clustering by using different performance metrics. We perform extensive simulations to show that the proposed approach is an effective approach for clustering in mobile ad hoc networks environment and performs better than the other two approaches.     

Filtering for bilinear systems with a lipschitz nonlinearity using LPV approach

This paper deals with the H _?? filtering problem for a class of nonlinear systems. This class of nonlinear systems is composed of a bilinear part and of a lipschitzian one. The use of an unbiasedness condition for the bilinear part (called quasi unbiasedness condition) permits to parameterize the filter matrices through a single gain. Two LPV (Linear Parameter Varying) extensions of the bounded real lemma are used to solve the filtering problem. This approach reduces the conservatism inherent to the boundedness of the inputs. Then the filtering solution is expressed in terms of LMI (Linear Matrix Inequality) to be verified at the vertices of a polytope. A numerical example is finally given to illustrate our approach.