Fusion of probabilistic A* algorithm and fuzzy inference system for robotic path planning

Robotic Path planning is one of the most studied problems in the field of robotics. The problem has been solved using numerous statistical, soft computing and other approaches. In this paper we solve the problem of robotic path planning using a combination of A* algorithm and Fuzzy Inference. The A* algorithm does the higher level planning by working on a lower detail map. The algorithm finds the shortest path at the same time generating the result in a finite time. The A* algorithm is used on a probability based map. The lower level planning is done by the Fuzzy Inference System (FIS). The FIS works on the detailed graph where the occurrence of obstacles is precisely known. The FIS generates smoother paths catering to the non-holonomic constraints. The results of A* algorithm serve as a guide for FIS planner. The FIS system was initially generated using heuristic rules. Once this model was ready, the fuzzy parameters were optimized using a Genetic Algorithm. Three sample problems were created and the quality of solutions generated by FIS was used as the fitness function of the GA. The GA tried to optimize the distance from the closest obstacle, total path length and the sharpest turn at any time in the journey of the robot. The resulting FIS was easily able to plan the path of the robot. We tested the algorithm on various complex and simple paths. All paths generated were optimal in terms of path length and smoothness. The robot was easily able to escape a variety of obstacles and reach the goal in an optimal manner.     

A general framework for efficient geographic routing in wireless networks

We propose a new link metric called normalized advance (NADV) for geographic routing in multihop wireless networks. NADV selects neighbors with the optimal trade-off between proximity and link cost. Coupled with the local next hop decision in geographic routing, NADV enables an adaptive and efficient cost-aware routing strategy. Depending on the objective or message priority, applications can use the NADV framework to minimize various types of link cost.We present efficient methods for link cost estimation and perform detailed experiments in simulated environments. Our results show that NADV outperforms current schemes in many aspects: for example, in high noise environments with frequent packet losses, the use of NADV leads to 81% higher delivery ratio. When compared to centralized routing under certain settings, geographic routing using NADV finds paths whose cost is close to the optimum. We also conducted experiments in Emulab testbed and the results demonstrate that our proposed approach performs well in practice.     

SMARTINT: using mined attribute dependencies to integrate fragmented web databases

Many web databases can be seen as providing partial and overlapping information about entities in the world. To answer queries effectively, we need to integrate the information about the individual entities that are fragmented over multiple sources. At first blush this is just the inverse of traditional database normalization problem—rather than go from a universal relation to normalized tables, we want to reconstruct the universal relation given the tables (sources). The standard way of reconstructing the entities will involve joining the tables. Unfortunately, because of the autonomous and decentralized way in which the sources are populated, they often do not have Primary Key–Foreign Key relations. While tables may share attributes, naive joins over these shared attributes can result in reconstruction of many spurious entities thus seriously compromising precision. Our system, SmartInt is aimed at addressing the problem of data integration in such scenarios. Given a query, our system uses the Approximate Functional Dependencies (AFDs) to piece together a tree of relevant tables to answer it. The result tuples produced by our system are able to strike a favorable balance between precision and recall.     

On Using a Warehouse to Analyze Web Logs

Analyzing Web Logs for usage and access trends can not only provide important information to web site developers and administrators, but also help in creating adaptive web sites. While there are many existing tools that generate fixed reports from web logs, they typically do not allow ad-hoc analysis queries. Moreover, such tools cannot discover hidden patterns of access embedded in the access logs. We describe a relational OLAP (ROLAP) approach for creating a web-log warehouse. This is populated both from web logs, as well as the results of mining web logs. We discuss the design criteria that influenced our choice of dimensions, facts and data granularity. A web based ad-hoc tool for analytic queries on the warehouse was developed. We present some of the performance specific experiments that we performed on our warehouse.     

Scene change detection techniques for video database systems

Scene change detection (SCD) is one of several fundamental problems in the design of a video database management system (VDBMS). It is the first step towards the automatic segmentation, annotation, and indexing of video data. SCD is also used in other aspects of VDBMS, e.g., hierarchical representation and efficient browsing of the video data. In this paper, we provide a taxonomy that classifies existing SCD algorithms into three categories: full-video-image-based, compressed-video-based, and model-based algorithms. The capabilities and limitations of the SCD algorithms are discussed in detail. The paper also proposes a set of criteria for measuring and comparing the performance of various SCD algorithms. We conclude by discussing some important research directions.     

Effect of beam limiting aperture and collector potential on multi-element focused ion beams

A compact microwave driven plasma based multi-element focused ion beam system has been developed. In the present work, the effect of reduced beam limiter (BL) aperture on the focused ion beam parameters, such as current and spot size, and a method of controlling beam energy independently by introducing a biased collector at focal point (FP) are investigated. It is found that the location of FP does not change due to the reduction of BL aperture. The location of FP and beam size are found to be weakly dependent on the collector potential in the range from -8 kV to -18 kV.     

A multi-item transportation problem with fuzzy tolerance

This paper presents the recently introduced modified subgradient method for optimization and its effectiveness in a fuzzy transportation model. Here a multi-item balanced transportation problem (MIBTP) is formulated where unit transportation costs are imprecise. Also available spaces and budgets at destinations are limited but imprecise. The objective is to find a shipment schedule for the items that minimizes the total cost subjected to imprecise warehouse and budget constraints at destinations. The proposed model is reduced to a multi-objective optimization problem using tolerances, then to a crisp single-objective one using fuzzy non-linear programming (FNLP) technique and Zimmermann's method. The above fuzzy MIBTP is also reduced to another form of deterministic one using modified sub-gradient method (MSM). These two crisp optimization problems are solved by Genetic Algorithm (GA). As an extension, fuzzy multi-item balanced solid transportation problems (STPs) with and without restrictions on some routes and items are formulated and reduced to deterministic ones following FNLP and Zimmermann's methods. These models are also solved by GA. Models are illustrated numerically, optimum results of fuzzy MIBTP from two deductions are compared. Results are also presented for different GA parameters.     

An implementation of Min–Max optimization for multipath SCTP through bandwidth estimation based resource pooling technique

Multipath transport protocols like Stream Control Transmission Protocol (SCTP) and Multipath TCP (MPTCP) have been introduced in the past as alternatives to traditional single path transport protocols like TCP and UDP. Various approaches to divide the flow on multiple paths have also been proposed in the literature. In this work, we show that the bandwidth estimation based resource pooling (BERP) congestion control algorithm is a practical implementation of the Min–Max optimization approach for flow division and verify this through ns-2 based simulations.     

Effect of Change in Strain Path During Cold Rolling on the Evolution of Microstructure and Texture in Al and Al-2.5%Mg

The effect of change in strain path during cold rolling on the evolution of microstructure and texture is investigated. For this purpose, high purity aluminum and Al-2.5%Mg alloy are deformed (~90% reduction in thickness) by unidirectional and cross cold rolling. Irrespective of the alloy system, copper-type texture is observed in unidirectional processed materials, while strong brass ({011}〈112〉) texture is developed during cross rolling. Unidirectionally rolled aluminum showed higher HAGB fraction, but similar HAGB spacing as compared to the cross-rolled aluminum after 90% reduction in thickness. At the same time, the internal misorientation in the cross-rolled 2N-Al is higher than in the unidirectionally rolled material. In contrast, Al-2.5% Mg alloy processed differently in both ways shows similar HAGB fraction, spacing, and internal misorientation distribution. These observations indicate that microstructure evolution due to strain path change is more strongly affected by dynamic recovery as compared to texture evolution.