Restoration of images corrupted by Gaussian and uniform impulsive noise

Many approaches to image restoration are aimed at removing either Gaussian or uniform impulsive noise. This is because both types of degradation processes are distinct in nature, and hence they are easier to manage when considered separately. Nevertheless, it is possible to find them operating on the same image, which produces a hard damage. This happens when an image, already contaminated by Gaussian noise in the image acquisition procedure, undergoes impulsive corruption during its digital transmission. Here we propose a principled method to remove both types of noise. It is based on a Bayesian classification of the input pixels, which is combined with the kernel regression framework.     

Robust model predictive control of constrained linear systems with bounded disturbances

This paper provides a novel solution to the problem of robust model predictive control of constrained, linear, discrete-time systems in the presence of bounded disturbances. The optimal control problem that is solved online includes, uniquely, the initial state of the model employed in the problem as a decision variable. The associated value function is zero in a disturbance invariant set that serves as the ‘origin’ when bounded disturbances are present, and permits a strong stability result, namely robust exponential stability of the disturbance invariant set for the controlled system with bounded disturbances, to be obtained. The resultant online algorithm is a quadratic program of similar complexity to that required in conventional model predictive control.     

An efficient accelerator for attribute reduction from incomplete data in rough set framework

Feature selection (attribute reduction) from large-scale incomplete data is a challenging problem in areas such as pattern recognition, machine learning and data mining. In rough set theory, feature selection from incomplete data aims to retain the discriminatory power of original features. To address this issue, many feature selection algorithms have been proposed, however, these algorithms are often computationally time-consuming. To overcome this shortcoming, we introduce in this paper a theoretic framework based on rough set theory, which is called positive approximation and can be used to accelerate a heuristic process for feature selection from incomplete data. As an application of the proposed accelerator, a general feature selection algorithm is designed. By integrating the accelerator into a heuristic algorithm, we obtain several modified representative heuristic feature selection algorithms in rough set theory. Experiments show that these modified algorithms outperform their original counterparts. It is worth noting that the performance of the modified algorithms becomes more visible when dealing with larger data sets.     

Model-based PI–fuzzy control of four-wheeled omni-directional mobile robots

The purpose of this study is to suggest and examine a PI–fuzzy path planner and associated low-level control system for a linear discrete dynamic model of omni-directional mobile robots to obtain optimal inputs for drivers. Velocity and acceleration filtering is also implemented in the path planner to satisfy planning prerequisites and prevent slippage. Regulated drivers’ rotational velocities and torques greatly affect the ability of these robots to perform trajectory planner tasks. These regulated values are examined in this research by setting up an optimal controller. Introducing optimal controllers such as linear quadratic tracking for multi-input–multi-output control systems in acceleration and deceleration is one of the essential subjects for motion control of omni-directional mobile robots. The main topics presented and discussed in this article are improvements in the presented discrete-time linear quadratic tracking approach such as the low-level controller and combined PI–fuzzy path planner with appropriate speed monitoring algorithm such as the high-level one in conditions both with and without external disturbance. The low-level tracking controller presented in this article provides an optimal solution to minimize the differences between the reference trajectory and the system output. The efficiency of this approach is also compared with that of previous PID controllers which employ kinematic modeling. Utilizing the new approach in trajectory-planning controller design results in more precise and appropriate outputs for the motion of four-wheeled omni-directional mobile robots, and the modeling and experimental results confirm this issue.     

Hardware-software co-synthesis of hard real-time systems with reconfigurable FPGAs

Real-time systems cover a wide application domain. This paper presents an efficient heuristic algorithm for enforcing the schedulability of aperiodic hard real-time tasks arriving simultaneously with precedence constraints and individual deadlines. The proposed co-synthesis algorithm integrates partitioning and non-preemptive scheduling. Reconfigurable FPGAs are incrementally added when schedulability suffers in a uniprocessor system. Initially, a schedule that minimizes the maximum lateness and satisfies the precedence constraints is made. If individual timing constraints are not met in this schedule, some tasks are selected and transferred to dynamically reconfigured FPGAs. The proposed algorithm was implemented and tested with a large number of task graphs with task size as high as 700 nodes. The algorithm could not only achieve schedulability but also could reduce the total completion time of the task graph. Moreover, incremental addition of reconfigurable FPGAs yielded a cost effective solution.     

Global exponential synchronization of fuzzy cellular neural networks with delays and reaction-diffusion terms

The global exponential synchronization for a class of fuzzy cellular neural networks with delays and reaction-diffusion terms is discussed. Some new sufficient conditions are obtained by using the Lyapunov functional method, many real parameters and inequality techniques. The result is also easy to check and plays an important role in the design and application of globally exponentially synchronization. Finally, an example is given to verify our results.     

Adaptive backstepping control of uncertain systems with unknown input time-delay

In this paper, we establish the robustness of adaptive controllers designed using the standard backstepping technique with respect to unmodeled dynamics involving unknown input time delay. While noting that some results on robust stabilization of non-minimum phase systems using the backstepping technique are available, we realize that the standard adaptive backstepping technique has only been shown applicable to unknown minimum phase systems. Another significance of our result is to enable the class of systems stablizable by adaptive backstepping controllers to cross the boundary of minimum phase systems, since systems with input time delay belong to non-minimum phase systems. Moreover, the L₂ and L_∞ norms of the system output are also established as functions of design parameters. This implies that the transient system performance can be adjusted by choosing suitable design parameters.     

A new algorithm for finding faces in wireframes

The problem of identifying the topology implied by wireframe drawings of polyhedral objects requires the identification of face loops, loops of edges which correspond to a face in the object the drawing portrays.In this paper, we survey the advantages and limitations of known approaches, and present and discuss test results which illustrate the successes and failures of a currently popular approach based on Dijkstra’s Algorithm. We conclude that the root cause of many failure cases is that the underlying algorithm assumes that the cost of traversing an edge is fixed.We propose a new polynomial-order algorithm for finding faces in wireframes. This algorithm could be adapted to any graph-theoretical least-cost circuit problem where the cost of traversing an edge is not fixed but context-dependent.     

Effective segmentation and classification for HCC biopsy images

Accurate grading for hepatocellular carcinoma (HCC) biopsy images is important to prognosis and treatment planning. In this paper, we propose an automatic system for grading HCC biopsy images. In preprocessing, we use a dual morphological grayscale reconstruction method to remove noise and accentuate nuclear shapes. A marker-controlled watershed transform is applied to obtain the initial contours of nuclei and a snake model is used to segment the shapes of nuclei smoothly and precisely. Fourteen features are then extracted based on six types of characteristics for HCC classification. Finally, we propose a SVM-based decision-graph classifier to classify HCC biopsy images. Experimental results show that 94.54% of classification accuracy can be achieved by using our SVM-based decision-graph classifier while 90.07% and 92.88% of classification accuracy can be achieved by using k-NN and SVM classifiers, respectively.     

An energy-efficient mobile transaction processing method using random back-off in wireless broadcast environments

Broadcast is widely accepted as an efficient technique for disseminating data to a large number of mobile clients over a single or multiple channels. Due to the limited uplink bandwidth from mobile clients to server, conventional concurrency control methods cannot be directly applied. There has been many researches on concurrency control methods for wireless broadcast environments. However, they are mostly for read-only transactions or do not consider exploiting cache. They also suffer from the repetitive aborts and restarts of mobile transactions when the access patterns of mobile transactions are skewed. In this paper, we propose a new optimistic concurrency control method suitable for mobile broadcast environments. To prevent the repetitive aborts and restarts of mobile transactions, we propose a random back-off technique. To exploit the cache on mobile clients, our method keeps the read data set of mobile transactions and prefetches those data items when the mobile transactions are restarted. As other existing optimistic concurrency control methods for mobile broadcast environments does, it works for both read-only and update transactions. Read-only transactions are validated and locally committed without using any uplink bandwidth. Update transactions are validated with forward and backward validation, and committed after final validation consuming a small amount of uplink bandwidth. Our performance analysis shows that it significantly decreases uplink and downlink bandwidth usage compared to other existing methods.