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Speedup Robust Features based unsupervised place recognition for assistive mobile robot

Speedup Robust Features based unsupervised place recognition...

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International Conference on Pattern Analysis and Intelligence Robotics

作者： Karasfi, Babak Hong, Tang Sai Jalalian, Afsaneh Nakhaeinia, Danial Institute of Advanced Technology University Putra Malaysia Selangor Malaysia Department of Mechanical and Manufacturing Engineering Engineering Faculty University Putra Malaysia Selangor Malaysia Department of Computer and Communication System Engineering Engineering Faculty University Putra Malaysia Selangor Malaysia

ISBN: (纸本)9781612844046

Vision Based qualitative localization or in the other word place recognition is an important perceptual problem at the center of several fundamental robot procedures. Place recognition approaches are utilized to solve the global localization problem. These methods are typically performed in a supervised mode. In this paper an appearance-based unsupervised place clustering and recognition algorithm are introduced. This method fuses several image features using Speedup Robust Features (SURF) by agglomerating them into the union form of features inside each place cluster. The number of place clusters can be extracted by investigating the SURF based scene similarity diagram between adjacent images. Experimental results show that this method is robust, accurate, efficient and able to create topological place clusters for solving the global localization problem with acceptable performance by the factor of clustering error and recognition precision. © 2011 IEEE.

关键词： Topology

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Mobile element path planning for gathering transit-time constrained data

Mobile element path planning for gathering transit-time cons...

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2011 12th International Conference on Parallel and Distributed Computing, Applications and Technologies, PDCAT 2011

作者： Almi'ani, Khaled Viglas, Anastasios Aalsalem, Mohammed Faculity of Information Technology Al Hussein Bin Talal University Maan Jordan School of Information Technologies University of Sydney NSW 2006 Australia Faculty of Computer and Information System Jazan University Saudi Arabia

ISBN: (纸本)9780769545646

In this paper we investigate the problem of gathering the data in wireless sensor network using a single Mobile Element. In particular we consider the case where the data are produced by measurements and they need to be delivered to a predefined sink within a given time interval from the time the measurement takes place. A mobile element travels the network in predefined paths, collect the data from the nodes, and deliver them to the sink by a single long-distance transmission. In this problem, the length of the mobile element path is bounded by pre-determined length. This path will visit a subset of the nodes. These selected nodes will work as caching points and will aggregate the other nodes'data. The caching point nodes are selected with the aim of reducing the energy expenditures due to multi-hop forwarding. We provide a heuristic-based solution for this problem. We evaluate the performance of our algorithm by comparing it to the optimal solution as well as the best wellknown algorithms from the literature. © 2011 IEEE.

关键词： Motion planning

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Rough set theory for feature ranking of traditional Malay musical instruments sounds dataset

Rough set theory for feature ranking of traditional Malay mu...

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2nd International Conference on Software Engineering and computer systems, ICSECS 2011

作者： Senan, Norhalina Ibrahim, Rosziati Mohd. Nawi, Nazri Riyadi Yanto, Iwan Tri Herawan, Tutut Faculty of Computer Science and Information Technology Universiti Tun Hussein Onn Malaysia Batu Pahat 86400 Johor Malaysia Department of Mathematics Universitas Ahmad Dahlan Yogyakarta 55166 Indonesia Faculty of Computer System and Software Engineering Universiti Malaysia Pahang Lebuh Raya Tun Razak Gambang 26300 Pahang Malaysia

ISBN: (纸本)9783642221903

This paper presents an alternative feature ranking technique for Traditional Malay musical instruments sounds dataset using rough-set theory based on the maximum degree of dependency of attributes. The modeling process comprises seven phases: data acquisition, sound editing, data representation, feature extraction, data discretization, data cleansing, and finally feature ranking using the proposed technique. The results show that the selected features generated from the proposed technique able to reduce the complexity process. © 2011 Springer-Verlag.

关键词： Rough set theory

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An outlook of state-of-the-art approaches in functional testing of web application

An outlook of state-of-the-art approaches in functional test...

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作者： Suhaila, M.Y. Wan Mohd Nasir, W.K. Department of Software Engineering Faculty of Computer Science and Information Technology University Tun Hussein Onn Malaysia 86400 Parit Raja Batu Pahat Johor Malaysia Department of Software Engineering Faculty of Computer Science and Information System University Teknologi Malaysia 81310 Skudai Johor Malaysia

ISBN: (纸本)9789881821034

The numerous recent contribution of web application testing approaches reflect the rising awareness and concern for assuring web application's functionality and performance. The functionality of a web application cannot be compromised, especially if dealing with critical web-based applications such as online banking system, ticketing system and file hosting services. This paper aims to systematically investigate state-of-the-art functional testing approaches for web applications. Focus will be given on testing techniques that address the functional aspect of a web application. In this paper we firstly perform exhaustive literature reviews on state-of-the-art approaches in functional testing of web application. Next, a comparative evaluation framework that consists of several related criteria is developed, and subsequently applied to the selected prominent approaches. Finally, we present a critical discussion on the results of the comparative evaluation. Based on our observations, the evaluation results may indicate the current and future direction in web application functional testing and the viability of these approaches. Through the results, we will be able to determine the direction of functional web application testing and which area within the functional requirement aspect of web applications that has not duly being addressed.

关键词： Software testing

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A highly interpretable fuzzy rule base using ordinal structure for obstacle avoidance of mobile robot

A highly interpretable fuzzy rule base using ordinal structu...

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作者： Samsudin, Khairulmizam Ahmad, Faisul Arif Mashohor, Syamsiah Intelligent System and Robotics Laboratory Institute of Advanced Technology Universiti Putra Malaysia 43400 Serdang Selangor Malaysia Department of Computer and Communication Systems Faculty of Engineering Universiti Putra Malaysia 43400 Serdang Selangor Malaysia

Conventional fuzzy logic controller is applicable when there are only two fuzzy inputs with usually one output. Complexity increases when there are more than one inputs and outputs making the system unrealizable. The ordinal structure model of fuzzy reasoning has an advantage of managing high-dimensional problem with multiple input and output variables ensuring the interpretability of the rule set. This is achieved by giving an associated weight to each rule in the defuzzification process. In this work, a methodology to design an ordinal fuzzy logic controller with application for obstacle avoidance of Khepera mobile robot is presented. The implementation will show that ordinal structure fuzzy is easier to design with highly interpretable rules compared to conventional fuzzy controller. In order to achieve high accuracy, a specially tailored Genetic Algorithm (GA) approach for reinforcement learning has been proposed to optimize the ordinal structure fuzzy controller. Simulation results demonstrated improved obstacle avoidance performance in comparison with conventional fuzzy controllers. Comparison of direct and incremental GA for optimization of the controller is also presented. © 2010 Elsevier B.V. All rights reserved.

关键词： Genetic algorithms

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Super attribute representative for decision attribute selection

Super attribute representative for decision attribute select...

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2nd International Conference on Software Engineering and computer systems, ICSECS 2011

作者： Mamat, Rabiei Herawan, Tutut Mat Deris, Mustafa Department of Computer Science Universiti Malaysia Terengganu Gong Badak 21030 Kuala Terengganu Terengganu Malaysia Faculty of Computer System and Software Engineering Universiti Malaysia Pahang Lebuhraya Tun Razak Gambang 26300 Kuantan Pahang Malaysia Faculty of Computer Science and Information Technology Universiti Tun Hussein Onn Malaysia Parit Raja Batu Pahat 86400 Johor Malaysia

ISBN: (纸本)9783642221903

Soft set theory proposed by Molodstov is a general mathematic tool for dealing with uncertainties. Recently, several algorithms had been proposed for decision making using soft set theory. However, these algorithms still concern on a Boolean-valued information system. In this paper, Support Attribute Representative (SAR), a soft set based technique for decision making in categorical-valued information system is proposed. The proposed technique has been tested on two datasets. The results of this research will provide useful information for decision makers to handle categorical datasets. © 2011 Springer-Verlag.

关键词： Data mining

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An alternative measure for mining weighted least association rule and its framework

An alternative measure for mining weighted least association...

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2nd International Conference on Software Engineering and computer systems, ICSECS 2011

作者： Abdullah, Zailani Herawan, Tutut Mat Deris, Mustafa Department of Computer Science Universiti Malaysia Terengganu Gong Badak 21030 Kuala Terengganu Terengganu Malaysia Faculty of Computer System and Software Engineering Universiti Malaysia Pahang Lebuh Raya Tun Razak Gambang Kuantan 26300 Malaysia Faculty of Computer Science and Information Technology Universiti Tun Hussein Onn Malaysia Parit Raja Batu Pahat 86400 Johor Malaysia

ISBN: (纸本)9783642221903

Mining weighted based association rules has received a great attention and consider as one of the important area in data mining. Most of the items in transactional databases are not always carried with the same binary value. Some of them might associate with different level of important such as the profit margins, weights, etc. However, the study in this area is quite complex and thus required an appropriate scheme for rules detection. Therefore, this paper proposes a new measure called Weighted Support Association Rules (WSAR*) measure to discover the significant association rules and Weighted Least Association Rules (WELAR) framework. Experiment results shows that the significant association rules are successfully mined and the unimportant rules are easily differentiated. Our algorithm in WELAR framework also outperforms the benchmarked FP-Growth algorithm. © 2011 Springer-Verlag.

关键词： Association rules

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Set-point control for folded posture of 3-link underactuated gymnastic planar robot: Beyond the swing-up control

Set-point control for folded posture of 3-link underactuated...

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作者： Xin, Xin Liu, Yannian She, Jinhua Guo, Lei Faculty of Computer Science and System Engineering Okayama Prefectural University Okayama 719-1197 Japan School of Computer Science Tokyo University of Technology Hachioji Tokyo 192-0982 Japan School of Instrument Science and Opto-Electronics Engineering Beihang University Beijing 100191 China

ISBN: (纸本)9783902661937

This paper concerns a set-point control for a folded posture of a 3-link gymnastic planar robot moving in the vertical plane with the first joint being passive and the others being active. To realize the goal posture of the kip motion of a gymnast on the high bar, the control objective is to drive the robot from any arbitrary initial state to any arbitrarily small neighborhood of the up-down-down equilibrium point and then balance the robot about that point, where the first link is in the upright position and the second and third links are in the downward position. This paper uses the energy-based control approach and the notion of virtual composite link to design a controller and provides a global motion analysis of the robot. This paper shows that the control toward such a folded posture is different from the swing-up control problem, for which all three links are fully stretched out in the upright position at the goal posture. A new result of this paper is that in addition to some conditions on the control parameters, a constraint on the mechanical parameters of the robot is needed for achieving the set-point control of the folded posture. The simulation results for two 3-link robots are provided to validate the effectiveness of the proposed control law and the necessity of the constraint. © 2011 IFAC.

关键词： Motion analysis

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Graph-based simulated annealing and support vector machine in Malware detection

Graph-based simulated annealing and support vector machine i...

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Malaysian Conference in Software Engineering (MySEC)

作者： Abubakr Sirageldin Ali Selamat Roliana Ibrahim Faculty of computer Science& Information System University Technology of Malaysia Johor Bahru Malaysia

As ongoing war between the malware developer and defense mechanism planners there is a great challenge in providing an effective defense mechanism against evasion technique used by malware authors. The present paper provides a framework for malware detection based on the analysis of graphs introduced from instructions of the executable objects. The graph is constructed through the graph extractor, and then we used the simulated annealing algorithm to approximate the graph similarity measure. The threshold value plays a great role to relate the support vector machine to confirm the real class of the file, benign or malicious.

关键词： Malware Support vector machines Simulated annealing Kernel Classification algorithms Algorithm design and analysis Accuracy

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Design and Implementation of a Dynamic Reconfigurable Classroom for Cooperative Learning

Design and Implementation of a Dynamic Reconfigurable Classr...

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International Conference on Intelligent Networking and Collaborative systems (INCOS)

作者： Hideki Kondo Hiroyuki Narahara Department of Mechanical Information Science and Technology Faculty of Computer Science and System Engineering Kyushu Institute of Technology Iizuka Japan

In order to practically examine a new type of class, in which cooperative learning is taken into consideration, we designed and built a classroom. This classroom, in which furniture and a flexible ICT basis are both designed reconfigurable, supports much more complex interactions between learners than in a traditional classroom. Two months' observation of the activities in the classroom shows that many aspects of the reconfigurations have encouraged complex interactions within cooperative learning.

关键词： Servers Materials Collaboration Dynamic scheduling Multicore processing Information science Education

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