Learning multiple experiences useful visual features for active maps localization in crowded environments

Crowded urban environments are composed of different types of dynamic and static elements. Learning and classification of features is a major task in solving the localization problem in such environments. This work presents a gradual learning methodology to learn the useful features using multiple experiences. The usefulness of an observed element is evaluated by a scoring mechanism which uses two scores – reliability and distinctiveness. The visual features thus learned are used to partition the visual map into smaller regions. The robot is efficiently localized in such a partitioned environment using two-level localization. The concept of active map (AM) is proposed here, which is a map that represents one partition of the environment in which there is a high probability of the robot existing. High-level localization is used to track the mode of the AMs using discrete Bayes filter. Low-level localization uses a bag-of-words model to retrieve images and accurately localize the robot. The pose of the robot is the one retrieved from the AM that has maximum a posteriori. Experiments have been conducted on a unique highly crowded data-set collected from Indian roads. The results support the proposed method due to speed and localization accuracy.     

A novel silver–aluminium high-temperature die attach nanopaste system: the effects of organic additives content on post-sintered attributes

An Ag–Al die attach material having a fixed Ag–Al nanoparticles weight percent content (80–20 %), as well as varying organic additives weight percent content was formulated. The total nanoparticle weight percent content was varied between 84.7 and 87.0 %. As the organic additives content in the Ag₈₀–Al₂₀ die attach material decreased from 15.3 to 13.0 %, the nanopaste’s viscosity increased. The die attach material was sintered at 380 °C for 30 min to form Ag₂Al and Ag₃Al compounds. With decreasing organics content from 15.3 to 13.0 %, the porosity of the post-sintered samples also decreased from 30 to 19 %, while the density increased from 2.36 to 6.42 g/cm³. The highest melting point was recorded for the sample with the least organic weight percent content at 519 °C. The coefficient of thermal expansion and electrical conductivity values varied between 6.99–7.74 × 10^?6/ °C and 0.95–1.01 × 10⁵ (ohm-cm)^?1 respectively with decreasing organic content from 15.3 to 13.0 %. The electrical conductivity values recorded were higher than or equal to that of most solder alloy die attach materials. By changing the organic additives content in the Ag₈₀–Al₂₀ die attach material, suitable properties are obtained for high temperature die attach applications.     

Effect of rolling deformation on the structures and properties of multi‐walled carbon nanotube filled isotactic polypropylene

Isotactic polypropylene filled with various contents of multi‐walled carbon nanotubes (MWCNTs) were fabricated by the injection molding technique and then rolled at room temperature. The unrolled samples (URS) and rolled samples (RS) were characterized by X‐ray diffraction studies, scanning electron microscopy, mechanical and micromechanical tests and differential thermal analyses. Although the URS exhibit the lamellar α‐crystal with a*‐axis orientation, the RS show the same crystals with both a*‐ and c‐axis orientation, which is explained by interlamellar and intralamellar slips and lamellar destruction. Scanning electron micrographs display distinct surface morphological features for both URS and RS. While the tensile strength of RS is higher than that of URS, the Young's modulus (Y) is found to be lower than that of URS. Anisotropy in microharness (H) parallel and perpendicular to the rolled direction has been detected, although H for both samples increases with increasing MWCNT contents. The average relationship H/Y ≈ 0.18 as estimated for URS is closer to the predicted value of 0.10 for polymers than the H/Y ≈ 0.22 obtained for RS. The lamellar thickness for URS increases with increase of MWCNT content and that for RS decreases, as evaluated from both differential thermal analyses and X‐ray diffraction data. Copyright © 2011 Society of Chemical Industry     

Integrated ozone–photo–Fenton process for the removal of pollutant from industrial wastewater

The use of hybrid advanced oxidation processes(AOPs) for the removal of pollutants from industrial effluents has been extensively studied in recent literature. The aim of this study is to compare the performance of the photo,Fenton, photo-Fenton and ozone–photo–Fenton processes in terms of color removal and chemical oxygen demand(COD) removal of distillery industrial effluent together with the associated electrical energy per order. It was observed from the experimental results that the O_3/UV/Fe~(2 +)/H_2O_2 process yielded a 100% color and95.50% COD removals with electrical energy per order of 0.015 k W·h·m~(-3) compared to all other combinations of the AOPs. The effects of various operating parameters such as H_2O_2 and Fe~(2+) concentration, effluent pH, COD concentration and UV power on the removal of color, COD and electrical energy per order for the ozone–photo–Fenton process was critically studied and reported. The color and COD removals were analyzed using a UV/Vis spectrometer and closed reflux method.     

A novel finite rings based algebraic scheme of evolving secure S-boxes for images encryption

Multimedia Tools and Applications - Substitution-boxes have significant role in block ciphers as they are the only component which offers nonlinearity in the anticipated symmetric encryption...     

A review of hashing based image authentication techniques

Multimedia Tools and Applications - In the recent digitization era, image hashing is a key technology, including image recognition, authentication and manipulation detection, among many multimedia...     

Revamping SiO2 Spheres by Core–Shell Porosity Endowment to Construct a Mazelike Nanoreactor for Enhanced Catalysis in CO2 Hydrogenation to Methanol

Beyond the catalytic activity of nanocatalysts, the support with architectural design and explicit boundary could also promote the overall performance through improving the diffusion process, highlighting additional support for the morphology-dependent activity. To delineate this, herein, a novel mazelike-reactor framework, namely multi-voids mesoporous silica sphere (MVmSiO₂), is carved through a top-down approach by endowing core-shell porosity premade Stöber SiO₂ spheres. The precisely-engineered MVmSiO₂ with peripheral one-dimensional pores in the shell and interconnecting compartmented voids in the core region is simulated to prove combined hierarchical and structural superiority over its analogous counterparts. Supported with CuZn-based alloys, mazelike MVmSiO₂ nanoreactor experimentally demonstrated its expected workability in model gas-phase CO₂ hydrogenation reaction where enhanced CO₂ activity, good methanol yield, and more importantly, a prolonged stable performance are realized. While tuning the nanoreactor composition besides morphology optimization could further increase the catalytic performance, it is accentuated that the morphological architecture of support further boosts the reaction performance apart from comprehensive compositional optimization. In addition to the found morphological restraints and size-confinement effects imposed by MVmSiO₂, active sites of catalysts are also investigated by exploring the size difference of the confined CuZn alloy nanoparticles in CO₂ hydrogenation employing both in-situ experimental characterizations and density functional theory calculations.     

Effective beneficiation of low content nickel ferrous laterite using fluxing agent through Na2SO4 selective reduction

To address the issue of high energy employment and un-green processing in limonitic laterites extraction, selective reduction using Na₂SO₄ additive with the introduction of different fluxes including quicklime, dolomite, and limestone followed by magnetic separation was studied. The objective of the research was to find out the influence of fluxes in optimizing ferronickel product of reduction. The reduction process was carried out at 1400 °C for 6 hours and the obtained product was characterized by scanning electron microscopy (SEM), emission dispersive x-ray (EDX), and x-ray diffraction (XRD) to image the morphology, determine the composition, and examine the mineralogical structure. Result showed that the employment of fluxes exhibited positive effect in improving the product. The highest nickel grade was 21.68 % using limestone flux, while the most promising recovery was 93.73 % utilizing dolomite flux. Meanwhile, mineralogical assessment also proved that the ascending of nickel content is due to the formation of troilite (FeS) as the result of synergy between Na₂SO₄ additives and carbonate minerals from fluxes. This result exhibits a notable performance of fluxes for improving the product of selective reduction.     

EETP-MAC: energy efficient traffic prioritization for medium access control in wireless body area networks

Wireless body area network (WBAN) has witnessed significant attentions in the healthcare domain using biomedical sensor-based monitoring of heterogeneous nature of vital signs of a patient’s body. The design of frequency band, MAC superframe structure, and slots allocation to the heterogeneous nature of the patient’s packets have become the challenging problems in WBAN due to the diverse QoS requirements. In this context, this paper proposes an Energy Efficient Traffic Prioritization for Medium Access Control (EETP-MAC) protocol, which provides sufficient slots with higher bandwidth and guard bands to avoid channels interference causing longer delay. Specifically, the design of EETP-MAC is broadly divided in to four folds. Firstly, patient data traffic prioritization is presented with broad categorization including Non-Constrained Data (NCD), Delay-Constrained Data (DCD), Reliability-Constrained Data (RCD) and Critical Data (CD). Secondly, a modified superframe structure design is proposed for effectively handling the traffic prioritization. Thirdly, threshold based slot allocation technique is developed to reduce contention by effectively quantifying criticality on patient data. Forth, an energy efficient frame design is presented focusing on beacon interval, superframe duration, and packet size and inactive period. Simulations are performed to comparatively evaluate the performance of the proposed EETP-MAC with the state-of-the-art MAC protocols. The comparative evaluation attests the benefit of EETP-MAC in terms of efficient slot allocation resulting in lower delay and energy consumption.

     

Low‐cost dye‐sensitized solar cells with ball‐milled tellurium‐doped graphene as counter electrodes and a natural sensitizer dye

This paper presents a facile and economic development of dye‐sensitized solar cells using a nonprecious counter electrode made from ball‐milled tellurium‐doped graphene (Te‐Gr) and a natural sensitizer extracted from Calotropis gigantea leaves. The prepared materials were characterized using various techniques, such as Raman spectroscopy, X‐ray diffraction (XRD), atomic force microscopy (AFM), impedance spectroscopy, and scanning electron microscopy with built‐in energy‐dispersive X‐ray spectroscopy (SEM with EDS). The electrochemical activity of the produced counter electrodes and the impedance of the fabricated cells were examined and discussed to devise plans for future enhancement of cell performance. A clear pattern of improvement was found when using cost‐effective Te‐Gr relative to the costly platinum counter electrodes, especially when compared with cells employing another natural sensitizer. The results show approximately 51% enhancement over chlorophyll‐based cells made from spinach, where the added advantage in our approach is the utilization of an abundant plant extract with little nutritional appeal.