IJARAI Volume 4 Issue 5

Paper 1: The Influence of Stubborn Agents in a Multi-Agent Network for Inter-Team Cooperation/Negotiation

Abstract: When teams interact for cooperation or negotiation, there are unique dynamics that occur depending on the conditions. In this paper, a multi-agent system is used under the restrain of a network structure to model two teams of agents interacting for a common consensus, however with the presence of stubborn agents. The networks used were a minimum dumbbell network and two scale-free networks joined together. The network topology, which is a global characteristic, along with the presence of conflicting stubborn agents, can cause various conditions that affect teamwork in cooperation or negotiation. Notable characteristics revealed are boundary role persons (BRPs), lack of unity, need for a third party moderator, coalition formation, and loyalty of the BRP dependent on the distance from the core ideology of the team. Both local and global characteristics of network structures contribute to such phenomenon. The modeling method and corresponding simulation results provide valuable insight for predicting possible social dynamics and outcome when planning cooperation/negotiation tactics.

Author 1: Eugene S. Kitamura

Author 2: Akira Namatame

Keywords: Multi-agent system; consensus problem; stubborn agents; complex network; dumbbell network; Laplacian matrix; boundary role person; coalition formation

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Paper 2: Integral Lqr-Based 6dof Autonomous Quadrocopter Balancing System Control

Abstract: This paper presents an LQR-Based 6DOF control of an unmanned aerial vehicles (UAV), namely a small-scale quadrocopter. Due to its high nonlinearity and a high degree of coupling system, the control of an UAV is very challenging. quadrocopter trajectory tracking in a 3D space is greatly affected by the quadrocopter balancing around its roll-pitch-yaw frame. Lack of precise tracking control about the body frame may result in inaccurate localization with respect to a fixed frame. Thus, the present paper provides a high dynamic control tracking balanc-ing system response. An integral LQR-based controller is pro-posed to enhance the dynamic system response balancing on roll, pitch and yaw. The control on the hovering angles consists of two-cascaded loops. Namely, an inner loop for the angular speed control of each angular motion around the body frame axes, and an outer loop for the desired position control. In general, the proposed balancing control system on roll, pitch and yaw, has six control loops. The proposed control approach is implemented utilizing an embedded ATMega2560 microcontroller system. Practical results obtained from the proposed control approach exhibits fast and robust control response and high disturbance rejection.

Author 1: A Joukhadar

Author 2: I Hasan

Author 3: A Alsabbagh

Author 4: M Alkouzbary

Keywords: Quadrocopter; Balancing Control; Stability of Quadrocopter; LQR; Integral LQR; Modelling of Quadrocopter

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Paper 3: Cardiac Arrhythmia Classification by Wavelet Transform

Abstract: Cardiovascular diseases are the major public health parameter; they are the leading causes of mortality in the world. In fact many studies have been implemented to reduce the risk, including promoting education, prevention, and monitoring of patients at risk. In this paper we propose to develop classification system heartbeats. This system is based mainly on Wavelet Transform to extract features and Kohonen self-organization map the arrhythmias are considered in this study: N,(Normal), V(PrematureVentricular), A(AtrialPremature), S(Extrasystolesupraventriculaire), F(FusionN+S), R(RightBundle Branch).

Author 1: Hadji Salah

Author 2: Ellouze Noureddine

Keywords: ECG; QT database; Wavelet Transform; Classification; Kohonen self-organization map

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Paper 4: A Novel Control-Navigation System- Based Adaptive Optimal Controller & EKF Localization of DDMR

Abstract: This paper presents a newly developed approach for Differential Drive Mobile Robot (DDMR). The main goal is to provide a high dynamic system response in the joint space level, the low level control, as well as to enhance the DDMR localization. The proposed approach depends on a Linear Quadratic Regulator (LQR) for the low level control and an Adaptive LQR for the high level control. The investigated DDMR is considered highly nonlinear system due to uncertainty exhibited by the mobile robot incorporated with actuators nonlinearity. DDMR’s uncertainty leads to erroneous localization. An Extended Kalman Filter (EKF) -based approach with fusion sensors is used to enhance the robot degree of belief for its posture. Intensive simulation results obtained from the developed uncertain model and the proposed approach have shown very good dynamic performance on the low level control and very good convergence to the desired posture of the mobile robot path with the presence of robot uncertainty.

Author 1: Dalia Kass Hanna

Author 2: Abdulkader Joukhadar

Keywords: DDMR modelling; Localization; LQR; Adaptive LQR; EKF; System Uncertainty

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Paper 5: New Hybrid (SVMs -CSOA) Architecture for classifying Electrocardiograms Signals

Abstract: a medical test that provides diagnostic relevant information of the heart activity is obtained by means of an ElectroCardioGram (ECG). Many heart diseases can be found by analyzing ECG because this method with moral performance is very helpful for shaping human heart status. Support Vector Machines (SVM) has been widely applied in classification. In this paper we present the SVM parameter optimization approach using novel metaheuristic for evolutionary optimization algorithms is Cat Swarm Optimization Algorithm (CSOA). The results obtained assess the feasibility of new hybrid (SVMs -CSOA) architecture and demonstrate an improvement in terms of accuracy.

Author 1: Assist. Prof. Majida Ali Abed

Author 2: Assist. Prof. Dr. Hamid Ali Abed Alasad

Keywords: Electrocardiograms (ECG); classification; support vector machine; Cat Swarm Optimization

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