6,181 research outputs found
Recursive Newton-Euler formulation of manipulator dynamics
A recursive Newton-Euler procedure is presented for the formulation and solution of manipulator dynamical equations. The procedure includes rotational and translational joints and a topological tree. This model was verified analytically using a planar two-link manipulator. Also, the model was tested numerically against the Walker-Orin model using the Shuttle Remote Manipulator System data. The hinge accelerations obtained from both models were identical. The computational requirements of the model vary linearly with the number of joints. The computational efficiency of this method exceeds that of Walker-Orin methods. This procedure may be viewed as a considerable generalization of Armstrong's method. A six-by-six formulation is adopted which enhances both the computational efficiency and simplicity of the model
Polar Codes for Arbitrary Classical-Quantum Channels and Arbitrary cq-MACs
We prove polarization theorems for arbitrary classical-quantum (cq) channels.
The input alphabet is endowed with an arbitrary Abelian group operation and an
Ar{\i}kan-style transformation is applied using this operation. It is shown
that as the number of polarization steps becomes large, the synthetic
cq-channels polarize to deterministic homomorphism channels which project their
input to a quotient group of the input alphabet. This result is used to
construct polar codes for arbitrary cq-channels and arbitrary classical-quantum
multiple access channels (cq-MAC). The encoder can be implemented in operations, where is the blocklength of the code. A quantum successive
cancellation decoder for the constructed codes is proposed. It is shown that
the probability of error of this decoder decays faster than
for any .Comment: 30 pages. Submitted to IEEE Trans. Inform. Theory and in part to
ISIT201
Lung Cancer Detection Using Artificial Neural Network
In this paper, we developed an Artificial Neural Network (ANN) for detect the absence or presence of lung cancer in human body. Symptoms were used to diagnose the lung cancer, these symptoms such as Yellow fingers, Anxiety, Chronic Disease, Fatigue, Allergy, Wheezing, Coughing, Shortness of Breath, Swallowing Difficulty and Chest pain. They were used and other information about the person as input variables for our ANN. Our ANN established, trained, and validated using data set, which its title is âsurvey lung cancerâ. Model evaluation showed that the ANN model is able to detect the absence or presence of lung cancer with 96.67 % accuracy
Text-Independent Speaker Verification Using 3D Convolutional Neural Networks
In this paper, a novel method using 3D Convolutional Neural Network (3D-CNN)
architecture has been proposed for speaker verification in the text-independent
setting. One of the main challenges is the creation of the speaker models. Most
of the previously-reported approaches create speaker models based on averaging
the extracted features from utterances of the speaker, which is known as the
d-vector system. In our paper, we propose an adaptive feature learning by
utilizing the 3D-CNNs for direct speaker model creation in which, for both
development and enrollment phases, an identical number of spoken utterances per
speaker is fed to the network for representing the speakers' utterances and
creation of the speaker model. This leads to simultaneously capturing the
speaker-related information and building a more robust system to cope with
within-speaker variation. We demonstrate that the proposed method significantly
outperforms the traditional d-vector verification system. Moreover, the
proposed system can also be an alternative to the traditional d-vector system
which is a one-shot speaker modeling system by utilizing 3D-CNNs.Comment: Accepted to be published in IEEE International Conference on
Multimedia and Expo (ICME) 201
Web Application for Generating a Standard Coordinated Documentation for CS Studentsâ Graduation Project in Gaza Universities
The computer science (CS) graduated students suffered from documenting their projects and specially from coordinating it. In addition, studentsâ supervisors faced difficulties with guiding their students to an efficient process of documenting. In this paper, we will offer a suggestion as a solution to the mentioned problems; that is an application to make the process of documenting computer science (CS) student graduation project easy and time-cost efficient. This solution will decrease the possibility of human mistakes and reduce the effort of documenting process
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