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- 저자 : Anwary, (검색결과 6 건)
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Unsupervised Real-time Obstacle Avoidance Technique based on a Hybrid Fuzzy Method for AUVs
Anwary, Arif Reza,Lee, Young-Il,Jung, Hee,Kim, Yong-Gi Korean Institute of Intelligent Systems 2008 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.8 No.1
The article presents ARTMAP and Fuzzy BK-Product approach underwater obstacle avoidance for the Autonomous underwater Vehicles (AUV). The AUV moves an unstructured area of underwater and could be met with obstacles in its way. The AUVs are equipped with complex sensorial systems like camera, aquatic sonar system, and transducers. A Neural integrated Fuzzy BK-Product controller, which integrates Fuzzy logic representation of the human thinking procedure with the learning capabilities of neural-networks (ARTMAP), is developed for obstacle avoidance in the case of unstructured areas. In this paper, ARTMAP-Fuzzy BK-Product controller architecture comprises of two distinct elements, are 1) Fuzzy Logic Membership Function and 2) Feed-Forward ART component. Feed-Forward ART component is used to understanding the unstructured underwater environment and Fuzzy BK-Product interpolates the Fuzzy rule set and after the defuzzyfication, the output is used to take the decision for safety direction to go for avoiding the obstacle collision with the AUV. An on-line reinforcement learning method is introduced which adapts the performance of the fuzzy units continuously to any changes in the environment and make decision for the optimal path from source to destination.
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Unsupervised Real-time Obstacle Avoidance Technique based on a Hybrid Fuzzy Method for AUVs
Arif Reza Anwary,Yong-il Lee,Hee Jung,Yong-Gi Kim 한국지능시스템학회 2008 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.8 No.1
The article presents ARTMAP and Fuzzy BK-Product approach underwater obstacle avoidance for the Autonomous underwater Vehicles (AUV). The AUV moves an unstructured area of underwater and could be met with obstacles in its way. The AUVs are equipped with complex sensorial systems like camera, aquatic sonar system, and transducers. A Neural integrated Fuzzy BK-Product controller, which integrates Fuzzy logic representation of the human thinking procedure with the learning capabilities of neural-networks (ARTMAP), is developed for obstacle avoidance in the case of unstructured areas. In this paper, ARTMAP-Fuzzy BK-Product controller architecture comprises of two distinct elements, are 1) Fuzzy Logic Membership Function and 2) Feed-Forward ART component. Feed-Forward ART component is used to understanding the unstructured underwater environment and Fuzzy BK-Product interpolates the Fuzzy rule set and after the defuzzyfication, the output is used to take the decision for safety direction to go for avoiding the obstacle collision with the AUV. An on-line reinforcement learning method is introduced which adapts the performance of the fuzzy units continuously to any changes in the environment and make decision for the optimal path from source to destination.
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Comparison between Visual Inspection of Cervix and Cytology Based Screening Procedures in Bangladesh
Nessa, Ashrafun,Nahar, Khadiza Nurun,Begum, Shirin Akhter,Anwary, Shahin Ara,Hossain, Fawzia,Nahar, Khairun Asian Pacific Journal of Cancer Prevention 2013 Asian Pacific journal of cancer prevention Vol.14 No.12
Background: Cervical cancer continues to be a major problem in Bangladesh with approximately 18,000 new cases annually of which over 10,000 women die from it. Visual inspection of the cervix after 3-5% acetic acid (VIA) application is a simple and easy to learn method for cervical cancer screening, although cytology-based screening is more often applied in developed countries where it has successfully reduced the prevalence of cervical cancer. Objective: To compare the efficacy of VIA and cytology-based primary methods for cervical cancer screening in Bangladesh. Materials and Methods: This hospital based comparative study was conducted at the VIA centre and Colposcopy Clinic of Bangabandhu Sheikh Mujib Medical University (BSMMU) from October 2008 to October 2010. Results: Among 650 women, 74 (11.4%) were VIA+ve and 8 (1.2%) had abnormalities in their Pap smear reports. During colposcopy, 38 (7.7%) women had different grades of CIN and 4 (0.6%) had cervical cancer. The gold standard histology findings proved 20 women had CIN I, 14 had CIN II/II and 4 had cervical cancer. Among the 38 histology diagnosed abnormalities, VIA test could identify 30 abnormalities including two cervical cancers. However, Pap smear could detect only 8 cases of histological abnormalities (2 low grade and 6 had high grade lesion) and it missed all the cervical cancer cases. The sensitivity and specificity of VIA were 88.9% and 52.1%. The positive predictive value (PPV) and negative predictive value (NPV) were 41.0%, and 92.6% respectively. Moreover, the sensitivity, specificity, PPV and NPV of Pap smear were 33.3%, 95.8%, 75.0% and 79.3%, respectively. Conclusions: VIA test should be used as the primary screening tool even with its low sensitivity and specificity in low resource countries like Bangladesh. False positive results may be greater, but overtreatment can be minimized by colposcopy evaluation of the VIA positive women.
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Power Quality Analysis of Grid-Connected Photovoltaic System with Adjustable Speed Drives
Makbul Anwari,Muhammad Ikram Mohd Rashid,Taufik 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
This paper presents power quality analysis of a distributed generation system consisting of Photovoltaic (PV) ?Inverter system as the renewable source connected to a network of Adjustable Speed Drives (ASDs) as the load. A small-scale laboratory consists of Photovoltaic, Inverter, ASDs and loads system was setup. Two power supplies from PV and grid were connected to two ASDs which powered two separate induction motors. Load of motor 1 was fixed while load of motor 2 was varied. In the experiment, both energy supplies from the grid and photovoltaic system were connected to the loads. Measurements have been done at both side of power transformer to analyze power quality in the system.
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The Antitermitic and Antifungal Activities and Composition of Vinegar from Durian Wood (Durio sp.)
Awan SUPRIANTO,Hasan Ashari ORAMAHI,Farah DIBA,Gusti HARDIANSYAH,M. Sofwan ANWARI 한국목재공학회 2023 목재공학 Vol.51 No.4
Chemical characterization of vinegars obtained from Durian wood (Durio sp.) and their termicidal activity against Coptotermes curvignathus and antifungal activity against Schizophyllum commune were evaluated. The process of pyrolysis produced wood vinegars at three distinct temperature: 350℃, 400℃, and 450℃. To determine their effectiveness against fungal growth, the vinegars were tested using a Petri dish with 1.0%, 2.0%, 3.0%, and 4.0% (v/v) against S. commune. In the experiment, termicidal activities were evaluated using a no-choice test for C. curvignathus with 3.0%, 6.0%, 9.0%, and 12.0% (v/v). The wood vinegar exhibited antitermitic activity to C. curvignathus workers in the no-choice experiment; For vinegar produced at 450℃, a 6% concentration was required to achieve 100% mortality against C. curvignathus. In addition, a 12% vinegar produced at 450℃ resulted in the lowest mass loss of treated filter paper, which was 20.00%. Furthermore, all the wood vinegars exhibited antifungal activities against S. commune at concentration of 2.0%. The dominant chemical components of wood vinegar produced at temperature of 350℃, 400℃, and 450℃ were 2-methoxy-phenol, 4-ethyl-2-methoxy-phenol, 4-ethyl-2-methoxy-phenol, 3.5-dimethoxy-4-hydroxytoluene, and creosol.
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