In this paper, a novel discrete complex fuzzy transform (DCFT) and the proposed DCFT based facial image recognition method is presented. The presented DCFT consists of histogram extraction, peak points of histogram calculation and images construction. 3 real and 3 complex images are constructed using DCFT. Also, 3 angular images and 3 vector image are calculated using the real and complex images. To create real and complex images, polynomial and smith fuzzy sets are used in this paper. Briefly, 12 image are constructed using DCFT. In order to demonstrate effect of the proposed DCFT, face images data sets and local binary pattern (LBP) are used to create facial image recognition method. In this method, LBP is applied on the each DCFT image and 12 x 256 size of feature are extracted. Also, maximum pooling is applied on this feature set to obtain 256 size of feature. In the classification phase, support vector machine (SVM) and k nearest neighborhood (KNN) classifiers are used. The comparisons clearly demonstrate that the proposed DCFT is increased facial image recognition capability.

In the era of robotics, positioning is one of the major problems in an indoor environment. A Global Positioning System (GPS), which is quite reliable system when it comes to outdoor environments and its accuracy falls in the range of meters. But for indoor environment, which requires a positioning accuracy in centimeters scale, the GPS cannot achieve this task due to its signal loss and scattering caused by the building walls. Therefore, an Indoor Positioning System (IPS) based on several technologies and techniques has been developed to overcome this issue. Nowadays, IPS becomes an active growing research topic because of its limitless implementations in a variety of applications. This paper represents the development of a low cost optical indoor positioning system solution where a static commercial camera is the only sensor. High accuracy in localization within the range of 1 cm is achieved. Detection, classification, and tracking techniques of an object are tested on mobile robots. The system is ideal for an indoor robotic warehouse application, where minimal infrastructure and cost parameters are required. The resulted positioning data are compared to the real measurement, and sent to the rovers via a lightweight broker-based publish/subscribe messaging protocol called Message Queuing Telemetry Transport (MQTT), where the only requirement between the client publisher and subscriber is the availability of a WLAN connection.

H∞ control techniques are prominently used as solutions for flight control problems. From the literature, a variety of techniques is reported in the last three decades with specific merits and demerits, which, when applied to multiple flight control scenarios, showing trade off in terms of performance and robustness. However, all these methods possess superior performance when compared with that of classical approaches. In this paper an attempt is made to provide an insight into the requirements and criticalities in the design of missile autopilot. This paper introduces some of the significant H∞ control techniques like H∞ mixed sensitivity, H∞ loop shaping and μ synthesis, with specific emphasis on analysis of autopilot design. A comparative account of modern control methods is presented on the basis of system performance and robustness, which will be helpful in the selection of the appropriate design method for specific application.

Video-based vehicle speed measurement systems are known as effective applications for Intelligent Transportation Systems (ITS) due to their great development capabilities and low costs. These systems utilize camera outputs to apply video processing techniques and extract the desired information. This paper presents a new vehicle speed measurement approach based on motion detection. Contrary to feature-based methods that need visual features of the vehicles like license-plate or windshield, the proposed method is able to estimate vehicle’s speed by analyzing its motion parameters inside a pre-defined Region of Interest (ROI) with specified dimensions. This capability provides real-time computing and performs better than feature-based approaches. The proposed method consists of three primary modules including vehicle detection, tracking, and speed measurement. Each moving object is detected as it enters the ROI by the means of Mixture-of-Gaussian background subtraction method. Then by applying morphology transforms, the distinct parts of these objects turn into unified filled shapes and some defined filtration functions leave behind only the objects with the highest possibility of being a vehicle. Detected vehicles are then tracked using blob tracking algorithm and their displacement among sequential frames are calculated for final speed measurement module. The outputs of the system include the vehicle’s image, its corresponding speed, and detection time. Experimental results show that the proposed approach has an acceptable accuracy in comparison with current speed measurement systems.

Mushrooms are the most familiar delicious food which is cholesterol free as well as rich in vitamins and minerals. Though nearly 45,000 species of mushrooms have been known throughout the world, most of them are poisonous and few are lethally poisonous. Identifying edible or poisonous mushroom through the naked eye is quite difficult. Even there is no easy rule for edibility identification using machine learning methods that work for all types of data. Our aim is to find a robust method for identifying mushrooms edibility with better performance than existing works. In this paper, three ensemble methods are used to detect the edibility of mushrooms: Bagging, Boosting, and random forest. By using the most significant features, five feature sets are made for making five base models of each ensemble method. The accuracy is measured for ensemble methods using five both fixed feature set-based models and randomly selected feature set based models, for two types of test sets. The result shows that better performance is obtained for methods made of fixed feature sets-based models than randomly selected feature set-based models. The highest accuracy is obtained for the proposed model-based random forest for both test sets.

Biometric based authentication is playing a very important role in various security related applications. A novel multimodal biometric verification based on fingerprint, palmprint and iris with matching score level fusion using Mathematical Normalization is proposed in this paper. In feature extraction stage of unimodal, features of each modality are extracted by applying wavelet decomposition using 6 different wavelet families and 35 respective wavelet family members. Further, the three optimal combinations of unimodal systems based on equal error rate achieved by wavelet(s) are chosen for development of multimodal biometric system. In matching score level fusion, along with well-known normalization techniques- Min-max, Tan-h and Z-score, the performance of multimodal systems are also analyzed using Mathematical Normalization (Math-norm) followed by product, weighted product, sum and average fusion rule. The experiments are conducted on database of 100 different subjects from publically available FVC2006, CASIA V1 and IITD database of fingerprint, palmprint and iris, respectively. The experimental results clearly show that Mathematical Normalization followed by weighted product has given promising accuracy with equal error rate (EER) of 0.325%.