Search results for: suspicious objects

Authors: Nayden Chivarov, Denis Chikurtev, Kaloyan Yovchev, Nedko Shivarov

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This paper represents methods for improving the efficiency and precision of service mobile robot. This robot is used for increasing the quality of life of elderly and disabled people. The key concept of the proposed Intelligent Service Mobile Robot is its easier adaptability to achieve services for a wide range of Elderly or Disabled Person’s needs, by performing different tasks for supporting Elderly or Disabled Persons care. We developed robot autonomous navigation and computer vision systems in order to recognize different objects and bring them to the people. Web based user interface is developed to provide easy access and tele-control of the robot by any device through the internet. In this study algorithms for object recognition and localization are proposed for providing successful object recognition and accuracy in the positioning. Different methods for sending movement commands to the mobile robot system are proposed and evaluated. After executing some experiments to show the results of the research, we can summarize that these systems and algorithms provide good control of the service mobile robot and it will be more useful to help the elderly and disabled persons.

Keywords: service robot, mobile robot, autonomous navigation, computer vision, web user interface, ROS

Procedia PDF Downloads 337

Authors: Monisha Pattanaik

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In scenarios where users have to work with large amounts of hierarchical data structures combined with visualizations (For example, Construction 3d Models, Manufacturing equipment's models, Gantt charts, Building Plans), the data structures have a high density in terms of consisting multiple parent nodes up to 50 levels and their siblings to descendants, therefore convey an immediate feeling of complexity. With customers moving to consumer-grade enterprise software, it is crucial to make sophisticated features made available to touch devices or smaller screen sizes. This paper evaluates the UI component that allows users to scroll through all deep density levels using a slider overlay on top of the hierarchy table, performing several actions to focus on one set of objects at any point in time. This overlay component also solves the problem of excessive horizontal scrolling of the entire table on a fixed pane for a hierarchical table. This component can be customized to navigate through parents, only siblings, or a specific component of the hierarchy only. The evaluation of the UI component was done by End Users of application and Human-Computer Interaction (HCI) experts to test the UI component's usability with statistical results and recommendations to handle complex hierarchical data visualizations.

Keywords: building information modeling, digital twin, navigation, UI component, user interface, usability, visualization

Procedia PDF Downloads 135

Authors: Megan L. Srinivas

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Individuals with underlying rheumatologic diseases such as dermatomyositis may not adequately respond to tuberculin (PPD) skin tests, creating false negative results. These illnesses are frequently treated with immunosuppressive therapy making proper identification of TB infection imperative. A 59-year-old Filipino man was diagnosed with dermatomyositis on the basis of rash, electromyography, and muscle biopsy. He was initially treated with IVIG infusions and transitioned to oral prednisone and mycophenolate. The patient’s symptoms improved on this regimen. Six months after starting mycophenolate, the patient began having fevers, night sweats, and productive cough without hemoptysis. He moved from the Philippines 5 years prior to dermatomyositis diagnosis, denied sick contacts, and was PPD negative both at immigration and immediately prior to starting mycophenolate treatment. A third PPD was negative following the onset of these new symptoms. He was treated for community-acquired pneumonia, but symptoms worsened over 10 days and he developed watery diarrhea and a growing non-tender, non-mobile mass on the left side of his neck. A chest x-ray demonstrated a cavitary lesion in right upper lobe suspicious for TB that had not been present one month earlier. Chest CT corroborated this finding also exhibiting necrotic hilar and paratracheal lymphadenopathy. Neck CT demonstrated the left-sided mass as cervical chain lymphadenopathy. Expectorated sputum and stool samples contained acid-fast bacilli (AFB), cultures showing TB bacteria. Fine-needle biopsy of the neck mass (scrofula) also exhibited AFB. An MRI brain showed nodular enhancement suspected to be a tuberculoma. Mycophenolate was discontinued and dermatomyositis treatment was switched to oral prednisone with a 3-day course of IVIG. The patient’s infection showed sensitivity to standard RIPE (rifampin, isoniazid, pyrazinamide, and ethambutol) treatment. Within a week of starting RIPE, the patient’s diarrhea subsided, scrofula diminished, and symptoms significantly improved. By the end of treatment week 3, the patient’s sputum no longer contained AFB; he was removed from isolation, and was discharged to continue RIPE at home. He was discharged on oral prednisone, which effectively addressed his dermatomyositis. This case illustrates the unreliability of PPD tests in patients with long-term inflammatory diseases such as dermatomyositis. Other immunosuppressive therapies (adalimumab, etanercept, and infliximab) have been affiliated with conversion of latent TB to disseminated TB. Mycophenolate is another immunosuppressive agent with similar mechanistic properties. Thus, it is imperative that patients with long-term inflammatory diseases and high-risk TB factors initiating immunosuppressive therapy receive a TB blood test (such as a quantiferon gold assay) prior to the initiation of therapy to ensure that latent TB is unmasked before it can evolve into a disseminated form of the disease.

Keywords: dermatomyositis, immunosuppressant medications, mycophenolate, disseminated tuberculosis

Procedia PDF Downloads 206

Authors: Nicolás Rudas

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Sociologists have brought to light the fascination of contemporary societies with numbers but fall short of explaining it. In their accounts, people generally misunderstand the technical intricacies of statistical knowledge and therefore accept numbers as unassailable “facts”. It is due to such pervasive fascination, furthermore, that both old and new forms of social control find fertile ground. By focusing on the process whereby the fetishization of numbers reaches its zenith, i.e., when specific statistics become emblematic of an entire society, it is asserted that numbers primarily function as moral symbols with immense potential for galvanizing collective action. Their “facticity” is not solely a cognitive problem but one that is deeply rooted in myth and connected with social experiences of epiphany and ritual. Evidence from Colombia is used to illustrate how certain quantifications become canonical. In 2021, Colombia’s Peace Court revealed that the national army had executed 6,402 innocent civilians to later report them as members of illegal armed groups. Rapidly, “6,402” transformed into a prominent item in the country’s political landscape. This article reconstructs such a process by following the first six months of the figure’s circulation, both in traditional and social media. In doing so, it is developed a new cultural-sociological conceptualization of numbers as “fact-icons” that departs from traditional understandings of statistics as “technical” objects. Numbers are icons whose appropriation is less rational than aesthetic.

Keywords: culture, statistics, collective memory, social movements

Procedia PDF Downloads 69

Authors: Faik Derya Ince, Ugur Topgul, Alp Gunay, Can Bayoglu, Dante J. Dorantes-Gonzalez

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Explosive attacks are arguably the most lethal threat that may occur in terrorist attacks. In order to counteract this issue, explosive ordnance disposal operators put their lives on the line to dispose of a possible improvised explosive device. Robots can make the disposal process more accurately and saving human lives. For this purpose, there is a demand for more accurate and dexterous manipulating robotic hands that can be teleoperated from a distance. The aim of this project is to design a robotic hand that contains two active and two passive DOF for each finger, as well as a minimum set of tools for mechanical cutting and screw driving within the same robotic hand. Both hand and toolset, are teleoperated from a distance from a haptic robotic glove in order to manipulate dangerous objects such as improvised explosive devices. SolidWorks® Computer-Aided Design, computerized dynamic simulation, and MATLAB® kinematic and static analysis were used for the robotic hand and toolset design. Novel, dexterous and robust solutions for the fingers were obtained, and six servo motors are used in total to remotely control the multi-tooled robotic hand. This project is still undergoing and presents currents results. Future research steps are also presented.

Keywords: Explosive Manipulation, Robotic Hand, Tele-Operation, Tool Integration

Procedia PDF Downloads 138

Authors: Muhammad Fathurridho

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Grammar as a rule used by every language to be understood by everyone is always related to syntax and morphology. Arabic grammar is different with another languages’ grammars. It has more rules and difficulties. This paper aims to investigate and describe the English grammatical errors of machine translation systems in translating Arabic sentences, including declarative, exclamation, imperative, and interrogative sentences, specifically in year 2018 which can be supported with artificial intelligence’s role. The Arabic sample sentences which are divided into two; verbal and nominal sentence of several Arabic published texts will be examined as the source language samples. The translated sentences done by several popular online machine translation systems, including Google Translate, Microsoft Bing, Babylon, Facebook, Hellotalk, Worldlingo, Yandex Translate, and Tradukka Translate are the material objects of this research. Descriptive method that will be taken to finish this research will show the grammatical errors of English target language, and classify them. The conclusion of this paper has showed that the grammatical errors of machine translation results are varied and generally classified into morphological, syntactical, and semantic errors in all type of Arabic words (Noun, Verb, and Particle), and it will be one of the evaluations for machine translation’s providers to correct them in order to improve their understandable results.

Keywords: Arabic, Arabic-English translation, machine translation, grammatical errors

Procedia PDF Downloads 153

Authors: Shalitha Jayasekara, Saluk Bawantha, Dinithi Anupama, Isuru Gunarathne, Pradeepa Bandara, Hansi De Silva

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Dogs have been known as "man's best friend" for generations, providing friendship and loyalty to their human counterparts. However, due to people's busy lives, they are unaware of the ailments that can affect their pets. However, in recent years, mobile technologies have had a significant impact on our lives, and with technological improvements, a rule-based expert system allows the end-user to enable new types of healthcare systems. The advent of Android OS-based smartphones with more user-friendly interfaces and lower pricing opens new possibilities for continuous monitoring of pets' health conditions, such as healthy dogs, dangerous ingestions, and swallowed objects. The proposed ‘Best Bark’ Dog care and owner consultation system is a mobile application for dog owners. Four main components for dog owners were implemented after a questionnaire was distributed to the target group of audience and the findings were evaluated. The proposed applications are widely used to provide health and clinical support to dog owners, including suggesting exercise and diet plans and answering queries about their dogs. Additionally, after the owner uploads a photo of the dog, the application provides immediate feedback and a description of the dog's skin disease.

Keywords: Convolution Neural Networks, Artificial Neural Networks, Knowledgebase, Sentimental Analysis.

Procedia PDF Downloads 153

Authors: Suhani Srivastava

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This research delves into the classification of orbital debris through machine learning (ML): it will categorize the intensity of the threat orbital debris poses through multiple ML models to gain an insight into effectively estimating the danger specific orbital debris can pose to future space missions. As the space industry expands, orbital debris becomes a growing concern in Low Earth Orbit (LEO) because it can potentially obfuscate space missions due to the increased orbital debris pollution. Moreover, detecting orbital debris and identifying its characteristics has become a major concern in Space Situational Awareness (SSA), and prior methods of solely utilizing physics can become inconvenient in the face of the growing issue. Thus, this research focuses on approaching orbital debris concerns through machine learning, an efficient and more convenient alternative, in detecting the potential threat certain orbital debris pose. Our findings found that the Logistic regression machine worked the best with a 98% accuracy and this research has provided insight into the accuracies of specific machine learning models when classifying orbital debris. Our work would help provide space shuttle manufacturers with guidelines about mitigating risks, and it would help in providing Aerospace Engineers facilities to identify the kinds of protection that should be incorporated into objects traveling in the LEO through the predictions our models provide.

Keywords: aerospace, orbital debris, machine learning, space, space situational awareness, nasa

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Authors: Christos Chaschatzis, Chrysoula Karaiskou, Pantelis Angelidis, Sotirios K. Goudos, Igor Kotsiuba, Panagiotis Sarigiannidis

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Over the past few decades, the rapid growth of the global population has led to the need to increase agricultural production and improve the quality of agricultural goods. There is a growing focus on environmentally eco-friendly solutions, sustainable production, and biologically minimally fertilized products in contemporary society. Precision agriculture has the potential to incorporate a wide range of innovative solutions with the development of machine learning algorithms. YOLOv5 and YOLOv8 are two of the most advanced object detection algorithms capable of accurately recognizing objects in real time. Detecting tree diseases is crucial for improving the food production rate and ensuring sustainability. This research aims to evaluate the efficacy of YOLOv5 and YOLOv8 in detecting the symptoms of Armillaria spp. in sweet cherry trees and determining their health status, with the goal of enhancing the robustness of precision agriculture. Additionally, this study will explore Computer Vision (CV) techniques with machine learning algorithms to improve the detection process’s efficiency.

Keywords: Armillaria spp., machine learning, precision agriculture, smart farming, sweet cherries trees, YOLOv5, YOLOv8

Procedia PDF Downloads 111

Authors: Fernanda S. Oliveira

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The architectural science of lighting has been mainly concerned with technical aspects and has tended to ignore the psychophysical. There is a growing evidence that adopting passive design solutions may contribute to higher satisfaction. This is even more important in countries with higher solar radiation, which should take advantage of favourable daylighting conditions. However, in art museums, the same light that stimulates vision can also cause permanent damage to the exhibits. Not only the visitors want to see the objects, but also to understand their nature and the artist’s intentions. This paper examines the hypothesis that the more varied and exciting the lighting (and particularly the daylight) in museums rooms, over space and time, the more likely it is that visitors will stay longer, enjoy their experience and be willing to return. This question is not often considered in museums that privilege artificial lighting neglecting the various qualities of daylight other than its capacity to illuminate spaces. The findings of this paper show that daylight plays an important role in museum design, affecting how visitors perceive the exhibition space, as well as contributing to their overall enjoyment in the museum. Rooms with high luminance means were considered more pleasant (r=.311, p<.05) and cheerful (r=.349, p<.05). Lighting conditions also have a direct effect on the phenomenon of museum fatigue with the overall room quality showing an effect on how tired visitors reported to be (r=.421, p<.01). The control and distribution of daylight in museums can therefore contribute to create pleasant conditions for learning, entertainment and amusement, so that visitors are willing to return.

Keywords: daylight, comfort, museums, luminance, visitor

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Authors: Siyuan Cai

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This paper takes community segregation during major infectious diseases as the background, based on the physiological needs and safety needs of citizens during home segregation, and based on the selection of convenient facilities and medical facilities as the main research objects. Based on the POI data of public facilities in Chongqing, the spatial distribution characteristics of the convenience and medical facilities in the 15-minute living circle centered on three neighborhoods in Shapingba, namely Shengwei Community, Anju Commmunity and Fengtian Garden Community, were explored by means of GIS spatial analysis. The results show that the spatial distribution of convenience and medical facilities in this area has significant clustering characteristics, with a point-like distribution pattern of "dense in the west and sparse in the east", and a grouped and multi-polar spatial structure. The spatial structure is multi-polar and has an obvious tendency to the intersections and residential areas with dense pedestrian flow. This study provides a preliminary exploration of the distribution of medical and convenience facilities within the 15-minute living circle of a segregated community, which makes up for the lack of spatial research in this area.

Keywords: ArcGIS, community segregation, convenient facilities; distribution pattern, medical facilities, POI, 15-minute community life circle

Procedia PDF Downloads 119

Authors: Terry Liang Khin Teo, Sun Woh Lye, Kai Lun Brendon Goh

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As applied to dynamic monitoring situations, the prevailing approach to situation awareness (SA) assumes that the relevant areas of interest (AOI) be perceived before that information can be processed further to affect decision-making and, thereafter, action. It is not entirely clear whether this is the case. This study seeks to investigate the monitoring of dynamic objects through matching eye fixations with the relevant AOIs in boundary-crossing scenarios. By this definition, a match is where a fixation is registered on the AOI. While many factors may affect monitoring characteristics, traffic simulations were designed in this study to explore two factors, namely: the number of inbounds/outbound traffic transfers and the number of entry and/or exit points in a radar monitoring sector. These two factors were graded into five levels of difficulty ranging from low to high traffic flow numbers. Combined permutation in terms of levels of difficulty of these two factors yielded a total of thirty scenarios. Through this, results showed that changes in the traffic flow numbers on transfer resulted in greater variations having match limits ranging from 29%-100%, as compared to the number of sector entry/exit points of range limit from 80%-100%. The subsequent analysis is able to determine the type and combination of traffic scenarios where imperfect matching is likely to occur.

Keywords: air traffic simulation, eye-tracking, visual monitoring, focus attention

Procedia PDF Downloads 56

Authors: Derlis Gregor, Kevin Cikel, Mario Arzamendia, Raúl Gregor

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This paper presents a self-sustaining mobile system for counting and classification of vehicles through processing video. It proposes a counting and classification algorithm divided in four steps that can be executed multiple times in parallel in a SBC (Single Board Computer), like the Raspberry Pi 2, in such a way that it can be implemented in real time. The first step of the proposed algorithm limits the zone of the image that it will be processed. The second step performs the detection of the mobile objects using a BGS (Background Subtraction) algorithm based on the GMM (Gaussian Mixture Model), as well as a shadow removal algorithm using physical-based features, followed by morphological operations. In the first step the vehicle detection will be performed by using edge detection algorithms and the vehicle following through Kalman filters. The last step of the proposed algorithm registers the vehicle passing and performs their classification according to their areas. An auto-sustainable system is proposed, powered by batteries and photovoltaic solar panels, and the data transmission is done through GPRS (General Packet Radio Service)eliminating the need of using external cable, which will facilitate it deployment and translation to any location where it could operate. The self-sustaining trailer will allow the counting and classification of vehicles in specific zones with difficult access.

Keywords: intelligent transportation system, object detection, vehicle couting, vehicle classification, video processing

Procedia PDF Downloads 319

Authors: Ezgi Tozak, H. Pelin Karasu, Umit Girgin

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In this study, difficulties encountered in the process of supporting the reading skills of a student with hearing loss whose inclusion was ongoing and the solutions improved during the practice process were examined. The study design was action research. Participants of this study, which was conducted between the dates of 29 September 2016 and 22 February 2017, consisted of a student with hearing loss, a classroom teacher, a teacher in the rehabilitation center, researcher/teacher and validity committee members. The data were obtained through observations, validity committee meeting, interviews, documents, and the researcher diary. Research findings show that in the process of supporting reading skills of the student with hearing loss, the student's knowledge of concepts was limited, and the student had difficulties in feeling and identification of sounds, reading and understanding words-sentences and retelling what he/she listened to. With the purpose of overcoming these difficulties in the implementation process, activities were prepared towards concepts, sound education, reading and understanding words and sentences, and retelling what you listen to; these activities were supported with visual materials and real objects and repeated with diversities.

Keywords: inclusion, reading process, supportive education, student with hearing loss

Procedia PDF Downloads 145

Authors: G. Kermarrec, J. Hartmann

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Spline surfaces are a major representation of freeform surfaces in the computer-aided graphic industry and were recently introduced in the field of geodesy for processing point clouds from terrestrial laser scanner (TLS). The surface fitting consists of approximating a trustworthy mathematical surface to a large numbered 3D point cloud. The standard B-spline surfaces lack of local refinement due to the tensor-product construction. The consequences are oscillating geometry, particularly in the transition from low-to-high curvature parts for scattered point clouds with missing data. More economic alternatives in terms of parameters on how to handle point clouds with a huge amount of observations are the recently introduced T-splines. As long as the partition of unity is guaranteed, their computational complexity is low, and they are flexible. T-splines are implemented in a commercial package called Rhino, a 3D modeler which is widely used in computer aided design to create and animate NURBS objects. We have applied T-splines surface fitting to terrestrial laser scanner point clouds from a bridge under load and a sheet pile wall with noisy observations. We will highlight their potential for modelling details with high trustworthiness, paving the way for further applications in terms of deformation analysis.

Keywords: deformation analysis, surface modelling, terrestrial laser scanner, T-splines

Procedia PDF Downloads 138

Authors: Michal Gregor, Jiri Polcar, Petr Horejsi, Michal Simon

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Machine visualization is an area of interest with fast and progressive development. We present a method of machine visualization which will be applicable in real industrial conditions according to current needs and demands. Real factory data were obtained in a newly built research plant. Methods described in this paper were validated on a case study. Input data were processed and the virtual environment was created. The environment contains information about dimensions, structure, disposition, and function. Hardware was enhanced by modular machines, prototypes, and accessories. We added new functionalities and machines into the virtual environment. The user is able to interact with objects such as testing and cutting machines, he/she can operate and move them. Proposed design consists of an environment with two degrees of freedom of movement. Users are in touch with items in the virtual world which are embedded into the real surroundings. This paper describes the development of the virtual environment. We compared and tested various options of factory layout virtualization and visualization. We analyzed possibilities of using a 3D scanner in the layout obtaining process and we also analyzed various virtual reality hardware visualization methods such as Stereoscopic (CAVE) projection, Head Mounted Display (HMD), and augmented reality (AR) projection provided by see-through glasses.

Keywords: augmented reality, spatial scanner, virtual environment, virtual reality

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Authors: Sultan Aldaihani, Eiman Al-Fadhli

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Internet of Things (IoTs) expected to change the future of academic libraries operations. It enables academic libraries to be smart libraries through, for example, the connection of the physical objects with the Internet. The implementation of IoTs will improve library resources and services. Therefore, this research aims to investigate the applications of Internet of Things (IoTs) for information resources and services. Understanding perceptions of academic librarians toward IoTs before adopting of such applications will assist decision-makers in academic libraries in their strategic planning. An online questionnaire was administered to academic librarians at Kuwait University. The findings of this study showed that academic librarians have awareness for the IoTs. They have strongly believed that the IoTs contributes to the development of information resources, services, and understanding of the user's information behavior. Identifying new applications of the IoTs in libraries was the highest possible reason for future adoption. Academic librarians indicated that lack of privacy and data penetration were the greatest problem in their future adoption of IoTs. Academic libraries need to implement the IoTs for enhancing their information resources and services. One important step in the success of future adoption is to conduct awareness and training programs for academic librarians. They also need to maintain higher security and privacy measurements in their implementation for the IoTs. This study will assist academic libraries in accommodating this technology.

Keywords: academic libraries, internet of things, information resources, information services

Procedia PDF Downloads 149

Authors: Andrew Enaifoghe

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Women's roles in the past and modern society were typically subordinate to men. This form of discrimination against women prevented them from taking on leadership roles as they were considered male roles. However, some theories, like social thought, suggest that human minds form a map during socialization, where each category of things/objects is represented in schemata or nodes. These representations or nodules are interrelated, subject to their probability of developing together and formed based on previous experiences. The consequences of gender roles and the threat of stereotyping in the workplace have been debated by the researcher. The study also looks at the effects of stereotypes beyond test performance and the submission of socio-cultural briefs low-cost interventions in the working environment through organizational and intercultural communication. This study adopted a qualitative research method with a systematic document analysis, which allows researchers to study by consulting and making sense of written materials available in the public or private domain. The study employed the Social Identity Theory (SIT) and Organizational Control Theory to conceptualize this paper. The study discovered that when women use an interpersonally oriented leadership style in male-dominated industries, they have been found to suffer from high levels of mental ill-health and continue to endure significant amounts of pressure from their professions.

Keywords: gender roles, stereotyping, organizational, intercultural communication

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Authors: Ching-Pin Tseng

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Cultural heritages are tangible and intangible catalysts for recollecting collective memories and cultural signification. Through visiting the heritage and with the aid of exhibition and visual indications, the visitor may visually and spatially grasp some fragments of the stories and occurrences of the site. However, there may be some discrepancies between the narration of historical happenings that occurred at the place and the spatial exhibition of the historic monument. Narratives of collective events may not be revealed merely by physical relics or objects. In order to build up a connection between the past and the present, the paper thus intends to discuss what means can engender vitalizations within cultural heritages. As the preservation of cultural heritages has been a universal consensus and common interests, its association with modern lives has also been an important issue. The paper will explore some site-specific theatres held in the art festivals in the south of Taiwan so as to examine the correlation between site-specific performances and the conservation of historic monuments. In the light of Victor Hugo’s argument that the place where events happened before can be silent characters for representing the reality of art and for impressing the spectator, this paper argues that site-specific theatres may bring vitality into tangible cultural heritages. At the end of this paper, the notion of localization will be utilized to examine the spatial setting and the materiality of scenic design in relation to the site-specific theatres within cultural heritages.

Keywords: site-specificity, cultural heritage, localization, materiality

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Authors: Nhat Linh Ho, Thanh-Phong Dao, Shyh-Chour Huang, Hieu Giang Le

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This paper presents a design and optimization for a compliant gripper. The gripper is constructed based on the concept of compliant mechanism with flexure hinge. A passive force regulation mechanism is presented to control the grasping force a micro-sized object instead of using a sensor force. The force regulation mechanism is designed using the planar springs. The gripper is expected to obtain a large range of displacement to handle various sized objects. First of all, the statics and dynamics of the gripper are investigated by using the finite element analysis in ANSYS software. And then, the design parameters of the gripper are optimized via Taguchi method. An orthogonal array L₉ is used to establish an experimental matrix. Subsequently, the signal to noise ratio is analyzed to find the optimal solution. Finally, the response surface methodology is employed to model the relationship between the design parameters and the output displacement of the gripper. The design of experiment method is then used to analyze the sensitivity so as to determine the effect of each parameter on the displacement. The results showed that the compliant gripper can move with a large displacement of 213.51 mm and the force regulation mechanism is expected to be used for high precision positioning systems.

Keywords: flexure hinge, compliant mechanism, compliant gripper, force regulation mechanism, Taguchi method, response surface methodology, design of experiment

Procedia PDF Downloads 329

Authors: Bruk Gebregziabher

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The safe and efficient operation of Autonomous Mobile Robots (AMRs) in complex environments, such as manufacturing, logistics, and agriculture, necessitates accurate multiobject tracking and predictive collision avoidance. This paper presents algorithms and techniques for addressing these challenges using Lidar sensor data, emphasizing ensemble Kalman filter. The developed predictive collision avoidance algorithm employs the data provided by lidar sensors to track multiple objects and predict their velocities and future positions, enabling the AMR to navigate safely and effectively. A modification to the dynamic windowing approach is introduced to enhance the performance of the collision avoidance system. The overall system architecture encompasses object detection, multi-object tracking, and predictive collision avoidance control. The experimental results, obtained from both simulation and real-world data, demonstrate the effectiveness of the proposed methods in various scenarios, which lays the foundation for future research on global planners, other controllers, and the integration of additional sensors. This thesis contributes to the ongoing development of safe and efficient autonomous systems in complex and dynamic environments.

Keywords: autonomous mobile robots, multi-object tracking, predictive collision avoidance, ensemble Kalman filter, lidar sensors

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Authors: Qian Liu, Steve Furber

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To explore how the brain may recognize objects in its general,accurate and energy-efficient manner, this paper proposes the use of a neuromorphic hardware system formed from a Dynamic Video Sensor~(DVS) silicon retina in concert with the SpiNNaker real-time Spiking Neural Network~(SNN) simulator. As a first step in the exploration on this platform a recognition system for dynamic hand postures is developed, enabling the study of the methods used in the visual pathways of the brain. Inspired by the behaviours of the primary visual cortex, Convolutional Neural Networks (CNNs) are modeled using both linear perceptrons and spiking Leaky Integrate-and-Fire (LIF) neurons. In this study's largest configuration using these approaches, a network of 74,210 neurons and 15,216,512 synapses is created and operated in real-time using 290 SpiNNaker processor cores in parallel and with 93.0% accuracy. A smaller network using only 1/10th of the resources is also created, again operating in real-time, and it is able to recognize the postures with an accuracy of around 86.4% -only 6.6% lower than the much larger system. The recognition rate of the smaller network developed on this neuromorphic system is sufficient for a successful hand posture recognition system, and demonstrates a much-improved cost to performance trade-off in its approach.

Keywords: spiking neural network (SNN), convolutional neural network (CNN), posture recognition, neuromorphic system

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Authors: Elena Bulmer

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The research for this study has found that the formation of alliances for the successful revitalization of the global partnership for sustainable development, as defined by UN Sustainable Development Goal 17, entails considerable difficulty. This study uses for its empirical work marine environmental conservation projects and analyses the potential involvement of nonhuman actors as primordial stakeholders in these types of projects. The idea is to extend the scope of SDG 17 for it to also consider nonhuman subjects in order for it to better achieve its goal. The results of this study may be extrapolated to the business and management fields, which depend on natural resources for the development of their products. In the same way, in these areas, natural resources as nonhuman actors are not present in the stakeholder maps of these projects. Environmental Conservation projects are thus especially interesting to study with regards to their stakeholder context and have been used as the experimental setting for the empirical work of this study. The primordial stakeholders of these projects are not social objects and therefore go beyond the present limits of present stakeholder theory. The study that has been used to analyse this concept is a marine conservation project based in Spain, and to shed light in potential extending the role of the 17th Sustainable Development Goal to include nonhuman beings to be able to better achieve the rest of the SDGs, in this case, SDG 14 whose aim is to promote the conservation and sustainability of the world´s oceans.

Keywords: SDG 17, sustainability, stakeholder management, environmental conservation projects

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Authors: Isaac Benning

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Using technology to expand the learning space is critical for a productive mathematical discourse. This is a case study of two teachers who developed and enacted GeoGebra-based mathematics lessons following their engagement in a two-year professional development. The didactical and semiotic affordance of GeoGebra in widening the learning space for a productive mathematical discourse was explored. The approach of thematic analysis was used for lesson artefact, lesson observation, and interview data. The results indicated that constructing tools in GeoGebra provided a didactical milieu where students used them to explore mathematical concepts with little or no support from their teacher. The prompt feedback from the GeoGebra motivated students to practice mathematical concepts repeatedly in which they privately rethink their solutions before comparing their answers with that of their colleagues. The constructing tools enhanced self-discovery, team spirit, and dialogue among students. With regards to the semiotic construct, the tools widened the physical and psychological atmosphere of the classroom by providing animations that served as virtual concrete to enhance the recording, manipulation, testing of a mathematical idea, construction, and interpretation of geometric objects. These findings advance the discussion of widening the classroom for a productive mathematical discourse within the context of the mathematics curriculum of Ghana and similar Sub-Saharan African countries.

Keywords: GeoGebra, theory of didactical situation, semiotic mediation, mathematics laboratory, mathematical discussion

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Authors: Yao-Hong Tsai

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Due to the sensor technology, video surveillance has become the main way for security control in every big city in the world. Surveillance is usually used by governments for intelligence gathering, the prevention of crime, the protection of a process, person, group or object, or the investigation of crime. Many surveillance systems based on computer vision technology have been developed in recent years. Moving target tracking is the most common task for Unmanned Aerial Vehicle (UAV) to find and track objects of interest in mobile aerial surveillance for civilian applications. The paper is focused on vision-based collision avoidance for UAVs by recurrent neural networks. First, images from cameras on UAV were fused based on deep convolutional neural network. Then, a recurrent neural network was constructed to obtain high-level image features for object tracking and extracting low-level image features for noise reducing. The system distributed the calculation of the whole system to local and cloud platform to efficiently perform object detection, tracking and collision avoidance based on multiple UAVs. The experiments on several challenging datasets showed that the proposed algorithm outperforms the state-of-the-art methods.

Keywords: unmanned aerial vehicle, object tracking, deep learning, collision avoidance

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Authors: Xudong Guan, Ainong Li, Gaohuan Liu, Chong Huang, Wei Zhao

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Due to the low spatial resolution of MODIS data, the accuracy of small-area plaque extraction with a high degree of landscape fragmentation is greatly limited. To this end, the study combines Landsat data with higher spatial resolution and MODIS data with higher temporal resolution for decision-level fusion. Considering the importance of the land heterogeneity factor in the fusion process, it is superimposed with the weighting factor, which is to linearly weight the Landsat classification result and the MOIDS classification result. Three levels were used to complete the process of data fusion, that is the pixel of MODIS data, the pixel of Landsat data, and objects level that connect between these two levels. The multilevel decision fusion scheme was tested in two sites of the lower Mekong basin. We put forth a comparison test, and it was proved that the classification accuracy was improved compared with the single data source classification results in terms of the overall accuracy. The method was also compared with the two-level combination results and a weighted sum decision rule-based approach. The decision fusion scheme is extensible to other multi-resolution data decision fusion applications.

Keywords: image classification, decision fusion, multi-temporal, remote sensing

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Authors: Gaoyuan Wang, Tian Chen

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China’s emission peak and carbon neutrality strategies lead to the transformation of development patterns and call for new green urban design thinking. This paper begins by revealing the evolution of green urban design thinking during the periods of carbon enlightenment, carbon dependency, and carbon decoupling from the perspective of the energy transition. Combined with the current energy situation, national strengths, and technological trends, the emergence of green urban design towards carbon neutrality becomes inevitable. Based on the preliminary analysis of its connotation, the characteristics of the new type of green urban design are generalized as low-carbon orientation, carbon-related objects, carbon-reduction means, and carbon-control patterns. Its theory is briefly clarified in terms of the human-earth synergism, quality-energy interconnection, and form-flow interpromotion. Then, its mechanism is analyzed combined with the core tasks of carbon neutrality, and the scope of design issues is defined, including carbon flow mapping, carbon source regulation, carbon sink construction, and carbon emission management. Finally, a multi-scale spatial response system is proposed across the region, city, cluster, and neighborhood level. The discussion aims to provide support for the innovation of green urban design theories and methods in the context of peak neutrality.

Keywords: carbon neutrality, green urban design, energy transition, theoretical exploration

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Authors: Manana Kvetenadze, Dali Nikolaishvili

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The study revealed the territorial changes of Georgia before the Soviet and Post-Soviet periods. This includes the estimation of the country's borders, its administrative-territorial arrangement change as well as the establishment of territorial losses. Georgia’s old and new borders marked on the map are of great interest. The new boundary shows the condition of 1922 year, following the Soviet period. Neither on this map nor in other works Ivane Javakhishvili talks about what he implies in the old borders, though it is evident that this is the Pre-Soviet boundary until 1921 – i.e., before the period when historical Tao, Zaqatala, Lore, Karaia represented the parts of Georgia. According to cartometric-geographical terms, the work presents detailed analysis of Georgia’s borders, along with this the comparison of research results has been carried out: 1) At the boundary line on Soviet topographic maps, the maps of 100,000; 50,000 and 25,000 scales are used; 2) According to Ivane Javakhishvili’s work ('The borders of Georgia in terms of historical and contemporary issues'). During that research, we used multi-disciplined methodology and software. We used Arc GIS for Georeferencing maps, and after that, we compare all post-Soviet Union maps, in order to determine how the borders have changed. During this work, we also use many historical data. The features of the spatial distribution of the territorial administrative units of Georgia, as well as the distribution of administrative-territorial units of the objects depicted on the map, have been established. The results obtained are presented in the forms of thematic maps and diagrams.

Keywords: border, GIS, georgia, historical cartography, old maps

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Authors: Christian Nwaoha

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This study investigates taboo expressions and classifications in Igbo discourse, their socio-cultural factors affecting their usage. The study classifies Linguistic taboo expressions by their discourse into five categories: morality-related taboo, veneration-related, decorum-related, religion-related and fear-related taboo expressions. This study argues that while religion-related and decorum-related taboos are unmentioned and have no euphemistic synonyms is because they are closely tied to various Igbo deities and objects, while morality, veneration, and fear-related have permissible alternatives. A descriptive research design was adopted and the data collection was by questionnaire and oral interview. The result of the research proves that aside of the categories of taboos in Igbo, socially, the styles of discourse have some levels of gender, age and class-connected taboos, which for instance, in gender-connected taboos, women in Igbo are forbidden to use style of discourse that are connected with genital organs in social gathering comprising men and women. The same has to do with class-connected where much younger men can use some certain expressions that are taboo, but in much older men gathering such expressions would be tagged forbidden in the context. The study further reveals that there are occasions in which these taboos can be used with reasons. The research concludes that using these taboos in literary text can enhance clear understanding of Igbo taboos to the users and learners of Igbo language.

Keywords: taboo expressions, classifications, Igbo, socio-cultural factors, discourse

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Authors: Atef Alaaeddine Sarraj, Brendan Jackman, Frank Walsh

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Tomorrow’s car will be more automated and increasingly connected. Innovative and intuitive interfaces are essential to accompany this functional enrichment. For that, today the automotive companies are competing to offer an advanced driver assistance system (ADAS) which will be able to provide enhanced navigation, collision avoidance, intersection support and lane keeping. These vision-based functions require an accurately calibrated camera. To achieve such differentiation in ADAS requires sophisticated sensors and efficient algorithms. This paper explores the different calibration methods applicable to vehicle-mounted fish-eye cameras with arbitrary fields of view and defines the first steps towards a self-calibration method that adequately addresses ADAS requirements. In particular, we present a self-calibration method after comparing different camera calibration algorithms in the context of ADAS requirements. Our method gathers data from unknown scenes while the car is moving, estimates the camera intrinsic and extrinsic parameters and corrects the wide-angle distortion. Our solution enables continuous and real-time detection of objects, pedestrians, road markings and other cars. In contrast, other camera calibration algorithms for ADAS need pre-calibration, while the presented method calibrates the camera without prior knowledge of the scene and in real-time.

Keywords: advanced driver assistance system (ADAS), fish-eye, real-time, self-calibration

Procedia PDF Downloads 250