Search results for: automatic path planning

Authors: V. Sathya Narayanan, P. Sidharth, V. R. Sanal Kumar

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The success of any retail business is predisposed by its swift response and its knack in understanding the constraints and the requirements of customers. In this paper a conceptual design model of an automated customer-friendly supermarket has been proposed. In this model a 10-sided, space benefited, regular polygon shaped gravity shelves have been designed for goods storage and effective customer-specific algorithms have been built-in for quick automatic delivery of the randomly listed goods. The algorithm is developed with two main objectives, viz., delivery time and priority. For meeting these objectives the randomly listed items are reorganized according to the critical-path of the robotic arm specific to the identified shop and its layout and the items are categorized according to the demand, shape, size, similarity and nature of the product for an efficient pick-up, packing and delivery process. We conjectured that the proposed automated supermarket model reduces business operating costs with much customer satisfaction warranting a win-win situation.

Keywords: automated supermarket, electronic shopping, polygon-shaped rack, shortest path algorithm for shopping

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Authors: Alvaro Figueira, Bruno Cabral

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Nowadays, students are used to be assessed through an online platform. Educators have stepped up from a period in which they endured the transition from paper to digital. The use of a diversified set of question types that range from quizzes to open questions is currently common in most university courses. In many courses, today, the evaluation methodology also fosters the students’ online participation in forums, the download, and upload of modified files, or even the participation in group activities. At the same time, new pedagogy theories that promote the active participation of students in the learning process, and the systematic use of problem-based learning, are being adopted using an eLearning system for that purpose. However, although there can be a lot of feedback from these activities to student’s, usually it is restricted to the assessments of online well-defined tasks. In this article, we propose an automatic system that informs students of abnormal deviations of a 'correct' learning path in the course. Our approach is based on the fact that by obtaining this information earlier in the semester, may provide students and educators an opportunity to resolve an eventual problem regarding the student’s current online actions towards the course. Our goal is to prevent situations that have a significant probability to lead to a poor grade and, eventually, to failing. In the major learning management systems (LMS) currently available, the interaction between the students and the system itself is registered in log files in the form of registers that mark beginning of actions performed by the user. Our proposed system uses that logged information to derive new one: the time each student spends on each activity, the time and order of the resources used by the student and, finally, the online resource usage pattern. Then, using the grades assigned to the students in previous years, we built a learning dataset that is used to feed a machine learning meta classifier. The produced classification model is then used to predict the grades a learning path is heading to, in the current year. Not only this approach serves the teacher, but also the student to receive automatic feedback on her current situation, having past years as a perspective. Our system can be applied to online courses that integrate the use of an online platform that stores user actions in a log file, and that has access to other student’s evaluations. The system is based on a data mining process on the log files and on a self-feedback machine learning algorithm that works paired with the Moodle LMS.

Keywords: data mining, e-learning, grade prediction, machine learning, student learning path

Procedia PDF Downloads 101

Authors: John Hardy

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A range of future-oriented intelligence techniques is commonly used by states to assess their national security and develop strategies to detect and manage threats, to develop and sustain capabilities, and to recover from attacks and disasters. Although homeland security organizations use future's intelligence tools to generate scenarios and simulations which inform their planning, there have been relatively few studies of the methods available or their applications for homeland security purposes. This study presents an assessment of one category of strategic intelligence techniques, termed Multi-Path Futures Analyses (MPFA), and how it can be applied to three distinct tasks for the purpose of analyzing homeland security issues. Within this study, MPFA are categorized as a suite of analytic techniques which can include effects-based operations principles, general morphological analysis, multi-path mapping, and multi-criteria decision analysis techniques. These techniques generate multiple pathways to potential futures and thereby generate insight into the relative influence of individual drivers of change, the desirability of particular combinations of pathways, and the kinds of capabilities which may be required to influence or mitigate certain outcomes. The study assessed eighteen uses of MPFA for homeland security purposes and found that there are five key applications of MPFA which add significant value to analysis. The first application is generating measures of success and associated progress indicators for strategic planning. The second application is identifying homeland security vulnerabilities and relationships between individual drivers of vulnerability which may amplify or dampen their effects. The third application is selecting appropriate resources and methods of action to influence individual drivers. The fourth application is prioritizing and optimizing path selection preferences and decisions. The fifth application is informing capability development and procurement decisions to build and sustain homeland security organizations. Each of these applications provides a unique perspective of a homeland security issue by comparing a range of potential future outcomes at a set number of intervals and by contrasting the relative resource requirements, opportunity costs, and effectiveness measures of alternative courses of action. These findings indicate that MPFA enhances analysts’ ability to generate tangible measures of success, identify vulnerabilities, select effective courses of action, prioritize future pathway preferences, and contribute to ongoing capability development in homeland security assessments.

Keywords: homeland security, intelligence, national security, operational design, strategic intelligence, strategic planning

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Authors: Beth Jacobs

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The landmark movement of Western clinical psychology in the 20th century was the development of psychotherapy. The landmark movement of clinical psychology in the 21st century will be the absorption of meditation practices from Buddhist psychology. While millions of people explore meditation and related philosophy, very few people are exposed to the materials of original Buddhism on this topic, especially to the Theravadan Abhidharma. The Abhidharma is an intricate system of lists and matrixes that were used to understand and remember Buddha’s teaching. The Abhidharma delineates the first psychological system of Buddhism, how the mind works in the universe of reality and why meditation training strengthens and purifies the experience of life. Its lists outline the psychology of mental constructions, perception, emotion and cosmological causation. While the Abhidharma is technical, elaborate and complex, its essential purpose relates to the central purpose of clinical psychology: to relieve human suffering. Like Western depth psychology, the methodology rests on understanding underlying processes of consciousness and perception. What clinical psychologists might describe as therapeutic improvement, the Abhidharma delineates as a specific pathway of purified actions of consciousness. This paper discusses the concept of 'path' as presented in aspects of the Theravadan Abhidharma and relates this to current clinical psychological views of therapy outcomes and gains. The core path in Buddhism is the Eight-Fold Path, which is the fourth noble truth and the launching of activity toward liberation. The path is not composed of eight ordinal steps; it’s eight-fold and is described as opening the way, not funneling choices. The specific path in the Abhidharma is described in many steps of development of consciousness activities. The path is not something a human moves on, but something that moments of consciousness develop within. 'Cittas' are extensively described in the Abhidharma as the atomic-level unit of a raw action of consciousness touching upon an object in a field, and there are 121 types of cittas categorized. The cittas are embedded in the mental factors, which could be described as the psychological packaging elements of our experiences of consciousness. Based on these constellations of infinitesimal, linked occurrences of consciousness, citta are categorized by dimensions of purification. A path is a chain of citta developing through causes and conditions. There are no selves, no pronouns in the Abhidharma. Instead of me walking a path, this is about a person working with conditions to cultivate a stream of consciousness that is pure, immediate, direct and generous. The same effort, in very different terms, informs the work of most psychotherapies. Depth psychology seeks to release the bound, unconscious elements of mental process into the clarity of realization. Cognitive and behavioral psychologies work on breaking down automatic thought valuations and actions, changing schemas and interpersonal dynamics. Understanding how the original Buddhist concept of positive human development relates to the clinical psychological concept of therapy weaves together two brilliant systems of thought on the development of human well being.

Keywords: Abhidharma, Buddhist path, clinical psychology, psychotherapeutic outcome

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Authors: Leping Chen, Daoxiang An, Xiaotao Huang

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Automatic vehicle detection using synthetic aperture radar (SAR) image has been widely researched, as well as using optical remote sensing images. However, most researches treat the detection as an independent problem, failing to make full use of SAR data information. In circular SAR (CSAR), the two long borders of vehicle will shrink if the imaging surface is set higher than the reference one. Based on above variance, an automatic vehicle detection using CSAR image is proposed to enhance detection ability under complex environment, such as vehicles’ closely packing, which confuses the detector. The detection method uses the multiple images generated by different height plane to obtain an energy-concentrated image for detecting and then uses the maximally stable extremal regions method (MSER) to detect vehicles. A result of vehicles’ detection is given to verify the effectiveness and correctness of proposed method.

Keywords: circular SAR, vehicle detection, automatic, imaging

Procedia PDF Downloads 339

Authors: Xi Zuo

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As a part of the urban population that cannot be ignored, women have long been less involved in urban planning due to socio-economic constraints. Urban planning and development have long been influenced by the mainstream "male standard", paying less attention to women's needs for space in the city. However, with the development of the economy and society and the improvement of women's social status, their participation in urban life is gradually increasing, and their needs for the city are diversifying. Therefore, different scholars, planning designers and governmental departments have explored this field in different degrees and directions. This paper summarizes the research on urban planning from women's perspectives, discusses its strengths, weaknesses, and methodology with specific case studies, and then further discusses the direction of further research on this topic.

Keywords: urban planning, feminist, methodology, gender

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Authors: Xing Zhang

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Since the State Council of China issued the Regulations on the Conservation of Historical Cultural Towns and Villages in 2008, formulation of conservation planning has been carried out in national, provincial and municipal historical and cultural villages for protection needs, which provides a legal basis for inheritance of historical culture and protection of historical resources. Although the quantity and content of the conservation planning are continually increasing, the implementation and application are still ambiguous. To solve the aforementioned problems, this paper explores methods to enhance the implementation of conservation planning from the perspective of planning formulation. Specifically, the technical framework of "overall objectives planning - sub-objectives planning - zoning guidelines - implementation by stages" is proposed to implement the planning objectives in different classifications and stages. Then combined with details of the Qiqiao historical and cultural village conservation planning project in Ningbo, five sub-objectives are set, which are implemented through the village zoning guidelines. At the same time, the key points and specific projects in the near-term, medium-term and long-term work are clarified, and the spatial planning is transformed into the action plan with time scale. The proposed framework and method provide a reference for the implementation and management of the conservation planning of historical and cultural villages in the future.

Keywords: conservation planning, planning by stages, planning implementation, zoning guidelines

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Authors: Xiong Xie, Yuhang Chen

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Vulnerability discovery technology is a significant field of the current. In this paper, a fuzzy framework based on concolic execution has been proposed. Fuzzy test and symbolic execution are widely used in the field of vulnerability discovery technology. But each of them has its own advantages and disadvantages. During the path generation stage, path traversal algorithm based on generation is used to get more accurate path. During the constraint solving stage, dynamic concolic execution is used to avoid the path explosion. If there is external call, the concolic based on function summary is used. Experiments show that the framework can effectively improve the ability of triggering vulnerabilities and code coverage.

Keywords: concolic execution, constraint solving, fuzzy test, vulnerability discovery

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Authors: Yan Wang, Wei Wu

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In recent years, with the gradual change of Chinese urban development mode from 'incremental development' to 'stock-based renewal', the urban design method of ‘grand scene’ in the past could only cope with the planning and construction of incremental spaces such as new towns and new districts, while the problems involved in the renewal of the stock lands such as historic blocks of ancient cities are more complex. 'Simplified' large-scale demolition and construction may lead to the damage of the ancient city's texture and the overall cultural atmosphere; thus it is necessary to re-explore the urban design path of historical blocks in the conservation context of the ancient city. Through the study of the cultural context of the ancient city of Suzhou in China and the interpretation of its current characteristics, this paper explores the methods and paths for the renewal of historical and cultural blocks in the ancient city. It takes No. 12 and No. 13 historical blocks in the ancient city of Suzhou as examples, coordinating the spatial layout and the landscape and shaping the regional characteristics to improve the quality of the ancient city's life. This paper analyses the idea of conservation and regeneration from the aspects of culture, life, business form, and transport. Guided by the planning concept of ‘block repair and cultural infiltration’, it puts forward the urban design path of ‘conservation priority, activation and utilization, organic renewal and strengthening guidance’, with a view to continuing the cultural context and stimulating the vitality of ancient city, so as to realize the integration of history, modernity, space and culture. As a rare research on urban design in the scope of Suzhou ancient city, the paper expects to explore the concepts and methods of urban design for the historic blocks on the basis of the conservation of the history, space, and culture and provides a reference for other similar types of urban construction.

Keywords: historical block, Suzhou ancient city, stock-based renewal, urban design

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Authors: Yu-Hsiu Li, Chun-Hsun Chen

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Analysis of automatic sprinkler system protects the scooter in underground parking space, the current of general buildings is mainly equipped with foam fire-extinguishing equipment in Taiwan, the automatic sprinkling system has economic and environmental benefits, even high stability, China and the United States allow the parking space to set the automatic sprinkler system under certain conditions. The literature about scooter full-scale fire indicates that the average fire growth coefficient is 0.19 KW/sec2, it represents the scooter fire is classified as ultra-fast time square fire growth model, automatic sprinkler system can suppress the flame height and prevent extending burning. According to the computer simulation (FDS) literature, no matter computer simulation or full-scale experiments, the active order and trend about sprinkler heads are the same. This study uses the computer simulation program (FDS), the simulation scenario designed includes using a different system (enclosed wet type and open type), and different configurations. The simulation result demonstrates that the open type requires less time to extinguish the fire than the enclosed wet type if the horizontal distance between the sprinkler and the scooter ignition source is short, the sprinkler can act quickly, the heat release rate of fire can be suppressed in advance.

Keywords: automatic sprinkler system, underground parking Spac, FDS, scooter fire extinguishing

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Authors: Aouina Nabila Yasmina, Chaoui Zine El Abiddine

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This study presents a comprehensive investigation into the elastic mean free path (EMFP) of electrons colliding with pyrimidine, a precursor to the pyrimidine bases in DNA, employing the Screen Corrected Additivity Rule (SCAR) method. The SCAR method is introduced as a novel approach that combines classical and quantum mechanical principles to elucidate the interaction of electrons with pyrimidine. One of the most fundamental properties characterizing the propagation of a particle in the nuclear medium is its mean free path. Knowledge of the elastic mean free path is essential to accurately predict the effects of radiation on biological matter, as it contributes to the distances between collisions. Additionally, the mean free path plays a role in the interpretation of almost all experiments in which an excited electron moves through a solid. Pyrimidine, the precursor of the pyrimidine bases of DNA, has interesting physicochemical properties, which make it an interesting molecule to study from a fundamental point of view. These include a relatively large dipole polarizability and dipole moment and an electronic charge cloud with a significant spatial extension, which justifies its choice in this present study.

Keywords: elastic mean free path, elastic collision, pyrimidine, SCAR

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Authors: Isao Tomita

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The detection of environmental gases, 12CO_2, 13CO_2, and CH_4, using near-infrared semiconductor lasers with a short laser path length is studied by means of wavelength-modulation spectroscopy. The developed system is compact and has high sensitivity enough to detect the absorption peaks of isotopic 13CO_2 of a 3-% CO_2 gas at 2 um with a path length of 2.4 m, where its peak size is two orders of magnitude smaller than that of the ordinary 12CO_2 peaks. In addition, the detection of 12CO_2 peaks of a 385-ppm (0.0385-%) CO_2 gas in the air is made at 2 um with a path length of 1.4 m. Furthermore, in pursuing the detection of an ancient environmental CH_4 gas confined to a bubble in ice at the polar regions, measurements of the absorption spectrum for a trace gas of CH_4 in a small area are attempted. For a 100-% CH_4 gas trapped in a 1 mm^3 glass container, the absorption peaks of CH_4 are obtained at 1.65 um with a path length of 3 mm, and also the gas pressure is extrapolated from the measured data.

Keywords: environmental gases, Near-Infrared Laser Detection, Wavelength-Modulation Spectroscopy, gas pressure

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Authors: N. Paparisteidi, D. Rodamitou

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This article focuses on the skills development and path planning of students studying computer science in EPITECH: french private institute of Higher Education. The researchers examine students’ points of view and experience in a blended learning model based on a skills development curriculum. The study is based on the collection of four main categories of data: semi-participant observation, distribution of questionnaires, interviews, and analysis of internal school databases. The findings seem to indicate that a skills-based program on active learning enables students to develop their learning strategies as well as their personal skills and to actively engage in the creation of their career path and contribute to providing additional information to curricula planners and decision-makers about learning design in higher education.

Keywords: active learning, blended learning, higher education, skills development

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Authors: Anderson Rocha, Pedro Miguel de Figueiredo Dinis Oliveira Gaspar

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Machine vision has been widely used in recent years in agriculture, as a tool to promote the automation of processes and increase the levels of productivity. The aim of this work is the development of a path recognition algorithm based on image processing to guide a terrestrial robot in-between tree rows. The proposed algorithm was developed using the software MATLAB, and it uses several image processing operations, such as threshold detection, morphological erosion, histogram equalization and the Hough transform, to find edge lines along tree rows on an image and to create a path to be followed by a mobile robot. To develop the algorithm, a set of images of different types of orchards was used, which made possible the construction of a method capable of identifying paths between trees of different heights and aspects. The algorithm was evaluated using several images with different characteristics of quality and the results showed that the proposed method can successfully detect a path in different types of environments.

Keywords: agricultural mobile robot, image processing, path recognition, hough transform

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Authors: Z. Liu, K. Cao

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Strategic spatial planning, which is taken as an effective and competitive way for the governors of the city to improve the development and management level of a city, has been blooming in recent years all over the world. In the context of globalization and informatization, strategic spatial planning must transfer its focus on three different levels: global, regional and urban. Internal and external changes in environmental conditions lead to new advances in strategic planning both theoretically and practically. However, such advances or changes respond differently to cities on account of different dynamic mechanisms. This article aims at two cities of Tianjin in China and Melbourne in Australia, through a comparative study on strategic planning, to explore the differentiation of mechanisms in urban planning making. By comparison and exploration, the purpose of this article is to exhibit two different planning worlds between western and Chinese in a new way nowadays.

Keywords: differentiation, Tianjin China, Melbourne Australia, strategic planning

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Authors: Sihem Chaibeddra, Fattoum Kharchi, Fahim Kahlouche, Youcef Benna

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In the recent years, a considerable level of interest has been developed on the use of earth in construction, led by its rediscovery as an environmentally building material. The Stabilized Earth Concrete (SEC) is a good alternative to the cement concrete, thanks to its thermal and moisture regulating features. Many parameters affect the behavior of stabilized earth concrete. This article presents research results related to the influence of the compacting nature on some SEC properties namely: The mechanical behavior, capillary absorption, shrinkage and sustainability to water erosion, and this, basing on two types of compacting: Manual and semi-automatic.

Keywords: behavior, compacting, manual, SEC, semi-automatic

Procedia PDF Downloads 333

Authors: Balamurali Gunji, B. B. V. L. Deepak, B. B. Biswal, Amrutha Rout, Golak Bihari Mohanta

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Robots play an important role in the operations like pick and place, assembly, spot welding and much more in manufacturing industries. Out of those, assembly is a very important process in manufacturing, where 20% of manufacturing cost is wholly occupied by the assembly process. To do the assembly task effectively, Assembly Sequences Planning (ASP) is required. ASP is one of the multi-objective non-deterministic optimization problems, achieving the optimal assembly sequence involves huge search space and highly complex in nature. Many researchers have followed different algorithms to solve ASP problem, which they have several limitations like the local optimal solution, huge search space, and execution time is more, complexity in applying the algorithm, etc. By keeping the above limitations in mind, in this paper, a new automated optimal robotic assembly sequence planning using Artificial Bee Colony (ABC) Algorithm is proposed. In this algorithm, automatic extraction of assembly predicates is done using Computer Aided Design (CAD) interface instead of extracting the assembly predicates manually. Due to this, the time of extraction of assembly predicates to obtain the feasible assembly sequence is reduced. The fitness evaluation of the obtained feasible sequence is carried out using ABC algorithm to generate the optimal assembly sequence. The proposed methodology is applied to different industrial products and compared the results with past literature.

Keywords: assembly sequence planning, CAD, artificial Bee colony algorithm, assembly predicates

Procedia PDF Downloads 217

Authors: Areej Salaymeh, Loren Schwiebert, Stephen Remias, Jonathan Waddell

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Extracting information from new data sources has emerged as a crucial task in many traffic planning processes, such as identifying traffic patterns, route planning, traffic forecasting, and locating infrastructure improvements. Given the advanced technologies used to collect Global Positioning System (GPS) data from dedicated GPS devices, GPS equipped phones, and navigation tools, intelligent data analysis methodologies are necessary to mine this raw data. In this research, an automatic detection framework is proposed to help identify and classify the locations of stopped GPS waypoints into two main categories: signalized intersections or highway congestion. The Delaunay triangulation is used to perform this assessment in the clustering phase. While most of the existing clustering algorithms need assumptions about the data distribution, the effectiveness of the Delaunay triangulation relies on triangulating geographical data points without such assumptions. Our proposed method starts by cleaning noise from the data and normalizing it. Next, the framework will identify stoppage points by calculating the traveled distance. The last step is to use clustering to form groups of waypoints for signalized traffic and highway congestion. Next, a binary classifier was applied to find distinguish highway congestion from signalized stop points. The binary classifier uses the length of the cluster to find congestion. The proposed framework shows high accuracy for identifying the stop positions and congestion points in around 99.2% of trials. We show that it is possible, using limited GPS data, to distinguish with high accuracy.

Keywords: Delaunay triangulation, clustering, intelligent transportation systems, GPS data

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Authors: Ahmed R. Ismail, Hatem A. El Tawil, Nevin G. Rezk

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Historic paths in today's cities are facing the pressure of the urban development due to the rapid urban growth. Every new development is tearing the old urban fabric and the socio-economic character of the historic paths. Furthermore, in some cases historic paths suffer from negligence and decay. Kom El Dekka historic path was one of those deteriorated paths in the city of Alexandria, Egypt, in spite of its high heritage and socio-economic value. Therefore, there was a need to develop urban regeneration strategies as a part of a wider sustainable development vision, to handle the situation and revitalize the path as a livable space in the heart of the city. This study aims to develop a comprehensive assessment methodology to evaluate the different values of the path and to create community-oriented and economic-based analysis methodology for its socio-economic values. These analysis and assessments provide strategies for any regeneration action plan for Kom El Dekka historic path.

Keywords: community-oriented, economic-based, syntactical analysis, urban regeneration

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Authors: B. G. Ayantunji, B. Musa, H. Mai-Unguwa, L. A. Sunmonu, A. S. Adewumi, L. Sa'ad, A. Kado

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For achieving reliable and efficient communication system, both terrestrial and satellite communication, surface refractivity is critical in planning and design of radio links. This study analyzed the impact of atmospheric parameters on Ultra High Frequency (UHF) signal strength over Gusau, North West, Nigeria. The analysis exploited meteorological data measured simultaneously with UHF signal strength for the month of June 2017 using a Davis Vantage Pro2 automatic weather station and UHF signal strength measuring devices respectively. The instruments were situated at the premise of Federal University, Gusau (6° 78' N, 12° 13' E). The refractivity values were computed using ITU-R model. The result shows that the refractivity value attained the highest value of 366.28 at 2200hr and a minimum value of 350.66 at 2100hr local time. The correlation between signal strength and refractivity is 0.350; Humidity is 0.532 and a negative correlation of -0.515 for temperature.

Keywords: refractivity, UHF (ultra high frequency) signal strength, free space, automatic weather station

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Authors: Yousif Mohamed Y. Abdallah

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This is an experimental study deals with detection, measurement and analysis of the periodic physiological organ motion during external beam radiotherapy; to improve the accuracy of the radiation field placement, and to reduce the exposure of healthy tissue during radiation treatments. The importance of this study is to detect the maximum path of the mobile structures during radiotherapy delivery, to define the planning target volume (PTV) and irradiated volume during both inspiration and expiration period and to verify the target volume. In addition to its role to highlight the importance of the application of Intense Guided Radiotherapy (IGRT) methods in the field of radiotherapy. The results showed (body contour was equally (3.17 + 0.23 mm), for left lung displacement reading (2.56 + 0.99 mm) and right lung is (2.42 + 0.77 mm) which the radiation oncologist to take suitable countermeasures in case of significant errors. In addition, the use of the image registration technique for automatic position control is predicted potential motion. The motion ranged between 2.13 mm and 12.2 mm (low and high). In conclusion, individualized assessment of tumor mobility can improve the accuracy of target areas definition in patients undergo Sterostatic RT for stage I, II and III lung cancer (NSCLC). Definition of the target volume based on a single CT scan with a margin of 10 mm is clearly inappropriate.

Keywords: respiratory motion, external beam radiotherapy, image processing, lung

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Authors: Rui Liu, Klaus Greve

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The navigation information is a kind of dynamic geographic information, and the navigation information system is a kind of special geographic information system. At present, there are many researches on the application of centralized management and cross-integration application of basic geographic information. However, the idea of information integration and sharing is not deeply applied into the research of navigation information service. And the imperfection of navigation target coordination and navigation information sharing mechanism under certain navigation tasks has greatly affected the reliability and scientificity of navigation service such as path planning. Considering this, the project intends to study the multi-source information fusion and multi-objective united navigation information interaction mechanism: first of all, investigate the actual needs of navigation users in different areas, and establish the preliminary navigation information classification and importance level model; and then analyze the characteristics of the remote sensing and GIS vector data, and design the fusion algorithm from the aspect of improving the positioning accuracy and extracting the navigation environment data. At last, the project intends to analyze the feature of navigation information of the land, sea and air navigation targets, and design the united navigation data standard and navigation information sharing model under certain navigation tasks, and establish a test navigation system for united navigation simulation experiment. The aim of this study is to explore the theory of united navigation service and optimize the navigation information service model, which will lay the theory and technology foundation for the united navigation of land, sea and air targets.

Keywords: information fusion, united navigation, dynamic path planning, navigation information visualization

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Authors: Hasliza A. Rahim, Fareq Malek, Nur A. M. Affendi, Azuwa Ali, Norshafinash Saudin, Latifah Mohamed

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This paper presents the experimental investigation of on-body channel fading at 2.45 GHz considering two effects of the user body movement; stationary and mobile. A pair of body-worn antennas was utilized in this measurement campaign. A statistical analysis was performed by comparing the measured on-body path loss to five well-known distributions; lognormal, normal, Nakagami, Weibull and Rayleigh. The results showed that the average path loss of moving arm varied higher than the path loss in sitting position for upper-arm-to-left-chest link, up to 3.5 dB. The analysis also concluded that the Nakagami distribution provided the best fit for most of on-body static link path loss in standing still and sitting position, while the arm movement can be best described by log-normal distribution.

Keywords: on-body channel communications, fading characteristics, statistical model, body movement

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Authors: M. Orefice, V. Di Vito

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This paper provides a description of a Collision Avoidance algorithm that has been developed starting from the mathematical modeling of the flight of insects, in terms of spirals and conchospirals geometric paths. It is able to calculate a proper avoidance manoeuver aimed to prevent the infringement of a predefined distance threshold between ownship and the considered intruder, while minimizing the ownship trajectory deviation from the original path and in compliance with the aircraft performance limitations and dynamic constraints. The algorithm is designed in order to be suitable for real-time applications, so that it can be considered for the implementation in the most recent airborne automatic collision avoidance systems using the traffic data received through an ADS-B IN device. The presented approach is able to take into account the rules-of-the-air, due to the possibility to select, through specifically designed decision making logic based on the consideration of the encounter geometry, the direction of the calculated collision avoidance manoeuver that allows complying with the rules-of-the-air, as for instance the fundamental right of way rule. In the paper, the proposed collision avoidance algorithm is presented and its preliminary design and software implementation is described. The applicability of this method has been proved through preliminary simulation tests performed in a 2D environment considering single intruder encounter geometries, as reported and discussed in the paper.

Keywords: ADS-B Based Application, Collision Avoidance, RPAS, Spiral Geometry.

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Authors: Jayron Sanchez, Analyn Yumang, Felicito Caluyo

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The visually impaired individual may use a cane, guide dog or ask for assistance from a person. This study implemented the RFID technology which consists of a low-cost RFID reader and passive RFID tag cards. The passive RFID tag cards served as checkpoints for the visually impaired. The visually impaired was guided through audio output from the system while traversing the path. The study implemented an ultrasonic sensor in detecting static obstacles. The system generated an alternate path based on A* algorithm to avoid the obstacles. Alternate paths were also generated in case the visually impaired traversed outside the intended path to the destination. A* algorithm generated the shortest path to the destination by calculating the total cost of movement. The algorithm then selected the smallest movement cost as a successor to the current tag card. Several trials were conducted to determine the effect of obstacles in the time traversal of the visually impaired. A dependent sample t-test was applied for the statistical analysis of the study. Based on the analysis, the obstacles along the path generated delays while requesting for the alternate path because of the delay in transmission from the laptop to the device via ZigBee modules.

Keywords: A* algorithm, RFID technology, ultrasonic sensor, ZigBee module

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Authors: Richard Molyneux, Christopher Parrott, Kirill Horoshenkov

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This paper aims to demonstrate how various algorithms can be implemented within swarms of autonomous robots to provide continuous inspection within underground pipeline networks. Current methods of fault detection within pipes are costly, time consuming and inefficient. As such, solutions tend toward a more reactive approach, repairing faults, as opposed to proactively seeking leaks and blockages. The paper presents an efficient inspection method, showing that autonomous swarm robotics is a viable way of monitoring underground infrastructure. Tailored adaptations of various Vehicle Routing Problems (VRP) and path-planning algorithms provide a customised inspection procedure for complicated networks of underground pipes. The performance of multiple algorithms is compared to determine their effectiveness and feasibility. Notable inspirations come from ant colonies and stigmergy, graph theory, the k-Chinese Postman Problem ( -CPP) and traffic theory. Unlike most swarm behaviours which rely on fast communication between agents, underground pipe networks are a highly challenging communication environment with extremely limited communication ranges. This is due to the extreme variability in the pipe conditions and relatively high attenuation of acoustic and radio waves with which robots would usually communicate. This paper illustrates how to optimise the inspection process and how to increase the frequency with which the robots pass each other, without compromising the routes they are able to take to cover the whole network.

Keywords: autonomous inspection, buried pipes, stigmergy, swarm intelligence, vehicle routing problem

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Authors: John Gaber

Abstract:

Planners regularly use citizen input as empirical data to help them better understand community issues they know very little about. This type of community data is based on the lived experiences of local residents and is known as "emic" data. What is becoming more common practice for planners is their use of data from local experts and stakeholders (known as "etic" data or the outsider perspective) to help them fill in the gaps in their analysis of applied planning research projects. Utilizing international Health Impact Assessment (HIA) data, I look at who planners invite to their citizen input investigations. Research presented in this paper shows that planners access a wide range of emic and etic community perspectives in their search for the “community’s view.” The paper concludes with how planners can chart out a new empirical path in their execution of emic/etic citizen participation strategies in their applied planning research projects.

Keywords: citizen participation, emic data, etic data, Health Impact Assessment (HIA)

Procedia PDF Downloads 465

Authors: Seyed Esmail Seyedi Bariran, Khairul Salleh Mohamed Sahari

Abstract:

In robotics literature, the simultaneous localization and mapping (SLAM) is commonly associated with a priori-posteriori problem. The autonomous vehicle needs a neutral map to spontaneously track its local position, i.e., “localization” while at the same time a precise path estimation of the environment state is required for effective route planning and obstacle avoidance. On the other hand, the environmental noise factors can significantly intensify the inherent uncertainties in using odometry information and measurements obtained from the robot’s exteroceptive sensor which in return directly affect the overall performance of the corresponding SLAM. Therefore, the current work is primarily dedicated to provide a diagnostic analysis of six SLAM algorithms including FastSLAM, L-SLAM, GraphSLAM, Grid SLAM and DP-SLAM. A SLAM simulated environment consisting of two sets of landmark locations and robot waypoints was set based on modified EKF and UKF in MATLAB using two separate maps for indoor and outdoor route planning subject to natural and artificial obstacles. The simulation results are expected to provide an unbiased platform to compare the estimation performances of the five SLAM models as well as on the reliability of each SLAM model for indoor and outdoor applications.

Keywords: route planning, obstacle, estimation performance, FastSLAM, L-SLAM, GraphSLAM, Grid SLAM, DP-SLAM

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Authors: Gebremeskel Hagos Gebremedhin, Feng Chong, Heyan Huang

Abstract:

Software system is the combination of architecture and organized components to accomplish a specific function or set of functions. A good software architecture facilitates application system development, promotes achievement of functional requirements, and supports system reconfiguration. We describe three studies demonstrating the utility of our architecture in the subdomain of mobile office robots and identify software engineering principles embodied in the architecture. The main aim of this paper is to analyze prove architecture design and automatic re-architecting using machine learning. Intelligence software architecture and automatic re-architecting process is reorganizing in to more suitable one of the software organizational structure system using the user access dataset for creating relationship among the components of the system. The 3-step approach of data mining was used to analyze effective recovery, transformation and implantation with the use of clustering algorithm. Therefore, automatic re-architecting without changing the source code is possible to solve the software complexity problem and system software reuse.

Keywords: intelligence, software architecture, re-architecting, software reuse, High level design

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Authors: Akshay Suhas Phalke, Manohar S. Chaudhari

Abstract:

In this paper, we have discussed the multipath routing with its variants. Our purpose is to discuss the different types of the multipath routing mechanism. Here we also put the taxonomy of the multipath routing. Multipath routing is used for the alternate path routing, reliable transmission of data and for better utilization of network resources. We also discussed the multipath routing for topology hiding such as TOHIP. In multipath routing, different parameters such as energy efficiency, packet delivery ratio, shortest path routing, fault tolerance play an important role. We have discussed a number of multipath routing protocol based on different parameters lastly.

Keywords: multi-path routing, WSN, topology, fault detection, trust

Procedia PDF Downloads 323