Search results for: central path

Authors: Olga Andrianova, Lazar Jeifets

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The security issue has always been one of the most sensitive and significant in Latin American context, especially focused on Central American region. Despite the fact that the time of the civil wars has ended, violence, delinquency, insecurity, discrimination still exist and keep relevance in the 21st century. This article is dedicated to consider this kind of problems, to find out the main causes and to propose solution approaches.

Keywords: Central America, insecurity, instability, violence

Procedia PDF Downloads 363

Authors: Luiz G. Véras, Felipe L. Medeiros, Lamartine F. Guimarães

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This work approaches the automatic planning of paths for Unmanned Aerial Vehicles (UAVs) through the application of the Rapidly Exploring Random Tree Star-Smart (RRT*-Smart) algorithm. RRT*-Smart is a sampling process of positions of a navigation environment through a tree-type graph. The algorithm consists of randomly expanding a tree from an initial position (root node) until one of its branches reaches the final position of the path to be planned. The algorithm ensures the planning of the shortest path, considering the number of iterations tending to infinity. When a new node is inserted into the tree, each neighbor node of the new node is connected to it, if and only if the extension of the path between the root node and that neighbor node, with this new connection, is less than the current extension of the path between those two nodes. RRT*-smart uses an intelligent sampling strategy to plan less extensive routes by spending a smaller number of iterations. This strategy is based on the creation of samples/nodes near to the convex vertices of the navigation environment obstacles. The planned paths are smoothed through the application of the method called quintic pythagorean hodograph curves. The smoothing process converts a route into a dynamically-viable one based on the kinematic constraints of the vehicle. This smoothing method models the hodograph components of a curve with polynomials that obey the Pythagorean Theorem. Its advantage is that the obtained structure allows computation of the curve length in an exact way, without the need for quadratural techniques for the resolution of integrals.

Keywords: path planning, path smoothing, Pythagorean hodograph curve, RRT*-Smart

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Authors: M. Khouil, N. Saber, M. Mestari

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This study aimed to propose, a different architecture of a Path Planning using the NECMOP. where several nonlinear objective functions must be optimized in a conflicting situation. The ability to detect and avoid collision is very important for mobile intelligent machines. However, many artificial vision systems are not yet able to quickly and cheaply extract the wealth information. This network, which has been particularly reviewed, has enabled us to solve with a new approach the problem of collision detection between two convex polyhedra in a fixed time (O (1) time). We used two types of neurons linear and threshold logic, which simplified the actual implementation of all the networks proposed. This article represents a comprehensive algorithm that determine through the AMAXNET network a measure (a mini-maximum point) in a fixed time, which allows us to detect the presence of a potential collision.

Keywords: path planning, collision detection, convex polyhedron, neural network

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Authors: Ritika Jain, Rajnish Kumar

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The Department of Public Enterprises had made submissions of Self Evaluation Reports, for the purpose of corporate governance, mandatory for all central government owned enterprises. Despite this, an alarming 40% of the enterprises did not do so. This study examines the impact of external policy tools and internal firm-specific factors on corporate governance of central public sector enterprises (CPSEs). We use a dataset of all manufacturing and non-financial services owned by the central government of India for the year 2010-11. Using probit, ordered logit and Heckman’s sample selection models, the study finds that the probability and quality of corporate governance is positively influenced by the CPSE getting into a Memorandum of Understanding (MoU) with the central government of India, and hence, enjoying more autonomy in terms of day to day operations. Besides these, internal factors, including bigger size and lower debt size contribute significantly to better corporate governance.

Keywords: corporate governance, central public sector enterprises (CPSEs), sample selection, Memorandum of Understanding (MoU), ordered logit, disinvestment

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Authors: Jihye Jeon

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This paper analyzes the conceptual framework of three statistical methods, multiple regression, path analysis, and structural equation models. When establishing research model of the statistical modeling of complex social phenomenon, it is important to know the strengths and limitations of three statistical models. This study explored the character, strength, and limitation of each modeling and suggested some strategies for accurate explaining or predicting the causal relationships among variables. Especially, on the studying of depression or mental health, the common mistakes of research modeling were discussed.

Keywords: multiple regression, path analysis, structural equation models, statistical modeling, social and psychological phenomenon

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Authors: Gyumin Hwang, Jihong Lee

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This paper studied the CSS-based indoor localization system which is easy to implement, inexpensive to compose the systems, additionally CSS-based indoor localization system covers larger area than other system. However, this system has problem which is affected by reflected distance data. This problem in localization is caused by the multi-path effect. Error caused by multi-path is difficult to be corrected because the indoor environment cannot be described. In this paper, in order to solve the problem by multi-path, we have supplemented the localization system by using pattern matching method based on extended database. Thereby, this method improves precision of estimated. Also this method is verified by experiments in gymnasium. Database was constructed by 1 m intervals, and 16 sample data were collected from random position inside the region of DB points. As a result, this paper shows higher accuracy than existing method through graph and table.

Keywords: chirp spread spectrum, indoor localization, pattern-matching, time of arrival, multi-path, mahalanobis distance, reception rate, simultaneous localization and mapping, laser range finder

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Authors: Sansanee Sansiribhan, Orrawan Rewthong, Anusorn Rattanathanaophat, Sarun Saensiriphan

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The objective of this work was to study potential of rice straw for power plant in the central region of Thailand. Provincial power plant capacity was studied. The results showed that provinces central region had potential for small power plants with a capacity of over 10 MW in 13 provinces, 1-10 MW in 6 provinces and less than 1 MW in 3 provinces.

Keywords: rice straw, power plant, central region, Thailand

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Authors: U. Yerlikaya, R. T. Balkan

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In this research, a method is developed to obtain high-dimensional configuration space for path planning problems. In typical cases, the path planning problems are solved directly in the 3-dimensional (D) workspace. However, this method is inefficient in handling the robots with various geometrical and mechanical restrictions. To overcome these difficulties, path planning may be formalized and solved in a new space which is called configuration space. The number of dimensions of the configuration space comes from the degree of freedoms of the system of interest. The method can be applied in two ways. In the first way, the point clouds of all the bodies of the system and interaction of them are used. The second way is performed via using the clearance function of simulation software where the minimum distances between surfaces of bodies are simultaneously measured. A double-turret system is held in the scope of this study. The 4-D configuration space of a double-turret system is obtained in these two ways. As a result, the difference between these two methods is around 1%, depending on the density of the point cloud. The disparity between the two forms steadily decreases as the point cloud density increases. At the end of the study, in order to verify 4-D configuration space obtained, 4-D path planning problem was realized as 2-D + 2-D and a sample path planning is carried out with using A* algorithm. Then, the accuracy of the configuration space is proved using the obtained paths on the simulation model of the double-turret system.

Keywords: A* algorithm, autonomous turrets, high-dimensional C-space, manifold C-space, point clouds

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Authors: M. Yushalify Misro, Ahmad Ramli, Jamaludin M. Ali

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Bezier curves have useful properties for path generation problem, for instance, it can generate the reference trajectory for vehicles to satisfy the path constraints. Both algorithms join cubic Bezier curve segment smoothly to generate the path. Some of the useful properties of Bezier are curvature. In mathematics, the curvature is the amount by which a geometric object deviates from being flat, or straight in the case of a line. Another extrinsic example of curvature is a circle, where the curvature is equal to the reciprocal of its radius at any point on the circle. The smaller the radius, the higher the curvature thus the vehicle needs to bend sharply. In this study, we use Bezier curve to fit highway-like curve. We use the different approach to finding the best approximation for the curve so that it will resemble highway-like curve. We compute curvature value by analytical differentiation of the Bezier Curve. We will then compute the maximum speed for driving using the curvature information obtained. Our research works on some assumptions; first the Bezier curve estimates the real shape of the curve which can be verified visually. Even, though, the fitting process of Bezier curve does not interpolate exactly on the curve of interest, we believe that the estimation of speed is acceptable. We verified our result with the manual calculation of the curvature from the map.

Keywords: speed estimation, path constraints, reference trajectory, Bezier curve

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Authors: Salman Ali Nisar, Koshi Suzuki

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Precedence Diagram Method (PDM) with its additional relationships i.e., start-to-start, finish-to-finish, and start-to-finish, between activities provides more flexible schedule than traditional Critical Path Method (CPM). But, changing the duration of critical activities in PDM network will have anomalous effect on critical path. Researchers have proposed some classification of critical activity effects. In this paper, we do further study on classifications of critical activity effect and provide more information in detailed. Furthermore, we determine the maximum amount of time for each class of critical activity effect by which the project managers can control the dynamic feature (shortening/lengthening) of critical activities and project duration more efficiently.

Keywords: construction project management, critical path method, project scheduling, precedence diagram method

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Authors: Raef Cherif, Houssine Bakkali, Wafaa El Khatiri, Yacine Yaddaden

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The analysis of how vibrations are transmitted between components is required in many engineering applications. Transfer path analysis (TPA) has been a valuable engineering tool for solving Noise, Vibration, and Harshness (NVH problems using sub-structuring applications. The most challenging part of a TPA analysis is estimating the equivalent forces at the contact points between the active and the passive side. Component TPA in situ Method calculates these forces by inverting the frequency response functions (FRFs) measured at the passive subsystem, relating the motion at indicator points to forces at the interface. However, matrix inversion could pose problems due to the ill-conditioning of the matrices leading to inaccurate results. This paper establishes a TPA model for an academic system consisting of two plates linked by four springs. A numerical study has been performed to improve the interface forces identification. Several parameters are studied and discussed, such as the singular value rejection and the number and position of indicator points chosen and used in the inversion matrix.

Keywords: transfer path analysis, matrix inverse method, indicator points, SVD decomposition

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Authors: Kyungbong Kim

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This study proposed to compare and analyse the five stages of cultivating the Yogâcāra path and the spiritual journey in the Ten Ox-Herding Pictures. To achieve this, the study investigated the core concepts and practice methods of the two approaches and analysed their relations from the literature reviewed. The results showed that the end goal of the two approaches is the same, the attainment of Buddhahood, with the two having common characteristics including the practice of being aware of the impermanent and non-self, and the fulfilling benefit of sentient beings. The results suggest that our Buddhist practice system needs to sincerely consider the realistic ways by which one can help people in agony in contemporary society, not by emphasizing on the enlightenment through a specific practice way for all people, but by tailored practice methods based on each one's faculties in understanding Buddhism.

Keywords: transformation of consciousness to wisdom, enlightenment, the five stages of cultivating the Yogacāra path, the Ten Ox-Herding Pictures, transformation of the basis

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Authors: Alexander Machikhin, Olga Polschikova, Vitold Pozhar, Alina Ramazanova

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White-light quantitative phase imaging is an effective technique for achieving sub-nanometer phase sensitivity. Highly stable interferometers based on common-path geometry have been developed in recent years to solve this task. Some of these methods also apply multispectral approach. The purpose of this research is to suggest a simple and effective interferometer for such systems. We developed a three-lens common-path interferometer, which can be used for quantitative phase imaging with or without multispectral modality. The lens system consists of two components, the first one of which is a compound lens, consisting of two lenses. A pinhole is placed between the components. The lens-in-lens approach enables effective light transmission and high stability of the interferometer. The multispectrality is easily implemented by placing a tunable filter in front of the interferometer. In our work, we used an acousto-optical tunable filter. Some design considerations are discussed and multispectral quantitative phase retrieval is demonstrated.

Keywords: acousto-optical tunable filter, common-path interferometry, digital holography, multispectral quantitative phase imaging

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Authors: Danladi Ali

Abstract:

In this paper, we measured GSM signal strength in the Dnepropetrovsk city in order to predict path loss in study area using nonlinear autoregressive neural network prediction and we also, used neural network clustering to determine average GSM signal strength receive at the study area. The nonlinear auto-regressive neural network predicted that the GSM signal is attenuated with the mean square error (MSE) of 2.6748dB, this attenuation value is used to modify the COST 231 Hata and the Okumura-Hata models. The neural network clustering revealed that -75dB to -95dB is received more frequently. This means that the signal strength received at the study is mostly weak signal

Keywords: one-dimensional multilevel wavelets, path loss, GSM signal strength, propagation, urban environment and model

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Authors: Ivana Cestar, Ivica Stančerić, Saša Ahac, Vesna Dragčević, Tamara Džambas

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On special paved areas, such as road intersections, vehicles are usually moving through horizontal curves with smaller radii and occupy considerably greater area compared to open road segments. Planning procedure of these areas is mainly an iterative process that consists of designing project elements, assembling those elements to a design project, and analyzing swept paths for the design vehicle. If applied elements do not fulfill the swept path requirements for the design vehicle, the process must be carried out again. Application of specialized computer software for swept path analysis significantly facilitates planning procedure of special paved areas. There are various software of this kind available on the global market, and each of them has different specifications. In this paper, comparison of two software commonly used in Croatia (Auto TURN and Vehicle Tracking) is presented, their advantages and disadvantages are described, and their applicability on a particular paved area is discussed. In order to reveal which one of the analyszed software is more favorable in terms of swept paths widths, which one includes input parameters that are more relevant for this kind of analysis, and which one is more suitable for the application on a certain special paved area, the analysis shown in this paper was conducted on a number of different intersection types.

Keywords: software comparison, special paved areas, swept path analysis, swept path input parameters

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Authors: Aiman Alshare, Sahar Qaadan

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A curvature dependent force correction algorithm for planning force controlled grinding process with off-line programming flexibility is designed for ABB industrial robot, in order to avoid the manual interface during the process. The machining path utilizes a spline curve fit that is constructed from the CAD data of the workpiece. The fitted spline has a continuity of the second order to assure path smoothness. The implemented algorithm computes uniform forces normal to the grinding surface of the workpiece, by constructing a curvature path in the spatial coordinates using the spline method.

Keywords: ABB industrial robot, grinding process, offline programming, CAD data extraction, force correction algorithm

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Authors: Cuiyang Feng, Xu Tang, Yi Jin

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Coal is the most important primary energy source in China, which exerts a significant influence on the rapid economic growth. However, it makes the water resources to be a constraint on coal industry development, on account of the reverse geographical distribution between coal and water. To ease the pressure on water shortage, the ‘3 Red Lines’ water policies were announced by the Chinese government, and then ‘water for coal’ plan was added to that policies in 2013. This study utilized a structural path analysis (SPA) based on the multi-regional input-output table to quantify the virtual water flows caused by coal consumption in different stages. Results showed that the direct water input (the first stage) was the highest amount in all stages of coal consumption, accounting for approximately 30% of total virtual water content. Regional analysis demonstrated that virtual water trade alleviated the pressure on water use for coal consumption in water shortage areas, but the import of virtual water was not from the areas which are rich in water. Sectoral analysis indicated that the direct inputs from the sectors of ‘production and distribution of electric power and heat power’ and ‘Smelting and pressing of metals’ took up the major virtual water flows, while the sectors of ‘chemical industry’ and ‘manufacture of non-metallic mineral products’ importantly but indirectly consumed the water. With the population and economic growth in China, the water demand-and-supply gap in coal consumption would be more remarkable. In additional to water efficiency improvement measures, the central government should adjust the strategies of the virtual water trade to address local water scarcity issues. Water resource as the main constraints should be highly considered in coal policy to promote the sustainable development of the coal industry.

Keywords: coal consumption, multi-regional input-output model, structural path analysis, virtual water

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Authors: Bayu Dwi Cahyo, Ekohariadi, Theodorus Wiyanto Wibowo, I. G. P. Asto Budithahjanto, Eppy Yundra

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The objective of this study is to examine the effects of self-confidence, adversity quotient, and self-efficacy variables on critical thinking. This research's participants are 137 cadets of Aviation Polytechnics of Surabaya with the sampling technique that was purposive sampling. In this study, the data collection method used a questionnaire with Linkert-scale and distributed or given to respondents by the specified number of samples. The SPSS AMOS v23 was used to test a number of a priori multivariate growth curve models and examining relationships between the variables via path analysis. The result of path analysis was (χ² = 88.463, df= 71, χ² /df= 1.246, GFI= .914, CFI= .988, P= .079, AGFI= .873, TLI= .985, RMSEA= .043). According to the analysis, there is a positive and significant relationship between self-confidence, adversity quotient, and self-efficacy variables on critical thinking.

Keywords: self-confidence, adversity quotient, self-efficacy variables, critical thinking

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Authors: M. A. Grigoryev, A. N. Shishkov, N. V. Savosteenko

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The article identifies optimal path motion of positional electric drive, for example, the feed of cold pilgering mill. It is shown that triangle is the optimum shape of the speed curve, and the ratio of its sides depends on the type of load diagram, in particular from the influence of the main drive of pilgering mill, and is not dependent on the presence of backlash and elasticity in the system. This thesis is proved analytically, and confirmed the results are obtained by a mathematical model that take into account the influence of the main drive-to-drive feed. By statistical analysis of oscillograph traces obtained on the real object allowed to give recommendations on the optimal control of the electric drive feed cold pilgering mill 450. Based on the data that the load torque depends on by hit the pipe in rolls of pilgering mill, occurs in the interval (0,6…0,75) tc, the recommended ratio of start time to the braking time is 2:1. Optimized path motion allowed get up to 25% more RMS torque for the cycle that allowed increased the productivity of the mill.

Keywords: optimal curve speed, positional electric drive, cold pilgering mill 450, optimal path motion

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Authors: Amanuel Berhanu Kesamo

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This paper presents both circuit simulation and hardware implementation of a robot vehicle that can be either controlled manually via Bluetooth with video streaming or navigate autonomously to a target point by avoiding obstacles. In manual mode, the user controls the mobile robot using C# windows form interfaced via Bluetooth. The camera mounted on the robot is used to capture and send the real time video to the user. In autonomous mode, the robot plans the shortest path to the target point while avoiding obstacles along the way. Ultrasonic sensor is used for sensing the obstacle in its environment. An efficient path planning algorithm is implemented to navigate the robot along optimal route.

Keywords: Arduino Uno, autonomous, Bluetooth module, path planning, remote controlled robot, ultra sonic sensor

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Authors: Jean Berger, Mohamed Barkaoui

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Discrete search path planning in time-constrained uncertain environment relying upon imperfect sensors is known to be hard, and current problem-solving techniques proposed so far to compute near real-time efficient path plans are mainly bounded to provide a few move solutions. A new information-theoretic –based open-loop decision model explicitly incorporating false alarm sensor readings, to solve a single agent military logistics search-and-delivery path planning problem with anticipated feedback is presented. The decision model consists in minimizing expected entropy considering anticipated possible observation outcomes over a given time horizon. The model captures uncertainty associated with observation events for all possible scenarios. Entropy represents a measure of uncertainty about the searched target location. Feedback information resulting from possible sensor observations outcomes along the projected path plan is exploited to update anticipated unit target occupancy beliefs. For the first time, a compact belief update formulation is generalized to explicitly include false positive observation events that may occur during plan execution. A novel genetic algorithm is then proposed to efficiently solve search path planning, providing near-optimal solutions for practical realistic problem instances. Given the run-time performance of the algorithm, natural extension to a closed-loop environment to progressively integrate real visit outcomes on a rolling time horizon can be easily envisioned. Computational results show the value of the approach in comparison to alternate heuristics.

Keywords: search path planning, false alarm, search-and-delivery, entropy, genetic algorithm

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Authors: R. Furutani, K. Ishii

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Laser interferometers are now widely used for length and displacement measurement. In conventional methods, the optical path difference between two mirrors, one of which is a reference mirror and the other is a target mirror, is measured, as in Michelson interferometry, or two target mirrors are set up and the optical path difference between the two targets is measured, as in differential interferometry. In these interferometers, the two laser beams pass through different optical elements so that the measurement result is affected by the vibration and other effects in the optical paths. In addition, it is difficult to measure the roll angle around the optical axis. The proposed interferometer simultaneously measures both the translational motion along the optical axis and the roll motion around it by combining the retroreflective principle of the ball lens (BL) and the polarization. This interferometer detects the interferogram by the two beams traveling along the identical optical path from the beam source to BL. This principle is expected to reduce external influences by using the interferogram between the two lasers in an identical optical path. The proposed interferometer uses a BL so that the reflected light from the lens travels on the identical optical path as the incident light. After reaching the aperture of the He-Ne laser oscillator, the reflected light is reflected by a mirror with a very high reflectivity installed in the aperture and is irradiated back toward the BL. Both the first laser beam that enters the BL and the second laser beam that enters the BL after the round trip interferes with each other, enabling the measurement of displacement along the optical axis. In addition, for the measurement of the roll motion, a quarter-wave plate is installed on the optical path to change the polarization state of the laser. The polarization states of the first laser beam and second laser beam are different by the roll angle of the target. As a result, this system can measure the displacement and the roll angle of BL simultaneously. It was verified by the simulation and the experiment that the proposed optical system could measure the displacement and the roll angle simultaneously.

Keywords: common path interferometer, displacement measurement, laser interferometer, simultaneous measurement, roll angle measurement

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Authors: Omar Dib, Alexandre Caminada, Marie-Ange Manier

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The purpose of this study is to introduce a novel approach to solve the one-to-one shortest path problem. A directed connected graph is assumed in which all edges’ weights are positive. Our method is based on a memetic algorithm in which we combine a genetic algorithm (GA) and a variable neighborhood search method (VNS). We compare our approximate method with two exact algorithms Dijkstra and Integer Programming (IP). We made experimentations using random generated, complete and real graph instances. In most case studies, numerical results show that our method outperforms exact methods with 5% average gap to the optimality. Our algorithm’s average speed is 20-times faster than Dijkstra and more than 1000-times compared to IP. The details of the experimental results are also discussed and presented in the paper.

Keywords: shortest path problem, Dijkstra’s algorithm, integer programming, memetic algorithm

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Authors: Z. Jannoo, B. W. Yap, N. Auchoybur, M. A. Lazim

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The two common approaches to Structural Equation Modeling (SEM) are the Covariance-Based SEM (CB-SEM) and Partial Least Squares SEM (PLS-SEM). There is much debate on the performance of CB-SEM and PLS-SEM for small sample size and when distributions are non-normal. This study evaluates the performance of CB-SEM and PLS-SEM under normality and non-normality conditions via a simulation. Monte Carlo Simulation in R programming language was employed to generate data based on the theoretical model with one endogenous and four exogenous variables. Each latent variable has three indicators. For normal distributions, CB-SEM estimates were found to be inaccurate for small sample size while PLS-SEM could produce the path estimates. Meanwhile, for a larger sample size, CB-SEM estimates have lower variability compared to PLS-SEM. Under non-normality, CB-SEM path estimates were inaccurate for small sample size. However, CB-SEM estimates are more accurate than those of PLS-SEM for sample size of 50 and above. The PLS-SEM estimates are not accurate unless sample size is very large.

Keywords: CB-SEM, Monte Carlo simulation, normality conditions, non-normality, PLS-SEM

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Authors: Jesus Argueta

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This study aims to explore the Business Demography Phenomena along the Central American context, through the examination of its theoretical background, and the revision of Central American corporations success stories, that will eventually guide this research towards the business Demography Key Performance Indicators, across the Central American Business Ambiance. Considering that this analysis will support the development of a Small and Medium Business Observatory over the Honduran commercial landscapes, as platform for the reinforcement of this global topic.

Keywords: business demography, economic dynamism, small, medium and large enterprises, corporate demography

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Authors: Aadiv Shah, Hari Nair, Vedant Mittal, Alice Cheeran

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Present-day agricultural practices such as blanket spraying not only lead to excessive usage of pesticides but also harm the overall crop yield. This paper introduces an algorithm to optimize the traversal of an unmanned aerial vehicle (UAV) in constrained environments. The proposed system focuses on the agricultural application of targeted spraying for locust elimination. Given a satellite image of a farm, target zones that are prone to locust swarm formation are detected through the calculation of the normalized difference vegetation index (NDVI). This is followed by determining the optimal path for traversal of a UAV through these target zones using the proposed algorithm in order to perform pesticide spraying in the most efficient manner possible. Unlike the classic travelling salesman problem involving point-to-point optimization, the proposed algorithm determines an optimal path for multiple regions, independent of its geometry. Finally, the paper explores the idea of implementing reinforcement learning to model complex environmental behaviour and make the path planning mechanism for UAVs agnostic to external environment changes. This system not only presents a solution to the enormous losses incurred due to locust attacks but also an efficient way to automate agricultural practices across the globe in order to improve farmer ergonomics.

Keywords: locust, NDVI, optimization, path planning, reinforcement learning, UAV

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Authors: Michal Stelmach

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The aim of this paper is a critical analysis of the security policy in the field of the fight against transnational criminal groups in Central America in XXI century. We are analyzing all taken issues from several perspectives: political, anthropological, sociological and legal which allows me to confront behavior and the attitudes of the political elites against official legislative changes and declared actions, strategies and policies against practice. In the first part of paper we would like to present the genesis and characteristic of transnational gangs, called maras and next we would like to present their activities and roles within chosen sectors of organized crimes. In the second part we will analyze the government’s policy towards transnational criminal groups. The analysis will be concentrated on public safety policy implemented in specific Central American countries as well as regional international cooperation. The main intention of the author is to present the state of the security in Central America in XXI century by emphasizing failures and successes in the fight against transnational criminal organizations. Additionally we want to present and define the challenges currently facing the region now and to show the prediction of the situation’s development within next future and to define the recommendations on the design of public security policies in Central American countries.

Keywords: maras, public security, human rights, Central America

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Authors: Alaa El-Din Rezk

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In Egypt, management of crops still away from what is being used today by utilizing the advances of mechanical design capabilities, sensing and electronics technology. These technologies have been introduced in many places and recorm, for Straight Path, Curved Path, Sine Wave ded high accuracy in different field operations. So, an autonomous robotic platform based on machine vision has been developed and constructed to be implemented in Egyptian conditions as self-propelled mobile vehicle for carrying tools for inter/intra-row crop management based on different control modules. The experiments were carried out at plant protection research institute (PPRI) during 2014-2015 to optimize the accuracy of agricultural robotic platform control using machine vision in term of the autonomous navigation and performance of the robot’s guidance system. Results showed that the robotic platform' guidance system with machine vision was able to adequately distinguish the path and resisted image noise and did better than human operators for getting less lateral offset error. The average error of autonomous was 2.75, 19.33, 21.22, 34.18, and 16.69 mm. while the human operator was 32.70, 4.85, 7.85, 38.35 and 14.75 mm Path, Offset Discontinuity and Angle Discontinuity respectively.

Keywords: autonomous robotic, Hough transform, image processing, machine vision

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Authors: Magdy Roman, Mostafa Shoeib, Mostafa Rostom

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Global vision, whether provided by overhead fixed cameras, on-board aerial vehicle cameras, or satellite images can always provide detailed information on the environment around mobile robots. In this paper, an intelligent vision-based method of path planning and obstacle avoidance for mobile robots is presented. The method integrates visual perception with a new proposed field-based path-planning method to overcome common path-planning problems such as local minima, unreachable destination and unnecessary lengthy paths around obstacles. The method proposes an exponential angle deviation field around each obstacle that affects the orientation of a close robot. As the robot directs toward, the goal point obstacles are classified into right and left groups, and a deviation angle is exponentially added or subtracted to the orientation of the robot. Exponential field parameters are chosen based on Lyapunov stability criterion to guarantee robot convergence to the destination. The proposed method uses obstacles' shape and location, extracted from global vision system, through a collision prediction mechanism to decide whether to activate or deactivate obstacles field. In addition, a search mechanism is developed in case of robot or goal point is trapped among obstacles to find suitable exit or entrance. The proposed algorithm is validated both in simulation and through experiments. The algorithm shows effectiveness in obstacles' avoidance and destination convergence, overcoming common path planning problems found in classical methods.

Keywords: path planning, collision avoidance, convergence, computer vision, mobile robots

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Authors: Noorizal Huang, Christian Girsang, Mohamad Razi Mansoor

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Shallow gas seepage was first spotted at a central processing platform offshore Malaysia in 2010, acknowledged as Platform T in this paper. Frequent monitoring of the gas seepage was performed through remotely operated vehicle (ROV) baseline survey and a comprehensive geophysical survey was conducted to understand the characteristics of the gas seepage and to ensure that the integrity of the foundation at Platform T was not compromised. The origin of the gas back then was unknown. A soil investigation campaign was performed in 2016 to study the origin of the gas seepage. Two boreholes were drilled; a composite borehole to 150m below seabed for the purpose of soil sampling and in-situ testing and a pilot hole to 155m below the seabed, which was later converted to a fit-for-purpose relief well as an alternate migration path for the gas. During the soil investigation campaign, dissipation tests were performed at several layers which were potentially the source or migration path for the gas. Five (5) soil samples were segregated for headspace test, to identify the gas type which subsequently can be used to identify the origin of the gas. Dissipation tests performed at four depth intervals indicates pore water pressure less than 20 % of the effective vertical stress and appear to continue decreasing if the test had not been stopped. It was concluded that a low to a negligible amount of excess pore pressure exist in clayey silt layers. Results from headspace test show presence of methane corresponding to the clayey silt layers as reported in the boring logs. The gas most likely comes from biogenic sources, feeding on organic matter in situ over a large depth range. It is unlikely that there are large pockets of gas in the soil due to its homogeneous clayey nature and the lack of excess pore pressure in other permeable clayey silt layers encountered. Instead, it is more likely that when pore water at certain depth encounters a more permeable path, such as a borehole, it rises up through this path due to the temperature gradient in the soil. As the water rises the pressure decreases, which could cause gases dissolved in the water to come out of solution and form bubbles. As a result, the gas will have no impact on the integrity of the foundation at Platform T. The fit-for-purpose relief well design as well as adopting headspace testing can be used to address the shallow gas issue at Platform T in a cost effective and efficient manners.

Keywords: dissipation test, headspace test, excess pore pressure, relief well, shallow gas

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