Search results for: navigation issues

Authors: Mohammed Qasim, Kyoung-Dae Kim

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In this paper, we present the design of the super-ellipsoidal potential function (SEPF), that can be used for autonomous collision avoidance of an unmanned aerial vehicle (UAV) in a 3-dimensional space. In the design of SEPF, we have the full control over the shape and size of the potential function. In particular, we can adjust the length, width, height, and the amount of flattening at the tips of the potential function so that the collision avoidance motion vector generated from the potential function can be adjusted accordingly. Based on the idea of the SEPF, we also propose an approach for the local autonomy of a UAV for its collision avoidance when the UAV is teleoperated by a human operator. In our proposed approach, a teleoperated UAV can not only avoid collision autonomously with other surrounding objects but also track the operator’s control input as closely as possible. As a result, an operator can always be in control of the UAV for his/her high-level guidance and navigation task without worrying too much about the UAVs collision avoidance while it is being teleoperated. The effectiveness of the proposed approach is demonstrated through a human-in-the-loop simulation of quadrotor UAV teleoperation using virtual robot experimentation platform (v-rep) and Matlab programs.

Keywords: Artificial potential function, autonomy, collision avoidance, teleoperation, quadrotor, UAV.

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Authors: Ahmed M. Al-Hasem

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A study of the tidal current behavior and bathymetric changes was undertaken in order to establish an information base for future coastal management. The average velocity for tidal current was 0.46 m/s and the maximum velocity was 1.08 m/s during ebb tide. During spring tides, maximum velocities range from 0.90 m/s to 1.08 m/s, whereas maximum velocities vary from 0.40 m/s to 0.60 m/s during neap tides. Despite greater current velocities during flood tide, the bathymetric features enhance the dominance of the ebb tide. This can be related to the abundance of fine sediments from the ebb current approaching the study area, and the relatively coarser sediment from the approaching flood current. Significant bathymetric changes for the period from 1985 to 1998 were found with dominance of erosion process. Approximately 96.5% of depth changes occurred within the depth change classes of -5 m to 5 m. The high erosion processes within the study area will subsequently result in high accretion processes, particularly in the north, the location of the proposed Boubyan Port and its navigation channel.

Keywords: Bathymetric change, Boubyan Island, GIS, Khor Abdullah, tidal current behavior.

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Authors: Elham Lashkari, Mehrshad Khalaj

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Rapid enlargement and physical development of cities have facilitated the emergence of a number of city life crises and decrease of environment quality. Subsequently, the need for noticing the concept of quality and its improvement in urban environments, besides quantitative issues, is obviously recognized. In the domain of urban ideas the importance of taking these issues into consideration is obvious not only in accordance to sustainable development concepts and improvement of public environment quality, but also in the enhancement of social and behavioral models. The major concern of present article is to study the nature of urban environment quality in urban development plans, which is important not only in the concept and the aim of projects but also in their execution procedure. As a result, this paper is going to utilize planning capacities caused by environmental virtues in the planning procedure of Moft Abad neighborhood. Thus, at the first step, applying the Analytical Hierarchy Process (AHP), it has assessed quantitative environmental issues. The present conditions of Moft Abad state that “the neighborhood is generally suffering from the lack of qualitative parameters, and the previously formed planning procedures could not take the sustainable and developmental paths which are aimed at environment quality virtues." The diminution of economical and environmental virtues has resulted in the diminution of residential and social virtues. Therefore, in order to enhance the environment quality in Moft Abad, the present paper has tried to supply the subject plans in order to make a safe, healthy, and lively neighborhood.

Keywords: Urban Environment Quality, Neighborhood Plan, Urban Development Plan, Analytical Hierarchy Process (AHP)

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Authors: N. R. P Withana, E. Auch

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The purpose of this study was to investigate perceptions of climate change risk to forest ecosystems and forestbased communities as well as perceived effectiveness of adaptation strategies for climate change as well as challenges for adaptation. Data was gathered using a pre-tested semi-structured questionnaire. Simple random selection technique was applied. For the majority of issues, the responses were obtained on multi-point likert scales, and the scores provided were, in turn, used to estimate the means and other useful estimates. A composite knowledge index developed using correct responses to a set of self-rated statements were used to evaluate the issues. The mean of the knowledge index was 0.64. Also all respondents recorded values of the knowledge index above 0.25. Increase forest fire was perceived by respondents as the greatest risk to forest eco-system. Decrease access to water supplies was perceived as the greatest risk to livelihoods of forest based communities. The most effective adaptation strategy relevant to climate change risks to forest eco-systems and forest based communities livelihoods in Kathmandu valley in Nepal as perceived by the respondents was reforestation and afforestation. As well, lack of public awareness was perceived as the major limitation for climate change adaptation. However, perceived risks as well as effective adaptation strategies showed an inconsistent association with knowledge indicators and social-cultural variables. The results provide useful information to any party who involve with climate change issues in Nepal, since such attempts would be more effective once the people’s perceptions on these aspects are taken into account.

Keywords: Climate change, forest ecosystems, forest-based communities, risk perceptions.

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Authors: R. Chithra, B. Kalaavathi

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E-Learning enables the users to learn at anywhere at any time. In E-Learning systems, authenticating the E-Learning user has security issues. The usage of appropriate communication networks for providing the internet connectivity for E-learning is another challenge. WiMAX networks provide Broadband Wireless Access through the Multicast Broadcast Service so these networks can be most suitable for E-Learning applications. The authentication of E-Learning user is vulnerable to session hijacking problems. The repeated authentication of users can be done to overcome these issues. In this paper, session based Profile Caching Authentication is proposed. In this scheme, the credentials of E-Learning users can be cached at authentication server during the initial authentication through the appropriate subscriber station. The proposed cache based authentication scheme performs fast authentication by using cached user profile. Thus, the proposed authentication protocol reduces the delay in repeated authentication to enhance the security in ELearning.

Keywords: Authentication, E-Learning, WiMAX, Security, Profile caching.

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Authors: N. Damenia, E. Kharaishvili, N. Sagareishvili, M. Saghareishvili

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Women's Employment is one of the most important issues in the global economy. The article discusses the stated topic in Georgia, through historical content, Soviet experience, and modern perspectives. The paper discusses segmentation insa terms of employment and related problems. Based on statistical analysis, women's unemployment rate and its factors are analyzed. The level of employment of women in Transcaucasia (Georgia, Armenia, and Azerbaijan) is discussed and is compared with Baltic countries (Lithuania, Latvia, and Estonia). The study analyzes women’s level of development, according to the average age of marriage and migration level. The focus is on Georgia's Association Agreement with the EU in 2014, which includes economic, social, trade and political issues. One part of it is gender equality at workplaces. According to the research, the average monthly remuneration of women managers in the financial and insurance sector equaled to 1044.6 Georgian Lari, while in overall business sector average monthly remuneration equaled to 961.1 GEL. Average salaries are increasing; however, the employment rate remains problematic. For example, in 2017, 74.6% of men and 50.8% of women were employed from a total workforce. It is also interesting that the proportion of men and women at managerial positions is 29% (women) to 71% (men). Based on the results, the main recommendation for government and civil society is to consider women as a part of the country’s economic development. In this aspect, the experience of developed countries should be considered. It is important to create additional jobs in urban or rural areas and help migrant women return and use their working resources properly.

Keywords: Employment of women, segregation in terms of employment, women's employment level in Transcaucasia, migration level.

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Authors: Perumal, V., Sharji, E. A

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This paper reports a case study on how a conceptual and analytical thinking approach was used in Art and Design Department at Multimedia University (Malaysia) in addressing the issues of one nation and its impact in the society through artworks. The art project was designed for students to increase the know-how and develop creative thinking in design and communication. Goals of the design project were: (1) to develop creative thinking in design and communication, (2) to increase student understanding on the process of problem solving for design work, and (3) to use design elements and principles to generate interest, attention and emotional responses. An exhibition entitled "One Nation" was showcased to local and international viewers consisting of the general public, professionals, academics, artists and students. Findings indicate that the project supported several visual art standards, as well as generated awareness in the society. This project may be of interest to current and future art educators and others interested in the potential of utilizing global issues as content for art, community and environment studies for the purpose of educational art.

Keywords: Conceptual and analytical thinking, Visual arts, Communication, Art & design.

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Authors: P. K. Panigrahi, Saradindu Ghosh, Dayal R. Parhi

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Now-a-days autonomous mobile robots have found applications in diverse fields. An autonomous robot system must be able to behave in an intelligent manner to deal with complex and changing environment. This work proposes the performance of path planning and navigation of autonomous mobile robot using Gravitational Search Algorithm (GSA), Simulated Annealing (SA) and Particle Swarm optimization (PSO) based intelligent controllers in an unstructured environment. The approach not only finds a valid collision free path but also optimal one. The main aim of the work is to minimize the length of the path and duration of travel from a starting point to a target while moving in an unknown environment with obstacles without collision. Finally, a comparison is made between the three controllers, it is found that the path length and time duration made by the robot using GSA is better than SA and PSO based controllers for the same work.

Keywords: Autonomous Mobile Robot, Gravitational Search Algorithm, Particle Swarm Optimization, Simulated Annealing Algorithm.

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Authors: Tuti Ida Halida

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This paper will define the system that minimize the risk of the ship accidents because of high or dangerous waves namely early warning system. Since Indonesia is located in a strategic position, many internasional vessels pass by the Indonesian Sea Lanes. Therefore many issues often occur in Indonesian waters, one of the issues is the shipwreck because of dangerous waves. In order to do the preventive action for the vessels that indicated exposed the dangerous waves, Indonesian Maritime Security Coordinating Board or Bakorkamla, has built up and implemented an early warning system through integrated system, called Bakorkamla Integrated Information System (BIIS). By implementing BIIS means that Bakorkamla has already done one of the Five Principles of Sea and Coast Guard Agency, which is safety and security, and Bakorkamla also has already saved the lives of many people on the ship that will have an accident due to high waves. 

Keywords: Early Warning System, Integrated Information System, Sea and Coast Guard, Principles.

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Authors: M. Balestrieri, C. Pusceddu

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Issues relating to the destructive phenomena that can damage people and goods have returned to the centre of debate in Italy with the increase in catastrophic episodes in recent years in a country which is highly vulnerable to hydrological risk. Environmental factors and geological and geomorphological territorial characteristics play an important role in determining the level of vulnerability and the natural tendency to risk. However, a territory has also been subjected to the requirements of and transformations of society and this brings other relevant factors. The reasons for the increase in destructive phenomena are often to be found in the territorial development models adopted. Stewardship of the landscape and management of risk are related issues. This study aims to summarize the most relevant elements about this connection and at the same time to clarify the role of environmental risk assessment as a tool to aid in the sustainable management of landscape. Finally, the study reflects on how regional and urban planners deal with environmental risk and which aspects should be monitored in order to adopt responsible and useful interventions.

Keywords: Assessment, landscape, risk, planning.

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Authors: I. Yakubu, Y. Y. Ziggah, E. A. Gyamera

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The Global Navigation Satellite System (GNSS) started with the launch of the United State Department of Defense Global Positioning System (GPS). GNSS systems has grown over the years to include: GLONASS (Russia); Galileo (European Union); BeiDou (China). Any GNSS architecture consists of three major segments: Space, Control and User Segments. Errors such as; multipath, ionospheric and tropospheric effects, satellite clocks, receiver noise and orbit errors (relativity effect) have significant effects on GNSS positioning. To obtain centimeter level accuracy, the impacts of the relative motion of the satellites and earth need to be taken into account. This paper discusses the relevance of the theory of relativity as a source of error for GNSS receivers for position fix based on available relevant literature. Review of relevant literature reveals that due to relativity; Time dilation, Gravitational frequency shift and Sagnac effect cause significant influence on the use of GNSS receivers for positioning by an error range of ± 2.5 m based on pseudo-range computation.

Keywords: GNSS, relativistic effects, pseudo-range, accuracy.

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Authors: Zahra Banakar, Farzad Tahriri

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It has often been said that the strength of any country resides in the strength of its industrial sector, and Progress in industrial society has been accomplished by the creation of new technologies. Developments have been facilitated by the increasing availability of advanced manufacturing technology (AMT), in addition the implementation of advanced manufacturing technology (AMT) requires careful planning at all levels of the organization to ensure that the implementation will achieve the intended goals. Justification and implementation of advanced manufacturing technology (AMT) involves decisions that are crucial for the practitioners regarding the survival of business in the present days of uncertain manufacturing world. This paper assists the industrial managers to consider all the important criteria for success AMT implementation, when purchasing new technology. Concurrently, this paper classifies the tangible benefits of a technology that are evaluated by addressing both cost and time dimensions, and the intangible benefits are evaluated by addressing technological, strategic, social and human issues to identify and create awareness of the essential elements in the AMT implementation process and identify the necessary actions before implementing AMT.

Keywords: Advanced Manufacturing Technology (AMT), Justification and Classification.

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Authors: Adesoji T. Jaiyeola, Josiah Adeyemo

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This paper presents an extensive review of literature relevant to the modelling techniques adopted in sediment yield and hydrological modelling. Several studies relating to sediment yield are discussed. Many research areas of sedimentation in rivers, runoff and reservoirs are presented. Different types of hydrological models, different methods employed in selecting appropriate models for different case studies are analysed. Applications of evolutionary algorithms and artificial intelligence techniques are discussed and compared especially in water resources management and modelling. This review concentrates on Genetic Programming (GP) and fully discusses its theories and applications. The successful applications of GP as a soft computing technique were reviewed in sediment modelling. Some fundamental issues such as benchmark, generalization ability, bloat, over-fitting and other open issues relating to the working principles of GP are highlighted. This paper concludes with the identification of some research gaps in hydrological modelling and sediment yield.

Keywords: Artificial intelligence, evolutionary algorithm, genetic programming, sediment yield.

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Authors: Favour Makuochukwu Orji, Yingkui Zhao

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A myriad of environmental issues face the Nigerian industrial region, resulting from; oil and gas production, mining, manufacturing and domestic wastes. Amidst these, much effort has been directed by stakeholders in the Nigerian oil producing regions, because of the impacts of the region on the wider Nigerian economy. Although collaborative environmental management has been noted as an effective approach in managing environmental issues, little attention has been given to the roles and practices of stakeholders in effecting a collaborative environmental management framework for the Nigerian oil-producing region. This paper produces a framework to expand and deepen knowledge relating to stakeholders aspects of collaborative roles in managing environmental issues in the Nigeria oil-producing region. The knowledge is derived from analysis of stakeholders’ practices – studied through multiple case studies using document analysis. Selected documents of key stakeholders – Nigerian government agencies, multi-national oil companies and host communities, were analyzed. Open and selective coding was employed manually during document analysis of data collected from the offices and websites of the stakeholders. The findings showed that the stakeholders have a range of roles, practices, interests, drivers and barriers regarding their collaborative roles in managing environmental issues. While they have interests for efficient resource use, compliance to standards, sharing of responsibilities, generating of new solutions, and shared objectives; there is evidence of major barriers and these include resource allocation, disjointed policy, ineffective monitoring, diverse socio- economic interests, lack of stakeholders’ commitment and limited knowledge sharing. However, host communities hold deep concerns over the collaborative roles of stakeholders for economic interests, particularly, where government agencies and multi-national oil companies are involved. With these barriers and concerns, a genuine stakeholders’ collaboration is found to be limited, and as a result, optimal environmental management practices and policies have not been successfully implemented in the Nigeria oil-producing region. A framework is produced that describes practices that characterize collaborative environmental management might be employed to satisfy the stakeholders’ interests. The framework recommends critical factors, based on the findings, which may guide a collaborative environmental management in the oil producing regions. The recommendations are designed to re-define the practices of stakeholders in managing environmental issues in the oil producing regions, not as something wholly new, but as an approach essential for implementing a sustainable environmental policy. This research outcome may clarify areas for future research as well as to contribute to industry guidance in the area of collaborative environmental management.

Keywords: Collaborative environmental management framework, document analysis, case studies, multinational oil companies, Nigerian oil-producing region, stakeholders analysis.

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Authors: Sagir M. Yusuf, Chris Baber

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We describe issues bedeviling the coordination of heterogeneous (different sensors carrying agents) multi-agent missions such as belief conflict, situation reasoning, etc. We applied Bayesian and agents' presumptions inferential reasoning to solve the outlined issues with the heterogeneous multi-agent belief variation and situational-base reasoning. Bayesian Belief Network (BBN) was used in modeling the agents' belief conflict due to sensor variations. Simulation experiments were designed, and cases from agents’ missions were used in training the BBN using gradient descent and expectation-maximization algorithms. The output network is a well-trained BBN for making inferences for both agents and human experts. We claim that the Bayesian learning algorithm prediction capacity improves by the number of training data and argue that it enhances multi-agents robustness and solve agents’ sensor conflicts.

Keywords: Distributed constraint optimization problem, multi-agent system, multi-robot coordination, autonomous system, swarm intelligence.

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Authors: Syuichi Kubota, Kayoko Yamamoto

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This study aims to identify the current situation and problems of environmental statement for major four home appliances (refrigerators, washing machines, air conditioners and television receivers) sold at online stores in Japan, and then to suggest how to improve the situation, through a questionnaire survey conducted among businesses that operate online stores and online malls with multiple online stores. Results of the study boil down to: (1) It is found out that environmental statement for the home appliances at online stores have four problems; (i) less information on “three Rs" and “chemical substances" than the one on “energy conservation", (ii) cost for providing environmental statement, (iii) issues associated with a label and mark placement, and (iv) issues associated with energy conservation statement. (2) Improvements are suggested for each of the four problems listed above, and shown are (i) the effectiveness of, and need to promote, a label and mark placement, (ii) cost burden on buyers, and (iii) need of active efforts made by businesses and of dissemination of legal regulations to businesses.

Keywords: Home Appliances, Environmentally-FriendlyProduct, Environmental Statement, Online Store, Japan.

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Authors: G. Sokhansefat, M. Delavar, M. Banedj-Schafii

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Recently research on human wayfinding has focused mainly on mental representations rather than processes of wayfinding. The objective of this paper is to demonstrate the rationality behind applying multi-agent simulation paradigm to the modeling of rescuer team wayfinding in order to develop computational theory of perceptual wayfinding in crisis situations using image schemata and affordances, which explains how people find a specific destination in an unfamiliar building such as a hospital. The hypothesis of this paper is that successful navigation is possible if the agents are able to make the correct decision through well-defined cues in critical cases, so the design of the building signage is evaluated through the multi-agent-based simulation. In addition, a special case of wayfinding in a building, finding one-s way through three hospitals, is used to demonstrate the model. Thereby, total rescue time for rescue operation during building fire is computed. This paper discuses the computed rescue time for various signage localization and provides experimental result for optimization of building signage design. Therefore the most appropriate signage design resulted in the shortest total rescue time in various situations.

Keywords: Multi-Agent system (MAS), Spatial Cognition, Wayfinding, Indoor Environment, Geospatial Information System (GIS).

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Authors: Gopi Kandaswamy, P. Balamuralidhar

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Fully autonomous small Unmanned Aerial Vehicles (UAVs) are increasingly being used in many commercial applications. Although a lot of research has been done to develop safe, reliable and durable UAVs, accidents due to electronic and structural failures are not uncommon and pose a huge safety risk to the UAV operators and the public. Hence there is a strong need for an automated health monitoring system for UAVs with a view to minimizing mission failures thereby increasing safety. This paper describes our approach to monitoring the electronic and structural components in a small UAV without the need for additional sensors to do the monitoring. Our system monitors data from four sources; sensors, navigation algorithms, control inputs from the operator and flight controller outputs. It then does statistical analysis on the data and applies a rule based engine to detect failures. This information can then be fed back into the UAV and a decision to continue or abort the mission can be taken automatically by the UAV and independent of the operator. Our system has been verified using data obtained from real flights over the past year from UAVs of various sizes that have been designed and deployed by us for various applications.

Keywords: Fault detection, health monitoring, unmanned aerial vehicles, vibration analysis.

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Authors: Seyoung Kim, Jeongmin Kim, Kwang Ryel Ryu

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A database that records average traffic speeds measured at five-minute intervals for all the links in the traffic network of a metropolitan city. While learning from this data the models that can predict future traffic speed would be beneficial for the applications such as the car navigation system, building predictive models for every link becomes a nontrivial job if the number of links in a given network is huge. An advantage of adopting k-nearest neighbor (k-NN) as predictive models is that it does not require any explicit model building. Instead, k-NN takes a long time to make a prediction because it needs to search for the k-nearest neighbors in the database at prediction time. In this paper, we investigate how much we can speed up k-NN in making traffic speed predictions by reducing the amount of data to be searched for without a significant sacrifice of prediction accuracy. The rationale behind this is that we had a better look at only the recent data because the traffic patterns not only repeat daily or weekly but also change over time. In our experiments, we build several different k-NN models employing different sets of features which are the current and past traffic speeds of the target link and the neighbor links in its up/down-stream. The performances of these models are compared by measuring the average prediction accuracy and the average time taken to make a prediction using various amounts of data.

Keywords: Big data, k-NN, machine learning, traffic speed prediction.

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Authors: Baseem Khan, Ganga Agnihotri

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Restructuring of Electricity supply industry introduced many issues such as transmission pricing, transmission loss allocation and congestion management. Many methodologies and algorithms were proposed for addressing these issues. In this paper a power flow tracing based method is proposed which involves Matrices methodology for the transmission usage and loss allocation for generators and demands. This method provides loss allocation in a direct way because all the computation is previously done for usage allocation. The proposed method is simple and easy to implement in a large power system. Further it is less computational because it requires matrix inversion only a single time. After usage and loss allocation cooperative game theory is applied to results for finding efficient economic signals. Nucleolus and Shapely value approach is used for optimal allocation of results. Results are shown for the IEEE 6 bus system and IEEE 14 bus system.

Keywords: Modified Kirchhoff Matrix, Power flow tracing, Transmission Pricing, Transmission Loss Allocation.

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Authors: Suresh Shirgave, Prakash Kulkarni, José Borges

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The continuous growth in the size of the World Wide Web has resulted in intricate Web sites, demanding enhanced user skills and more sophisticated tools to help the Web user to find the desired information. In order to make Web more user friendly, it is necessary to provide personalized services and recommendations to the Web user. For discovering interesting and frequent navigation patterns from Web server logs many Web usage mining techniques have been applied. The recommendation accuracy of usage based techniques can be improved by integrating Web site content and site structure in the personalization process.

Herein, we propose semantically enriched Web Usage Mining method for Personalization (SWUMP), an extension to solely usage based technique. This approach is a combination of the fields of Web Usage Mining and Semantic Web. In the proposed method, we envisage enriching the undirected graph derived from usage data with rich semantic information extracted from the Web pages and the Web site structure. The experimental results show that the SWUMP generates accurate recommendations and is able to achieve 10-20% better accuracy than the solely usage based model. The SWUMP addresses the new item problem inherent to solely usage based techniques.

Keywords: Prediction, Recommendation, Semantic Web Usage Mining, Web Usage Mining.

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Authors: H. Baskar, A. S. Chakravarthy, P. Garg, D. Goel, A. S. Raj, K. Kumar, Lakshya, R. Parvatham, V. Sushant, B. Kumar Rout

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In this paper, we present a computer vision task called nighttime dehaze-enhancement. This task aims to jointly perform dehazing and lightness enhancement. Our task fundamentally differs from nighttime dehazing – our goal is to jointly dehaze and enhance scenes, while nighttime dehazing aims to dehaze scenes under a nighttime setting. In order to facilitate further research on this task, we release a benchmark dataset called Reside-β Night dataset, consisting of 4122 nighttime hazed images from 2061 scenes and 2061 ground truth images. Moreover, we also propose a network called NDENet (Nighttime Dehaze-Enhancement Network), which jointly performs dehazing and low-light enhancement in an end-to-end manner. We evaluate our method on the proposed benchmark and achieve Structural Index Similarity (SSIM) of 0.8962 and Peak Signal to Noise Ratio (PSNR) of 26.25. We also compare our network with other baseline networks on our benchmark to demonstrate the effectiveness of our approach. We believe that nighttime dehaze-enhancement is an essential task particularly for autonomous navigation applications, and hope that our work will open up new frontiers in research. The code for our network is made publicly available.

Keywords: Dehazing, image enhancement, nighttime, computer vision.

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Authors: S. H. Mohades Kasaei, S. M. Mohades Kasaei, S. A. Mohades Kasaei, M. Taheri, M. Rahimi, H. Vahiddastgerdi, M. Saeidinezhad

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Omni directional mobile robots have been popularly employed in several applications especially in soccer player robots considered in Robocup competitions. However, Omni directional navigation system, Omni-vision system and solenoid kicking mechanism in such mobile robots have not ever been combined. This situation brings the idea of a robot with no head direction into existence, a comprehensive Omni directional mobile robot. Such a robot can respond more quickly and it would be capable for more sophisticated behaviors with multi-sensor data fusion algorithm for global localization base on the data fusion. This paper has tried to focus on the research improvements in the mechanical, electrical and software design of the robots of team ADRO Iran. The main improvements are the world model, the new strategy framework, mechanical structure, Omni-vision sensor for object detection, robot path planning, active ball handling mechanism and the new kicker design, , and other subjects related to mobile robot

Keywords: Mobile robot, Machine vision, Omni directional movement, Autonomous Systems, Robot path planning, Object Localization.

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Authors: Gints Jekabsons

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The approach of subset selection in polynomial regression model building assumes that the chosen fixed full set of predefined basis functions contains a subset that is sufficient to describe the target relation sufficiently well. However, in most cases the necessary set of basis functions is not known and needs to be guessed – a potentially non-trivial (and long) trial and error process. In our research we consider a potentially more efficient approach – Adaptive Basis Function Construction (ABFC). It lets the model building method itself construct the basis functions necessary for creating a model of arbitrary complexity with adequate predictive performance. However, there are two issues that to some extent plague the methods of both the subset selection and the ABFC, especially when working with relatively small data samples: the selection bias and the selection instability. We try to correct these issues by model post-evaluation using Cross-Validation and model ensembling. To evaluate the proposed method, we empirically compare it to ABFC methods without ensembling, to a widely used method of subset selection, as well as to some other well-known regression modeling methods, using publicly available data sets.

Keywords: Basis function construction, heuristic search, modelensembles, polynomial regression.

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Authors: Manirath Wongsim, Pawornprat Hongsakon

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Information Quality (IQ) has become a critical, strategic issue in Accounting Information Systems (AIS) adoption. In order to implement AIS adoption successfully, it is important to consider the quality of information use throughout the adoption process, which seriously impacts the effectiveness of AIS adoption practice and the optimisation of AIS adoption decisions. There is a growing need for research to provide insights into issues and solutions related to IQ in AIS adoption. The need for an integrated approach to improve IQ in AIS adoption, as well as the unique characteristics of accounting data, demands an AIS adoption specific IQ framework. This research aims to explore ways of managing information quality and AIS adoption to investigate the relationship between the IQ issues and AIS adoption process. This study has led to the development of a framework for understanding IQ management in AIS adoption. This research was done on 44 respondents as ten organisations from manufacturing firms in Thailand. The findings of the research’s empirical evidence suggest that IQ dimensions in AIS adoption to provide assistance in all process of decision making. This research provides empirical evidence that information quality of AIS adoption affect decision making and suggests that these variables should be considered in adopting AIS in order to improve the effectiveness of AIS.

Keywords: Information quality, information quality dimensions, accounting information systems, accounting Information system adoption.

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Authors: Sunitha Abburu, Golla Suresh Babu

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The issues that limit application interoperability is lack of common vocabulary, common structure, application domain knowledge ontology based semantic technology provides solutions that resolves application interoperability issues. Ontology is broadly used in diverse applications such as artificial intelligence, bioinformatics, biomedical, information integration, etc. Ontology can be used to interpret the knowledge of various domains. To reuse, enrich the available ontologies and reduce the duplication of ontologies of the same domain, there is a strong need to integrate the ontologies of the particular domain. The integrated ontology gives complete knowledge about the domain by sharing this comprehensive domain ontology among the groups. As per the literature survey there is no well-defined methodology to represent knowledge of a whole domain. The current research addresses a systematic methodology for knowledge representation using multiple sub-ontologies at different levels that addresses application interoperability and enables semantic information retrieval. The current method represents complete knowledge of a domain by importing concepts from multiple sub ontologies of same and relative domains that reduces ontology duplication, rework, implementation cost through ontology reusability.

Keywords: Knowledge acquisition, knowledge representation, knowledge transfer, ontologies, semantics.

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Authors: Ram Babu Mallavarapu

Abstract:

This paper discusses the issue of tribal development, displacement, rehabilitation and resettlement policies, and implementation in the agency (scheduled / tribal) areas of the West Godavari District, Andhra Pradesh State, India. This study is based on action anthropological approach, conducted among the displaced tribal communities i.e. Konda Reddis and Nayakapods of this region, under the 'Kovvada Reservoir' Project. These groups are traditionally shifting cultivators and popularly known as the Primitive Tribal Groups (PTGs) in the government records. This paper also focuses on the issues of tribal displacement and land alienation due to construction of the Kovvada reservoir, without proper rehabilitation and resettlement, although there are well defined guidelines, procedures and norms for the rehabilitation of Project Affected Persons (PAPs). It is necessary to begin with, to provide an overview of the issues in tribal development and policies related to displacement and rehabilitation in the Indian context as a background to the Kovvada Reservoir Project, the subject of this study.

Keywords: Tribal development, displacement, rehabilitation & resettlement policies, and practice.

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Authors: Sitalakshmi Venkataraman

Abstract:

Recent scientific investigations indicate that multimodal biometrics overcome the technical limitations of unimodal biometrics, making them ideally suited for everyday life applications that require a reliable authentication system. However, for a successful adoption of multimodal biometrics, such systems would require large heterogeneous datasets with complex multimodal fusion and privacy schemes spanning various distributed environments. From experimental investigations of current multimodal systems, this paper reports the various issues related to speed, error-recovery and privacy that impede the diffusion of such systems in real-life. This calls for a robust mechanism that caters to the desired real-time performance, robust fusion schemes, interoperability and adaptable privacy policies. The main objective of this paper is to present a framework that addresses the abovementioned issues by leveraging on the heterogeneous resource sharing capacities of Grid services and the efficient machine learning capabilities of artificial neural networks (ANN). Hence, this paper proposes a Grid-based neural network framework for adopting multimodal biometrics with the view of overcoming the barriers of performance, privacy and risk issues that are associated with shared heterogeneous multimodal data centres. The framework combines the concept of Grid services for reliable brokering and privacy policy management of shared biometric resources along with a momentum back propagation ANN (MBPANN) model of machine learning for efficient multimodal fusion and authentication schemes. Real-life applications would be able to adopt the proposed framework to cater to the varying business requirements and user privacies for a successful diffusion of multimodal biometrics in various day-to-day transactions.

Keywords: Back Propagation, Grid Services, MultimodalBiometrics, Neural Networks.

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Authors: N. Neysani Samany, M.R. Delavar, N. Chrisman, M.R. Malek

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Location-aware computing is a type of pervasive computing that utilizes user-s location as a dominant factor for providing urban services and application-related usages. One of the important urban services is navigation instruction for wayfinders in a city especially when the user is a tourist. The services which are presented to the tourists should provide adapted location aware instructions. In order to achieve this goal, the main challenge is to find spatial relevant objects and location-dependent information. The aim of this paper is the development of a reusable location-aware model to handle spatial relevancy parameters in urban location-aware systems. In this way we utilized ontology as an approach which could manage spatial relevancy by defining a generic model. Our contribution is the introduction of an ontological model based on the directed interval algebra principles. Indeed, it is assumed that the basic elements of our ontology are the spatial intervals for the user and his/her related contexts. The relationships between them would model the spatial relevancy parameters. The implementation language for the model is OWLs, a web ontology language. The achieved results show that our proposed location-aware model and the application adaptation strategies provide appropriate services for the user.

Keywords: Spatial relevancy, Context-aware, Ontology, Modeling

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Authors: Bobbie Green, James A. Nelson

Abstract:

Innovations in technology have created new ethical challenges. Essential use of electronic communication in the workplace has escalated at an astronomical rate over the past decade. As such, legal and ethical dilemmas confronted by both the employer and the employee concerning managerial control and ownership of einformation have increased dramatically in the USA. From the employer-s perspective, ownership and control of all information created for the workplace is an undeniable source of economic advantage and must be monitored zealously. From the perspective of the employee, individual rights, such as privacy, freedom of speech, and freedom from unreasonable search and seizure, continue to be stalwart legal guarantees that employers are not legally or ethically entitled to abridge in the workplace. These issues have been the source of great debate and the catalyst for legal reform. The fine line between ethical and legal has been complicated by emerging technologies. This manuscript will identify and discuss a number of specific legal and ethical issues raised by the dynamic electronic workplace and conclude with suggestions that employers should follow to respect the delicate balance between employees- legal rights to privacy and the employer's right to protect its knowledge systems and infrastructure.

Keywords: Information, ethics, legal, privacy

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