Search results for: Web based System

Authors: Norshamsuri Ali, Hafizulfika, Salim Ali Al-Kathiri, Abdulla Al-Attas, Suhairi Saharudin, Mohamed Ridza Wahiddin

Abstract:

We demonstrate single-photon interference over 10 km using a plug and play system for quantum key distribution. The quality of the interferometer is measured by using the interferometer visibility. The coding of the signal is based on the phase coding and the value of visibility is based on the interference effect, which result a number of count. The setup gives full control of polarization inside the interferometer. The quality measurement of the interferometer is based on number of count per second and the system produces 94 % visibility in one of the detectors.

Keywords: single photon, interferometer, quantum key distribution.

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Authors: Wassila Kiamouche, Malek Benslama

Abstract:

In order to derive important parameters concerning mobile subscriber MS with ongoing calls in Low Earth Orbit Mobile Satellite Systems LEO MSSs, a positioning system had to be integrated into MSS in order to localize mobile subscribers MSs and track them during the connection. Such integration is regarded as a complex implementation. We propose in this paper a novel method based on advantages of mobility model of Low Earth Orbit Mobile Satellite System LEO MSS called Evaluation Parameters Method EPM which allows for such systems the evaluation of different information concerning a MS with a call in progress even if its location is unknown.

Keywords: Cellular layout, LEO mobile satellite system, mobilitymodel, positioning system.

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Authors: Wang Shuen-Tai, Lin Yu-Ching, Chang Hsi-Ya

Abstract:

Cloud computing is the innovative and leading information technology model for enabling convenient, on-demand network access to a shared pool of configurable computing resources that can be rapidly provisioned and released with minimal management effort. In this paper, we aim at the development of workflow management system for cloud computing platforms based on our previous research on the dynamic allocation of the cloud computing resources and its workflow process. We took advantage of the HTML5 technology and developed web-based workflow interface. In order to enable the combination of many tasks running on the cloud platform in sequence, we designed a mechanism and developed an execution engine for workflow management on clouds. We also established a prediction model which was integrated with job queuing system to estimate the waiting time and cost of the individual tasks on different computing nodes, therefore helping users achieve maximum performance at lowest payment. This proposed effort has the potential to positively provide an efficient, resilience and elastic environment for cloud computing platform. This development also helps boost user productivity by promoting a flexible workflow interface that lets users design and control their tasks' flow from anywhere.

Keywords: Web-based, workflow, HTML5, Cloud Computing, Queuing System.

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Authors: Jung-Chuan Chou, Wei-Chuan Chen, Chien-Cheng Chen

Abstract:

This study is concerned with pH solution detection using 2 × 4 flexible sensor array based on a plastic polyethylene terephthalate (PET) substrate that is coated a conductive layer and a ruthenium dioxide (RuO2) sensitive membrane with the technologies of screen-printing and RF sputtering. For data analysis, we also prepared a dynamic measurement system for acquiring the response voltage and analyzing the characteristics of the working electrodes (WEs), such as sensitivity and linearity. In this condition, an array measurement system was designed to acquire the original signal from sensor array, and it is based on the method of digital signal processing (DSP). The DSP modifies the unstable acquisition data to a direct current (DC) output using the technique of digital filter. Hence, this sensor array can obtain a satisfactory yield, 62.5%, through the design measurement and analysis system in our laboratory.

Keywords: Flexible sensor array, PET, RuO2, dynamic measurement, data analysis.

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Authors: Hanh Huu Hoang, Tho Manh Nguyen

Abstract:

Ever increasing capacities of contemporary storage devices inspire the vision to accumulate (personal) information without the need of deleting old data over a long time-span. Hence the target of SemanticLIFE project is to create a Personal Information Management system for a human lifetime data. One of the most important characteristics of the system is its dedication to retrieve information in a very efficient way. By adopting user demands regarding the reduction of ambiguities, our approach aims at a user-oriented and yet powerful enough system with a satisfactory query performance. We introduce the query system of SemanticLIFE, the Virtual Query System, which uses emerging Semantic Web technologies to fulfill users- requirements.

Keywords: Ontology-based Information Retrieval, Digital Memories, SemanticLIFE.

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Authors: Ling Shi Cai, Leau Yu Beng, Charlie Albert Lasuin, Tan Soo Fun, Chin Pei Yee

Abstract:

This paper explains the development of Multifunctional Barcode Inventory Management System (MBIMS) to manage inventory and stock ordering. Today, most of the retailing market is still manually record their stocks and its effectiveness is quite low. By providing MBIMS, it will bring effectiveness to retailing market in inventory management. MBIMS will not only save time in recording input, output and refilling the inventory stock, but also in calculating remaining stock and provide auto-ordering function. This system is developed through System Development Life Cycle (SDLC) and the flow and structure of the system is fully built based on requirements of a retailing market. Furthermore, this system has been developed from methodical research and study where each part of the system is vigilantly designed. Thus, MBIMS will offer a good solution to the retailing market in achieving effectiveness and efficiency in inventory management.

Keywords: Inventory, Retailing Market, Barcode, Automated Alerting and Ordering

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Authors: S. Elnobi, Iman El-Zahaby, Amr M. Mahros

Abstract:

In mobile communication systems, performance and capacity are affected by multi-path fading, delay spread and Co-Channel Interference (CCI). For this reason Orthogonal Frequency Division Multiplexing (OFDM) and adaptive antenna array are used is required. The goal of the OFDM is to improve the system performance against Inter-Symbol Interference (ISI). An array of adaptive antennas has been employed to suppress CCI by spatial technique. To suppress CCI in OFDM systems two main schemes the pre-FFT and the post-FFT have been proposed. In this paper, through a system level simulation, the behavior of the pre-FFT and post-FFT beamformers for OFDM system has been investigated based on two algorithms namely, Least Mean Squares (LMS) and Recursive Least Squares (RLS). The performance of the system is also discussed in multipath fading channel system specified by 3GPP Long Term Evolution (LTE).

Keywords: OFDM, Beamforming, Adaptive Antennas Array.

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Authors: Nael Y. Zabel, Maged E. Georgy, Moheeb E. Ibrahim

Abstract:

A knowledge-based expert system with the acronym RASPE is developed as an application tool to help decision makers in construction companies make informed decisions about managing risks in pipeline construction projects. Choosing to use expert systems from all available artificial intelligence techniques is due to the fact that an expert system is more suited to representing a domain’s knowledge and the reasoning behind domain-specific decisions. The knowledge-based expert system can capture the knowledge in the form of conditional rules which represent various project scenarios and potential risk mitigation/response actions. The built knowledge in RASPE is utilized through the underlying inference engine that allows the firing of rules relevant to a project scenario into consideration. Paper provides an overview of the knowledge acquisition process and goes about describing the knowledge structure which is divided up into four major modules. The paper shows one module in full detail for illustration purposes and concludes with insightful remarks.

Keywords: Expert System, Knowledge Management, Pipeline Projects, Risk Mismanagement.

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Authors: S. Suwannasri, R. Sirovetnukul

Abstract:

The effective machine-job assignment of injection molding machines is very important for industry because it is not only directly affects the quality of the product but also the performance and lifetime of the machine as well. The phase of machine selection was mostly done by professionals or experienced planners, so the possibility of matching a job with an inappropriate machine might occur when it was conducted by an inexperienced person. It could lead to an uneconomical plan and defects. This research aimed to develop a machine selection system for plastic injection machines as a tool to help in decision making of the user. This proposed system could be used both in normal times and in times of emergency. Fuzzy logic principle is applied to deal with uncertainty and mechanical factors in the selection of both quantity and quality criteria. The six criteria were obtained from a plastic manufacturer's case study to construct a system based on fuzzy logic theory using MATLAB. The results showed that the system was able to reduce the defects of Short Shot and Sink Mark to 24.0% and 8.0% and the total defects was reduced around 8.7% per month.

Keywords: Injection molding machine, machine selection, fuzzy logic, defects in injection molding, matlab.

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Authors: Vahid Khalajzadeh, Ghassem Heidarinejad

Abstract:

In this paper, the feasibility study of using a hybrid system of ground heat exchangers (GHE) and direct evaporative cooling system in arid weather condition has been performed. The model is applied for Yazd and Kerman, two cities with arid weather condition in Iran. The system composed of three sections: Ground- Coupled-Circuit (GCC), Direct Evaporative Cooler (DEC) and Cooling Coil Unite (CCU). The GCC provides the necessary precooling for DEC. The GCC includes four vertical GHE which are designed in series configuration. Simulation results show that hybridization of GCC and DEC could provide comfort condition whereas DEC alone did not. Based on the results the cooling effectiveness of a hybrid system is more than unity. Thus, this novel hybrid system could decrease the air temperature below the ambient wet-bulb temperature. This environmentally clean and energy efficient system can be considered as an alternative to the mechanical vapor compression systems.

Keywords: Computational Fluid Dynamics (CFD), Cooling CoilUnit (CCU), Direct Evaporative Cooling (DEC), Ground CoupledCircuit (GCC)

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Authors: Achim Washington, Reece Clothier, Jose Silva

Abstract:

System Safety Regulations (SSR) are a central component to the airworthiness certification of Unmanned Aircraft Systems (UAS). There is significant debate on the setting of appropriate SSR for UAS. Putting this debate aside, the challenge lies in how to apply the system safety process to UAS, which lacks the data and operational heritage of conventionally piloted aircraft. The limited knowledge and lack of operational data result in uncertainty in the system safety assessment of UAS. This uncertainty can lead to incorrect compliance findings and the potential certification and operation of UAS that do not meet minimum safety performance requirements. The existing system safety assessment and compliance processes, as used for conventional piloted aviation, do not adequately account for the uncertainty, limiting the suitability of its application to UAS. This paper discusses the challenges of undertaking system safety assessments for UAS and presents current and envisaged research towards addressing these challenges. It aims to highlight the main advantages associated with adopting a risk based framework to the System Safety Performance Requirement (SSPR) compliance process that is capable of taking the uncertainty associated with each of the outputs of the system safety assessment process into consideration. Based on this study, it is made clear that developing a framework tailored to UAS, would allow for a more rational, transparent and systematic approach to decision making. This would reduce the need for conservative assumptions and take the risk posed by each UAS into consideration while determining its state of compliance to the SSR.

Keywords: Part 1309 regulations, unmanned aircraft systems, system safety, uncertainty.

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Authors: Janet L. Kourik, Peter E. Maher

Abstract:

To investigate the correspondence of theory and practice, a successfully implemented Knowledge Management System (KMS) is explored through the lens of Alavi and Leidner-s proposed KMS framework for the analysis of an information system in knowledge management (Framework-AISKM). The applied KMS system was designed to manage curricular knowledge in a distributed university environment. The motivation for the KMS is discussed along with the types of knowledge necessary in an academic setting. Elements of the KMS involved in all phases of capturing and disseminating knowledge are described. As the KMS matures the resulting data stores form the precursor to and the potential for knowledge mining. The findings from this exploratory study indicate substantial correspondence between the successful KMS and the theory-based framework providing provisional confirmation for the framework while suggesting factors that contributed to the system-s success. Avenues for future work are described.

Keywords: Applied KMS, education, knowledge management (KM), KM framework, knowledge management system (KMS).

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Authors: Chung-Seong Hong, Hyung-Sun Kim, Joonmyun Cho, Hyun Kyu Cho, Hyun-Chan Lee

Abstract:

To realize the vision of ubiquitous computing, it is important to develop a context-aware infrastructure which can help ubiquitous agents, services, and devices become aware of their contexts because such computational entities need to adapt themselves to changing situations. A context-aware infrastructure manages the context model representing contextual information and provides appropriate information. In this paper, we introduce Context-Aware Middleware for URC System (hereafter CAMUS) as a context-aware infrastructure for a network-based intelligent robot system and discuss the ontology-based context modeling and reasoning approach which is used in that infrastructure.

Keywords: CAMUS, Context-Aware, Context Model, Ontology.

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Authors: Rung-Shiang Cheng, Wei-Jun Hong, Jheng-Syun Wang, Kawuu W. Lin

Abstract:

Users rely increasingly on Location-Based Services (LBS) and automated navigation/guidance systems nowadays. However, while such services are easily implemented in outdoor environments using Global Positioning System (GPS) technology, a requirement still exists for accurate localization and guidance schemes in indoor settings. Accordingly, the present study presents a methodology based on GPS, Bluetooth Low Energy (BLE) beacons, and Near Field Communication (NFC) technology. Through establishing graphic information and the design of algorithm, this study develops a guidance system for indoor and outdoor on smartphones, with aim to provide users a smart life through this system. The presented system is implemented on a smartphone and evaluated on a student campus environment. The experimental results confirm the ability of the presented app to switch automatically from an outdoor mode to an indoor mode and to guide the user to the requested target destination via the shortest possible route.

Keywords: Beacon, BLE, Dijkstra algorithm, indoor, GPS, near field communication technology.

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Authors: Wu Defu, Kiefer Chiam, Yang Kin Seng

Abstract:

The planning of geological survey works is an iterative process which involves planner, geologist, civil engineer and other stakeholders, who perform different roles and have different points of view. Traditionally, the team used paper maps or CAD drawings to present the proposal which is not an efficient way to present and share idea on the site investigation proposal such as sitting of borehole location or seismic survey lines. This paper focuses on how a GIS approach can be utilised to develop a webbased system to support decision making process in the planning of geological survey works and also to plan site activities carried out by Singapore Geological Office (SGO). The authors design a framework of building an interactive web-based GIS system, and develop a prototype, which enables the users to obtain rapidly existing geological information and also to plan interactively borehole locations and seismic survey lines via a web browser. This prototype system is used daily by SGO and has shown to be effective in increasing efficiency and productivity as the time taken in the planning of geological survey works is shortened. The prototype system has been developed using the ESRI ArcGIS API 3.7 for Flex which is based on the ArcGIS 10.2.1 platform.

Keywords: Engineering geology, Flex, Geological survey planning, Geoscience, GIS, Site investigation, WebGIS.

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Authors: R. Ibrahim, M. Azmirruddin, M. Jabir, N. Johari, M. Muhamad, A. R. A. Talib

Abstract:

Inconel718 has been widely used as a super alloy in aerospace application due to the high strength at elevated temperatures, satisfactory oxidation resistance and heat corrosion resistance. In this study, the Inconel718 has been fabricated using high technology of Metal Injection Molding (MIM) process due to the cost effective technique for producing small, complex and precision parts in high volume compared with conventional method through machining. Through MIM, the binder system is one of the most important criteria in order to successfully fabricate the Inconel718. Even though, the binder system is a temporary, but failure in the selection and removal of the binder system will affect on the final properties of the sintered parts. Therefore, the binder system based on palm oil derivative which is palm stearin has been formulated and developed to replace the conventional binder system. The rheological studies of the mixture between the powder and binders system have been determined properly in order to be successful during injection into injection molding machine. After molding, the binder holds the particles in place. The binder system has to be removed completely through debinding step. During debinding step, solvent debinding and thermal pyrolysis has been used to remove completely of the binder system. The debound part is then sintered to give the required physical and mechanical properties. The results show that the properties of the final sintered parts fulfill the Standard Metal Powder Industries Federation (MPIF) 35 for MIM parts.

Keywords: Binder system, rheological study, metal injection molding, debinding and sintered parts.

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Authors: K. Metaxiotis, K. Liagkouras

Abstract:

This study presents an Expert System specially designed to be used with Multiobjective Evolutionary Algorithms (MOEAs) for the solution of the portfolio selection problem. The validation of the proposed hybrid System is done by using data sets from Hang Seng 31 in Hong Kong, DAX 100 in Germany and FTSE 100 in UK. The performance of the proposed system is assessed in comparison with the Non-dominated Sorting Genetic Algorithm II (NSGAII). The evaluation of the performance is based on different performance metrics that evaluate both the proximity of the solutions to the Pareto front and their dispersion on it. The results show that the proposed hybrid system is efficient for the solution of this kind of problems.

Keywords: Expert Systems, Multiobjective optimization, Evolutionary Algorithms, Portfolio Selection.

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Authors: Sidhartha Panda, C. Ardil

Abstract:

Power system stabilizers (PSS) are now routinely used in the industry to damp out power system oscillations. In this paper, real-coded genetic algorithm (RCGA) optimization technique is applied to design robust power system stabilizer for both singlemachine infinite-bus (SMIB) and multi-machine power system. The design problem of the proposed controller is formulated as an optimization problem and RCGA is employed to search for optimal controller parameters. By minimizing the time-domain based objective function, in which the deviation in the oscillatory rotor speed of the generator is involved; stability performance of the system is improved. The non-linear simulation results are presented under wide range of operating conditions; disturbances at different locations as well as for various fault clearing sequences to show the effectiveness and robustness of the proposed controller and their ability to provide efficient damping of low frequency oscillations.

Keywords: Particle swarm optimization, power system stabilizer, low frequency oscillations, power system stability.

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Authors: Md. Aminul Islam, Adel Merabet, Rachid Beguenane, Hussein Ibrahim

Abstract:

This paper presents a simulation and mathematical model of stand-alone solar-wind-diesel based hybrid energy system (HES). A power management system is designed for multiple energy resources in a stand-alone hybrid energy system. Both Solar photovoltaic and wind energy conversion system consists of maximum power point tracking (MPPT), voltage regulation, and basic power electronic interfaces. An additional diesel generator is included to support and improve the reliability of stand-alone system when renewable energy sources are not available. A power management strategy is introduced to distribute the generated power among resistive load banks. The frequency regulation is developed with conventional phase locked loop (PLL) system. The power management algorithm was applied in Matlab^®/Simulink^® to simulate the results.

Keywords: Solar photovoltaic, wind energy, diesel engine, hybrid energy system, power management, frequency and voltage regulation.

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Authors: Nelson K. Lujara

Abstract:

The performance characteristics of a photovoltaic induction motor drive water pumping system with and without maximum power tracker is analyzed and presented. The analysis is done through determination and assessment of critical loss components in the system using computer aided design (CAD) tools for optimal operation of the system. The results can be used to formulate a well-calibrated computer aided design package of photovoltaic water pumping systems based on the induction motor drive. The results allow the design engineer to pre-determine the flow rate and efficiency of the system to suit particular application.

Keywords: Photovoltaic, water pumping, losses, induction motor.

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Authors: Yoshifumi Sakamoto, Kouichi Ono, Takeo Nakada, Yousuke Kubo, Hiroto Yasuura

Abstract:

This paper describes a system-level SoC energy consumption estimation method based on a dynamic behavior of embedded software in the early stages of the SoC development. A major problem of SOC development is development rework caused by unreliable energy consumption estimation at the early stages. The energy consumption of an SoC used in embedded systems is strongly affected by the dynamic behavior of the software. At the early stages of SoC development, modeling with a high level of abstraction is required for both the dynamic behavior of the software, and the behavior of the SoC. We estimate the energy consumption by a UML model-based simulation. The proposed method is applied for an actual embedded system in an MFP. The energy consumption estimation of the SoC is more accurate than conventional methods and this proposed method is promising to reduce the chance of development rework in the SoC development. ∈

Keywords: SoC, Embedded Sytem, Energy Consumption, Dynamic behavior, UML, Modeling, Model-based simulation

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Authors: M. Khatami Rad, N. Jamali, M. Torabizadeh, A. Noshadi

Abstract:

In this paper, an artificial neural network simulator is employed to carry out diagnosis and prognosis on electric motor as rotating machinery based on predictive maintenance. Vibration data of the primary failed motor including unbalance, misalignment and bearing fault were collected for training the neural network. Neural network training was performed for a variety of inputs and the motor condition was used as the expert training information. The main purpose of applying the neural network as an expert system was to detect the type of failure and applying preventive maintenance. The advantage of this study is for machinery Industries by providing appropriate maintenance that has an essential activity to keep the production process going at all processes in the machinery industry. Proper maintenance is pivotal in order to prevent the possible failures in operating system and increase the availability and effectiveness of a system by analyzing vibration monitoring and developing expert system.

Keywords: Condition based monitoring, expert system, neural network, fault detection, vibration monitoring.

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Authors: Nabli L., Dhouibi H., Collart Dutilleul S., Craye E.

Abstract:

The existence of maximal durations drastically modifies the performance evaluation in Discrete Event Systems (DES). The same particularity may be found on systems where the associated constraints do not concern the time. For example weight measures, in chemical industry, are used in order to control the quantity of consumed raw materials. This parameter also takes a fundamental part in the product quality as the correct transformation process is based upon a given percentage of each essence. Weight regulation therefore increases the global productivity of the system by decreasing the quantity of rejected products. In this paper we present an approach based on mixing different characteristics theories, the fuzzy system and Petri net system to describe the behaviour. An industriel application on a tobacco manufacturing plant, where the critical parameter is the weight is presented as an illustration.

Keywords: Petri Net, Manufacturing systems, Performance evaluation, Fuzzy logic, Tolerant system.

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Authors: Akram Khaleghei Ghosheh Balagh, Viliam Makis

Abstract:

In this paper, we investigate the residual life prediction problem for a partially observable system subject to two failure modes, namely a catastrophic failure and a failure due to the system degradation. The system is subject to condition monitoring and the degradation process is described by a hidden Markov model with unknown parameters. The parameter estimation procedure based on an EM algorithm is developed and the formulas for the conditional reliability function and the mean residual life are derived, illustrated by a numerical example.

Keywords: Partially observable system, hidden Markov model, competing risks, residual life prediction.

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Authors: Andrea Gelmini

Abstract:

This paper considers the advent of 5G and the use of it in a Based Control System (BCS), posing as a basic concept the question of what the real differences and practical improvements are compared to 4G. To this purpose, a testbed hardware simulator has been designed and built where identical machines with the same sensors and management systems will communicate with different radio access network connections. This allows an objective statistical comparison of performance on the real functioning and improvement of the infrastructure with the Industrial Internet of Things (IIoT) connected to it.

Keywords: 4G, 5G, BCS, eSIM, IIoT, SCADA, Testbed.

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Authors: Shengqi Yu, Jinwei Zhao

Abstract:

This paper presents a kind of analog circuit based temperature control system, which is mainly composed by threshold control signal circuit, synchronization signal circuit and trigger pulse circuit. Firstly, the temperature feedback signal function is realized by temperature sensor TS503F3950E. Secondly, the main control circuit forms the cycle controlled pulse signal to control the thyristor switching model. Finally two reverse paralleled thyristors regulate the output power by their switching state. In the consequence, this is a modernized and energy-saving domestic electric heating system.

Keywords: Time base circuit, automatic control, zero-crossing trigger, temperature control.

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Authors: Behrouz Fathi-Vajargah, Sara Ghasemalipour

Abstract:

This paper studies a random fuzzy queueing system that the interarrival times of customers arriving at the server and the service times are independent and identically distributed random fuzzy variables. We match the random fuzzy queueing system with the random fuzzy alternating renewal process and we do not use from α-pessimistic and α-optimistic values to estimate the average chance of the event ”random fuzzy queueing system is busy at time t”, we employ the fuzzy simulation method in practical applications. Some theorem is proved and finally we solve a numerical example with fuzzy simulation method.

Keywords: Random fuzzy variables, Fuzzy simulation, Queueing system, Interarrival times.

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Authors: Wenjuan Du

Abstract:

The phase compensation method was proposed based on the concept of the damping torque analysis (DTA). It is a method for the design of a PSS (power system stabilizer) to suppress local-mode power oscillations in a single-machine infinite-bus power system. This paper presents the application of the phase compensation method for the design of a PSS in a multi-machine power system. The application is achieved by examining the direct damping contribution of the stabilizer to the power oscillations. By using linearized equal area criterion, a theoretical proof to the application for the PSS design is presented. Hence PSS design in the paper is an example of stable tending control by localized method.

Keywords: Phase compensation method, power system small-signal stability, power system stabilizer.

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Authors: Hyung-Keun Jee, Sung-Uk Jung, Jang-Hee Yoo

Abstract:

To increase reliability of face recognition system, the system must be able to distinguish real face from a copy of face such as a photograph. In this paper, we propose a fast and memory efficient method of live face detection for embedded face recognition system, based on the analysis of the movement of the eyes. We detect eyes in sequential input images and calculate variation of each eye region to determine whether the input face is a real face or not. Experimental results show that the proposed approach is competitive and promising for live face detection.

Keywords: Liveness Detection, Eye detection, SQI.

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Authors: Kyung Hyun, Choi, Minh Ngoc, Nong, M. Asif Ali, Rehmani

Abstract:

This present paper proposes the modified Elastic Strip method for mobile robot to avoid obstacles with a real time system in an uncertain environment. The method deals with the problem of robot in driving from an initial position to a target position based on elastic force and potential field force. To avoid the obstacles, the robot has to modify the trajectory based on signal received from the sensor system in the sampling times. It was evident that with the combination of Modification Elastic strip and Pseudomedian filter to process the nonlinear data from sensor uncertainties in the data received from the sensor system can be reduced. The simulations and experiments of these methods were carried out.

Keywords: Collision avoidance, Avoidance obstacle, Elastic Strip, Real time collision avoidance.

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