Search results for: inspection planning

Authors: K. Somprasonk, R. Boondiskulchok

Abstract:

Medical services are usually provided in hospitals; however, in developing country, some rural residences have fewer opportunities to access in healthcare services due to the limitation of transportation communication. Therefore, in Thailand, there are charitable organizations operating to provide medical treatments to these people by shifting the medical services to operation sites; this is commonly known as mobile medical service. Operation routing is important for the organization to reduce its transportation cost in order to focus more on other important activities; for instance, the development of medical apparatus. VRP is applied to solve the problem of high transportation cost of the studied organization with the searching techniques of saving algorithm to find the minimum total distance of operation route and satisfy available time constraints of voluntary medical staffs.

Keywords: Decision Support System, Mobile Medical Service Planning, Saving Algorithm, Vehicle Routing Problem

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Authors: Ellips Masehian, Yalda Katebi

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This paper presents a new sensor-based online method for generating collision-free near-optimal paths for mobile robots pursuing a moving target amidst dynamic and static obstacles. At each iteration, first the set of all collision-free directions are calculated using velocity vectors of the robot relative to each obstacle and target, forming the Directive Circle (DC), which is a novel concept. Then, a direction close to the shortest path to the target is selected from feasible directions in DC. The DC prevents the robot from being trapped in deadlocks or local minima. It is assumed that the target's velocity is known, while the speeds of dynamic obstacles, as well as the locations of static obstacles, are to be calculated online. Extensive simulations and experimental results demonstrated the efficiency of the proposed method and its success in coping with complex environments and obstacles.

Keywords: Dynamic Environment, Moving Target, RobotMotion Planning.

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Authors: N. Mahmoudi

Abstract:

Composite materials have important assets compared to traditional materials. They bring many functional advantages: lightness, mechanical resistance and chemical, etc. In the present study we examine the effect of a circular central notch and a precrack on the tensile fracture of two woven composite materials. The tensile tests were applied to a standardized specimen, notched and a precarcked (orientation of the crack 0°, 45° and 90°). These tensile tests were elaborated according to an experimental planning design of the type 23.31 requiring 24 experiments with three repetitions. By the analysis of regression, we obtained a mathematical model describing the maximum load according to the influential parameters (hole diameter, precrack length, angle of a precrack orientation). The specimens precracked at 90° have a better behavior than those having a precrack at 45° and still better than those having of the precracks oriented at 0°. In addition the maximum load is inversely proportional to the notch size.

Keywords: Polymer matrix, Glasses, Fracture.

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Authors: Mahdieh Allahviranloo

Abstract:

This paper introduces a mixed integer programming model to find the optimum development plan for port Anzali. The model minimizes total system costs taking into account both port infrastructure costs and shipping costs. Due to the multipurpose function of the port, the model consists of 1020 decision variables and 2490 constraints. Results of the model determine the optimum number of berths that should be constructed in each period and for each type of cargo. In addition to, the results of sensitivity analysis on port operation quantity provide useful information for managers to choose the best scenario for port planning with the lowest investment risks. Despite all limitations-due to data availability-the model offers a straightforward decision tools to port planners aspiring to achieve optimum port planning steps.

Keywords: MILP, Multipurpose Terminal, Port Operation Optimization, Port Anzali.

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Authors: Turan Erman Erkan

Abstract:

Business Process Reengineering (BPR) is an essential tool before an information system project implementation. Enterprise Resource Planning (ERP) projects definitely require the standardization and fixation of business processes from customer order to shipment. Therefore, ERP implementations are well proven to be coupled with BPR, although the extend and timing of BPR with respect to ERP implementation differ. This study aims at analyzing the effects of BPR on ERP implementation success. Basing on two Turkish ERP implementations in pharmaceutical sector, a comparative study is performed. One of the ERP implementations took place after a BPR implementation, whereas the other implementation was without a prior BPR application. Both implementations have been realized with the same consultant team, the case with prior BPR implementation going live first. The results of the case study reveal that if business processes are not optimized and improved before an ERP implementation, ERP live system would face with disharmony problems of processes and processes automated by ERP. This suggests a definite precedence relationship between BPR and ERP applications

Keywords: Business Process Reengineering, Enterprise Resource Planning

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Authors: Shahin Dezdar

Abstract:

Over the past few years, companies in developing countries have implemented enterprise resource planning (ERP) systems. Regardless of the various benefits of the ERP system, its adoption and implementation have not been without problems. Many companies have assigned considerable organizational resources to their ERP projects, but have encountered unexpected challenges. Neglecting a number of important factors in ERP projects might lead to failure instead of success. User satisfaction is among those factors that has a major influence on ERP implementation success. So, this paper intends to investigate the key factors that create ERP users- satisfaction and to discover whether ERP users- satisfaction varies among different users- profiles. The study was conducted using a survey questionnaire which was distributed to ERP users in Iranian organizations. A total of 384 responses were collected and analyzed. The findings indicated that younger ERP users tend to be more satisfied with ERP systems. Furthermore, ERP users with more experiences in IT and also more educated users have more satisfaction with ERP softwares. However, the study found no satisfaction differences between men and women users.

Keywords: ERP, Enterprise resource planning, User satisfaction, Iran, Developing country

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Authors: Ali M. Al-Shaery

Abstract:

The purpose of this paper is to address the functions of sustainability dimensions in city information modelling and to present the required sustainability criteria that support establishing a sustainable planning framework for enhancing existing cities and developing future smart cities. The paper is divided into two sections. The first section is based on the examination of a wide and extensive array of cross-disciplinary literature in the last decade and a half to conceptualize the terms ‘sustainable’ and ‘smart city’, and map their associated criteria to city information modelling. The second section is based on analyzing two approaches relating to city information modelling, namely statistical and dynamic approaches, and their suitability in the development of cities’ action plans. The paper argues that the use of statistical approaches to embed sustainability dimensions in city information modelling have limited value. Despite the popularity of such approaches in addressing other dimensions like utility and service management in development and action plans of the world cities, these approaches are unable to address the dynamics across various city sectors with regards to economic, environmental and social criteria. The paper suggests an integrative dynamic and cross-disciplinary planning approach to embedding sustainability dimensions in city information modelling frameworks. Such an approach will pave the way towards optimal planning and implementation of priority actions of projects and investments. The approach can be used to achieve three main goals: (1) better development and action plans for world cities (2) serve the development of an integrative dynamic and cross-disciplinary framework that incorporates economic, environmental and social sustainability criteria and (3) address areas that require further attention in the development of future sustainable and smart cities. The paper presents an innovative approach for city information modelling and a well-argued, balanced hierarchy of sustainability criteria that can contribute to an area of research which is still in its infancy in terms of development and management.

Keywords: Information modelling, smart city, sustainable city, sustainability dimensions, sustainability criteria, city development planning.

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Authors: Alicia Y. C. Tang, Rukaini Hj. Abdullah, Sharifuddin M. Zain

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This paper discusses the development of a qualitative simulator (abbreviated QRiOM) for predicting the behaviour of organic chemical reactions. The simulation technique is based on the qualitative process theory (QPT) ontology. The modelling constructs of QPT embody notions of causality which can be used to explain the behaviour of a chemical system. The major theme of this work is that, in a qualitative simulation environment, students are able to articulate his/her knowledge through the inspection of explanations generated by software. The implementation languages are Java and Prolog. The software produces explanation in various forms that stresses on the causal theories in the chemical system which can be effectively used to support learning.

Keywords: Chemical reactions, explanation, qualitative processtheory, simulation

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Authors: Yoshifumi Ishizaki, Naoki Kanatani, Masaki Ito, Toshihiko Sasama, Takao Kawamura, Kazunori Sugahara

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This paper demonstrates the bus location system for the route bus through the experiment in the real environment. A bus location system is a system that provides information such as the bus delay and positions. This system uses actual services and positions data of buses, and those information should match data on the database. The system has two possible problems. One, the system could cost high in preparing devices to get bus positions. Two, it could be difficult to match services data of buses. To avoid these problems, we have developed this system at low cost and short time by using the smart phone with GPS and the bus route system. This system realizes the path planning considering bus delay and displaying position of buses on the map. The bus location system was demonstrated on route buses with smart phones for two months.

Keywords: Route Bus, Path Planning System, GPS, Smart Phone.

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Authors: G. Reinhart, S. Schindler

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Due to dynamic evolution, the ability of a manufacturing technology to produce a special product is changing. Therefore, it is essential to monitor the established techniques and processes to detect whether a company-s production will fit future circumstances. Concerning the manufacturing technology planning process, companies must decide when to change to a new technology for maintaining and increasing competitive advantages. In this context, the maturity assessment of the focused technologies is crucial. This article presents an approach for defining the maturity of a manufacturing technology from a strategic point of view. The concept is based on the approach of technology readiness level (TRL) according to NASA (National Aeronautics and Space Administration), but also includes dynamic changes. Therefore, the model takes into account the concept of the technology life cycle. Furthermore, it enables a company to estimate the ideal date for implementation of a new manufacturing technology.

Keywords: Maturity Assessment, Manufacturing Technology Planning, Technology Life Cycle, Technology Readiness Level.

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Authors: T. R. Alencar, P. T. Leite

Abstract:

Several optimization algorithms specifically applied to the problem of Operation Planning of Hydrothermal Power Systems have been developed and are used. Although providing solutions to various problems encountered, these algorithms have some weaknesses, difficulties in convergence, simplification of the original formulation of the problem, or owing to the complexity of the objective function. Thus, this paper presents the development of a computational tool for solving optimization problem identified and to provide the User an easy handling. Adopted as intelligent optimization technique, Genetic Algorithms and programming language Java. First made the modeling of the chromosomes, then implemented the function assessment of the problem and the operators involved, and finally the drafting of the graphical interfaces for access to the User. The program has managed to relate a coherent performance in problem resolution without the need for simplification of the calculations together with the ease of manipulating the parameters of simulation and visualization of output results.

Keywords: Energy, Optimization, Hydrothermal Power Systemsand Genetic Algorithms

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Authors: Parastou Kharazmi, Folke Björk

Abstract:

Some of the main causes for degradation of polymeric materials are thermal aging, hydrolysis, oxidation or chemical degradation by acids, alkalis or water. The first part of this paper provides a brief summary of advances in technology, methods and specification of composite materials for relining as a rehabilitation technique for sewage systems. The second part summarizes an investigation on frequently used composite materials for relining in Sweden, the rubber filled epoxy composite and reinforced polyester composite when they were immersed in deionized water or in dry conditions, and elevated temperatures up to 80°C in the laboratory. The tests were conducted by visual inspection, microscopy, Dynamic Mechanical Analysis (DMA), Differential Scanning Calorimetry (DSC) as well as mechanical testing, three point bending and tensile testing.

Keywords: Composite, epoxy, polyester, relining, sewage.

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Authors: Ritu Ahlawat

Abstract:

Among all geo-hydrological relationships, rainfallrunoff relationship is of utmost importance in any hydrological investigation and water resource planning. Spatial variation, lag time involved in obtaining areal estimates for the basin as a whole can affect the parameterization in design stage as well as in planning stage. In conventional hydrological processing of data, spatial aspect is either ignored or interpolated at sub-basin level. Temporal variation when analysed for different stages can provide clues for its spatial effectiveness. The interplay of space-time variation at pixel level can provide better understanding of basin parameters. Sustenance of design structures for different return periods and their spatial auto-correlations should be studied at different geographical scales for better management and planning of water resources. In order to understand the relative effect of spatio-temporal variation in hydrological data network, a detailed geo-hydrological analysis of Betwa river catchment falling in Lower Yamuna Basin is presented in this paper. Moreover, the exact estimates about the availability of water in the Betwa river catchment, especially in the wake of recent Betwa-Ken linkage project, need thorough scientific investigation for better planning. Therefore, an attempt in this direction is made here to analyse the existing hydrological and meteorological data with the help of SPSS, GIS and MS-EXCEL software. A comparison of spatial and temporal correlations at subcatchment level in case of upper Betwa reaches has been made to demonstrate the representativeness of rain gauges. First, flows at different locations are used to derive correlation and regression coefficients. Then, long-term normal water yield estimates based on pixel-wise regression coefficients of rainfall-runoff relationship have been mapped. The areal values obtained from these maps can definitely improve upon estimates based on point-based extrapolations or areal interpolations.

Keywords: Catchment's runoff estimates, influence area regional regression coefficients, runoff yield series,

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Authors: P. Guayjarernpanishkand, T. Mayureesawan

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This paper presents a comparison of average outgoing quality limit of the MCSP-2-C plan with MCSP-C when MCSP-2-C has been developed from MCSP-C. The parameters used in MCSP-2- C are: i (the clearance number), c (the acceptance number), m (the number of conforming units to be found before allowing c nonconforming units in the sampling inspection), f1 and f2 (the sampling frequency at level 1 and 2, respectively). The average outgoing quality limit (AOQL) values from two plans were compared and we found that for all sets of i, r, and c values, MCSP-2-C gives higher values than MCSP-C. For all sets of i, r, and c values, the average outgoing quality values of MCSP-C and MCSP-2-C are similar when p is low or high but is difference when p is moderate.

Keywords: average outgoing quality, average outgoing quality limit, continuous sampling plan.

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Authors: Yasaman Zeinali, Farid Khosravikia

Abstract:

This paper presents a multi-objective framework for sustainable urban development. The proposed framework aims to address different aspects of sustainability in urban development planning. These aspects include, but are not limited to education, health, job opportunities, architecture, culture, environment, mobility, energy, water, waste, and so on. Then, the proposed framework is applied to the Brackenridge Tract (an area in downtown Austin, Texas), to redevelop that area in a sustainable way. The detail of the implementation process is presented in this paper. The ultimate goal of this paper is to develop a sustainable area in downtown Austin with ensuring that it locally meets the needs of present and future generations with respect to economic, social, environmental, health as well as cultural aspects. Moreover, it helps the city with the population growth problem by accommodating more people in that area.

Keywords: Environmental impacts of human activities, sustainability, urban planning.

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Authors: Govindaraj Ramanathan

Abstract:

The time delay and the structural stability are major issues in big size projects due to several factors. Improper planning and poor coordination lead to delay in construction, which sometimes result in reworking or rebuilding. This definitely increases the cost and time of project. This situation stresses the structural engineers to plan out of the limits of contemporary technology utilizing non-chronological approach with creative ideas. One of the strategies to solve this issue is through structural integrity solutions in a cost-effective way. We have faced several problems in a project worth 470 million USD, and one such issue is crane girder installation with composite steel beams. We have applied structural integrity approach with the proper and revised planning schedule to solve the problem efficiently with minimal expenses.

Keywords: Construction management, delay, non-chronological approach, composite beam, structural integrity.

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Authors: Carolina Senabre, Sergio Valero, Emilio Velasco

Abstract:

The brake systems of vehicles are tested periodically by a “brake tester” at Ministry of Transport (MOT) stations. This tester measures the effectiveness of vehicle. This parameter is established by the International Committee of Vehicle Inspection (CITA). In this paper, we present an investigation of the influence of the tire size on the measurements of brake force on three MOT brake testers. We performed an analysis of the vehicle braking capacity test at MOT stations. The influence of varying wheel diameter and width on the measurement of braking at MOT stations has been analyzed. Thereby, the MOT brake tester as a verification system for a vehicle has been evaluated.

Keywords: Brake tester, wheel diameter, Ministry of transport facilities.

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Authors: W. J. Strydom, K. Puren

Abstract:

Place-making is viewed here as an empowering process in which people represent, improve and maintain their spatial (natural or built) environment. With the above-mentioned in mind, place-making is multi-dimensional and include a spatial dimension (including visual properties or the end product/plan), a procedural dimension during which (negotiation/discussion of ideas with all relevant stakeholders in terms of end product/plan) and a psychological dimension (inclusion of intrinsic values and meanings related to a place in the end product/plan). These three represent dimensions of place-making. The purpose of this paper is to explore these dimensions of place-making in a case study of a local community in Ikageng, Potchefstroom, North-West Province, South Africa. This case study represents an inclusive process that strives to empower a local community (forcefully relocated due to Apartheid legislation in South Africa). This case study focussed on the inclusion of participants in the decision-making process regarding their daily environment. By means of focus group discussions and a collaborative design workshop, data is generated and ultimately creates a linkage with the theoretical dimensions of place-making. This paper contributes to the field of spatial planning due to the exploration of the dimensions of place-making and the relevancy of this process on spatial planning (especially in a South African setting).

Keywords: Case study, place-making, spatial planning, spatial dimension, procedural dimension, psychological dimension.

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Authors: Tingke Wu, Man Yuan

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“National Territorial Planning (2016-2030)” was issued by the State Council of China in 2017. As an important initiative of putting it into effect, territorial planning at provincial level makes overall arrangement of territorial development, resources and environment protection, comprehensive renovation and security system construction. Hubei province, as the pivot of the “Rise of Central China” national strategy, is now confronted with great opportunities and challenges in territorial development, protection, and renovation. Territorial spatial pattern experiences long time evolution, influenced by multiple internal and external driving forces. It is not clear what are the main causes of its formation and what are effective ways of optimizing it. By analyzing land use data in 2016, this paper reveals present status of territory in Hubei. Combined with economic and social data and construction information, driving forces of territorial spatial pattern are then analyzed. Research demonstrates that the three types of territorial space aggregate distinctively. The four aspects of driving forces include natural background which sets the stage for main functions, population and economic factors which generate agglomeration effect, transportation infrastructure construction which leads to axial expansion and significant provincial strategies which encourage the established path. On this basis, targeted strategies for optimizing territory spatial pattern are then put forward. Hierarchical protection pattern should be established based on development intensity control as respect for nature. By optimizing the layout of population and industry and improving the transportation network, polycentric network-based development pattern could be established. These findings provide basis for Hubei Territorial Planning, and reference for future territorial planning in other provinces.

Keywords: Driving forces, Hubei, optimizing strategies, spatial pattern, territory.

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Authors: Nemat Abazari, Ilgin Sager

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In this paper smooth trajectories are computed in the Lie group SO(2, 1) as a motion planning problem by assigning a Frenet frame to the rigid body system to optimize the cost function of the elastic energy which is spent to track a timelike curve in Minkowski space. A method is proposed to solve a motion planning problem that minimize the integral of the square norm of Darboux vector of a timelike curve. This method uses the coordinate free Maximum Principle of Optimal control and results in the theory of integrable Hamiltonian systems. The presence of several conversed quantities inherent in these Hamiltonian systems aids in the explicit computation of the rigid body motions.

Keywords: Optimal control, Hamiltonian vector field, Darboux vector, maximum principle, lie group, Rigid body motion, Lorentz metric.

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Authors: Masahiro Taketa, Masaki Ito, Takao Kawamura, Kazunori Sugahara

Abstract:

We develop a new interface for Bus-Net which is optimized for a smartphone. We are continuing to develop the shortest path planning system of public transportation called "Bus-Net" in Tottori prefecture as web application to improve the usability of public transportation. Recent trend of computing platform, however has shifted to an advanced mobile device called a smartphone such as iPhone and Android in Japan. A smartphone has different characters with existing feature phone in terms of OS, large touche panel, and several other features. We derive a guideline to design the new interface for a smartphone to full use of the functionality. The guideline is about simplicity of user-s operation, location awareness and usability. We developed the new interface for “Bus-Net" on iPhone referring to the guideline. Due to the evaluation, the application interface we developed is better than the existing web-based interface in terms of the usability.

Keywords: Path Planning, Public Transportation, Smartphone, User Interface

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Authors: P. Saravanan, A. Vasumathi

Abstract:

The authors conducted a study for the sample size of 75 HR managers from an Indian IT company through systematic sampling method. This study identifies that the female employees are facing lesser conflict than the male employees against their managers within the organization. There is a positive correlation between gender and conflict management with the superior towards the work. There is a significant variance between age and response towards appraisal system, succession planning and employee engagement. The education qualification plays a major role in determining the compensation factor for the employees working in the organization. The study determines the impact of demographic profile on strategic HRM practices and its challenges faced by HR managers in IT firm, India.

Keywords: Strategic Human resource management, Change agent, Employee engagement, Performance management, Succession planning and Conflict management.

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Authors: Douglas A. Menezes, Isabel D. Nunes, Ulrich Schiel

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Most Virtual Learning Environments do not provide support mechanisms for the integrated planning, construction and follow-up of Instructional Design supported by Learning Analytic results. The present work aims to present an authoring tool that will be responsible for constructing the structure of an Instructional Design (ID), without the data being altered during the execution of the course. The visual interface aims to present the critical situations present in this ID, serving as a support tool for the course follow-up and possible improvements, which can be made during its execution or in the planning of a new edition of this course. The model for the ID is based on High-Level Petri Nets and the visualization forms are determined by the specific kind of the data generated by an e-course, a population of students generating sequentially dependent data.

Keywords: Educational data visualization, high-level petri nets, instructional design, learning analytics.

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Authors: Alaa Al Hawari, Mohammad Khader, Tarek Zayed, Osama Moselhi

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In this paper, an effective non-destructive, noninvasive approach for leak detection was proposed. The process relies on analyzing thermal images collected by an IR viewer device that captures thermo-grams. In this study a statistical analysis of the collected thermal images of the ground surface along the expected leak location followed by a visual inspection of the thermo-grams was performed in order to locate the leak. In order to verify the applicability of the proposed approach the predicted leak location from the developed approach was compared with the real leak location. The results showed that the expected leak location was successfully identified with an accuracy of more than 95%.

Keywords: Thermography, Leakage, Water pipelines, Thermograms.

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Authors: J. I. Asnor, S. Rosnah, Z. W. H. Wan, H. A. B. Badrul

Abstract:

Pineapples can be classified using an index with seven levels of maturity based on the green and yellow color of the skin. As the pineapple ripens, the skin will change from pale green to a golden or yellowish color. The issues that occur in agriculture nowadays are to do with farmers being unable to distinguish between the indexes of pineapple maturity correctly and effectively. There are several reasons for why farmers cannot properly follow the guideline provide by Federal Agriculture Marketing Authority (FAMA) and one of reason is that due to manual inspection done by experts, there are no specific and universal guidelines to be adopted by farmers due to the different points of view of the experts when sorting the pineapples based on their knowledge and experience. Therefore, an automatic system will help farmers to identify pineapple maturity effectively and will become a universal indicator to farmers.

Keywords: Artificial Neural Network, Image Processing, Index of Maturity, Pineapple

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Authors: Jim Meng, Mammo Yewondwossen

Abstract:

As a part of routine oesophageal HDR Brachytherapy procedure, treatment planning takes about 45 minutes while patients are under light sedation. Some patients may suffer gagging and/or spasms before the 90-minute brachytherapy procedure complete, and the treatment may need to be aborted. A pre-prepared plan generated before patient’s sedation may reduce the brachytherapy procedure time by 40 minutes. This paper reports rationality and evidence of pre-prepared treatment plans. A retrospective study of 28 patients confirms that pre-prepared plans would be acceptable for all reviewed patients. The rationality is further confirmed by a systemic study with a wide range of applicator curvature and treatment volume. Detailed comparison between CT based treatment plans and pre-prepared plans are discussed. The argument holds for endobronchial HDR brachytherapy too. With the above evidence, pre-prepared plans have been used for all oesophageal and endobronchial HDR brachytherapy cases in our clinic.

Keywords: HDR brachytherapy, treatment planning, oesophageal carcinoma.

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Authors: Florian Mach, Eric Hund, Malte Stonis

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The dismantling of disused industrial facilities such as nuclear power plants or refineries is an enormous challenge for the planning and control of the logistic processes. Existing control models do not meet the requirements for a proper dismantling of industrial plants. Therefore, the paper presents an approach for the control of dismantling and post-processing processes (e.g. decontamination) in plant decommissioning. In contrast to existing approaches, the dismantling sequence and depth are selected depending on the capacity utilization of required post-processing processes by also considering individual characteristics of respective dismantling tasks (e.g. decontamination success rate, uncertainties regarding the process times). The results can be used in the dismantling of industrial plants (e.g. nuclear power plants) to reduce dismantling time and costs by avoiding bottlenecks such as capacity constraints.

Keywords: Dismantling management, logistics planning and control models, nuclear power plant dismantling, reverse logistics.

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Authors: Mohammad Saraj Sharifzai, Keisuke Kitagawa, Mohammad Kamil Halimee, Javid Habib, Daishi Sakaguchi

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The purpose of this research is to upgrade a pleasing, sustainable and safe shelter in the Afghan urban community. It also aims to maintain traditional housing, which is fitted to its environment, while attempting to upgrade it with new, traditional standards. The three main objectives of this study are to upgrade the traditional courtyard house to become safe and sustainable today and tomorrow; to fit the contemporary house environmentally and culturally, and to suppress or reduce the broad gap between traditional and contemporary housing. The paper tries to exhibit and analyze the sustainably best practices available in both traditional and contemporary courtyard housing in Afghanistan. For instance, the use of thick walls and Tawa-Khana (floor heating system) shows the best sustainable practice in that context.

Keywords: Afghan Traditional Courtyard Housing (ATCH), Afghan Contemporary Courtyard Housing (ACCH), suitability planning, affordable and thermal comfort.

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Authors: Ahmet Denker, Tuğrul Adıgüzel

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In this paper, a solution is presented for a robotic manipulation problem in industrial settings. The problem is sensing objects on a conveyor belt, identifying the target, planning and tracking an interception trajectory between end effector and the target. Such a problem could be formulated as combining object recognition, tracking and interception. For this purpose, we integrated a vision system to the manipulation system and employed tracking algorithms. The control approach is implemented on a real industrial manipulation setting, which consists of a conveyor belt, objects moving on it, a robotic manipulator, and a visual sensor above the conveyor. The trjectory for robotic interception at a rendezvous point on the conveyor belt is analytically calculated. Test results show that tracking the raget along this trajectory results in interception and grabbing of the target object.

Keywords: robotics, robot vision, rendezvous planning, self organizingmaps.

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Authors: A. A. Hussen, I. N. Jleta

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Micro-electromechanical system (MEMS) accelerometers and gyroscopes are suitable for the inertial navigation system (INS) of many applications due to low price, small dimensions and light weight. The main disadvantage in a comparison with classic sensors is a worse long term stability. The estimation accuracy is mostly affected by the time-dependent growth of inertial sensor errors, especially the stochastic errors. In order to eliminate negative effects of these random errors, they must be accurately modeled. In this paper, the Allan variance technique will be used in modeling the stochastic errors of the inertial sensors. By performing a simple operation on the entire length of data, a characteristic curve is obtained whose inspection provides a systematic characterization of various random errors contained in the inertial-sensor output data.

Keywords: Allan variance, accelerometer, gyroscope, stochastic errors.

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